CN203510211U - Three-dimensional motion mechanical tongs - Google Patents
Three-dimensional motion mechanical tongs Download PDFInfo
- Publication number
- CN203510211U CN203510211U CN201320599053.0U CN201320599053U CN203510211U CN 203510211 U CN203510211 U CN 203510211U CN 201320599053 U CN201320599053 U CN 201320599053U CN 203510211 U CN203510211 U CN 203510211U
- Authority
- CN
- China
- Prior art keywords
- axis
- guide post
- motion
- handgrip
- axis guide
- 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.)
- Expired - Lifetime
Links
Images
Abstract
The utility model discloses three-dimensional motion mechanical tongs which comprise a three-dimensional motion platform and a tongs device, wherein the three-dimensional motion platform is composed of an X-axis motion mechanism, a Y-axis motion mechanism and a Z-axis motion mechanism, the Y-axis motion mechanism is mounted on the X-axis motion mechanism in a sliding mode, the Z-axis motion mechanism is mounted on the Y-axis motion mechanism in a sliding mode, and the tongs device is mounted on the Z-axis motion mechanism in a sliding mode. According to the three-dimensional motion mechanical tongs, the tongs comprise the three-dimensional motion platform composed of the X-axis motion mechanism, the Y-axis motion mechanism and the Z-axis motion mechanism, and the tongs device, the tongs device and a coagulation cup grabbed by the tongs device are made to move simultaneously in the X-axis, Y-axis and Z-axis directions through the three-dimensional motion platform, so that the coagulation cup is moved to any positions in an area, manual movement of the coagulation cup is not needed, time and labor are saved, and the risk that viruses or bacteria in the coagulation cup infect operators during manual movement of the coagulation cup is avoided.
Description
Technical field
The utility model relates to a kind of mechanical gripper, relates in particular to a kind of three-dimensional motion machinery handgrip.
Background technology
At present hemorrhage and detection of blood coagulation is widely used in diagnosis before hemorrhage, thrombotic diseases and thrombus, observation of curative effect, anticoagulation dose measurement and prognostic analysis.In prior art, after blood collection is complete, generally by doctor, the blood coagulation cup that holds blood is sent into blood test instrument, this manual mode of operation takes time and effort, and exists the risk that operating personnel catch.
Utility model content
The utility model object is to provide a kind of three-dimensional motion machinery handgrip that can be to blood coagulation cup automatic operation.
The utility model technical solution problem adopts following technical scheme: a kind of three-dimensional motion machinery handgrip, comprise the three-dimensional motion platform and the gripper equipment that by X-axis motion, Y-axis motion, Z axis motion, are formed, described Y-axis motion is slidably mounted on described X-axis motion, described Z axis motion is slidably mounted on described Y-axis motion, and described gripper equipment is slidably mounted on described Z axis motion.
Optionally, described X-axis motion comprises: left socle, right support, X-axis left support plate, X-axis right support plate, X-axis motor, X-axis idle pulley, X-axis Timing Belt, the first X-axis guide post, the second X-axis guide post, X-axis motion gripper shoe, X-axis roller supporting plate and X-axis Timing Belt pressing plate;
Described X-axis left support plate is arranged on described left socle, and described X-axis right support plate is arranged on described right support;
Described X-axis motor is arranged on X-axis right support plate;
Described X-axis idle pulley is arranged on described X-axis left support plate;
Described X-axis motor connects described X-axis idle pulley by X-axis toothed belt transmission;
One end of described the first X-axis guide post and the second X-axis guide post is all installed on described left socle, and the other end is all installed on described right support, and described the first X-axis guide post and the second X-axis guide post are parallel to each other, and are positioned in same level;
Described X-axis motion gripper shoe is connected on described the first X-axis guide post slidably;
On described X-axis roller supporting plate, be provided with roller, described roller can move along described the second X-axis guide post;
Described X-axis Timing Belt pressing plate is fixed on described X-axis Timing Belt in described X-axis motion gripper shoe.
Optionally, described Y-axis motion comprises: Y-axis gripper shoe, y-axis motor, Y-axis idle pulley, Y-axis Timing Belt, the first Y-axis guide post, the second Y-axis guide post, Y-axis gathering sill and Y-axis guide runner;
Described Y-axis gripper shoe is installed on described X-axis motion gripper shoe and X-axis roller supporting plate;
Described y-axis motor and Y-axis idle pulley are installed in Y-axis gripper shoe, and described y-axis motor connects described Y-axis idle pulley by Y-axis toothed belt transmission;
Described the first Y-axis guide post and the second Y-axis guide post are arranged in described Y-axis gripper shoe, and described the first Y-axis guide post is parallel with the second Y-axis guide post, and is positioned in same level, and perpendicular to described the first X-axis guide post;
Described Y-axis gathering sill is connected slidably with described the second Y-axis guide post;
Described Y-axis guide runner is connected in described the first Y-axis guide post slidably, and is fixed on described Y-axis Timing Belt.
Optionally, described Z axis motion comprises, Z axis gripper shoe, Z axis motor, Z axis idle pulley, Z axis Timing Belt, the first Z axis guide post, the second Z axis guide post and Z axis guiding parts;
Described Z axis gripper shoe is installed on described Y-axis gathering sill and Y-axis guide runner;
Described Z axis motor and Z axis idle pulley are installed in described Z axis gripper shoe, and described Z axis motor connects described Z axis idle pulley by Z axis toothed belt transmission;
Described the first Z axis guide post and the second Z axis guide post are arranged in described Z axis gripper shoe, and described the first Z axis guide post and the second Z axis guide post parallel to each other, and be positioned on same vertical plane;
Described Z axis guiding parts and described the first Z axis guide post and the second Z axis guide post are slidably connected, and are fixed on described Z axis Timing Belt.
Optionally, described gripper equipment comprises: handgrip seat, left handgrip, right handgrip, take-up device and Flexible Connector;
Described handgrip seat is fixed on described Z axis guiding parts by described Flexible Connector;
Described left handgrip, right handgrip be rotating being installed on handgrip seat respectively;
One end of described take-up device is connected in described left handgrip, and the other end is connected in described right handgrip.
Optionally, described take-up device is spring.
Optionally, described left handgrip and right handgrip front end are respectively arranged with guiding slope angle.
Optionally, described gripper equipment also comprises the vibrating device being arranged on described handgrip seat.
Optionally, described Y-axis motion is a plurality of, and described a plurality of Y-axis motions are slidably mounted on respectively on described X-axis motion; On described each Y-axis motion, be provided with Z axis motion, and on Z axis motion, be provided with gripper equipment described in each.
Optionally, described the first X-axis guide post, the second X-axis guide post, the first Y-axis guide post, the second Y-axis guide post, the first Z axis guide post and the second Z axis guide post are cylindrical slideway.
The utlity model has following beneficial effect: three-dimensional machinery motion handgrip of the present utility model comprises by X-axis motion, Y-axis motion, three-dimensional motion platform and gripper equipment that Z axis motion forms, and can be by gripper equipment and its blood coagulation cup capturing in X-axis by three-dimensional motion platform, Y-axis, in three directions of Z axis, move simultaneously, thereby blood coagulation cup is moved to any position in region, without adopting manual type to move blood coagulation cup, time saving and energy saving, the virus in blood coagulation cup or bacterium Infection Action personnel's risk have been avoided in the process of artificial mobile blood coagulation cup.
