CN114083514B - Intelligent manipulator for discharging test tube samples - Google Patents
Intelligent manipulator for discharging test tube samples Download PDFInfo
- Publication number
- CN114083514B CN114083514B CN202111506692.3A CN202111506692A CN114083514B CN 114083514 B CN114083514 B CN 114083514B CN 202111506692 A CN202111506692 A CN 202111506692A CN 114083514 B CN114083514 B CN 114083514B
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- test tube
- angle adjusting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
- B25J5/04—Manipulators mounted on wheels or on carriages travelling along a guideway wherein the guideway is also moved, e.g. travelling crane bridge type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0033—Gripping heads and other end effectors with gripping surfaces having special shapes
- B25J15/0038—Cylindrical gripping surfaces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
- B25J15/0293—Gripping heads and other end effectors servo-actuated comprising parallel grippers having fingers directly connected to actuator
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
- B25J9/146—Rotary actuators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides an intelligent manipulator for discharging test tube samples, which comprises a rack, wherein two X-direction guide rails which are arranged in parallel at intervals are arranged on the rack, an X-direction straight line module is arranged on the X-direction guide rail, a Y-direction guide rail is arranged on the X-direction straight line module, a Y-direction straight line module is arranged on the Y-direction guide rail, the Z-direction guide rail is fixed on the Y-direction straight line module along the Z direction, the Z-direction straight line module is arranged on the Z-direction guide rail, and a test tube grabbing manipulator is arranged on the Z-direction straight line module. This an intelligent mechanical hand for test tube sample is unloaded simple structure, reasonable in design can satisfy simultaneously that the inclined plane test tube snatchs and perpendicular test tube male requirement, can divide apart from automatically moreover, ensures that the test tube can accurately insert to the test tube hole of test-tube rack.
Description
Technical Field
The invention relates to the technical field of test tube sorting equipment, in particular to an intelligent manipulator for unloading test tube samples.
Background
Test tube sorting machine is the automation equipment that can high-efficient replace manual sorting, and the during operation need insert categorised good test tube to the test-tube rack, but when meetting the condition as shown in fig. 1, be about to divide on the inclined plane in the silo 100 interior categorised good test tube 300, once only snatch a plurality ofly and insert to the test-tube rack 200 on the horizontal plane, current test tube sorting mechanical hand is impossible, and several technical difficulties that its needs overcome are as follows: 1) the manipulator needs to perform one-time multiple grabbing on the classified test tubes 300 in the distribution groove 100 on the inclined plane, and needs to insert the grabbed test tubes into the test tube rack 200 on the vertical plane, so that the manipulator needs to swing on the vertical plane at a certain angle, otherwise, grabbing on the inclined plane and inserting on the vertical plane cannot be performed; 2) the test tube 300 that divides the good classification in silo 100 is hugged closely the setting under the action of gravity, and has certain distance between the test tube hole on the test-tube rack 200, if the manipulator directly snatchs the test tube and does not carry out the branch apart from, can't insert to the downthehole test tube of test-tube rack 200.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides the intelligent manipulator for discharging the test tube samples, which can simultaneously meet the requirements of grabbing test tubes on an inclined plane and inserting test tubes on a vertical plane, can automatically separate distances and ensure that the test tubes can be accurately inserted into test tube holes of a test tube rack.
