CN116872148A - Sample tube cap removing gripper - Google Patents

Sample tube cap removing gripper Download PDF

Info

Publication number
CN116872148A
CN116872148A CN202310939581.4A CN202310939581A CN116872148A CN 116872148 A CN116872148 A CN 116872148A CN 202310939581 A CN202310939581 A CN 202310939581A CN 116872148 A CN116872148 A CN 116872148A
Authority
CN
China
Prior art keywords
sample tube
rotating
bearing
gripper
rotary
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202310939581.4A
Other languages
Chinese (zh)
Inventor
杨龙贤
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Sichuan Orienter Biotechnology Co Ltd
Original Assignee
Sichuan Orienter Biotechnology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Sichuan Orienter Biotechnology Co Ltd filed Critical Sichuan Orienter Biotechnology Co Ltd
Priority to CN202310939581.4A priority Critical patent/CN116872148A/en
Publication of CN116872148A publication Critical patent/CN116872148A/en
Pending legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
    • B25B27/00—Hand tools, specially adapted for fitting together or separating parts or objects whether or not involving some deformation, not otherwise provided for
    • B25B27/14—Hand tools, specially adapted for fitting together or separating parts or objects whether or not involving some deformation, not otherwise provided for for assembling objects other than by press fit or detaching same
    • 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
    • B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
    • B25J15/0213—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by gears
    • 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
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Automatic Analysis And Handling Materials Therefor (AREA)

Abstract

The application discloses a sample tube cap removing gripper, and belongs to the technical field of cap removing. It comprises the following steps: a tightening part for clamping a tube cap of a sample tube; the rotating part is arranged in parallel with the tightening part, and drives the tightening part to rotate so as to drive the tube cover of the clamped sample tube to rotate for removing the cover; the rotary gear is fixedly connected to the tightening part, the rotary part is fixedly connected with a rotary shaft, and the rotary gear is connected with the rotary shaft. The sample tube rotary cap removing gripper provided by the application can finish the actions of grabbing, rotating and removing the sample tube cap; through automatic control of a motor, the device is simple in structure and convenient to maintain, can rotate at any angle of 360 degrees after the cover is removed, and can better adjust the falling gesture of the removed sample tube cover; the cover is removed in the rotation of "card income formula" of design, and when the clamping jaw was opened, the sample tube cover of getting rid of can smoothly drop, plays anti-adhesion's effect.

Description

Sample tube cap removing gripper
Technical Field
The application relates to the technical field of cap removal, in particular to a cap removal gripper for a sample tube.
Background
Today, the structure of the clamping jaw is developed, and various clamping jaw structures are layered endlessly, so that the use and integration of automatic equipment are facilitated. At present, the clamping jaw is difficult to deal with various more complex working environments, most clamping jaws can only complete the simple work of grabbing and rotating, and when certain application occasions are met, for example, the clamping prevention cover of a sample tube after the cover of the sample tube is removed, the rotation of the sample tube in a variable direction, the adjustment of a variable moment and the like cannot better meet the requirements.
Nowadays, the uncapping of sample tube has entered into and has unscrewed the cover age soon, twists soon and uncaps the sample that can be better in avoiding the sample tube and produce biological aerosol, but the common rotation in market uncaps mostly and carries out the pull-out after holding down to sample tube lid. Due to factors such as material and size of the sample tube cover, the sample tube cover can not be normally removed or the clamping force is overlarge, so that the sample tube cover is forced to be pressed on the wall of the sample tube, the sample tube is pulled up together during pulling out, the sample tube is failed to remove the cover or pulled down, and further the automatic follow-up procedure is affected. In addition, the sample tube cover still can have the condition of clamping deformation in the process of removing the lid, blocks on removing the lid manipulator, can not normally drop, also influences automatic follow-up procedure equally.
Disclosure of Invention
The application aims to provide a sample tube cap removing gripper, which solves the problem that the existing gripper fails to remove or pulls out the cap in the cap removing process of a sample tube, thereby affecting the automatic subsequent flow.
The technical scheme for solving the technical problems is as follows:
the application provides a sample tube cap removing gripper, which comprises:
a tightening part for clamping a tube cap of a sample tube;
the rotating part is arranged in parallel with the tightening part, and drives the tightening part to rotate so as to drive the tube cover of the clamped sample tube to rotate for removing the cover;
the rotary gear is fixedly connected to the tightening part, the rotary part is fixedly connected with a rotary shaft, and the rotary gear is connected with the rotary shaft.
Further, in a preferred embodiment of the present application, the tightening part includes: the clamping device comprises a tightening motor, a clamping jaw central shaft, a rotating main body, a clamping assembly and a rotating gear;
the output end of the tightening motor is rotationally connected with one end of the clamping jaw central shaft, the clamping assembly is rotationally connected with the other end of the clamping jaw central shaft, the rotating main body is sleeved on the clamping jaw central shaft, and the rotating gear is fixedly connected with the outer part of the rotating main body.
Further, in a preferred embodiment of the present application, the clamping assembly comprises: planetary gears, finger levers and fingertips;
the planetary gear is rotatably connected with the end part of the clamping jaw central shaft, the finger rod is arranged on the planetary gear, the finger tip is arranged at one end of the finger rod far away from the planetary gear, and the finger tip faces to one side of the clamping jaw central shaft.
Further, in a preferred embodiment of the present application, the number of the clamping assemblies is at least 2, and the clamping assemblies are uniformly distributed.
Further, in a preferred embodiment of the present application, a first bearing and a second bearing are respectively disposed between two ends of the clamping jaw center shaft abutting against the rotating body, and the first bearing is disposed away from the clamping assembly;
the rotary main body is provided with a third bearing and a fourth bearing outside, and the rotary gear is arranged between the third bearing and the fourth bearing.
Further, in a preferred embodiment of the present application, a first clamping spring is further disposed at the central shaft of the clamping jaw to fasten the first bearing;
and a first shaft sleeve is further arranged between the rotary gear and the fourth bearing close to the clamping assembly.
Further, in a preferred embodiment of the present application, the planetary gear is mounted at an end of the rotating body by a mounting plate.
Further, in a preferred embodiment of the present application, the rotating part includes: a rotating motor and a rotating shaft,
the output end of the rotating motor is rotatably connected to one end of the rotating shaft, a fifth bearing is arranged outside the rotating shaft, and a sixth bearing is arranged at one end, far away from the rotating motor, of the rotating shaft.
Further, in a preferred embodiment of the present application, a second clamping spring is further disposed on the rotating shaft to fasten the fifth bearing, and a second sleeve is sleeved on the sixth bearing.
Further, in a preferred embodiment of the present application, the tightening part and the rotating part are respectively provided with a first housing, a second housing and a third housing from top to bottom.
According to the sample tube rotary cap removing gripper, the crank rocker mechanism is used as the gripper main body, the gripping is controlled by the tightening motor, and the gripper heads with sharp gripping jaws are snapped on the outer wall of the tube cap for removal by rotating the rotary motor in a clamping-in cap removing mode with better compatibility.
In the tightening part, the tightening motor drives the clamping jaw central shaft to rotate, so that a planetary gear connected with the clamping jaw central shaft rotates; the planetary gear rotates to enable the four finger rods to rotate to drive the finger tips to rotate, the finger tips play a role in clamping the sample tube cover tube, and therefore the sample tube cover at the center of the finger tips is clamped in a rotating mode. After the clamping of the sample tube cover is completed by the tightening part, continuing to clamp until a torque value set by the tightening motor is reached, and stopping; at this time, when the torque motor is kept at the set torque, the rotary motor is started, and the torque motor and the rotary motor rotate at the same speed, so that the vacuum tube cover can be pulled out. The cap can be rotated at any angle of 360 degrees after cap removal is completed, and the falling posture of the removed sample tube cap can be better adjusted.
The application has the following beneficial effects:
the sample tube rotary cap removing gripper provided by the application can finish the actions of grabbing, rotating and removing the sample tube cap; through automatic control of a motor, the device is simple in structure and convenient to maintain, can rotate at any angle of 360 degrees after the cover is removed, and can better adjust the falling gesture of the removed sample tube cover; the cover is removed in the rotation of "card income formula" of design, and when the clamping jaw was opened, the sample tube cover of getting rid of can smoothly drop, plays anti-adhesion's effect.
According to the rotary cap removing gripper for the sample tube, the crank rocker mechanism is used as the gripper main body, the gripping is controlled by the tightening motor, and the gripper heads with sharp gripping jaws are snapped on the outer wall of the tube cap for removal by rotating the rotary motor in a clamping-in cap removing mode with better compatibility.
The rotary cap removing mode adopted by the application can adjust the clamping force of the servo motor to the clamping jaw, is further suitable for sample tube caps with more materials and more sizes, and has better compatibility and adaptability.
According to the sample tube cap removing gripper provided by the application, the clamping jaws are opened in a rotating mode, and are not opened in a conventional parallel mode, so that the sample tube cap possibly adhered to the clamping jaw head can be forced to be extruded and fallen down, and the sample tube cap is ensured to be successfully fallen off after being removed.
According to the sample tube cap removing gripper provided by the application, cap removing of the sample tube cap can be realized by twisting the motor and the rotating motor, and the whole control is simple and the controllability is high. Because the motor is provided with feedback, the arrangement of a plurality of additional sensors is not needed, and the equipment is simplified.
According to the sample tube cap removing gripper provided by the application, the clamping jaw heads with sharp clamping jaws are snapped on the outer wall of the tube cap to remove the sample tube cap by utilizing the snap-in cap removing mode of the planetary gear, the finger rods and the fingertips, so that the sample tube cap with more materials and more sizes is suitable, and the sample tube cap has better compatibility and adaptability.
According to the sample tube cap removing gripper, the clamping jaw is opened and closed by screwing, so that the effect of preventing the sample cap from adhering is achieved, and the reliability is higher.
Drawings
The accompanying drawings, which are included to provide a further understanding of embodiments of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the principles of the application. In the drawings:
FIG. 1 is a schematic view of a sample tube uncapping gripper of the present application;
FIG. 2 is a schematic cross-sectional view of a sample tube uncapping gripper of the present application;
FIG. 3 is a schematic view of the structure of the tightening part of the sample tube uncapping gripper of the present application;
FIG. 4 is a schematic cross-sectional view of a twist in a sample tube uncapping gripper of the present application;
FIG. 5 is a schematic bottom view of the twist in the sample tube uncapping gripper of the present application;
in the drawings, the reference numerals and corresponding part names:
in the figure: 101-tightening motor, 102-clamping jaw central shaft, 103-rotating body, 104-rotating gear, 105-planetary gear, 106-finger lever, 107-finger tip, 108-first bearing, 109-second bearing, 110-third bearing, 111-fourth bearing, 112-first jump ring, 113-first shaft sleeve, 114-mounting plate, 201-rotating motor, 202-rotating shaft, 203-fifth bearing, 204-sixth bearing, 205-second jump ring, 206-second shaft sleeve, 3-first housing, 4-second housing, 5-third housing.
Detailed Description
For the purpose of making apparent the objects, technical solutions and advantages of the present application, the present application will be further described in detail with reference to the following examples and the accompanying drawings, wherein the exemplary embodiments of the present application and the descriptions thereof are for illustrating the present application only and are not to be construed as limiting the present application.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. However, it will be apparent to one of ordinary skill in the art that: no such specific details are necessary to practice the application. In other instances, well-known structures, circuits, materials, or methods have not been described in detail in order not to obscure the application.
Throughout the specification, references to "one embodiment," "an embodiment," "one example," or "an example" mean: a particular feature, structure, or characteristic described in connection with the embodiment or example is included within at least one embodiment of the application. Thus, the appearances of the phrases "in one embodiment," "in an example," or "in an example" in various places throughout this specification are not necessarily all referring to the same embodiment or example. Furthermore, the particular features, structures, or characteristics may be combined in any suitable combination and/or sub-combination in one or more embodiments or examples. Moreover, those of ordinary skill in the art will appreciate that the illustrations provided herein are for illustrative purposes and that the illustrations are not necessarily drawn to scale. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.
In the description of the present application, the terms "front", "rear", "left", "right", "upper", "lower", "vertical", "horizontal", "high", "low", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, merely to facilitate description of the present application and simplify description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the scope of the present application.
Examples
Referring to fig. 1-5, an embodiment of the present application provides a sample tube cap removing gripper, including:
a tightening part for clamping a tube cap of a sample tube;
the rotating part is arranged in parallel with the tightening part, and drives the tightening part to rotate so as to drive the tube cover of the clamped sample tube to rotate for removing the cover;
the tightening part is fixedly connected with a rotary gear 104, the rotary part is fixedly connected with a rotary shaft 202, and the rotary gear 104 is connected with the rotary shaft 202.
According to the sample tube cap removing gripper provided by the application, the tube cap of the sample tube is clamped through the tightening part, the tightening part is driven to rotate through the rotating part, and then the tube cap of the clamped sample tube is driven to rotate so as to remove the cap, so that the actions of grabbing, rotating and removing the sample tube cap are completed. Through motor automatic control, simple structure, easy maintenance can 360 degrees arbitrary angles rotations after removing the lid, and sample tube lid's gesture that drops after removing of regulation that can be better.
Referring to fig. 1 to 5, the tightening part includes: a tightening motor 101, a jaw center shaft 102, a rotating body 103, a clamping assembly, and a rotating gear 104; the output end of the tightening motor 101 is rotatably connected to one end of the clamping jaw central shaft 102, the clamping assembly is rotatably connected to the other end of the clamping jaw central shaft 102, the rotating body 103 is sleeved on the clamping jaw central shaft 102, and the rotating gear 104 is fixedly connected to the outer portion of the rotating body 103. In the present embodiment, the tightening motor 101 selects a tightening direct current servo motor.
The clamping assembly includes: planetary gears 105, finger 106 and finger tip 107; the planetary gear 105 is rotatably connected with the end of the clamping jaw central shaft 102, the finger 106 is mounted on the planetary gear 105, the finger tip 107 is mounted at one end of the finger 106 away from the planetary gear 105, and the finger tip 107 faces to one side of the clamping jaw central shaft 102.
The number of the clamping assemblies is at least 2, and the clamping assemblies are uniformly distributed. In this embodiment, the number of the clamping assemblies is 4, and the clamping assemblies are uniformly and symmetrically distributed. The fingertips 107 of the clamping assembly are directed inwards to form a space for clamping the tube cap of the sample tube, the placement position of the fingertips 107 is along the shape of the tube cap of the sample tube, and the tube cap of the sample tube is positioned at the center of the placement of the fingertips 107.
The application uses the clamping and embedding type cap removing mode of the planetary gear 105, the finger rods 106 and the finger tips 107 to clamp the clamping jaw heads with sharp clamping jaws on the outer wall of the tube cap for removing, thereby being applicable to the sample tube caps with more materials and more sizes and having better compatibility and adaptability.
A first bearing 108 and a second bearing 109 are respectively arranged between two ends of the clamping jaw central shaft 102, which are propped against the rotating body 103, and the first bearing 108 is far away from the clamping assembly. The first bearing 108 and the second bearing 109 are provided to support the jaw center shaft 102 and the rotating body 103, reduce friction coefficients during movement of the jaw center shaft 102 and the rotating body 103, and ensure rotation accuracy thereof.
The rotating body 103 is externally provided with a third bearing 110 and a fourth bearing 111, and the rotating gear 104 is disposed between the third bearing 110 and the fourth bearing 111. The rotating body 103 is supported by the third bearing 110 and the fourth bearing 111 provided, the friction coefficient during the movement of the rotating body 103 is reduced, and the rotation accuracy thereof is ensured. And the rotation gear 104 is disposed between the third bearing 110 and the fourth bearing 111, preventing the occurrence of sliding in the rotation of the rotation gear 104.
The clamping jaw central shaft 102 is also provided with a first clamping spring 112 for fastening the first bearing 108, and the clamping jaw central shaft 102 is provided with the first clamping spring 112 for limiting the first bearing 108 so as to achieve the fastening effect; a first shaft sleeve 113 is further arranged between the rotary gear 104 and the fourth bearing 111 close to the clamping assembly, and the first shaft sleeve is used for fixing, so that the rotary gear 104 is prevented from being deviated during rotation.
The planetary gear 105 is mounted at an end of the rotary body 103 by a mounting plate 114.
Referring to fig. 1 and 2, the rotating part includes: a rotary motor 201 and a rotary shaft 202,
the output end of the rotating motor 201 is rotatably connected to one end of the rotating shaft 202, a fifth bearing 203 is arranged outside the rotating shaft 202, and a sixth bearing 204 is arranged at one end of the rotating shaft 202 away from the rotating motor 201. In the present embodiment, the rotary electric machine 201 selects a rotary dc servo motor.
A second clamp spring 205 is arranged at the fifth bearing 203, and a second sleeve 206 is sleeved at the sixth bearing 204.
The tightening part and the rotating part are respectively provided with a first shell 3, a second shell 4 and a third shell 5 from top to bottom. Specifically, the first housing 3 is provided near the tightening motor 101 and the rotating motor 201, and the first housing 3 is covered at the end portions of the rotating body and the rotating shaft 202. The second housing 4 is arranged in the middle of the rotating body and the rotating shaft 202 in a covering way, and the first clamp spring 112, the first bearing 108, the third bearing 110, the rotating gear 104, the first shaft sleeve 113, the second clamp spring 205, the second shaft sleeve 206 and the fifth bearing 203 are positioned in the second housing 4. The third housing 5 is provided away from the tightening motor 101 and the rotating motor 201, and the third housing 5 is housed at the end portion of the rotating shaft 202 and the middle portion of the rotating body 103, and the fourth bearing 111 and the sixth bearing 204 are located in the third housing 5.
According to the sample tube rotary cap removing gripper, the crank rocker mechanism is used as a gripper main body, gripping is controlled by the tightening motor 101, and the gripper heads with sharp gripping jaws are snapped on the outer wall of the tube cap to be removed by rotating the rotating motor 201 in a clamping-in cap removing mode with better compatibility.
In the tightening part, the tightening motor 101 drives the jaw center shaft 102 to rotate, so that the planetary gear 105 connected with the jaw center shaft 102 rotates; the planetary gear 105 rotates to enable the four finger levers 106 to rotate to drive the fingertips 107 to rotate, and the fingertips 107 play a role in clamping the sample tube cover tube, so that the sample tube cover at the center of the fingertips 107 is clamped in a rotating mode. After the clamping of the sample tube cover is completed by the tightening part, continuing to clamp until the torque value set by the tightening motor 101 is reached, and stopping; at this time, when the torque motor 101 is kept at the set torque, the rotary motor 201 is started, and the torque motor 101 and the rotary motor 201 rotate at the same speed, so that the vacuum tube cover can be pulled out. The cap can be rotated at any angle of 360 degrees after cap removal is completed, and the falling posture of the removed sample tube cap can be better adjusted.
The foregoing description of the embodiments has been provided for the purpose of illustrating the general principles of the application, and is not meant to limit the scope of the application, but to limit the application to the particular embodiments, and any modifications, equivalents, improvements, etc. that fall within the spirit and principles of the application are intended to be included within the scope of the application.

Claims (10)

1. A sample tube uncapping gripper, comprising:
a tightening part for clamping a tube cap of a sample tube;
the rotating part is arranged in parallel with the tightening part, and drives the tightening part to rotate so as to drive the tube cover of the clamped sample tube to rotate for removing the cover;
the rotary gear is fixedly connected to the tightening part, the rotary part is fixedly connected with a rotary shaft, and the rotary gear is connected with the rotary shaft.
2. The sample tube uncapping gripper of claim 1, wherein the tightening portion comprises: the clamping device comprises a tightening motor, a clamping jaw central shaft, a rotating main body, a clamping assembly and a rotating gear;
the output end of the tightening motor is rotationally connected with one end of the clamping jaw central shaft, the clamping assembly is rotationally connected with the other end of the clamping jaw central shaft, the rotating main body is sleeved on the clamping jaw central shaft, and the rotating gear is fixedly connected with the outer part of the rotating main body.
3. The sample tube uncapping gripper of claim 2, wherein the clamping assembly comprises: planetary gears, finger levers and fingertips;
the planetary gear is rotatably connected with the end part of the clamping jaw central shaft, the finger rod is arranged on the planetary gear, the finger tip is arranged at one end of the finger rod far away from the planetary gear, and the finger tip faces to one side of the clamping jaw central shaft.
4. A sample tube uncapping gripper as in claim 3 wherein the number of gripping assemblies is at least 2 and the gripping assemblies are uniformly distributed.
5. The sample tube uncapping gripper of claim 2, wherein a first bearing and a second bearing are respectively disposed between the two ends of the gripper central shaft that are abutted against the rotating body, the first bearing being disposed away from the clamping assembly;
the rotary main body is provided with a third bearing and a fourth bearing outside, and the rotary gear is arranged between the third bearing and the fourth bearing.
6. The sample tube uncapping gripper of claim 5, further comprising a first snap spring at the jaw center axis to secure a first bearing;
and a first shaft sleeve is further arranged between the rotary gear and the fourth bearing close to the clamping assembly.
7. A sample tube uncapping gripper as in claim 3 wherein the planetary gear is mounted to an end of the rotating body by a mounting plate.
8. The sample tube uncapping gripper of claim 1, wherein the rotating portion comprises: a rotating motor and a rotating shaft,
the output end of the rotating motor is rotatably connected to one end of the rotating shaft, a fifth bearing is arranged outside the rotating shaft, and a sixth bearing is arranged at one end, far away from the rotating motor, of the rotating shaft.
9. The sample tube uncapping gripper of claim 8, further comprising a second snap spring on the rotating shaft to secure the fifth bearing, wherein a second sleeve is sleeved on the sixth bearing.
10. The sample tube uncapping gripper of claim 1, wherein the tightening portion and the rotating portion are provided with a first housing, a second housing, and a third housing, respectively, from top to bottom.
CN202310939581.4A 2023-07-28 2023-07-28 Sample tube cap removing gripper Pending CN116872148A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202310939581.4A CN116872148A (en) 2023-07-28 2023-07-28 Sample tube cap removing gripper

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202310939581.4A CN116872148A (en) 2023-07-28 2023-07-28 Sample tube cap removing gripper

Publications (1)

Publication Number Publication Date
CN116872148A true CN116872148A (en) 2023-10-13

Family

ID=88262040

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202310939581.4A Pending CN116872148A (en) 2023-07-28 2023-07-28 Sample tube cap removing gripper

Country Status (1)

Country Link
CN (1) CN116872148A (en)

Similar Documents

Publication Publication Date Title
CN106903521B (en) Frock clamp is used in a kind of cylindric workpiece punching
US7472527B2 (en) Device for screwing caps onto receptacles
CN202232196U (en) Tail-end actuator for picking kiwi fruits
CN1749606A (en) Electric valve
CN103273488A (en) Clamping manipulator
CN210457406U (en) Automatic opening and recovering device for test tube cover
CN107538514A (en) A kind of manipulator
CN116872148A (en) Sample tube cap removing gripper
CN106363655A (en) Bionic mechanical arm and bionic robot
JP2522078B2 (en) Cap opening and closing device
CN107953355B (en) Bionic finger
CN109015714A (en) A kind of crawl mechanical arm tail end clamping device
CN110625638B (en) Open-close type mechanical gripper based on steel wire connecting rod driving
CN115122355A (en) Medical robot
CN1730246A (en) Micro manipulator used for throat surgery
CN206105744U (en) Screw capping mechanism and preprocessor
CN102430914A (en) Capping head of high-speed moving cover
CN209496664U (en) A kind of brake apparatus for pitching winch
CN209207504U (en) A kind of movable machinery hand for Intelligent clothes cabinet
CN209256655U (en) A kind of duplex bit flipping Material sucking machine tool hand
CN1238166C (en) Micro mechanical arm for micro surgery
CN207965477U (en) A kind of photosensitive drums driving automatic reset structure
CN109664322A (en) A kind of adaptive under-actuated finger device based on link transmission
CN103272786B (en) Grabbing device of pearl color sorting system
CN114247352B (en) Test tube shaking device

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination