CN106002997A - Object grabbing device - Google Patents
Object grabbing device Download PDFInfo
- Publication number
- CN106002997A CN106002997A CN201610482053.0A CN201610482053A CN106002997A CN 106002997 A CN106002997 A CN 106002997A CN 201610482053 A CN201610482053 A CN 201610482053A CN 106002997 A CN106002997 A CN 106002997A
- Authority
- CN
- China
- Prior art keywords
- gripper
- sensor
- clamping part
- catch
- revolving meber
- 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.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/1005—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to an object grabbing device. The object grabbing device comprises a base, a driving device, a slide rail assembly, an adjusting assembly, an elastic part and a gripper, wherein the slide rail assembly is mounted on the side, opposite to the driving device, of the base, and comprises a guide rail and two sliding blocks capable of moving along the guide rail relative to each other; a rotary part of the adjusting assembly is connected with the driving device; two support pillars are vertically arranged on the two sliding blocks; the rotation center of the rotary part and the axes of the two support pillars are in the same plane; the two ends of the elastic part are connected with the two sliding blocks; a first clamping part and a second clamping part of the gripper are oppositely arranged on the sides, opposite to the support pillars, of the two sliding blocks; and when the gripper grabs an object, the rotary part is not in contact with the two support pillars. According to the object grabbing device, a self-adjusting function is achieved, and when the gripper and the object deviate from each other, the gripper can be automatically adjusted along the guide rail according to the position of the object to align to the object, so that the purpose that the gripper can successfully grab the object is guaranteed, and the abrasion of the gripper and the object is reduced.
Description
Technical field
The present invention relates to capture object technical field, particularly relate to a kind of device for grasping bodies.
Background technology
Device for grasping bodies is mainly used in from a place, object is transferred to another place.At present, pass
The mechanical location capturing position of system device for grasping bodies is changeless.When capturing position and object
When position occurs skew, device for grasping bodies often cannot grab object.Even if catching object, by
There is side force in capturing between position and object, be easily caused object and damage and capture position abrasion.
Summary of the invention
Based on this, it is necessary to provide a kind of can the device for grasping bodies of automatic aligning object.
A kind of device for grasping bodies, including pedestal, driving means, slide track component, adjusting part, elastic component
And gripper；
Described driving means is arranged on the side of described pedestal, is used for driving described adjusting part；
Described slide track component includes guide rail and slide block, and described guide rails assembling is in described pedestal and described driving means
Relative side, described slide block is provided with two, is connected with described slide respectively, and two described slide blocks
Can close to each other along described guide rail or away from；
Described adjusting part is arranged on the side that described pedestal is relative with described driving means, including revolving meber with
And support column, described revolving meber is connected with described driving means, and have maximum with center of rotation distance
Far point and the closest approach minimum with center of rotation distance, described support column is provided with two, is respectively arranged on described returning
Turn the both sides of part, and hang down respectively and be located on two described slide blocks, the rotation centerline of described revolving meber and two
The axis of described support column is positioned at the first plane, when the axis in described solstics with two described support columns is total to
During face, described revolving meber abuts with described support column, when described gripper catches object, and described closest approach
With the axis co-planar of two described support columns, and described revolving meber and described support column interval；
The two ends of described elastic component are connected with two described slide blocks respectively, when two described slide blocks are located remotely from each other,
Described elastic component is elongated；
Described gripper includes the first clamping part and the second clamping part, described first clamping part and described second clamping
Portion is oppositely arranged on two described slide blocks, and it is relative with described support column to be respectively arranged on two described slide blocks
Side.
Wherein in an embodiment, also including first sensor, described first sensor hangs down and is located at described base
One end that seat is relative with described guide rail；
Described adjusting part also includes the first catch, the first catch described in described first catch be located at described farthest
At Dian, and near described pedestal, described first catch away from described pedestal side between described pedestal away from
From less than described support column near one end of described pedestal distance away between described pedestal；
When axis described in described closest approach and two in the same plane time, described first catch with described first pass
The position of sensor is the most right.
Wherein in an embodiment, described first sensor is optical sensor.
Wherein in an embodiment, also including the second sensor and the second catch, described second sensor hangs down
Being located therein on a described slide block, described second catch is located on slide block described in another one, described
On the direction of guide rail extremely described support column, described second sensor is intervally arranged with described second catch；
During distance minimum between described first clamping part and described second clamping part, described second catch with
The position of described second sensor is the most right；When described gripper grabs object, described second catch is along institute
State guide rail away from described second sensor.