Accompanying drawing explanation
Fig. 1 is the structural representation of three-dimensional machinery motion handgrip of the present utility model;
Fig. 2 is the structural representation of the X-axis motion of three-dimensional machinery motion handgrip of the present utility model;
Fig. 3 is the structural representation of the Y-axis motion of three-dimensional machinery motion handgrip of the present utility model;
Fig. 4 is the structural representation of the Z axis motion of three-dimensional machinery motion handgrip of the present utility model;
Fig. 5 is the structural representation of the gripper equipment of three-dimensional machinery motion handgrip of the present utility model;
In figure, mark is illustrated as: 1-X shaft movement mechanism; 2-Y shaft movement mechanism; 3-Z shaft movement mechanism; 4-gripper equipment; 5-blood coagulation cup; 101-left socle; 102-right support; 103-X axle left support plate; 104-X axle right support plate; 105-X spindle motor; 106-X axle idle pulley; 107-X axle Timing Belt; 108-the first X-axis guide post; 109-the second X-axis guide post; 110-X axle motion gripper shoe; 111-X shaft roller gripper shoe; 112-X axle Timing Belt pressing plate; 201-Y axle gripper shoe; 202-Y spindle motor; 203-Y axle idle pulley; 204-Y axle Timing Belt; 205-the first Y-axis guide post; 206-the second Y-axis guide post; 207-Y axle gathering sill; 208-Y axle guide runner; 301-Z axle gripper shoe; 302-Z spindle motor; 303-Z axle idle pulley; 304-Z axle Timing Belt; 305-the first Z axis guide post; 306-the second Z axis guide post; 307-Z axle guiding parts; 401-handgrip seat; The left handgrip of 402-; The right handgrip of 403-; 404-take-up device; 405-Flexible Connector; 406-vibrating device.
The specific embodiment
Below in conjunction with embodiment and accompanying drawing, the technical solution of the utility model is further elaborated.
Embodiment 1
With reference to figure 1, the present embodiment provides a kind of three-dimensional motion machinery handgrip, comprise the three-dimensional motion platform and the gripper equipment 4 that by X-axis motion 1, Y-axis motion 2, Z axis motion 3, are formed, described Y-axis motion 2 is slidably mounted on described X-axis motion 1, described Z axis motion 3 is slidably mounted on described Y-axis motion 2, and described gripper equipment 4 is slidably mounted on described Z axis motion 3.
Three-dimensional machinery motion handgrip of the present utility model comprises three-dimensional motion platform and the gripper equipment 4 being comprised of X-axis motion 1, Y-axis motion 2, Z axis motion 3, and gripper equipment 4 and its blood coagulation cup 5 capturing can be moved in X-axis, Y-axis, three directions of Z axis simultaneously by three-dimensional motion platform, thereby blood coagulation cup is moved to any position in region, without adopting manual type to move blood coagulation cup, time saving and energy saving, avoided in the process of artificial mobile blood coagulation cup the virus in blood coagulation cup or bacterium Infection Action personnel's risk.
Referring to figs. 2 and 3, in the present embodiment, preferably, described X-axis motion 1 comprises: left socle 101, right support 102, X-axis left support plate 103, X-axis right support plate 104, X-axis motor 105, X-axis idle pulley 106, X-axis Timing Belt 107, the first X-axis guide post 108, the second X-axis guide post 109, X-axis motion gripper shoe 110, X-axis roller supporting plate 111 and X-axis Timing Belt pressing plate 112;
Described X-axis left support plate 103 is arranged on described left socle 101, and described X-axis right support plate 104 is arranged on described right support 102;
Described X-axis motor 105 is arranged on X-axis right support plate 104;
Described X-axis idle pulley 106 is arranged on described X-axis left support plate 103;
Described X-axis motor 105 is by the X-axis Timing Belt 107 described X-axis idle pulley 106 that is in transmission connection;
One end of described the first X-axis guide post 108 and the second X-axis guide post 109 is all installed on described left socle 101, the other end is all installed on described right support 102, described the first X-axis guide post 108 and the second X-axis guide post 109 are parallel to each other, and are positioned in same level;
Described X-axis motion gripper shoe 110 is connected on described the first X-axis guide post 108 slidably;
On described X-axis roller supporting plate 111, be provided with roller, described roller can move along described the second X-axis guide post 109;
Described X-axis Timing Belt pressing plate 112 is fixed on described X-axis Timing Belt 107 in described X-axis motion gripper shoe 110.
In X-axis motion 1, by the motion of X-axis motor 105, drive 107 motions of X-axis Timing Belt, X-axis Timing Belt 107 drives the X-axis Timing Belt pressing plate 112 fixing with it and X-axis motion gripper shoe 110 along described the first X-axis guide post 108 horizontal movements.By said structure, realize described X-axis motion 1, rigidity is larger, is guaranteeing that under the depth of parallelism of described the first X-axis guide post 108 and the second X-axis guide post 109 and the prerequisite of self precision, corresponding, the precision of described X-axis motion 1 is also higher.
With reference to figure 3 and Fig. 4, in the present embodiment, optionally, described Y-axis motion 2 comprises: Y-axis gripper shoe 201, y-axis motor 202, Y-axis idle pulley 203, Y-axis Timing Belt 204, the first Y-axis guide post 205, the second Y-axis guide post 206, Y-axis gathering sill 207 and Y-axis guide runner 208;
Described X-axis motion gripper shoe 110 and X-axis roller supporting plate 111 are installed in described Y-axis gripper shoe 201;
Described y-axis motor 202 and Y-axis idle pulley 203 are installed in Y-axis gripper shoe 201, and described y-axis motor 202 is by the Y-axis Timing Belt 204 described Y-axis idle pulley 203 that is in transmission connection;
Described the first Y-axis guide post 205 and the second Y-axis guide post 206 are arranged in described Y-axis gripper shoe 201, and described the first Y-axis guide post 205 is parallel with the second Y-axis guide post 206, and is positioned in same level, and perpendicular to described the first X-axis guide post 108;
Described Y-axis gathering sill 207 is connected slidably with described the second Y-axis guide post 206;
Described Y-axis guide runner 208 is connected in described the first Y-axis guide post 205 slidably, and is fixed on described Y-axis Timing Belt 204.
By the motion of described X-axis motion gripper shoe 110 and X-axis roller supporting plate 111, drive described Y-axis gripper shoe 201 motions, realize the motion of Y-axis motion 2 on described X-axis motion 1; And in Y-axis motion 2, by the motion of y-axis motor 202, drive 204 motions of Y-axis Timing Belt, described Y-axis Timing Belt 204 drives the motion of the Y-axis guide runner 208 fixing with it on described the first Y-axis guide post 205.And this Y-axis motion 2 rigidity are large, guaranteeing that under the depth of parallelism of described the first Y-axis guide post 205 and the second Y-axis guide post 206 and the prerequisite of self precision, corresponding, the precision of described Y-axis motion 2 is also higher.
With reference to figure 4, in the present embodiment, optional, described Z axis motion 3 comprises, Z axis gripper shoe 301, Z axis motor 302, Z axis idle pulley 303, Z axis Timing Belt 304, the first Z axis guide post 305, the second Z axis guide post 306 and Z axis guiding parts 307;
Described Y-axis gathering sill 207 and Y-axis guide runner 208 are installed in described Z axis gripper shoe 301;
Described Z axis motor 302 and Z axis idle pulley 303 are installed in described Z axis gripper shoe 301, and described Z axis motor 302 is by the Z axis Timing Belt 304 described Z axis idle pulley 303 that is in transmission connection;
Described the first Z axis guide post 305 and the second Z axis guide post 306 are arranged in described Z axis gripper shoe 301, and described the first Z axis guide post 305 and the second Z axis guide post 306 parallel to each other, and be positioned on same vertical plane;
Described Z axis guiding parts 307 is slidably connected with described the first Z axis guide post 305 and the second Z axis guide post 306, and is fixed on described Z axis Timing Belt 304.
By described Y-axis gathering sill 207 and Y-axis guide runner 208, be installed in described Z axis gripper shoe 301, drive described Z axis gripper shoe 301 motions, realize the motion of Z axis motion 3 on described Y-axis motion 2, and in Z axis motion 3, by the motion of Z axis motor 302, drive 304 motions of Z axis Timing Belt, Z axis Timing Belt 304 drives Z axis guiding parts 307 the moving along described first Z axis guide post 305 and second Z axis guide post 306 fixing with it.And this Z axis motion 3 rigidity are large, guaranteeing that under the depth of parallelism of described the first Z axis guide post 305 and the second Z axis guide post 306 and the prerequisite of self precision, corresponding, the precision of described Z axis motion 3 is also higher.