In order to realize the technical scheme, the invention provides an intelligent manipulator for discharging test tube samples, which comprises a rack, wherein two X-direction guide rails are arranged on the rack at intervals in parallel, an X-direction linear module is arranged on each X-direction guide rail, a Y-direction guide rail is arranged on each X-direction linear module, a Y-direction linear module is arranged on each Y-direction guide rail, a Z-direction guide rail is fixed on each Y-direction linear module along the Z direction, a Z-direction linear module is arranged on each Z-direction guide rail, a test tube grabbing manipulator is arranged on each Z-direction linear module and comprises an angle adjusting cylinder mounting seat fixed on each Z-direction linear module, a rotating shaft seat is arranged at the bottom of each angle adjusting cylinder mounting seat, a rotating shaft is fixed on each rotating shaft seat, one end of each angle adjusting seat is connected with the front end of the rotating shaft, and the top of each angle adjusting cylinder is fixed on each angle adjusting cylinder mounting seat, the angle adjustment cylinder slope sets up, and the telescopic shaft of angle adjustment cylinder is connected with the one end of keeping away from the pivot on the angle adjustment seat, the bottom of angle adjustment seat is provided with the branch apart from the slide rail, and a plurality of branches are apart from the slider parallel installation on dividing apart from the slide rail, and all connect through dividing apart from the pull rod between a plurality of branches apart from the slider, every divides apart from slider bottom all to correspond and installs test tube gripper and drive actuating cylinder, corresponds on every test tube gripper drives actuating cylinder and installs test tube gripper, divides apart from the cylinder to install in the bottom of angle adjustment seat and with divide apart from slide rail parallel arrangement, the telescopic shaft of minute apart from the cylinder is connected with the front end of dividing apart from the pull rod through dividing apart from the connecting rod.
In the technical scheme, during the real work, through X to sharp module, Y to sharp module and Z to sharp module can accurate drive test tube snatch the manipulator X, Y with Z to the removal to, when needs snatch to the categorised test tube in the branch silo on the inclined plane, at first through angle modulation cylinder drive angle modulation seat revolute rotation of axes, make the test tube grabs actuating cylinder and the test tube grabs installed in angle modulation seat bottom be parallel with the branch silo on the inclined plane, then through X to sharp module, Y to sharp module drive test tube snatchs the manipulator and wholly moves to the top of the test tube in the branch silo, through Z to sharp module drive test tube snatchs the manipulator decline and make test tube grabs and the test tube head contact in the branch silo, then through test tube grabs actuating cylinder drive test tube grabs the closed tight test tube head that presss from both sides of test tube head, then lead to X to sharp module, The Y-direction linear module and the Z-direction linear module drive the test tube grabbing manipulator to move, the test tube is taken out from the material distribution groove and moved to the upper part of the test tube rack, then the angle adjusting cylinder drives the angle adjusting seat to rotate around the rotating shaft to be horizontal again, so that the test tube is vertical to the test tube rack, then the sub-distance cylinder drives the sub-distance pull rod to move, the sub-distance pull rod drives the sub-distance slide block to drive each test tube gripper to drive the cylinder to move, test tubes originally attached together are equidistantly separated, and just match with the test tube hole on the test-tube rack, snatch the manipulator downstream to sharp module drive test tube through Z at last, and in inserting the test tube hole on the test-tube rack to the accuracy of a plurality of test tubes that once only snatch, X at last snatchs the manipulator to sharp module, Y to sharp module and Z to sharp module drive test tube and resets, carries out snatching, inserting of next round test tube and puts.
Preferably, the below of angle modulation seat is provided with the base, is connected through the connecting block between base and the angle modulation seat, it drives actuating cylinder to install splint on the base, splint drive actuating cylinder bottom and install splint, splint will a plurality of test tube grippers parcels of installing on test tube gripper drives actuating cylinder. During actual operation, after the test tube equidistance that will originally laminate together is separated apart to the pull rod apart to the minute-distance cylinder drive, drive actuating cylinder through splint and can drive splint and press from both sides the test tube tightly, ensure the position stability after the test tube minute-distance, further strengthen the stability of each test tube position when inserting.
Preferably, the splint inboard is provided with a plurality of semicircular positioning clamp grooves that match with the test tube, and after the minute was apart from accomplishing, it can drive splint through splint driving cylinder and press from both sides the test tube tightly, and semicircular positioning clamp groove just stabilizes the centre gripping at semicircular positioning clamp inslot with the test tube, further ensures the stability of each test tube position when inserting.
Preferably, the telescopic shaft of the angle adjusting cylinder arranged in an inclined manner is connected with one end, away from the rotating shaft, of the angle adjusting seat through a triangular seat, so that the stability of connection between the angle adjusting cylinder and the angle adjusting seat is improved.