Wherein in an embodiment, described second sensor is optical sensor.
Wherein in an embodiment, described adjusting part also includes that roller, described roller are provided with two, point
It is not arranged on two described support columns；
When axis described in described solstics and two in the same plane time, described revolving meber and two described rollers
Tangent；When described gripper catches described object, described revolving meber and two described rollers do not contact.
Wherein in an embodiment, described elastic component is spring.
Wherein in an embodiment, described revolving meber is cam, right centered by the sectional view of described cam
Figure, the rotation centerline of described cam is claimed to be positioned at the second plane with the centrage of described gripper, and described
First plane is vertical with described second plane.
Wherein in an embodiment, described driving means is motor, and described revolving meber is sheathed on described motor
Output shaft on；
Or, described driving means is rotary magnet, and described revolving meber is sheathed on described rotary magnet
On output shaft.
Wherein in an embodiment, described first clamping part and described second clamping part are oppositely arranged to be formed
With the cavity of opening, described cavity is used for housing object.
Above-mentioned device for grasping bodies, has self-adjusting function.When the position of gripper with object offsets
Time, under the comprehensive function of elastic component and revolving meber, gripper can be automatic along guide rail according to the position of object
Adjust and align to object, it is ensured that gripper can pick up object smoothly, thus ensures that object will not be right
Gripper produces side force, it is to avoid the damage of object and the abrasion of gripper.
Accompanying drawing explanation
Fig. 1 is the structural representation of the device for grasping bodies of an embodiment；
Fig. 2 is the structural representation at another visual angle of Fig. 1；
Fig. 3 is the partial top view of adjusting means；
Fig. 4 is the view of device for grasping bodies and object skew.
Detailed description of the invention
Below in conjunction with the accompanying drawings and device for grasping bodies is described further by specific embodiment.
With reference to Fig. 1, Fig. 2 and Fig. 3, the device for grasping bodies 10 of an embodiment, including pedestal 100,
Driving means 200, slide track component 300, adjusting part 400, elastic component 500 and gripper 600.
Wherein, driving means 200 is arranged on the side of pedestal 100, for drive adjusting device 400.
Slide track component 300 includes guide rail 310 and slide block 320.Guide rail 310 is arranged on pedestal 100 and drives dress
Put 200 relative sides.Slide block 320 is provided with two, is slidably connected with guide rail 310 respectively, and two cunnings
Block 320 can close to each other along guide rail 310 or away from.
Adjusting part 400 is arranged on the side that pedestal 100 is relative with driving means 200, including revolving meber 410
And support column 420.Revolving meber 410 is connected with driving means 200.Revolving meber 410 has in a rotation
The heart, revolving meber 410 can rotate around this center of rotation under the driving of driving means 200.On revolving meber 410
There is the solstics 412 maximum with center of rotation distance and the closest approach 414 minimum with center of rotation distance.?
Dagger 420 is provided with two, is respectively arranged on the both sides of revolving meber 410, and hangs down respectively and be located at two slide blocks 320
On.The axis of the rotation centerline of revolving meber 410 and two support columns 420 is positioned at the first plane, i.e.
The rotation centerline of revolving meber 410 is parallel with the axis of two support columns 420, and is generally aligned in the same plane interior.
When the axis co-planar of solstics 412 and two support columns 420, revolving meber 410 and support column 420
Abut, when described gripper 600 catches object 20, closest approach 414 and the axis of two support columns 420
Coplanar, and revolving meber 410 and support column 420 be spaced, namely do not contact.
The two ends of elastic component 500 are connected with two slide blocks 320 respectively.When two slide blocks 320 are located remotely from each other,
Elastic component 500 is elongated.
Gripper 600 includes the first clamping part 610 and the second clamping part 620.First clamping part 610 and the second folder
Hold portion 620 to be oppositely arranged on two slide blocks 320, and be respectively arranged on two slide blocks 320 and support column 420
Relative side.
In the present embodiment, the ultimate range between the first clamping part 610 and the second clamping part 620 is more than mesh
The width of mark thing 20, the minimum range between the first clamping part 610 and the second clamping part 620 is less than object 20
Width.And during distance minimum that first between clamping part 610 and the second clamping part 620, gripper 600 is in
Closure state.When gripper 600 closes, closest approach 414 and support column 420 can be spaced, it is also possible to
Support column 420 contacts.
