JPH03226484A - Cap opening and closing device - Google Patents
Cap opening and closing deviceInfo
- Publication number
- JPH03226484A JPH03226484A JP2102490A JP2102490A JPH03226484A JP H03226484 A JPH03226484 A JP H03226484A JP 2102490 A JP2102490 A JP 2102490A JP 2102490 A JP2102490 A JP 2102490A JP H03226484 A JPH03226484 A JP H03226484A
- Authority
- JP
- Japan
- Prior art keywords
- cap
- motor
- closing
- opening
- drive part
- 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
Links
- WABPQHHGFIMREM-UHFFFAOYSA-N lead(0) Chemical compound [Pb] WABPQHHGFIMREM-UHFFFAOYSA-N 0.000 claims abstract description 7
- 238000006243 chemical reaction Methods 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- SEPPVOUBHWNCAW-FNORWQNLSA-N (E)-4-oxonon-2-enal Chemical compound CCCCCC(=O)\C=C\C=O SEPPVOUBHWNCAW-FNORWQNLSA-N 0.000 description 1
- LLBZPESJRQGYMB-UHFFFAOYSA-N 4-one Natural products O1C(C(=O)CC)CC(C)C11C2(C)CCC(C3(C)C(C(C)(CO)C(OC4C(C(O)C(O)C(COC5C(C(O)C(O)CO5)OC5C(C(OC6C(C(O)C(O)C(CO)O6)O)C(O)C(CO)O5)OC5C(C(O)C(O)C(C)O5)O)O4)O)CC3)CC3)=C3C2(C)CC1 LLBZPESJRQGYMB-UHFFFAOYSA-N 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
- G01N35/02—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor using a plurality of sample containers moved by a conveyor system past one or more treatment or analysis stations
- G01N35/04—Details of the conveyor system
- G01N2035/0401—Sample carriers, cuvettes or reaction vessels
- G01N2035/0403—Sample carriers with closing or sealing means
- G01N2035/0405—Sample carriers with closing or sealing means manipulating closing or opening means, e.g. stoppers, screw caps, lids or covers
Landscapes
- Automatic Analysis And Handling Materials Therefor (AREA)
- Devices For Opening Bottles Or Cans (AREA)
Abstract
Description
【発明の詳細な説明】
〔産業上の利用分野〕
この発明は、自動試料分析装置において試料を収納する
容器のキャップを開閉するためのキャップ開閉装置に関
する。DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a cap opening/closing device for opening and closing a cap of a container containing a sample in an automatic sample analyzer.
ロボットで試料容器のキャップを開閉する場合容器を保
持するグリッパと該グリッパを回転させる機構を有する
キャップ開閉装置が使用される。When a robot opens and closes the cap of a sample container, a cap opening/closing device is used that has a gripper that holds the container and a mechanism that rotates the gripper.
即ち、キー中フプを冠着された試料容器はそのキャップ
をロボットハンドで把持され、グリップ開閉駆動部のグ
リッパで胴部を把持され、該グリッパを回転駆動装置に
より駆動してキャップを外すようになっている。キャッ
プを試料容器に嵌め込む場合はこの逆の順序で行う、こ
のような自動キャップ開閉装置でのキャップの開・閉は
時間により調整していた。即ち、ロボットハンドがキャ
ップを把持する時間を予め一定としその時間になると次
のキャップの開・閉に移るというような方法が採られて
いた。That is, the cap of a sample container with a key center cap is grasped by a robot hand, the body is grasped by a gripper of a grip opening/closing drive unit, and the cap is removed by driving the gripper by a rotation drive device. It has become. When fitting a cap into a sample container, the procedure is reversed, and the opening and closing of the cap in such an automatic cap opening/closing device was adjusted according to the time. That is, a method has been adopted in which the robot hand grips a cap for a fixed amount of time in advance, and when that time elapses, it moves on to opening and closing the next cap.
キャップ開閉装置の駆動を時間によって調整する場合、
キャップの開閉時間を充分とると大量の試料容器のキャ
ップの開閉を行うとき時間の無駄が多くなり、またキャ
ップとロボットハンドとの間に長時間空回りが生じる。When adjusting the drive of the cap opening/closing device by time,
If a sufficient amount of time is allowed to open and close the caps, a lot of time will be wasted when opening and closing the caps of a large number of sample containers, and a long period of time will occur between the caps and the robot hand.
そして特にキャップを閉める時モータに負担がかかる。And especially when closing the cap, a load is placed on the motor.
一方開閉時間を短くギリギリに合わせるとキャップが開
閉しきらなくなる危険性が出て来る。この発明はかかる
課題を解決するためになされたものである。On the other hand, if the opening/closing time is short and adjusted to the limit, there is a risk that the cap will not open or close completely. This invention has been made to solve this problem.
（Ｉｌｌを解決するための手段〕
即ち、この発明は、キャップ開閉装置が、試料容器又は
キャップを把持するグリッパのグリップ開閉駆動部を回
転する回転駆動部と、該回転駆動部のモータ用電源に接
続するリード線に直列に挿入された微小抵抗の電圧値を
ＡＤ変換するアナログ・デジタル変換器と、該アナログ
・デジタル変換器に接続されたパーソナルコンピュータ
と、該パーソナルコンピュータの動作により前記モータ
をＯＮ、ＯＦＦするスイッチとより構成されることを特
徴とする。(Means for Solving Problem Ill) That is, the present invention provides a cap opening/closing device that includes a rotational drive unit that rotates a grip opening/closing drive unit of a gripper that grips a sample container or a cap, and a power source for a motor of the rotational drive unit. An analog-to-digital converter that AD converts the voltage value of a microresistance inserted in series to a lead wire to be connected, a personal computer connected to the analog-to-digital converter, and the motor is turned on by the operation of the personal computer. , and a switch that turns off.
試料容器にキャップを閉め込む場合、予めキャップを閉
める時のＡＤ変換された電圧の「しきい値Ｊを決めて置
き、この「しきい値」を連続して設定回数以上カウント
するとモータのスイッチは切れる。また、試料容器のキ
ャップを開ける場合、予めキャップを開ける時のＡＤ変
換された電圧の「しきい値」を決めて置き、この「しき
い値」を越えている関（負荷がかかっている間）電源を
入れ続け、負荷が無くなり設定カウント数となると少し
間をおいてモータのスイッチは切れる。When closing a cap on a sample container, determine in advance the ``threshold J'' of the AD-converted voltage when closing the cap, and when this ``threshold'' is continuously counted for a set number of times or more, the motor switch will be activated. It can be cut. In addition, when opening the cap of a sample container, determine in advance the "threshold value" of the AD-converted voltage when the cap is opened, and if the cap exceeds this "threshold value", ) Keep the power on, and when the load is removed and the set count is reached, the motor will switch off after a short while.
以下、この発明の具体的実施例についし図面を参照して
説明する。Hereinafter, specific embodiments of the present invention will be described with reference to the drawings.
第１図はこの発明にかかるキャップ開閉装置全体の構成
概要図である。３はグリップ開閉駆動部であって、試料
容器１を把持するグリッパ３１及び３２が取付けられて
いる。４は内部にモータ５を内蔵した回転駆動部であっ
て、前記グリップ開閉駆動部３を回転する。試料容器１
のキャップ２はロボットハンド１２により適時に把持・
開放される。６は前記回転駆動部４に内蔵したモータ５
用電源であり、７はパーソナルコンピュータ（以下パソ
コン７とする）である、前記回転駆動部４のモータ５と
該モータ用電源６とを結ぶリード線８には前記パソコン
７の動作により前記回転駆動部４のモータ５をＯＮ、Ｏ
ＦＦするスイッチ９が設けられている。FIG. 1 is a schematic diagram of the entire structure of the cap opening/closing device according to the present invention. Reference numeral 3 denotes a grip opening/closing drive unit, to which grippers 31 and 32 for gripping the sample container 1 are attached. Reference numeral 4 denotes a rotational drive unit having a motor 5 built therein, which rotates the grip opening/closing drive unit 3. Sample container 1
The cap 2 is grasped and held by the robot hand 12 at the appropriate time.
It will be released. Reference numeral 6 denotes a motor 5 built into the rotation drive section 4.
7 is a personal computer (hereinafter referred to as the personal computer 7).A lead wire 8 connecting the motor 5 of the rotary drive section 4 and the motor power source 6 is connected to a lead wire 8 that connects the motor 5 of the rotary drive section 4 and the power source 6 for the motor. Turn the motor 5 of section 4 ON and OFF.
A switch 9 for FF is provided.
次に１０はアナログ・デジタル変換器（以下ＡＤ変換器
とする）であって、前記リード線８に直列に挿入された
微小抵抗１１０両端の電圧をオペアンプにより増幅し、
その値をＡＤ変換して前記パソコン７に取り込むように
しである。Next, 10 is an analog-to-digital converter (hereinafter referred to as an AD converter), which amplifies the voltage across a microresistance 110 inserted in series with the lead wire 8 using an operational amplifier.
The value is AD converted and imported into the personal computer 7.
この発明の構成は以上のようであるが、次にその動作に
ついて説明する。Although the configuration of the present invention is as described above, its operation will be explained next.
第２図はこの発明にかかるキャップ開閉装置で試料容器
１にキャップ２を閉め込む場合のソフトウェアを示すフ
ローチャート図である。この場合予めキャップ２を閉め
る時のＡＤ変換された電圧の「しきい値」を決めて置き
、この「しきい値」を連続して設定回数以上カウントす
るとモータ５のスイッチ９を切るようにしである。FIG. 2 is a flowchart showing software when closing the cap 2 onto the sample container 1 using the cap opening/closing device according to the present invention. In this case, the "threshold value" of the AD-converted voltage when closing the cap 2 is determined in advance, and the switch 9 of the motor 5 is turned off when this "threshold value" is counted continuously for a set number of times or more. be.
■先ず、パソコン７上のプログラムをスタートさせると
モータ５の電源もＯＮとなる。■First, when the program on the personal computer 7 is started, the power to the motor 5 is also turned on.
■カウンタを初期化する（０にする）。■Initialize the counter (set it to 0).
■所定の動作時間を設定してこの時間内にキ＋ツブ閉め
が完了するようにし、この時間が経過しても設定回数以
上カウントしない場合エラーフラグを立てモータ５の電
源スィッチもＯＦＦとなるようにして置く（■）。■ Set a predetermined operation time so that the key + knob is completed within this time, and if the count does not exceed the set number of times even after this time elapses, an error flag will be set and the power switch of the motor 5 will also be turned off. (■).
■ＡＤ変換器１０からパソコンへＡＤ変換された電圧値
が入力される。(2) The AD-converted voltage value is input from the AD converter 10 to the personal computer.
■ＡＤ変換器ＩＯからパソコンへ取り込まれる値が「し
きい値」以下の場合、繰り返してカウンタが初期化され
る（■）。■If the value taken in from the AD converter IO to the personal computer is less than the "threshold", the counter is initialized repeatedly (■).
■ＡＤ変換器ＩＯからパソコンへ取り込まれる値が「し
きい値」以上となるとフラグ１としてカウントタを１つ
増加させる。(2) When the value taken in from the AD converter IO to the personal computer exceeds the "threshold value", the flag is set to 1 and the counter is incremented by one.
■設定された所定動作時間以内で且つ設定カウント数に
なるまで■乃至■までを繰り返す。■Repeat steps from ■ to ■ within the set predetermined operation time and until the set count number is reached.
［相］設定カウント数になると、モータ５の電源スィッ
チはＯＦＦとなる。[Phase] When the set count number is reached, the power switch of the motor 5 is turned OFF.
第３図はこの発明にかかるキャップ開閉装置で試料容器
ｌのキャップ２を開ける場合のソフトウェアを示すフロ
ーチャート図である。この場合予めキャップ２を開ける
時のＡＤ変換された電圧の「しきい値」を決めて置き、
この「しきい値」を越えている間（負荷がかかっている
間）電源を入れ続け、負荷が無くなり設定カウント数と
なると少し間をおいてモータ５の電源スィッチを切るよ
うにしである。FIG. 3 is a flowchart showing software when opening the cap 2 of the sample container 1 using the cap opening/closing device according to the present invention. In this case, decide in advance the "threshold value" of the AD-converted voltage when opening the cap 2,
The power is kept on while this "threshold" is exceeded (while a load is applied), and when the load is removed and the set count is reached, the power switch of the motor 5 is turned off after a short interval.
■先ず、パソコン７上のプログラムをスタートさせると
モータ５の電源もＯＮとなる。■First, when the program on the personal computer 7 is started, the power to the motor 5 is also turned on.
■カウンタを初期化する。■Initialize the counter.
■所定の動作時間を設定してこの時間内にキャップ開け
が完了するようにし、この時間が経過しても設定回数以
上カウントしない場合エラーフラグを立てモータ５の電
源もＯＦＦとなるようにして置く（■）。- Set a predetermined operation time so that the cap opening is completed within this time, and if the cap is not counted more than the set number of times even after this time elapses, an error flag is set and the power to the motor 5 is also turned off. (■).
■ＡＤ変換器１０からパソコンへＡＤ変換された電圧値
が入力される。(2) The AD-converted voltage value is input from the AD converter 10 to the personal computer.
■ＡＤ変換器１０からパソコン７へ取り込まれる値があ
る負荷、即ち「しきい値」を越えている場合、繰り返し
てカウンタが初期化される（■）。(2) If the value taken in from the AD converter 10 to the personal computer 7 exceeds a certain load, that is, a "threshold", the counter is repeatedly initialized (2).
■ ＡＤ変換器ｌＯからパソコンへ取り込まれる値が「
無負荷」の状態ならカウンタに１を加える。■ The value imported from the AD converter lO to the computer is “
If the state is "no load", add 1 to the counter.
■設定された所定動作時間以内で且つ設定カウント数に
なるまで■乃至■までを繰り返す。■Repeat steps from ■ to ■ within the set predetermined operation time and until the set count number is reached.
［相］設定カウント数になると、一定時間経過するまで
待つ。[Phase] When the set count is reached, wait until a certain period of time has elapsed.
■一定時間経過するとモータ５の電源はＯＦＦとなる。■After a certain period of time has elapsed, the power to the motor 5 is turned off.
尚、所定時間以内にキャップ２の開閉が完了しない場合
、モータ５はＯＦＦとなるがそれ以後のロボットハンド
１２の動作も停止させ名。また、上記実施例では試料容
器１をグリッパ３１．３２で把持する場合について説明
したが、グリッパ３１．３２でキャップ２を把持するよ
うにしても良い。Note that if the opening and closing of the cap 2 is not completed within a predetermined time, the motor 5 will be turned off, but the subsequent operation of the robot hand 12 will also be stopped. Further, in the above embodiment, the sample container 1 is gripped by the grippers 31.32, but the cap 2 may be gripped by the grippers 31.32.
この発明にかかるキャップ開閉装置は以上詳述したよう
な構成としたのでキャップの開閉時間が短縮され且つ確
実にキャップの開閉が行なえるようになる。また、万一
キャップが堅過ぎて開かない場合でもキャッパエラーが
検出されロボットハンドも停止するので安全となる。Since the cap opening/closing device according to the present invention is constructed as described in detail above, the time required for opening and closing the cap is shortened and the cap can be opened and closed reliably. Furthermore, even if the cap is too tight to open, a capper error will be detected and the robot hand will also stop, making it safer.
第１図はこの発明にかかるキャップ開閉装置全体の構成
概要図、第２図はこの発明にかかるキャップ開閉装置で
試料容器にキャップを閉め込む場合のソフトウェアを示
すフローチャート図、第３図は試料容器のキャップを開
ける場合のソフトウェアを示すフローチャート図である
。
ｌ−試料容器 ２− キャップ
３・−・−グリップ開閉駆動部 ４・−・一回転駆動部
５・−・モータ ６・・−電源
？−−−−−パーソナルコンピュータ ８・−リード線
９−・スイッチ １０・−・ＡＤ変換器１１−・・微小
抵抗Fig. 1 is a schematic diagram of the overall configuration of the cap opening/closing device according to the present invention, Fig. 2 is a flowchart showing the software for closing the cap onto the sample container with the cap opening/closing device according to the present invention, and Fig. 3 is a diagram showing the sample container. FIG. 3 is a flowchart showing software when opening the cap of the computer. 1-Sample container 2-Cap 3--Grip opening/closing drive section 4--One rotation drive section 5--Motor 6--Power supply? ---Personal computer 8.-Lead wire 9-.Switch 10.--AD converter 11-..Microresistance
Claims (1)
ップ開閉駆動部を回転する回転駆動部と、該回転駆動部
のモータ用電源に接続するリード線に直列に挿入された
微小抵抗の電圧値をＡＤ変換するアナログ・デジタル変
換器と、該アナログ・デジタル変換器に接続されたパー
ソナルコンピュータと、該パーソナルコンピュータの動
作により前記モータをＯＮ、ＯＦＦするスイッチとより
構成されることを特徴とするキャップ開閉装置。(1) AD the voltage value of a microresistance inserted in series with the rotation drive unit that rotates the grip opening/closing drive unit of the gripper that grips the sample container or cap, and the lead wire connected to the power source for the motor of the rotation drive unit. A cap opening/closing device comprising an analog-to-digital converter for conversion, a personal computer connected to the analog-to-digital converter, and a switch for turning on and off the motor according to the operation of the personal computer. .
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2102490A JPH03226484A (en) | 1990-01-30 | 1990-01-30 | Cap opening and closing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2102490A JPH03226484A (en) | 1990-01-30 | 1990-01-30 | Cap opening and closing device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH03226484A true JPH03226484A (en) | 1991-10-07 |
Family
ID=12043458
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2102490A Pending JPH03226484A (en) | 1990-01-30 | 1990-01-30 | Cap opening and closing device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH03226484A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2007039524A2 (en) * | 2005-09-26 | 2007-04-12 | Qiagen Gmbh | Apparatus for processing biological material |
| WO2013002269A1 (en) * | 2011-06-28 | 2013-01-03 | 株式会社安川電機 | Robot hand and robot |
| WO2015056414A1 (en) * | 2013-10-15 | 2015-04-23 | 川崎重工業株式会社 | Robot hand, robot, and workpiece rotation manipulation method by means of robot |
| CN104909316A (en) * | 2015-06-10 | 2015-09-16 | 长沙瑞翔科技有限公司 | Sample bottle opening mechanism and test sample supply device |
| CN114436183A (en) * | 2022-04-07 | 2022-05-06 | 深圳市鹰眼在线电子科技有限公司 | Automatic cover opening and covering method and device operation method and layered identification method and device |
| EP4101539A1 (en) | 2021-06-09 | 2022-12-14 | Shimadzu Corporation | Container holding rack and pre-processing device |
| EP4180821A1 (en) | 2021-11-15 | 2023-05-17 | Shimadzu Corporation | Cap attachment-detachment device and pre-processing device |
| US11851313B2 (en) | 2022-02-10 | 2023-12-26 | Shimadzu Corporation | Cap attachment-detachment device and pre-processing device |
-
1990
- 1990-01-30 JP JP2102490A patent/JPH03226484A/en active Pending
Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2007039524A3 (en) * | 2005-09-26 | 2007-08-23 | Qiagen Gmbh | Apparatus for processing biological material |
| EP2295981A1 (en) * | 2005-09-26 | 2011-03-16 | QIAGEN GmbH | Apparatus for processing biological material |
| US8932542B2 (en) | 2005-09-26 | 2015-01-13 | Qiagen Gmbh | Apparatus for processing biological material |
| WO2007039524A2 (en) * | 2005-09-26 | 2007-04-12 | Qiagen Gmbh | Apparatus for processing biological material |
| US9901935B2 (en) | 2005-09-26 | 2018-02-27 | Qiagen Gmbh | Apparatus for processing biological material |
| US9446525B2 (en) | 2011-06-28 | 2016-09-20 | Kabushiki Kaisha Yaskawa Denki | Robot hand and robot |
| WO2013002269A1 (en) * | 2011-06-28 | 2013-01-03 | 株式会社安川電機 | Robot hand and robot |
| CN103620415A (en) * | 2011-06-28 | 2014-03-05 | 株式会社安川电机 | Robot hand and robot |
| JPWO2013002269A1 (en) * | 2011-06-28 | 2015-02-23 | 株式会社安川電機 | Robot hand and robot |
| US9004560B2 (en) | 2011-06-28 | 2015-04-14 | Kabushiki Kaisha Yaskawa Denki | Robot hand and robot |
| WO2015056414A1 (en) * | 2013-10-15 | 2015-04-23 | 川崎重工業株式会社 | Robot hand, robot, and workpiece rotation manipulation method by means of robot |
| CN105592987A (en) * | 2013-10-15 | 2016-05-18 | 川崎重工业株式会社 | Robot hand, robot, and workpiece rotation manipulation method by means of robot |
| CN104909316B (en) * | 2015-06-10 | 2017-01-25 | 长沙瑞翔科技有限公司 | Sample bottle opening mechanism and test sample supply device |
| CN104909316A (en) * | 2015-06-10 | 2015-09-16 | 长沙瑞翔科技有限公司 | Sample bottle opening mechanism and test sample supply device |
| EP4101539A1 (en) | 2021-06-09 | 2022-12-14 | Shimadzu Corporation | Container holding rack and pre-processing device |
| EP4180821A1 (en) | 2021-11-15 | 2023-05-17 | Shimadzu Corporation | Cap attachment-detachment device and pre-processing device |
| US11851313B2 (en) | 2022-02-10 | 2023-12-26 | Shimadzu Corporation | Cap attachment-detachment device and pre-processing device |
| CN114436183A (en) * | 2022-04-07 | 2022-05-06 | 深圳市鹰眼在线电子科技有限公司 | Automatic cover opening and covering method and device operation method and layered identification method and device |
| CN114436183B (en) * | 2022-04-07 | 2022-06-14 | 深圳市鹰眼在线电子科技有限公司 | Automatic cover opening and covering method and device operation method and layered identification method and device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP2028154B1 (en) | Jar opener | |
| JPH03226484A (en) | Cap opening and closing device | |
| US5735353A (en) | Servo-pliers | |
| US7398714B1 (en) | Jar opener | |
| JP2006347548A (en) | Cap turn-tightening device | |
| WO2005002728A3 (en) | Device for the automatic opening and closing of reaction vessels | |
| EP3900893A1 (en) | End effector and robot including same | |
| US11724924B2 (en) | Two-handled rotating lid opener | |
| JPH10127709A (en) | Device for removing/disposing injection needle | |
| JPH02106296A (en) | Handling device having posture changing mechanism | |
| JPH0569371A (en) | Manipulator gripping device | |
| JP2003103488A (en) | Motor hand | |
| JPH0655474A (en) | Work gripping control method of material handling robot | |
| CN208022672U (en) | A kind of gripper structure | |
| JPH0510920Y2 (en) | ||
| CN211813343U (en) | Single-arm person one-hand bottle opening auxiliary device | |
| CN208308395U (en) | A kind of Portable bottle opener | |
| CN211213525U (en) | Medical treatment is with getting at uniform velocity rotatory device of putting | |
| JPS5962487A (en) | Rotary type capper | |
| JP3619227B2 (en) | Bottle opener | |
| JPH0592106U (en) | Twisting hook control device for binding machine | |
| CN206077484U (en) | A kind of clamping mobile device | |
| JPH03815Y2 (en) | ||
| JPH08150587A (en) | Gripping device of manipulator | |
| JPH03136782A (en) | Control system for manipulator |