CN102445357A - Dust particle separation and sampling gripper - Google Patents
Dust particle separation and sampling gripper Download PDFInfo
- Publication number
- CN102445357A CN102445357A CN2011103041777A CN201110304177A CN102445357A CN 102445357 A CN102445357 A CN 102445357A CN 2011103041777 A CN2011103041777 A CN 2011103041777A CN 201110304177 A CN201110304177 A CN 201110304177A CN 102445357 A CN102445357 A CN 102445357A
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- China
- Prior art keywords
- gripper
- driving box
- pawl
- worm
- shovel pawl
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Abstract
The invention discloses a dust particle separation and sampling gripper, which contains a gripper driving box, a gripper jaw, a tunnel and a gripper shoveling pawl. Two driving mechanisms with the same structure are installed inside the driving box. Two first output shaft ends which extend out from the driving box is rotationally connected with one end of the gripper shoveling pawl. The inverting tunnel is disposed on the upper portion of the other end of the gripper shoveling pawl. Two second output shaft ends which extend out from the driving box are rotationally connected with one end of the gripper jaw. The rotation of one end of the gripper jaw can make the other end of the gripper jaw to rotate inside gripper shoveling pawl. In addition, the transverse plane of the gripper jaw forms sliding fit with the bottom of the gripper shoveling pawl. The invention can complete movements of jawing, shoveling, pushing, digging and clamping. Simultaneously, a soft brush of the jaw and a rear chamber of the shoveling pawl can be utilized to carry out dust particle separation on collected samples. The dust particle separation and sampling gripper has advantages of simple structure and flexible movements, can be used to carry out dust particle separation on the samples, and can satisfy the requirement of outer space exploration on surface sampling.
Description
Technical field
The present invention relates to a kind of sampling gripper, specifically relate to a kind of grit discrete sampling gripper.
Background technology
Space probation field outside is for outer celestial body research over the ground need be analyzed to its emitter-detector and collected specimens.The sampling of the outer over the ground celestial body of the detector face of land is accomplished through being installed in the terminal sampling mechanism of mechanical arm usually.Along with going deep into of research, to the requirement of sampling mechanism and action thereof also by initial shovel and simple motion multi-functional integrated gripper and many sampling actions till now.Simultaneously, sample collecting also collects present fixed point by initial blindness and accurately samples, and for example only gathers the dust or the chad in a certain zone.Therefore, the outer space is explored the sampling gripper and required light weight, and is simple and reliable for structure, can accomplish multiple sampling action, can carry out preliminary grit to the sample of being gathered and separate.
Summary of the invention
The object of the present invention is to provide a kind of grit discrete sampling gripper, can accomplish multiple sampling action, the sample of being gathered is carried out the topsoil sample collecting gripper that preliminary grit separates.
The technical scheme that the present invention adopts is:
The present invention includes the gripper driving box, gripper jaw, funnel, gripper shovel pawl; Have the identical driving mechanism of two nested structures to be installed in the driving box, stretch out the two ends of the first outer output shaft of driving box and an end of gripper shovel pawl and be rotationally connected, the other end inverted upper of gripper shovel pawl is equipped with funnel; Stretching out the two ends of the second outer output shaft of driving box and an end of gripper jaw is rotationally connected; After one end of gripper jaw rotates; The other end of gripper jaw is rotated in gripper shovel pawl, and the bottom surface formation of gripper jaw end face and gripper shovel pawl is slidingly matched.
The identical driving mechanism of described two nested structures, every cover driving mechanism includes drive motor, gear drive, Worm and worm-wheel gearing; First drive motor is behind first gear drive, first Worm and worm-wheel gearing, and the first outer output shaft two ends of driving box are stretched out at the first worm-wheel shaft two ends and gripper shovel pawl is rotationally connected; Second drive motor is behind second gear drive, second Worm and worm-wheel gearing, and the second worm-wheel shaft two ends are stretched out the driving box outer second output shaft two ends and gripper jaw and are rotationally connected; Be installed in the parallel opposite installation of two cover driving mechanisms in the driving box.
Described gripper jaw comprises rake and soft brush, and an end of soft brush becomes 75 ° of upper ends that are installed in rake.
Described gripper shovel pawl is divided into shovel pawl front deck and shovel pawl rear deck; The gripper driving box is positioned at shovel pawl front deck top; Shovel pawl front deck is separated by through a circular arc dividing plate with shovel pawl rear deck, has breach in the middle of the circular arc dividing plate and is communicated with, in the top upside down funnel of gripper shovel pawl rear deck.
The beneficial effect that the present invention has is:
The present invention adopts two pawl mechanisms of jaw and shovel pawl to carry out the surface sample sampling, and two pawls all pass through particular design, can accomplish the action of taking off, shovel, push away, dig, pressing from both sides.Simultaneously, utilize the soft brush of jaw and the rear deck of shovel pawl can carry out grit to collected specimens and separate.This grit discrete sampling gripper is simple in structure, flexible movements, and can carry out grit to sample and separate, can satisfy the requirement that the outer space is explored the surface sampling.
Description of drawings
Fig. 1 is a structural representation of the present invention.
Fig. 2 is a profile synoptic diagram of the present invention
Fig. 3 is a gripper driving box synoptic diagram of the present invention.
Fig. 4 is a gripper jaw synoptic diagram of the present invention.
Fig. 5 is a gripper shovel pawl synoptic diagram of the present invention.
Among the figure: 1, gripper driving box, 2, the gripper jaw, 3, funnel, 4, gripper shovel pawl, 5, the driving box casing, 6, gear drive, 7, drive motor, 8, the worm and gear transmission, 9, rake, 10, soft brush, 11, shovel pawl front deck, 12, shovel pawl rear deck.
Embodiment
Below in conjunction with accompanying drawing and embodiment invention is described further.
Like Fig. 1, shown in Figure 2, a kind of grit discrete sampling gripper mainly comprises gripper driving box 1, gripper jaw 2, funnel 3, gripper shovel pawl 4.Can accomplish when the present invention works take off, push away, dig, action such as shovel; Gripper jaw 2 is equipped with soft brush 11 in addition, under mechanical grab jaw pawl 4 cooperates, can accomplish grit and separate; Funnel 3 can guide the dust of shovel pawl rear deck to pour out.The identical driving mechanism of two nested structures is installed in the gripper driving box 1, stretches out the two ends of the first outer output shaft of driving box and an end of gripper shovel pawl 4 and be rotationally connected, the other end inverted upper of gripper shovel pawl 4 is equipped with funnel 3.Stretching out the two ends of the second outer output shaft of driving box and an end of gripper jaw 2 is rotationally connected; After one end of gripper jaw 2 rotates; The other end of gripper jaw 2 is rotated in gripper shovel pawl 4, and the bottom surface formation of gripper jaw 2 end faces and gripper shovel pawl 4 is slidingly matched.
As shown in Figure 3, the identical driving mechanism of described two nested structures, every cover driving mechanism includes drive motor, gear drive, Worm and worm-wheel gearing; First drive motor is behind first gear drive, first Worm and worm-wheel gearing, and the first outer output shaft two ends of driving box are stretched out at the first worm-wheel shaft two ends and gripper shovel pawl 4 is rotationally connected; Second drive motor is behind second gear drive, second Worm and worm-wheel gearing, and the second worm-wheel shaft two ends are stretched out the driving box outer second output shaft two ends and gripper jaw 2 and are rotationally connected; Be installed in the parallel opposite installation of two cover driving mechanisms in the driving box.Drive motor is through geometric ratio gear and the motion of worm and gear transmission control pawl.The worm and gear transmission guarantees that gripper has auto-lock function, thereby when carrying out some actions, can stop the drive motor power supply, saves energy.
As shown in Figure 4, said gripper jaw 2 comprises rake 9 and soft brush 10, and an end of soft brush 10 becomes 75 ° of upper ends that are installed in rake 9.Jaw of the present invention is the rake shape, and is terminal sharp, and the resistance when spacing can reduce to take off, dig action between the rake teeth also can tentatively be cleared up face of land chad before carrying out the grit separation.Become 75 ° to be fixed with banister brush with pawl on the jaw, banister brush length can guarantee complete inswept shovel pawl front deck bottom, can micronic dust be swept like shovel pawl rear deck, stays chad simultaneously.
As shown in Figure 5; Said gripper shovel pawl 4 is divided into cabin 11 and shovel pawl rear deck 12; Gripper driving box 1 is positioned at shovel pawl front deck 11 tops; Both are separated by shovel pawl front deck 11 and shovel pawl rear deck 12 through a circular arc dividing plate, have breach in the middle of the circular arc dividing plate and are communicated with, in the top upside down funnel 3 of gripper shovel pawl rear deck.Gripper of the present invention shovel pawl front deck can be accomplished shovel, function such as digs, and rear deck is used to deposit dust, and funnel is detachable.Be the curve of particular design at the bottom of the front deck, when carrying out the grit mask work, can make the soft brush of jaw can inswept front deck at the bottom of, guarantee that dust is swept rear deck.
Claims (4)
1. a grit discrete sampling gripper is characterized in that: comprise gripper driving box (1), gripper jaw (2), funnel (3), gripper shovel pawl (4); Have the identical driving mechanism of two nested structures to be installed in the driving box, stretch out the two ends of the first outer output shaft of driving box and an end of gripper shovel pawl (4) and be rotationally connected, the other end inverted upper of gripper shovel pawl (4) is equipped with funnel (3); Stretching out the two ends of the second outer output shaft of driving box and an end of gripper jaw (2) is rotationally connected; After one end of gripper jaw (2) rotates; The other end of gripper jaw (2) is rotated in gripper shovels pawl (4), and the bottom surface formation of gripper jaw (2) end face and gripper shovel pawl (4) is slidingly matched.