When driving means 200 drive revolving meber 410 rotate to solstics 412 and support column 420 axis altogether
During face, two slide blocks 320 are backed down by revolving meber 410, move along guide rail 310 is opposing, now, and gripper 600
Reaching maximum open configuration, elastic component 500 is stretched by two slide blocks 320.The effect of power is mutual, bullet
Property part 500 can apply reverse pulling force to two slide blocks 320 equally.Make when revolving meber 410 is rotated further
After far point 412 leaves the plane at support column 420 place, under the effect of elastic component 500, two slide blocks 320
Can be along guide rail 310 relative motion.Now, the first clamping part 610 can be close to each other with the second clamping part 620.
If the centrage of object 20 is relative to the disalignment of gripper 600, then, closer to a folder of object
First the portion of holding can contact with object 20, and object 20 will produce side force to this clamping part.
Now, by driving means 200 power-off, then, under the effect of elastic component 500, two support columns
420 can extrude revolving meber 410, and revolving meber 410 will go to closest approach 414 and the axis of two support columns 420
Coplanar state.Now, also imply that between closest approach 414 and support column 420 from a distance,
Another clamping part can continue to move, till touching object 20 towards object 20.Now, grab
The centrage of pawl 600 aligns with the centrage of object 20.
At present, the mechanical location capturing position of tradition device for grasping bodies is changeless.Work as crawl section
When position and the position of object occur to offset, device for grasping bodies often cannot grab object.Even if grabbing
To object, there is side force owing to capturing between position and object, be easily caused object damage and
Wear and tear in crawl position.
The device for grasping bodies 10 of present embodiment, has self-adjusting function.When gripper 600 and object 20
Position occur skew time, under the comprehensive function of elastic component 500 and revolving meber 410, gripper 600 can
Position according to object 20 is automatically adjusted to align with object 20 along guide rail 310, thus ensures gripper
600 can pick up object smoothly, decrease the abrasion of gripper and object.
As shown in Figure 4, adjusting part 400 also includes roller 430.Roller 430 is provided with two, wears respectively
On two support columns 420.
When solstics 412 and two support columns 420 axis in the same plane time, revolving meber 410 and two
Roller 430 abuts；When gripper 600 catches object 20, revolving meber 410 and two rollers 430 are spaced,
Namely do not contact.
In the present embodiment, guide rail 310 can be in carinate, it is also possible in the form of slot, it is also possible to for linear axis
Hold.
Elastic component 500 is spring, can be stretching spring, it is possible to for compression spring.
As it is shown on figure 3, in the present embodiment, revolving meber 410 is cam, during the sectional view of cam is
Heart symmetric figure, the rotation centerline of cam is positioned at the second plane, and first with the centrage of gripper 600
Plane is vertical with the second plane.That is, cam there are two relative solstics 412 and two relative nearest
Point 414.When gripper 600 and object 20 do not occur skew, cam is by closest approach 414 and roller 430
The state of axis co-planar go to the state in solstics 412 and the axis co-planar of roller 430, cam have rotated
90 °, in the rotary course of repeatedly 90 °, rotate each time, the first clamping part 610 and the second clamping part
620 distances moved are equal.
In the present embodiment, driving means 200 is motor, and revolving meber 410 is sheathed on the output shaft of motor
On.Concrete, the center of revolving meber 410 offers through hole 416, and the output shaft of motor is arranged in through hole 416
In.The rotating speed of motor and corner determine rotating speed and the corner of cam.In other embodiments, dress is driven
Putting 200 can also select rotary magnet, revolving meber 410 can be set on the output shaft of rotary magnet.
As it is shown in figure 1, the first clamping part 610 and the second clamping part 620 are oppositely arranged to form band opening
Cavity 630, cavity 630 is used for housing object.The device for grasping bodies 10 of present embodiment is mainly applied
In full-automatic medical treatment analysis meter, the object 20 predominantly columned reaction vessel of crawl, therefore, as
Shown in Fig. 1, the first clamping part 610 is identical with the shape of the second clamping part 620, is cross section curved
Clamping part.First clamping part 610 and the second clamping part 620 are oppositely arranged to be formed the cylindric chamber of band opening
Body 630.