With reference to figure 5, in the present embodiment, optional, described gripper equipment 4 comprises: handgrip seat 401, left handgrip 402, right handgrip 403, take-up device 404 and Flexible Connector 405;
Described handgrip seat 401 is fixed on described Z axis guiding parts 307 by Flexible Connector 405;
Described left handgrip 402, right handgrip 403 be rotating being installed on handgrip seat respectively;
One end of described take-up device 404 is connected in described left handgrip 402, and the other end is connected in described right handgrip 403.
The crawl that this handgrip seat is realized blood coagulation cup 5 by left handgrip 402 and right handgrip 403, and realize fixing the position of the blood coagulation cup 5 after capturing by take-up device 404, do not need extra power to realize the operation to described left handgrip 402 and right handgrip 403, simple in structure.
In the present embodiment, optional, described take-up device 404 is spring, further to make the simple in structure of described gripper equipment 4.
In the present embodiment, optional, described left handgrip 402 and right handgrip 403 front ends are respectively arranged with guiding slope angle, with when capturing described blood coagulation cup 5, described blood coagulation cup 5 is led, thus the convenient blood coagulation cup 5 that captures.
In the present embodiment, optional, described gripper equipment 4 also comprises the vibrating device 406 being arranged on described handgrip seat 401, to capture and to move in the process of described blood coagulation cup 5, realizes the vibration operation to described blood coagulation cup 5.
In the present embodiment, optionally, described X-axis motion gripper shoe 110, X-axis roller supporting plate 111, X-axis Timing Belt pressing plate 112 and Y-axis motion 2 are a plurality of, the connection of X-axis motion gripper shoe 110, X-axis roller supporting plate 111 and X-axis Timing Belt pressing plate 112 that Y-axis gripper shoe 201 that described a plurality of Y-axis motion 2 comprises by it is respectively corresponding with described Y-axis gripper shoe 201, is mounted slidably on described the first X-axis guide post 108 and the second X-axis guide post 109 described Y-axis gripper shoe 201; On described each Y-axis motion 2, be provided with Z axis motion 3, and on Z axis motion 3, be provided with gripper equipment 4 described in each, operation when realizing described three-dimensional machinery motion handgrip to a plurality of blood coagulation cup 5.
In the present embodiment, optionally, described the first X-axis guide post 108, the second X-axis guide post 109, the first Y-axis guide post 205, the second Y-axis guide post 206, the first Z axis guide post 305 and the second Z axis guide post 306 are cylindrical slideway, to facilitate the high accuracy processing of described the first X-axis guide post 108, the second X-axis guide post 109, the first Y-axis guide post 205, the second Y-axis guide post 206, the first Z axis guide post 305 and the second Z axis guide post 306, realize the high-precision motion of described three-dimensional motion platform simultaneously.
The sequencing of above embodiment only, for ease of describing, does not represent the quality of embodiment.
Finally it should be noted that: above embodiment only, in order to the technical solution of the utility model to be described, is not intended to limit; Although the utility model is had been described in detail with reference to previous embodiment, those of ordinary skill in the art is to be understood that: its technical scheme that still can record aforementioned each embodiment is modified, or part technical characterictic is wherein equal to replacement; And these modifications or replacement do not make the essence of appropriate technical solution depart from the spirit and scope of each embodiment technical scheme of the utility model.