2. a kind of grit discrete sampling gripper according to claim 1 is characterized in that: the identical driving mechanism of described two nested structures, and every cover driving mechanism includes drive motor, gear drive, Worm and worm-wheel gearing; First drive motor is behind first gear drive, first Worm and worm-wheel gearing, and the first outer output shaft two ends of driving box are stretched out at the first worm-wheel shaft two ends and gripper shovel pawl (4) is rotationally connected; Second drive motor is behind second gear drive, second Worm and worm-wheel gearing, and the second worm-wheel shaft two ends are stretched out the driving box outer second output shaft two ends and gripper jaw (2) and are rotationally connected; Be installed in the parallel opposite installation of two cover driving mechanisms in the driving box.
3. a kind of grit discrete sampling gripper according to claim 1 is characterized in that: described gripper jaw (2) comprises rake (9) and soft brush (10), and an end of soft brush (10) becomes 75 ° of upper ends that are installed in rake (9).
4. a kind of grit discrete sampling gripper according to claim 1; It is characterized in that: described gripper shovel pawl is divided into shovel pawl front deck and shovel pawl rear deck; Gripper driving box (1) is positioned at shovel pawl front deck top; Shovel pawl front deck is separated by through a circular arc dividing plate with shovel pawl rear deck, has breach in the middle of the circular arc dividing plate and is communicated with, in the top upside down funnel of gripper shovel pawl rear deck.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110304177 CN102445357B (en) | 2011-10-10 | 2011-10-10 | Dust particle separation and sampling gripper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110304177 CN102445357B (en) | 2011-10-10 | 2011-10-10 | Dust particle separation and sampling gripper |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102445357A true CN102445357A (en) | 2012-05-09 |
| CN102445357B CN102445357B (en) | 2013-06-12 |
Family
ID=46008066
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201110304177 Active CN102445357B (en) | 2011-10-10 | 2011-10-10 | Dust particle separation and sampling gripper |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102445357B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106404619A (en) * | 2016-11-15 | 2017-02-15 | 重庆科技学院 | Determining system for original granularity of sintering mixture |
| CN109822613A (en) * | 2019-01-29 | 2019-05-31 | 北京镁伽机器人科技有限公司 | Mechanical claw assembly and robot |
| CN115096686A (en) * | 2022-08-24 | 2022-09-23 | 成都青软智控科技有限公司 | Automatic weighing and sample separating equipment for soil powder |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU830177A1 (en) * | 1979-08-08 | 1981-05-15 | Институт Экспериментальной Метеорологии | Device for sampling surface from layer |
| US4356734A (en) * | 1979-07-06 | 1982-11-02 | Dalmandi Allami Gazdasag | Soil sampling device |
| FR2634018A1 (en) * | 1988-07-08 | 1990-01-12 | Dosim Dev Sa | Device for inspecting the dust covering a surface |
| CN101109674A (en) * | 2007-08-30 | 2008-01-23 | 北京航空航天大学 | Moon soil sampling device |
| CN101863033A (en) * | 2010-06-23 | 2010-10-20 | 东南大学 | Multi-functional combined paw of nuclear and chemical reconnaissance robot |
-
2011
- 2011-10-10 CN CN 201110304177 patent/CN102445357B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4356734A (en) * | 1979-07-06 | 1982-11-02 | Dalmandi Allami Gazdasag | Soil sampling device |
| SU830177A1 (en) * | 1979-08-08 | 1981-05-15 | Институт Экспериментальной Метеорологии | Device for sampling surface from layer |
| FR2634018A1 (en) * | 1988-07-08 | 1990-01-12 | Dosim Dev Sa | Device for inspecting the dust covering a surface |
| CN101109674A (en) * | 2007-08-30 | 2008-01-23 | 北京航空航天大学 | Moon soil sampling device |
| CN101863033A (en) * | 2010-06-23 | 2010-10-20 | 东南大学 | Multi-functional combined paw of nuclear and chemical reconnaissance robot |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106404619A (en) * | 2016-11-15 | 2017-02-15 | 重庆科技学院 | Determining system for original granularity of sintering mixture |
| CN106404619B (en) * | 2016-11-15 | 2023-12-22 | 重庆科技学院 | Original particle size measurement system for sintering mixture |
| CN109822613A (en) * | 2019-01-29 | 2019-05-31 | 北京镁伽机器人科技有限公司 | Mechanical claw assembly and robot |
| CN115096686A (en) * | 2022-08-24 | 2022-09-23 | 成都青软智控科技有限公司 | Automatic weighing and sample separating equipment for soil powder |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102445357B (en) | 2013-06-12 |
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