Being appreciated that in other embodiments, the first clamping part and the second clamping part can also be oppositely arranged
Form the cavity of prism-shaped, for capturing the object in prism-shaped.Or, the first clamping part and the second folder
The shape holding portion can also be different, can set according to the true form of object.Further, the first clamping
Portion and the second clamping part can be applied in other instruments for the thing that diverts the aim.
In the present embodiment, it is assumed that the distance between 410 two solstics 412 of cam is E, two
Distance between near point 414 is F.Motor 200 band moving cam 410 rotates to solstics 412 and roller 430
Axis co-planar time, between centrage and the centrage of the second clamping part 620 of the first clamping part 610 away from
From for B (not shown).If the side-play amount between the centrage of the centrage of gripper 600 and reaction vessel 20 is
A, show observation visual angle with Fig. 4, the centrage of reaction vessel 20 relative to gripper 600 centrage to the right
The distance of skew is A.
When motor 200 band moving cam 410 rotates the axis co-planar to solstics 412 and roller 430, two
Individual slide block 320 is backed down by cam 410, moves along guide rail 310 is opposing, and the position of two slide block 320 motions
Phase shift is same, and now, gripper 600 reaches maximum open configuration, and spring 500 is stretched by two slide blocks 320.
The effect of power is mutual, and spring 500 can apply reverse pulling force to two slide blocks 320 equally.Work as cam
410 when being rotated further, and under the effect of spring 500, two slide blocks 320 can be along guide rail 310 relative motion.
Now, the first clamping part 610 can be close to each other with the second clamping part 620.Center due to reaction vessel 20
Line offsets to the right relative to the centrage of gripper 600, then, be positioned at right side second clamping part 620 can first with
Reaction vessel 20 contacts, and reaction vessel 20 will produce side force to the right to the second clamping part 620.
Now, by motor 200 power-off, then, under the effect of spring 500, two rollers 430 can squeeze
Belling wheel 410, cam 410 will go to the state of the axis co-planar of closest approach 414 and two rollers 430.This
Time, C from a distance between closest approach 414 and roller 430, also imply that, the first clamping part 610
Can the most at most move C distance.Further, can be released from above: C=(E-F)/2-B/2.When C is more than
When A, it is ensured that the free operating range of the first clamping part 610 is more than or equal to side-play amount A, the first folder
Hold portion 610 and can move A distance the most again, the A distance that is, the centrage of gripper 600 can move right,
Thus the centrage of gripper 600 aligns with the centrage of reaction vessel 20.Now, the first clamping part 610 with
The centrage of the second clamping part 620 overlaps.
As shown in Figures 1 and 3, in the present embodiment, device for grasping bodies 10 also includes first sensor
700.First sensor 700 hangs down and is located at one end that pedestal 100 is relative with guide rail 310.
Adjusting part 400 also includes the first catch 440.First catch 440 is located at described solstics 412,
And near pedestal 100.First catch 440 away from pedestal 100 side to the distance between pedestal 100 less than
Dagger 420 is distance away between pedestal 100 near one end of pedestal 100.This is it is ensured that the first catch 440
Will not interfere with support column 420 during rotating with revolving meber 410.
When closest approach 414 and two support columns 420 axis in the same plane time, the first catch 440 and
The position of one sensor 700 is the most right.
Whether first sensor 700 has resetted mainly for detection of motor 200.When gripper 600 to go to grab
During reaction vessel 20, it is connected on outward the control system on device for grasping bodies 10 and can first allow motor 200 reset,
Namely allow the closest approach 414 of cam 410 and the axis co-planar of two rollers 430, then, the first catch 440
First sensor 700 can be blocked.Now, reset can be completed signal and reach control system by first sensor 700,
Control system will send control instruction, allows motor 200 rotate, thus gripper 600 can open crawl instead
Answer container 20.
As in figure 2 it is shown, device for grasping bodies 10 also includes the second sensor 800 and the second catch 900.The
Two sensors 800 are located on one of them slide block 320, and the second catch 900 is located in another one slide block
On 320.On the direction of guide rail 310 to support column 420, between the second sensor 800 and the second catch 900
Every arrangement.
