CN220064089U - Sampling device - Google Patents
Sampling device Download PDFInfo
- Publication number
- CN220064089U CN220064089U CN202321276936.8U CN202321276936U CN220064089U CN 220064089 U CN220064089 U CN 220064089U CN 202321276936 U CN202321276936 U CN 202321276936U CN 220064089 U CN220064089 U CN 220064089U
- Authority
- CN
- China
- Prior art keywords
- swing arm
- assembly
- deflection
- sampling needle
- drive
- 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.)
- Active
Links
- 238000005070 sampling Methods 0.000 title claims abstract description 99
- 238000000034 method Methods 0.000 claims description 14
- 238000006243 chemical reaction Methods 0.000 abstract description 8
- 241000973497 Siphonognathus argyrophanes Species 0.000 abstract description 3
- 230000003028 elevating effect Effects 0.000 abstract description 3
- 238000010168 coupling process Methods 0.000 description 6
- 238000005859 coupling reaction Methods 0.000 description 6
- 230000008878 coupling Effects 0.000 description 5
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000004369 blood Anatomy 0.000 description 1
- 239000008280 blood Substances 0.000 description 1
- 210000000601 blood cell Anatomy 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000002861 polymer material Substances 0.000 description 1
- 230000003014 reinforcing effect Effects 0.000 description 1
Abstract
The embodiment of the utility model provides a sampling device, which comprises: a base; a sampling needle; the swing arm assembly is connected with the sampling needle and is used for driving the sampling needle to move; the lifting assembly is arranged on the base, is connected with the swing arm assembly and is used for driving the swing arm assembly to ascend or descend; the deflection assembly is arranged on the base and connected with the swing arm assembly, and the deflection assembly can drive the swing arm assembly to rotate; and the limiting assembly is arranged on the base and positioned on the path of the rotation movement of the swing arm assembly and used for limiting the rotation range of the swing arm assembly. This sampling device adopts lifting assembly to drive the sampling needle and carries out elevating movement, adopts deflection assembly to drive the rotatory angle of predetermineeing of sampling needle, avoids sampling needle motion to put in place through setting up spacing subassembly for the sampling needle can aim at test tube mouth or reaction tank after rotatory, thereby guarantees that the sample is successful, avoids the sample to reveal.
Description
Technical Field
The utility model relates to the technical field of medical instruments, in particular to a sampling device.
Background
In blood cell analysis, it is necessary to collect blood with a sampling needle, and the sampling needle needs to perform vertical lifting movement and horizontal rotation movement during sampling. In the prior art, when the sampling needle rotates horizontally, a limiting structure is not arranged to limit the movement range of the sampling needle, and at the moment, if the sampling needle moves in place, the sampling needle cannot be aligned with a test tube port or a reaction tank, so that sampling failure or sample leakage is caused.
Disclosure of Invention
The embodiment of the utility model provides a sampling device which is used for solving the problems of sampling failure or sample leakage caused by the over-position movement of a sampling needle in the prior art.
In an embodiment of the present utility model, the sampling device includes:
a base;
a sampling needle;
the swing arm assembly is connected with the sampling needle and is used for driving the sampling needle to move;
the lifting assembly is arranged on the base, is connected with the swing arm assembly and is used for driving the swing arm assembly to ascend or descend;
the deflection assembly is arranged on the base and connected with the swing arm assembly, and the deflection assembly can drive the swing arm assembly to rotate; and
the limiting assembly is arranged on the base and positioned on a rotating motion path of the swing arm assembly and used for limiting the rotating range of the swing arm assembly.
As a further alternative scheme of the sampling device, the swing arm assembly comprises an upper swing arm and a lower swing arm, the upper swing arm is fixedly connected to the top of the sampling needle, the upper swing arm is respectively connected with the lifting assembly and the deflection assembly, and can drive the sampling needle to rise or fall under the driving of the lifting assembly and can drive the sampling needle to rotate under the driving of the deflection assembly; the lower swing arm is connected to the lower part of the sampling needle, is connected with the deflection assembly and can synchronously rotate with the upper swing arm under the drive of the deflection assembly.