The intelligent manipulator for unloading the test tube samples provided by the invention has the beneficial effects that: this an intelligent mechanical hand for test tube sample is unloaded simple structure, reasonable in design can satisfy simultaneously that the inclined plane test tube snatchs and perpendicular test tube male requirement, can divide apart from automatically moreover, ensures that the test tube can accurately insert to the test tube hole of test-tube rack. In actual work, the test tube grabbing mechanical arm can be precisely driven to move in X, Y and Z directions through the X-direction straight line module, the Y-direction straight line module and the Z-direction straight line module, when classified test tubes in a material distribution groove on an inclined plane need to be grabbed, firstly, the angle adjusting cylinder drives the angle adjusting seat to rotate around the rotating shaft, so that the test tube grabbing claw driving cylinder and the test tube grabbing claw which are installed at the bottom of the angle adjusting seat are parallel to the material distribution groove on the inclined plane, then, the X-direction straight line module is used for driving the test tube grabbing mechanical arm to integrally move to the upper part of the test tube in the material distribution groove, the Z-direction straight line module is used for driving the test tube grabbing mechanical arm to descend and enabling the test tube grabbing claw to be in contact with a test tube head in the material distribution groove, then, the test tube grabbing cylinder is driven to be closed through the test tube grabbing claw driving cylinder to clamp the test tube head tightly, then, the X-direction straight line module is communicated with the X-direction straight line module, and the Z-direction straight line module is used for driving the test tube grabbing mechanical arm to move, taking out the test tube from the material distributing groove and moving the test tube to the upper part of the test tube rack, driving the angle adjusting seat to rotate around the rotating shaft to the horizontal position by the angle adjusting cylinder again to ensure that the test tube is vertical to the test tube rack, driving the distance separating pull rod to move by the distance separating cylinder, driving the distance separating slide block to drive each test tube gripper to drive the cylinder to move, equally separating the original test tubes which are attached together, just matching with the test tube holes on the test tube rack, finally driving the test tube gripping manipulator to move downwards by the Z-direction linear module, accurately inserting a plurality of test tubes which are gripped at one time into the test tube holes on the test tube rack, finally resetting the X-direction linear module, driving the Y-direction linear module and the Z-direction linear module to drive the test tube gripping manipulator, grabbing and inserting the test tubes in the next round, thereby realizing the inclined gripping, vertical alignment, automatic distance separation and automatic insertion of the test tubes into the test tube holes of the test tube rack, high automation and intelligence degree and strong adaptability.
Drawings
Fig. 1 is a schematic diagram of a structure that test tubes need to be transferred from an inclined distributing groove to a horizontal test tube rack.
Fig. 2 is a schematic perspective view of the present invention.
FIG. 3 is a schematic perspective view of the present invention II.
Fig. 4 is a schematic perspective view of the test tube gripping manipulator in the present invention.
Fig. 5 is a schematic perspective view ii of the test tube gripping manipulator of the present invention.
Fig. 6 is a schematic three-dimensional structure diagram iii of the test tube gripping manipulator of the present invention.
Fig. 7 is a partial three-dimensional structural schematic diagram of the test tube gripping manipulator of the present invention.
In the figure: 1. a frame; 2. an X-direction guide rail; 3. an X-direction straight line module; 4. a Y-direction guide rail; 5. a Y-direction linear module; 6. a Z-direction guide rail; 7. a Z-direction straight line module; 8. a test tube grabbing manipulator; 81. an angle adjusting cylinder mounting base; 82. an angle adjusting cylinder; 83. a rotating shaft seat; 84. a rotating shaft; 85. an angle adjusting seat; 86. connecting blocks; 87. the test tube gripper drives the cylinder; 88. a base; 89. the clamping plate drives the cylinder; 810. a splint; 811. a test tube; 812. a pitch cylinder; 813. a test tube gripper; 814. a distance-dividing slide rail; 815. a distance dividing slide block; 816. a distance-dividing connecting rod; 817. a distance-dividing pull rod; 818. positioning the clamp groove; 100. a material distributing groove; 200. a test tube rack.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments obtained by a person skilled in the art without making any inventive step are within the scope of the present invention.