During distance minimum between the first clamping part 610 and the second clamping part 620, the second catch 900 with
The position of the second sensor 800 is the most right, and now, the second catch 900 can block going out of the second sensor 800
Light mouth.When gripper 600 grabs object, the second catch 900 along guide rail 310 away from the second sensor
800。
That is, the second sensor 800 is mainly used to detect whether gripper 600 catches object 20.When not grabbing
During to object 20, the second catch 900 blocks the second sensor；When catching object 20, second gear
Sheet 900 is just away from the induction region of the second sensor 800.
In the present embodiment, optical sensor all selected by first sensor 700 and the second sensor 800, can
Think infrared ray sensor, it is also possible to for magneto-optic effect sensor.Blocked or away from biography by sensing catch
The light-emitting window of sensor, sensor just can be to the status signal of outside control system launching objects grabbing device 10.
Each technical characteristic of embodiment described above can combine arbitrarily, for making description succinct, the most right
The all possible combination of each technical characteristic in above-described embodiment is all described, but, if these skills
There is not contradiction in the combination of art feature, is all considered to be the scope that this specification is recorded.
Embodiment described above only have expressed the several embodiments of the present invention, and it describes more concrete and detailed,
But can not therefore be construed as limiting the scope of the patent.It should be pointed out that, for this area
For those of ordinary skill, without departing from the inventive concept of the premise, it is also possible to make some deformation and change
Entering, these broadly fall into protection scope of the present invention.Therefore, the protection domain of patent of the present invention should be with appended power
Profit requires to be as the criterion.
Claims (10)
1. a device for grasping bodies, it is characterised in that include pedestal, driving means, slide track component, tune
Joint assembly, elastic component and gripper；
Described driving means is arranged on the side of described pedestal, is used for driving described adjusting part；
Described slide track component includes guide rail and slide block, and described guide rails assembling is in described pedestal and described driving means
Relative side, described slide block is provided with two, is connected with described slide respectively, and two described slide blocks
Can close to each other along described guide rail or away from；
Described adjusting part is arranged on the side that described pedestal is relative with described driving means, including revolving meber with
And support column, described revolving meber is connected with described driving means, and have maximum with center of rotation distance
Far point and the closest approach minimum with center of rotation distance, described support column is provided with two, is respectively arranged on described returning
Turn the both sides of part, and hang down respectively and be located on two described slide blocks, the rotation centerline of described revolving meber and two
The axis of described support column is positioned at the first plane, when the axis in described solstics with two described support columns is total to
During face, described revolving meber abuts with described support column, when described gripper catches object, and described closest approach
With the axis co-planar of two described support columns, and described revolving meber and described support column interval；
The two ends of described elastic component are connected with two described slide blocks respectively, when two described slide blocks are located remotely from each other,
Described elastic component is elongated；
Described gripper includes the first clamping part and the second clamping part, described first clamping part and described second clamping
Portion is oppositely arranged on two described slide blocks, and it is relative with described support column to be respectively arranged on two described slide blocks
Side.
Device for grasping bodies the most according to claim 1, it is characterised in that also include first sensor,
Described first sensor hangs down and is located at one end that described pedestal is relative with described guide rail；
Described adjusting part also includes that the first catch, described first catch are located at described solstics, and close
Described pedestal, described first catch is less than described away from the side of described pedestal to the distance between described pedestal
Dagger is distance away between described pedestal near one end of described pedestal；
When axis described in described closest approach and two in the same plane time, described first catch with described first pass
The position of sensor is the most right.
Device for grasping bodies the most according to claim 2, it is characterised in that described first sensor is
Optical sensor.
Device for grasping bodies the most according to claim 1, it is characterised in that also include the second sensor
And second catch, described second sensor is located on one of them described slide block, and described second catch hangs down and sets
On slide block described in another one, on the direction of described guide rail to described support column, described second sensor
It is intervally arranged with described second catch；
During distance minimum between described first clamping part and described second clamping part, described second catch with
The position of described second sensor is the most right；When described gripper grabs object, described second catch is along institute
State guide rail away from described second sensor.
Device for grasping bodies the most according to claim 4, it is characterised in that described second sensor is
Optical sensor.
Device for grasping bodies the most according to claim 1, it is characterised in that described adjusting part also wraps
Including roller, described roller is provided with two, is arranged in respectively on two described support columns；
When axis described in described solstics and two in the same plane time, described revolving meber and two described rollers
Tangent；When described gripper catches described object, described revolving meber and two described rollers do not contact.
Device for grasping bodies the most according to claim 1, it is characterised in that described elastic component is spring.