Claims (7)
1. three-dimensional motion machinery handgrip, it is characterized in that, comprise the three-dimensional motion platform and the gripper equipment that by X-axis motion, Y-axis motion, Z axis motion, are formed, described Y-axis motion is slidably mounted on described X-axis motion, described Z axis motion is slidably mounted on described Y-axis motion, and described gripper equipment is slidably mounted on described Z axis motion;
Described X-axis motion comprises: left socle, right support, X-axis left support plate, X-axis right support plate, X-axis motor, X-axis idle pulley, X-axis Timing Belt, the first X-axis guide post, the second X-axis guide post, X-axis motion gripper shoe, X-axis roller supporting plate and X-axis Timing Belt pressing plate;
Described X-axis left support plate is arranged on described left socle, and described X-axis right support plate is arranged on described right support;
Described X-axis motor is arranged on X-axis right support plate;
Described X-axis idle pulley is arranged on described X-axis left support plate;
Described X-axis motor connects described X-axis idle pulley by X-axis toothed belt transmission;
One end of described the first X-axis guide post and the second X-axis guide post is all installed on described left socle, and the other end is all installed on described right support, and described the first X-axis guide post and the second X-axis guide post are parallel to each other, and are positioned in same level;
Described X-axis motion gripper shoe is connected on described the first X-axis guide post slidably;
On described X-axis roller supporting plate, be provided with roller, described roller can move along described the second X-axis guide post;
Described X-axis Timing Belt pressing plate is fixed on described X-axis Timing Belt in described X-axis motion gripper shoe;
Described Y-axis motion comprises: Y-axis gripper shoe, y-axis motor, Y-axis idle pulley, Y-axis Timing Belt, the first Y-axis guide post, the second Y-axis guide post, Y-axis gathering sill and Y-axis guide runner;
Described Y-axis gripper shoe is installed on described X-axis motion gripper shoe and X-axis roller supporting plate;
Described y-axis motor and Y-axis idle pulley are installed in Y-axis gripper shoe, and described y-axis motor connects described Y-axis idle pulley by Y-axis toothed belt transmission;
Described the first Y-axis guide post and the second Y-axis guide post are arranged in described Y-axis gripper shoe, and described the first Y-axis guide post is parallel with the second Y-axis guide post, and is positioned in same level, and perpendicular to described the first X-axis guide post;
Described Y-axis gathering sill is connected slidably with described the second Y-axis guide post;
Described Y-axis guide runner is connected in described the first Y-axis guide post slidably, and is fixed on described Y axle Timing Belt;
Described Z axis motion comprises: Z axis gripper shoe, Z axis motor, Z axis idle pulley, Z axis Timing Belt, the first Z axis guide post, the second Z axis guide post and Z axis guiding parts;
Described Z axis gripper shoe is installed on described Y-axis gathering sill and Y-axis guide runner;
Described Z axis motor and Z axis idle pulley are installed in described Z axis gripper shoe, and described Z axis motor connects described Z axis idle pulley by Z axis toothed belt transmission;
Described the first Z axis guide post and the second Z axis guide post are arranged in described Z axis gripper shoe, and described the first Z axis guide post and the second Z axis guide post parallel to each other, and be positioned on same vertical plane;
Described Z axis guiding parts and described the first Z axis guide post and the second Z axis guide post are slidably connected, and are fixed on described Z axis Timing Belt.
2. three-dimensional motion machinery handgrip according to claim 1, is characterized in that, described gripper equipment comprises: handgrip seat, left handgrip, right handgrip, take-up device and Flexible Connector;
Described handgrip seat is fixed on described Z axis guiding parts by described Flexible Connector;
Described left handgrip, right handgrip be rotating being installed on handgrip seat respectively;
One end of described take-up device is connected in described left handgrip, and the other end is connected in described right handgrip.
3. three-dimensional motion machinery handgrip according to claim 2, is characterized in that, described take-up device is spring.
4. according to the three-dimensional motion machinery handgrip described in claim 2 or 3, it is characterized in that, described left handgrip and right handgrip front end are respectively arranged with guiding slope angle.
5. three-dimensional motion machinery handgrip according to claim 4, is characterized in that, described gripper equipment also comprises the vibrating device being arranged on described handgrip seat.
6. three-dimensional motion machinery handgrip according to claim 4, is characterized in that, described Y-axis motion is a plurality of, and described a plurality of Y-axis motions are slidably mounted on respectively on described X-axis motion; On described each Y-axis motion, be provided with Z axis motion, and on Z axis motion, be provided with gripper equipment described in each.
7. three-dimensional motion machinery handgrip according to claim 4, is characterized in that, described the first X-axis guide post, the second X-axis guide post, the first Y-axis guide post, the second Y-axis guide post, the first Z axis guide post and the second Z axis guide post are cylindrical slideway.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320599053.0U CN203510211U (en) | 2013-09-26 | 2013-09-26 | Three-dimensional motion mechanical tongs |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320599053.0U CN203510211U (en) | 2013-09-26 | 2013-09-26 | Three-dimensional motion mechanical tongs |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203510211U true CN203510211U (en) | 2014-04-02 |
Family
ID=50369193
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320599053.0U Expired - Lifetime CN203510211U (en) | 2013-09-26 | 2013-09-26 | Three-dimensional motion mechanical tongs |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203510211U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103947348A (en) * | 2014-04-22 | 2014-07-30 | 华南农业大学 | Manipulator with two degrees of freedom, seedling pulling and throwing mechanism, control circuit and control method |
| CN106743577A (en) * | 2017-01-17 | 2017-05-31 | 浙江优通自动化技术有限公司 | A kind of three-freedom mechanical arm device and manipulator plateform system |
| CN108872078A (en) * | 2018-06-29 | 2018-11-23 | 广州市进德生物科技有限公司 | A kind of Full-automatic chemiluminescence analyzer |
-
2013
- 2013-09-26 CN CN201320599053.0U patent/CN203510211U/en not_active Expired - Lifetime
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103947348A (en) * | 2014-04-22 | 2014-07-30 | 华南农业大学 | Manipulator with two degrees of freedom, seedling pulling and throwing mechanism, control circuit and control method |
| CN103947348B (en) * | 2014-04-22 | 2016-04-06 | 华南农业大学 | A kind of two-freedom manipulator, pull out rice seedling throwing mechanism, control circuit and control method |
| CN106743577A (en) * | 2017-01-17 | 2017-05-31 | 浙江优通自动化技术有限公司 | A kind of three-freedom mechanical arm device and manipulator plateform system |
| CN106743577B (en) * | 2017-01-17 | 2018-11-30 | 浙江优通自动化技术有限公司 | A kind of three-freedom mechanical arm device and manipulator plateform system |
| CN108872078A (en) * | 2018-06-29 | 2018-11-23 | 广州市进德生物科技有限公司 | A kind of Full-automatic chemiluminescence analyzer |
| CN108872078B (en) * | 2018-06-29 | 2020-11-24 | 广州市进德生物科技有限公司 | Full-automatic chemiluminescence analyzer |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103901220B (en) | Device for automatically clamping, shaking up and puncturing | |
| CN203510211U (en) | Three-dimensional motion mechanical tongs | |
| CN210056225U (en) | Novel vascular intervention surgical robot catheter guide wire cooperative operation implementation device | |
| CN105177734A (en) | Numerical control spinneret plate cleaning device | |
| CN113499102A (en) | Full-automatic pharynx swab flexible sampling device | |
| CN203385745U (en) | Sampling mechanical arm for full-automatic detection analyzer | |
| CN201876461U (en) | Automatic sample feeding device for micropore plate | |
| CN203941179U (en) | A kind of biological sample automatic detecting instrument | |
| CN105115982A (en) | Light inspection machine and card loading and conveying device thereof | |
| CN111167350A (en) | Clinical laboratory shakes device with high-efficient blood thoughtlessly | |
| CN204520769U (en) | A kind of ultrasonic medical equipment | |
| CN207396128U (en) | Medical test sampler | |
| CN203502427U (en) | Mechanical arm for sample application | |
| CN203523539U (en) | Shell less egg automatic detection and collection device | |
| CN205046229U (en) | Numerical control spinneret cleaning device | |
| CN206218676U (en) | Rack for test tube conveyer | |
| CN201707127U (en) | Meshing noise detecting device | |
| CN210051616U (en) | Clinical medicine detects blood smear device | |
| CN104324921B (en) | A kind of tube-type chemical electrochemiluminescent immunoassay Magneto separate washing unit | |
| CN204498678U (en) | A kind of automatic transplanter end effector | |
| CN203069599U (en) | Western blot automatic interpretation and analysis device | |
| CN208239311U (en) | Garlic non-destructive testing device | |
| CN203861244U (en) | Mammary machine grid driver | |
| CN205831809U (en) | A kind of hemostix extraction element | |
| CN110308297A (en) | A kind of sampler insertion apparatus |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CX01 | Expiry of patent term |
Granted publication date: 20140402 |
|
| CX01 | Expiry of patent term |