Example (b): an intelligent mechanical arm for discharging test tube samples.
Referring to fig. 1 to 7, an intelligent manipulator for discharging test tube samples comprises a rack 1, wherein two X-direction guide rails 2 arranged at intervals in parallel are mounted on the rack 1, X-direction straight line modules 3 are mounted on the X-direction guide rails 2, Y-direction guide rails 4 are mounted on the X-direction straight line modules 3, Y-direction straight line modules 5 are mounted on the Y-direction guide rails 4, Z-direction guide rails 6 are fixed on the Y-direction straight line modules 5 along the Z direction, Z-direction straight line modules 7 are mounted on the Z-direction guide rails 6, and test tube grabbing manipulators 8 are mounted on the Z-direction straight line modules 7;
the test tube gripping manipulator 8 comprises an angle adjusting cylinder mounting seat 81 fixed on the Z-direction linear module 7, a rotating shaft seat 83 is arranged at the bottom of the angle adjusting cylinder mounting seat 81, a rotating shaft 84 is fixed on the rotating shaft seat 83, one end of the angle adjusting seat 85 is connected with the front end of the rotating shaft 84, the top of the angle adjusting cylinder 82 is fixed on the angle adjusting cylinder mounting seat 81, the angle adjusting cylinder 82 is obliquely arranged, and the telescopic shaft of the angle adjusting cylinder 82 is connected with one end of the angle adjusting seat 85 far away from the rotating shaft 84 through a triangular seat, and through the structural design, the angle adjusting cylinder 82 can drive the angle adjusting seat 85 to rotate around the rotating shaft 84, so that the adjustment of the Z-direction offset angle of the angle adjusting seat 85 is realized, and the requirements on the grabbing angle of the test tube 811 in the obliquely designed material distributing groove and the angle requirement on vertical insertion and placement are further met;
the bottom of the angle adjusting seat 85 is provided with a distance-dividing slide rail 814, five distance-dividing slide blocks 815 are installed on the distance-dividing slide rail 814 in parallel, the five distance-dividing slide blocks 815 are connected through an elastic distance-dividing pull rod 817, the bottom of each distance-dividing slide block 815 is correspondingly provided with a test tube gripper driving cylinder 87, each test tube gripper driving cylinder 87 is correspondingly provided with a test tube gripper 813, the distance-dividing cylinders 812 are installed at the bottom of the angle adjusting seat 85 and are arranged in parallel with the distance-dividing slide rail 814, the telescopic shafts of the distance-dividing cylinders 812 are connected with the front ends of the distance-dividing pull rods 817 through distance-dividing connecting rods 816, during actual work, when a classified test tube 811 in the distance-dividing groove 100 on the inclined surface needs to be gripped, the angle adjusting seat 85 is driven to rotate around the rotating shaft 84 through the angle adjusting cylinder 82, so that the test tube gripper driving cylinders 87 and the test tube grippers 813 installed at the bottom of the angle adjusting seat 85 are parallel to the distance-dividing groove 100 on the inclined surface, then the test tube grabbing manipulator 8 is driven to integrally move to the upper part of the test tube 811 in the distributing groove 100 by the X-direction linear module 3 and the Y-direction linear module 5, the test tube grabbing manipulator 8 is driven to descend by the Z-direction linear module 7, the test tube grabbing claws 813 are enabled to be in contact with the test tube head in the distributing groove 100, then the test tube grabbing claws 813 are driven to be closed by the test tube grabbing claw driving cylinders 87 to clamp the test tube head, then the test tube grabbing manipulator 8 is driven to move by the X-direction linear module 3, the Y-direction linear module 5 and the Z-direction linear module 7, the test tube 811 is taken out from the distributing groove 100 and moved to the upper part of the test tube rack 200, then the angle adjusting cylinder 82 drives the angle adjusting seat 85 to rotate around the rotating shaft 84 to be horizontal again, the clamped test tube 811 is enabled to be vertical to the test tube rack 200, then the separation pull rod 817 is driven to move by the separation pull rod 812, the separation pull block 815 drives the five test tube grabbing claw driving cylinders 87 to move, the test tubes 811 which are originally attached together are equidistantly separated and just matched with test tube holes in the test tube rack 200, finally, five test tubes 811 which are grabbed at one time are accurately inserted into the test tube holes in the test tube rack 200 by driving the test tube grabbing manipulator 8 to move downwards through the Z-direction straight line module 7, and finally, the X-direction straight line module 3, the Y-direction straight line module 5 and the Z-direction straight line module 7 drive the test tube grabbing manipulator 8 to reset so as to grab and insert the test tubes in the next round;