Device for grasping bodies the most according to claim 1, it is characterised in that described revolving meber is cam,
In symmetric figure centered by the sectional view of described cam, the rotation centerline of described cam and described gripper
Heart line is positioned at the second plane, and described first plane is vertical with described second plane.
Device for grasping bodies the most according to claim 1, it is characterised in that described driving means is electricity
Machine, described revolving meber is sheathed on the output shaft of described motor；
Or, described driving means is rotary magnet, and described revolving meber is sheathed on described rotary magnet
On output shaft.
Device for grasping bodies the most according to claim 1, it is characterised in that described first clamping part
Being oppositely arranged to be formed the cavity of band opening with described second clamping part, described cavity is used for housing object.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610482053.0A CN106002997B (en) | 2016-06-27 | 2016-06-27 | Device for grasping bodies |
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|---|---|---|---|
| CN201610482053.0A CN106002997B (en) | 2016-06-27 | 2016-06-27 | Device for grasping bodies |
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| CN106002997B CN106002997B (en) | 2018-04-20 |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108000544A (en) * | 2017-11-06 | 2018-05-08 | 泰州泽成生物技术有限公司 | One kind takes test tube gripper equipment |
| CN108177154A (en) * | 2018-01-26 | 2018-06-19 | 深圳迎凯生物科技有限公司 | Grab cup device |
| CN108638032A (en) * | 2018-05-24 | 2018-10-12 | 宁波美康盛德生物科技有限公司 | Handgrip mechanism and immunity analysis instrument for immunity analysis instrument |
| CN109109006A (en) * | 2018-09-28 | 2019-01-01 | 基蛋生物科技股份有限公司 | Electromagnetism gripper equipment |
| CN110203687A (en) * | 2019-07-04 | 2019-09-06 | 深圳市国赛生物技术有限公司 | Grabbing device |
| CN112405584A (en) * | 2020-11-30 | 2021-02-26 | 长园半导体设备(珠海)有限公司 | Clamping jaw driving structure |
| CN113921457A (en) * | 2021-09-30 | 2022-01-11 | 弥费实业(上海)有限公司 | Grabbing device and air transport vehicle |
| CN114590602A (en) * | 2020-12-03 | 2022-06-07 | 内蒙古蒙牛乳业（集团）股份有限公司 | Slice material placer and production line |
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| CN108000544A (en) * | 2017-11-06 | 2018-05-08 | 泰州泽成生物技术有限公司 | One kind takes test tube gripper equipment |
| CN108177154A (en) * | 2018-01-26 | 2018-06-19 | 深圳迎凯生物科技有限公司 | Grab cup device |
| CN108638032A (en) * | 2018-05-24 | 2018-10-12 | 宁波美康盛德生物科技有限公司 | Handgrip mechanism and immunity analysis instrument for immunity analysis instrument |
| CN109109006A (en) * | 2018-09-28 | 2019-01-01 | 基蛋生物科技股份有限公司 | Electromagnetism gripper equipment |
| CN110203687A (en) * | 2019-07-04 | 2019-09-06 | 深圳市国赛生物技术有限公司 | Grabbing device |
| CN110203687B (en) * | 2019-07-04 | 2021-05-18 | 深圳市国赛生物技术有限公司 | Gripping device |
| CN112405584A (en) * | 2020-11-30 | 2021-02-26 | 长园半导体设备(珠海)有限公司 | Clamping jaw driving structure |
| CN114590602A (en) * | 2020-12-03 | 2022-06-07 | 内蒙古蒙牛乳业（集团）股份有限公司 | Slice material placer and production line |
| CN114590602B (en) * | 2020-12-03 | 2024-04-19 | 内蒙古蒙牛乳业（集团）股份有限公司 | Flaky material placing device and production line |
| CN113921457A (en) * | 2021-09-30 | 2022-01-11 | 弥费实业(上海)有限公司 | Grabbing device and air transport vehicle |
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Address after: 518000 Shenzhen 1 Longgang biological technology plant 1, Baolong two road, Baolong street, Guangdong Patentee after: SHENZHEN YHLO BIOTECH CO., LTD. Address before: 518000 Guangdong, Shenzhen, Nanshan District Nanshan street, Xinghai Road, Li Shan Industrial Zone, 1-4 1-4 floors. Patentee before: SHENZHEN YHLO BIOTECH CO., LTD. |