As a further alternative of the sampling device, the lifting assembly comprises a lifting driving piece and a screw rod, the output end of the lifting driving piece is connected with the screw rod, and the upper swing arm is in threaded connection with the screw rod;
the deflection assembly comprises a deflection driving piece and a guide element, wherein the output end of the deflection driving piece is connected with the guide element, and the guide element is in sliding connection with the upper swing arm, so that the upper swing arm can ascend or descend along the guide element and rotate along with the guide element; the lower swing arm is connected with the guide element and can rotate along with the guide element.
As a further alternative of the sampling device, the guiding element is cylindrical, an accommodating space with two open ends is formed in the middle of the guiding element, a guiding groove communicated with the accommodating space is formed in the side wall of the guiding element, the guiding element is sleeved on the outer portion of the screw rod, the upper swing arm comprises a main body and an extending portion, the main body is in threaded connection with the screw rod, one end of the extending portion is connected with the main body, the other end of the extending portion is connected with the sampling needle, and the extending portion is arranged in the guiding groove.
As a further alternative of the sampling device, the outer wall of the guiding element is further provided with a process hole, the position of the process hole corresponds to the connection position of the lead screw and the output end of the lifting driving piece, and the process hole can fix the lead screw and the output end of the lifting driving piece when being conveniently assembled.
As a further alternative of the sampling device, the lifting drive is arranged coaxially with the deflection drive.
As a further alternative of the sampling device, the stand includes a top plate, a bottom plate and a back plate, the top plate is connected to the top of the back plate, the bottom plate is connected to the bottom of the back plate, the lifting driving member is disposed on the top plate, the deflection driving member is disposed on the bottom plate, and the screw is disposed between the top plate and the bottom plate.
As a further alternative of the sampling device, the limiting assembly includes two limiting rods, the limiting rods are connected with the base, one limiting rod is located on a first end point of the lower swing arm rotating path, and the other limiting rod is located on a second end point of the lower swing arm rotating path.
As a further alternative of the sampling device, the sampling device further comprises a first sensing assembly for detecting the position of the swing arm assembly in the vertical direction.
As a further alternative of the sampling device, the sampling device further includes a second sensing assembly disposed on the stand for detecting a rotation angle of the swing arm assembly in a horizontal direction.
The implementation of the embodiment of the utility model has the following beneficial effects:
this sampling device adopts lifting assembly to drive the sampling needle and carries out elevating movement, adopts deflection assembly to drive the rotatory angle of predetermineeing of sampling needle to accomplish the sample in the test tube, and add the process in the reaction tank with the sample, avoid the sampling needle to move out of place through setting up spacing subassembly, make the sampling needle can aim at test tube mouth or reaction tank after rotatory, thereby guarantee that the sample is successful, avoid the sample to reveal.
Drawings
In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the utility model, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Wherein:
FIG. 1 is a schematic diagram of a sampling device according to an embodiment of the present utility model;
in the figure: 10-a stand; 11-top plate; 12-a bottom plate; 13-a back plate; 20-sampling needle; 30-a swing arm assembly; 31-upper swing arms; 311-extensions; 32-lower swing arms; 40-lifting assembly; 41-lifting drive; a 50-deflection assembly; 51-a yaw drive; 52-a guide element; 521-process holes; 53-coupling; 54-sleeve; 60-limiting components; 61-limiting rods; 70-a first sensing assembly; 71-a first groove sensor; 80-a second sensing assembly; 81-a second slot sensor; 82-a baffle disc; 821-positioning plate.
Detailed Description
In order that the utility model may be readily understood, a more complete description of the utility model will be rendered by reference to the appended drawings. Preferred embodiments of the present utility model are shown in the drawings. This utility model may, however, be embodied in many other different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
It will be understood that when an element is referred to as being "fixed to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like are used herein for illustrative purposes only.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this utility model belongs. The terminology used herein in the description of the utility model is for the purpose of describing particular embodiments only and is not intended to be limiting of the utility model. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.