the test tube test fixture is characterized in that a base 88 is arranged below the angle adjusting seat 85, the base 88 is connected with the angle adjusting seat 85 through a connecting block 86, a clamping plate driving cylinder 89 is installed on the base 88, a clamping plate 810 is installed at the bottom of the clamping plate driving cylinder 89, five test tube grippers 813 installed on the test tube gripper driving cylinder 87 are wrapped by the clamping plate 810, five semicircular positioning clamping grooves 818 matched with the test tubes 811 are formed in the inner side of the clamping plate 810, in the practical work process, after the test tubes 811 originally attached together are equidistantly separated by a spacing cylinder 812 driving a spacing pull rod 817, the test tubes can be clamped tightly by the clamping plate 810 through the clamping plate driving cylinder 89, the semicircular positioning clamping grooves 818 clamp the test tubes just and stably in the semicircular positioning clamping grooves 818, and the stability of the positions of the test tubes when the test tubes are inserted is further ensured.
This an intelligent mechanical hand for test tube sample is unloaded simple structure, reasonable in design can satisfy simultaneously that the inclined plane test tube snatchs and perpendicular test tube male requirement, can divide apart from automatically moreover, ensures that the test tube can accurately insert to the test tube hole of test-tube rack. In actual work, the test tube grabbing manipulator 8 can be precisely driven to move in X, Y and Z directions through the X-direction linear module 3, the Y-direction linear module 5 and the Z-direction linear module 7, when a test tube 811 classified in the distribution groove 100 on the inclined surface needs to be grabbed, firstly, the angle adjusting seat 85 is driven to rotate around the rotating shaft 84 through the angle adjusting cylinder 82, so that the test tube grabbing driving cylinder 87 and the test tube grabbing claw 813 which are installed at the bottom of the angle adjusting seat 85 are parallel to the distribution groove 100 on the inclined surface, then, the test tube grabbing manipulator 8 is driven to integrally move to the position above the test tube 811 in the distribution groove 100 through the X-direction linear module 3 and the Y-direction linear module 5, the test tube grabbing manipulator 8 is driven to descend through the Z-direction linear module 7, the test tube grabbing claw 813 is in contact with a test tube head in the distribution groove 100, then, the test tube grabbing claw 813 is driven to be closed through the test tube grabbing driving cylinder 87 to clamp the test tube head, then, the test tube grabbing manipulator 8 is driven to move by the X-direction linear module 3, the Y-direction linear module 5 and the Z-direction linear module 7, the test tube 811 is taken out from the material distribution groove 100 and moved to the upper part of the test tube rack 200, then the angle adjusting cylinder 82 drives the angle adjusting seat 85 to rotate around the rotating shaft 84 to the horizontal again, so that the clamped test tube 811 is perpendicular to the test tube rack 200, then the spacing air cylinder 812 drives the spacing pull rod 817 to move, the spacing pull rod 817 drives the spacing slide block 815 to drive the five test tube grabbing claw driving cylinders 87 to move, so that the test tubes 811 originally attached together are equidistantly separated and just matched with test tube holes on the test tube rack 200, then the clamp plate 810 can be driven by the clamp plate driving cylinder 89 to clamp the test tube 811, the semicircular positioning clamp groove 818 clamps the test tubes just and stably in the semicircular positioning clamp groove 818, and further ensures the stability of each test tube position during insertion, at last, snatch 8 downstream manipulators to sharp module 7 drive test tube through Z, it is downthehole to insert the test tube on the test-tube rack 200 with five test tube 811 accuracies that once only snatch, last X is to sharp module 3, Y is to sharp module 5 and Z to sharp module 7 drive test tube snatch manipulator 8 and reset, carry out snatching of next round test tube, insert and put, thereby realize that the slope of test tube snatchs, the vertical alignment, automatic minute distance and automatic insertion are downthehole to the test tube of test-tube rack, it is automatic, intelligent degree is high, and high adaptability.
The above description is a preferred embodiment of the present invention, but the present invention should not be limited to the embodiment and the drawings disclosed, and therefore, all equivalents and modifications that can be made without departing from the spirit of the present invention are intended to be protected.
Claims (3)
1. The utility model provides an intelligent mechanical hand for test tube sample is unloaded, includes the frame, its characterized in that: the test tube grabbing manipulator comprises an angle adjusting cylinder mounting seat fixed on the Z-direction linear module, a rotating shaft seat is arranged at the bottom of the angle adjusting cylinder mounting seat, the rotating shaft is fixed on the rotating shaft seat, one end of the angle adjusting seat is connected with the front end of the rotating shaft, the top of the angle adjusting cylinder is fixed on the angle adjusting cylinder mounting seat, the angle adjusting cylinder is arranged in an inclined manner, and the telescopic shaft of the angle adjusting cylinder is connected with one end of the angle adjusting seat, which is far away from the rotating shaft, the bottom of angle modulation seat is provided with the branch apart from the slide rail, and a plurality of branches are apart from the slider and install on the branch apart from the slide rail in parallel, and all connect through the branch apart from the pull rod between a plurality of branches apart from the slider, every divides and all corresponds to install test tube gripper bottom and drives actuating cylinder, and every test tube gripper drives actuating cylinder and goes up to correspond and install test tube gripper, divides apart from the cylinder to install in the bottom of angle modulation seat and with branch apart from slide rail parallel arrangement, the telescopic shaft that divides apart from the cylinder is connected with the front end that divides apart from the pull rod through dividing apart from the connecting rod, the below of angle modulation seat is provided with the base, is connected through the connecting block between base and the angle modulation seat, install splint and drive actuating cylinder on the base, splint drive actuating cylinder bottom and install splint, splint will a plurality of test tube grippers parcel on driving actuating cylinder at the test tube.
2. The intelligent robot for test tube sample unloading of claim 1, wherein: the inboard semi-circular location clamp groove that is provided with a plurality of and test tube matches of splint.
3. An intelligent manipulator for test tube sample unloading as claimed in claim 1 or 2, wherein: the telescopic shaft of the angle adjusting cylinder which is obliquely arranged is connected with one end, far away from the rotating shaft, of the angle adjusting seat through a triangular seat.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111506692.3A CN114083514B (en) | 2021-12-10 | 2021-12-10 | Intelligent manipulator for discharging test tube samples |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111506692.3A CN114083514B (en) | 2021-12-10 | 2021-12-10 | Intelligent manipulator for discharging test tube samples |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114083514A CN114083514A (en) | 2022-02-25 |
| CN114083514B true CN114083514B (en) | 2022-06-17 |
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Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2530025B1 (en) * | 2008-07-25 | 2015-11-04 | F.Hoffmann-La Roche Ag | Alignment element for sample tube racks |
| CN105110004B (en) * | 2015-09-29 | 2018-12-14 | 无锡帕尔弗工业设备科技有限公司 | Automatic adjustable-pitch conveying mechanical arm |
| CN209095879U (en) * | 2018-11-26 | 2019-07-12 | 丰铁塑机(广州)有限公司 | A kind of flat push type material-pulling device |
| CN110450181B (en) * | 2019-09-04 | 2024-10-01 | 北京诚益通控制工程科技股份有限公司 | Automatic sampling manipulator |
| CN111839538A (en) * | 2020-06-05 | 2020-10-30 | 哈工大机器人(中山)无人装备与人工智能研究院 | Intelligent blood sampling robot |
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| CN114083514A (en) | 2022-02-25 |
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