The embodiment of the utility model provides a sampling device which is used for solving the problems of sampling failure or sample leakage caused by the over-position movement of a sampling needle in the prior art.
In an embodiment of the present utility model, please refer to fig. 1, the sampling device includes a base 10, a sampling needle 20, a swing arm assembly 30, a lifting assembly 40, a deflection assembly 50 and a limiting assembly 60. The swing arm assembly 30 is connected with the sampling needle 20 and is used for driving the sampling needle 20 to move; the lifting assembly 40 is arranged on the machine base 10, and the lifting assembly 40 is connected with the swing arm assembly 30 and is used for driving the swing arm assembly 30 to ascend or descend; the deflection assembly 50 is arranged on the machine base 10, the deflection assembly 50 is connected with the swing arm assembly 30, and the deflection assembly 50 can drive the swing arm assembly 30 to rotate; the limiting assembly 60 is disposed on the base 10 and located on a path of the rotational movement of the swing arm assembly 30, for limiting a rotational range of the swing arm assembly 30.
The working process of the sampling device is as follows: the deflection assembly 50 drives the sampling needle 20 to deflect to the upper portion of the test tube through the swing arm assembly 30, the lifting assembly 40 drives the sampling needle 20 to move to the test tube through the swing arm assembly 30 to sample, after sampling is finished, the lifting assembly 40 drives the sampling needle 20 to rise, then the deflection assembly 50 drives the sampling needle 20 to deflect to the upper portion of the reaction tank, the lifting assembly 40 drives the sampling needle 20 to descend by a preset distance, the sampling needle 20 adds a sample into the reaction tank, and then the lifting assembly 40 drives the sampling needle 20 to rise.
This sampling device adopts lifting assembly 40 to drive sampling needle 20 and carries out elevating movement, adopts deflection assembly 50 to drive sampling needle 20 rotatory preset angle to accomplish the sample in the test tube, and add the process in the reaction tank with the sample, avoid sampling needle 20 to move out of position through setting up spacing subassembly 60, make sampling needle 20 can aim at test tube mouth or reaction tank after rotatory, thereby guarantee that the sample is successful, avoid the sample to reveal.
In one embodiment, the swing arm assembly 30 includes an upper swing arm 31 and a lower swing arm 32, the upper swing arm 31 is fixedly connected to the top of the sampling needle 20, the upper swing arm 31 is respectively connected with the lifting assembly 40 and the deflection assembly 50, and the upper swing arm 31 can drive the sampling needle 20 to lift or descend under the driving of the lifting assembly 40 and can drive the sampling needle 20 to rotate under the driving of the deflection assembly 50; the lower swing arm 32 is connected to the lower part of the sampling needle 20, and the lower swing arm 32 is connected to the deflection assembly 50 and can rotate synchronously with the upper swing arm 31 under the drive of the deflection assembly 50.
In a specific embodiment, the end of the lower swing arm 32 is provided with a through hole, in which the sampling needle 20 is inserted.
In a specific embodiment, the lifting assembly 40 includes a lifting driving member 41 and a screw (not shown in the figure), an output end of the lifting driving member 41 is connected to the screw, and the upper swing arm 31 is in threaded connection with the screw; the deflection assembly 50 includes a deflection driving part 51 and a guide member 52, the output end of the deflection driving part 51 is connected with the guide member 52, the guide member 52 is slidably connected with the upper swing arm 31, so that the upper swing arm 31 can ascend or descend along the guide member 52 and rotate along with the guide member 52; the lower swing arm 32 is connected to the guide member 52 and is capable of following the rotation of the guide member 52.
In this embodiment, the sampling device operates as follows: the lifting driving member 41 drives the screw to rotate, and since the guide element 52 limits the upper swing arm 31 to slide up and down only along the upper swing arm, the upper swing arm 31 does not rotate along the screw, and because of the threaded connection relationship between the screw and the upper swing arm 31, when the screw rotates, the upper swing arm 31 can rise and fall according to different directions of rotation of the screw, and when the upper swing arm 31 rises or falls to a required position, the deflection driving member 51 drives the guide element 52 to rotate, thereby driving the upper swing arm 31 and the lower swing arm 32 to rotate by a preset angle for sampling or lofting.
For the arrangement mode of the guide element 52, in a more specific embodiment, the guide element 52 is cylindrical, the middle part of the guide element 52 is formed with a containing space with openings towards two ends, a guide groove communicated with the containing space is formed on the side wall of the guide element 52, and the guide element 52 is sleeved outside the screw rod; the upper swing arm 31 includes a main body and an extension portion 311, the main body is in threaded connection with the screw, one end of the extension portion 311 is connected with the main body, the other end is connected with the sampling needle 20, and the extension portion 311 is arranged in the guide groove.
In a further specific embodiment, the deflection assembly 50 further includes a coupling 53 and a sleeve 54, the sleeve 54 is sleeved on the output shaft of the deflection driving member 51, the lower end of the sleeve is abutted against the bearing inner ring of the deflection driving member 51, the coupling 53 is sleeved on the output shaft of the deflection driving member 51 and locked by a set screw, the lower end of the coupling 53 is abutted against the upper end of the sleeve 54, the upper end of the coupling 53 is disposed in the accommodating space of the guiding element 52, and the coupling 53 is fastened and connected with the lower swing arm 32 by a screw.
The provision of the sleeve 54 has the advantage of facilitating the installation of the lifting assembly 40 and ensuring that the weight of the upper swing arm 31, lower swing arm 32, lead screw and guide element 52 is pressed through the sleeve 54 against the bearing inner race of the motor.
In general, the connection between the screw and the output shaft of the lifting driving member 41 is such that a connection hole is formed in the center of the screw, the output shaft of the lifting driving member 41 is inserted into the connection hole and then fastened by a screw connection member, and the guide member 52 is located outside the screw, which may cause inconvenience in screwing the screw fastener. To solve this problem, in a further specific embodiment, the outer wall of the guiding element 52 is further provided with a process hole 521, the position of the process hole 521 corresponds to the connection position of the lead screw and the output end of the lifting driving member 41, and the process hole 521 can fix the lead screw and the output end of the lifting driving member 41 when assembling conveniently, in other words, the process hole 521 is arranged to facilitate screwing of the threaded fastener.
In a further specific embodiment, the lift drive 41 is arranged coaxially with the yaw drive 51. More specifically, the stand 10 includes a top plate 11, a bottom plate 12, and a back plate 13, the top plate 11 is connected to the top of the back plate 13, the bottom plate 12 is connected to the bottom of the back plate 13, the lift driving member 41 is disposed on the top plate 11, the yaw driving member 51 is disposed on the bottom plate 12, and the screw is disposed between the top plate 11 and the bottom plate 12. When the guide member 52 is provided in a cylindrical structure to be sleeved outside the screw, the guide member 52 can support the top plate 11, thereby reinforcing the structural strength of the housing 10. At this time, in order to reduce friction between the guide member 52 and the housing 10, the guide member 52 may be made of a polymer material having self-lubricity.
In another more specific embodiment, the guiding element 52 is provided as a sliding rail extending in the vertical direction, the upper swing arm 31 is provided with a sliding groove, and the upper swing arm 31 is in sliding connection with the guiding element 52 through the cooperation of the sliding groove and the sliding rail.
In one embodiment, the stop assembly 60 includes two stop bars 61, one stop bar 61 being located at a first end of the path of rotation of the lower swing arm 32 and the other stop bar 61 being located at a second end of the path of rotation of the lower swing arm 32, the stop bars 61 being connected to the housing 10.
In one embodiment, the sampling device further comprises a first sensor assembly 70, the first sensor assembly 70 being configured to detect the position of the swing arm assembly 30 in the vertical direction.
In a specific embodiment, the first sensor assembly 70 includes a first slot-type sensor 71 and a baffle (not shown in the drawing), where the emitting end of the first slot-type sensor 71 can emit light for receiving by the receiving end thereof, the first slot-type sensor 71 is disposed on the path of the lifting motion of the swing arm assembly 30 (typically at the top of the path of motion), the baffle is connected to the swing arm assembly 30, and the position of the baffle, where the baffle shields the light emitted by the emitting end of the first slot-type sensor 71, is marked as a zero point of the lifting motion, for being used as a reference of the lifting motion. More specifically, the first groove sensor 71 may be provided on the guide member 52.
In one embodiment, the sampling device further includes a second sensor assembly 80, where the second sensor assembly 80 is disposed on the base 10 and is used for detecting the rotation angle of the swing arm assembly 30 in the horizontal direction.
In a specific embodiment, the second sensor assembly 80 includes a second groove sensor 81 and a baffle plate 82, where the emitting end of the second groove sensor 81 can emit light for receiving by the receiving end thereof, and the baffle plate 82 is connected to the output end of the deflection assembly 50 and can rotate along with the output end of the deflection assembly 50. The two second groove-type sensors 82 are arranged, the baffle plate 82 comprises two layers of positioning plates 821, the positioning plates 821 are annular, each positioning plate 821 is located between the transmitting end and the receiving end of one second groove-type sensor 81, a positioning hole is formed in the positioning plate 821 located above, the positioning hole is used for being matched with the second groove-type sensor 81 to determine the rotating zero position of the deflection assembly 50, a plurality of positioning grooves are formed in the positioning plate 821 located below, and the positioning grooves are used for being matched with the second groove-type sensor 81 to determine the rotating angle of the deflection assembly 50.
The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples illustrate only a few embodiments of the utility model, which are described in detail and are not to be construed as limiting the scope of the claims. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the utility model, which are all within the scope of the utility model. Accordingly, the scope of protection of the present utility model is to be determined by the appended claims.
Claims (10)
1. A sampling device, comprising:
a base;
a sampling needle;
the swing arm assembly is connected with the sampling needle and is used for driving the sampling needle to move;
the lifting assembly is arranged on the base, is connected with the swing arm assembly and is used for driving the swing arm assembly to ascend or descend;
the deflection assembly is arranged on the base and connected with the swing arm assembly, and the deflection assembly can drive the swing arm assembly to rotate; and
the limiting assembly is arranged on the base and positioned on a rotating motion path of the swing arm assembly and used for limiting the rotating range of the swing arm assembly.
2. The sampling device of claim 1, wherein the swing arm assembly comprises an upper swing arm and a lower swing arm, the upper swing arm is fixedly connected to the top of the sampling needle, the upper swing arm is respectively connected with the lifting assembly and the deflection assembly, the upper swing arm can drive the sampling needle to rise or fall under the driving of the lifting assembly, and can drive the sampling needle to rotate under the driving of the deflection assembly; the lower swing arm is connected to the lower part of the sampling needle, is connected with the deflection assembly and can synchronously rotate with the upper swing arm under the drive of the deflection assembly.
3. The sampling device of claim 2, wherein the lifting assembly comprises a lifting drive and a screw, an output end of the lifting drive is connected with the screw, and the upper swing arm is in threaded connection with the screw;
the deflection assembly comprises a deflection driving piece and a guide element, wherein the output end of the deflection driving piece is connected with the guide element, and the guide element is in sliding connection with the upper swing arm, so that the upper swing arm can ascend or descend along the guide element and rotate along with the guide element; the lower swing arm is connected with the guide element and can rotate along with the guide element.
4. The sampling device according to claim 3, wherein the guide element is cylindrical, an accommodating space with two open ends is formed in the middle of the guide element, a guide groove communicated with the accommodating space is formed in the side wall of the guide element, the guide element is sleeved outside the screw rod, the upper swing arm comprises a main body and an extension part, the main body is in threaded connection with the screw rod, one end of the extension part is connected with the main body, the other end of the extension part is connected with the sampling needle, and the extension part is arranged in the guide groove.
5. The sampling device of claim 4, wherein the outer wall of the guide element is further provided with a process hole, the position of the process hole corresponds to the connection position of the lead screw and the output end of the lifting driving member, and the process hole can fix the lead screw and the output end of the lifting driving member when the assembly is convenient.
6. A sampling device according to claim 3, wherein the elevation drive is arranged coaxially with the deflection drive.
7. The sampling device of claim 6, wherein the housing comprises a top plate, a bottom plate, and a back plate, the top plate is connected to the top of the back plate, the bottom plate is connected to the bottom of the back plate, the lift drive is disposed on the top plate, the yaw drive is disposed on the bottom plate, and the lead screw is disposed between the top plate and the bottom plate.
8. The sampling device of claim 2, wherein the stop assembly comprises two stop bars, the stop bars being connected to the housing, one of the stop bars being located at a first end of the lower swing arm rotational path and the other stop bar being located at a second end of the lower swing arm rotational path.
9. The sampling device of claim 1, further comprising a first sensing assembly for detecting a position of the swing arm assembly in a vertical direction.
10. The sampling device of claim 1 or 9, further comprising a second sensing assembly disposed on the housing for detecting a rotation angle of the swing arm assembly in a horizontal direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321276936.8U CN220064089U (en) | 2023-05-24 | 2023-05-24 | Sampling device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321276936.8U CN220064089U (en) | 2023-05-24 | 2023-05-24 | Sampling device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220064089U true CN220064089U (en) | 2023-11-21 |
Family
ID=88760224
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202321276936.8U Active CN220064089U (en) | 2023-05-24 | 2023-05-24 | Sampling device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220064089U (en) |
-
2023
- 2023-05-24 CN CN202321276936.8U patent/CN220064089U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110145660B (en) | Online multi-height environment quality detection and analysis terminal | |
| CN220064089U (en) | Sampling device | |
| CN112414350A (en) | Automatic detection equipment for inner diameter of bearing | |
| CN111977589A (en) | Rotary clamping mechanism compatible with various containers and cover opening device | |
| CN211757458U (en) | Chemical barrel cleaning device for chemical field | |
| CN217051570U (en) | Full-automatic cover opening and closing mechanism of reagent bottle | |
| CN212403418U (en) | Rotary clamping mechanism compatible with various containers and cover opening device | |
| CN110389067A (en) | A kind of vacuum blood collection tube evenly mixing device | |
| CN112456371B (en) | High-efficient stable perpendicular material lifting machine | |
| CN220063514U (en) | Sampling device | |
| CN211856089U (en) | Blood sample mixing and test tube bar code scanning device | |
| CN214610983U (en) | Pin-connected panel elevator leading truck | |
| CN214210273U (en) | Mixing mechanism and fluorescence immunoassay appearance | |
| CN219551944U (en) | Puncture sampling mechanism | |
| CN217249061U (en) | Test tube rotary lifting bracket for solution detection | |
| CN109052290A (en) | A kind of automation loading system | |
| CN217542653U (en) | Disposable paper cup paper quality detection device | |
| CN220876929U (en) | Standing type abdominal wall excision measuring device | |
| CN220795327U (en) | Test probe for chip detection | |
| CN210893219U (en) | Comprehensive detection tool for revolving body | |
| CN215355480U (en) | Piston rod straightening device with positioning structure | |
| CN208140725U (en) | Wiper mechanism and chemiluminescence detector | |
| CN211955527U (en) | Sample separate injection mechanism of immunoassay analyzer | |
| CN211121571U (en) | High-precision analytical balance for detection | |
| CN111633632B (en) | Spline device with force detection function and double-spline lifting device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |