CN102445357B - Dust particle separation and sampling gripper - Google Patents
Dust particle separation and sampling gripper Download PDFInfo
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- CN102445357B CN102445357B CN 201110304177 CN201110304177A CN102445357B CN 102445357 B CN102445357 B CN 102445357B CN 201110304177 CN201110304177 CN 201110304177 CN 201110304177 A CN201110304177 A CN 201110304177A CN 102445357 B CN102445357 B CN 102445357B
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- gripper
- driving box
- pawl
- jaw
- worm
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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 machinery of sampling pawl, 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 to be analyzed to its emitter-detector and collected specimens.Detector outer celestial body earth's surface sampling is over the ground completed by the sampling mechanism that is arranged on mechanical arm tail end 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, the collection of sample also collects present fixed point by initial blindness and accurately samples, and for example only gathers dust or the chad in a certain zone.Therefore, the outer space is explored the machinery of sampling pawl and is required quality light, simple and reliable for structure, can complete multiple sampling action, can carry out to the sample that gathers preliminary grit and separate.
Summary of the invention
The object of the present invention is to provide a kind of grit discrete sampling gripper, can complete multiple sampling action, the sample that gathers is carried out the topsoil sample collection gripper that preliminary grit separates.
The technical solution used in the present invention 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 arranged in 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 top inversion of gripper shovel pawl has 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 slidably matched.
The identical driving mechanism of described two nested structures, every cover driving mechanism includes drive motor, gear drive, Worm and worm-wheel gearing; The first drive motor is after the first gear drive, the first Worm and worm-wheel gearing, and the first worm-wheel shaft two ends are stretched out the first outer output shaft two ends of driving box and shoveled pawl with gripper and be rotationally connected; The second drive motor is after the second gear drive, the second Worm and worm-wheel gearing, and the second worm-wheel shaft two ends are stretched out driving box outer the second output shaft two ends and gripper jaw and are rotationally connected; Be arranged on the two parallel opposite installations of cover driving mechanism in driving box.
Described gripper jaw comprises rake and soft brush, and an end of soft brush becomes 75 ° of upper ends that are arranged on 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 and shovel pawl rear deck are separated by by 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 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 complete 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 structural representation of the present invention.
Fig. 2 is profile schematic diagram of the present invention
Fig. 3 is gripper driving box schematic diagram of the present invention.
Fig. 4 is gripper jaw schematic diagram of the present invention.
Fig. 5 is gripper shovel pawl schematic diagram of the present invention.
In 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, Worm Wheel System, 9, rake, 10, soft brush, 11, shovel pawl front deck, 12, shovel pawl rear deck.
Embodiment
Below in conjunction with drawings and Examples, invention is described further.
As shown in Figure 1 and 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 complete when the present invention works take off, push away, dig, the action such as shovel; Gripper jaw 2 separately is equipped with soft brush 11, can complete grit and separate under mechanical grab jaw pawl 4 coordinates; 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 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 top inversion of gripper shovel pawl 4 has 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, can make the other end of gripper jaw 2 in the interior rotation of gripper shovel pawl 4, and the bottom surface formation of gripper jaw 2 end faces and gripper shovel pawl 4 is slidably 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; The first drive motor is after the first gear drive, the first Worm and worm-wheel gearing, and the first worm-wheel shaft two ends are stretched out the first outer output shaft two ends of driving box and shoveled pawl 4 with gripper and be rotationally connected; The second drive motor is after the second gear drive, the second Worm and worm-wheel gearing, and the second worm-wheel shaft two ends are stretched out driving box outer the second output shaft two ends and gripper jaw 2 and are rotationally connected; Be arranged on the two parallel opposite installations of cover driving mechanism in driving box.Drive motor is by geometric ratio gear and the motion of Worm Wheel System control claw.Worm Wheel System guarantees that gripper has auto-lock function, thereby can stop the drive motor power supply when carrying out some actions, saves energy.
As shown in Figure 4, 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 arranged on rake 9.Jaw of the present invention is the rake shape, and end is sharp, and the resistance when between rake teeth, spacing can reduce to take off, dig action also can tentatively be cleared up the earth's surface chad before carrying out the grit separation.Become 75 ° with pawl on jaw and be fixed with banister brush, banister brush length can guarantee bottom complete inswept shovel pawl front deck, micronic dust can be swept as shovel pawl rear deck, stays simultaneously chad.
As shown in Figure 5, described 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 by a circular arc dividing plate, have breach in the middle of the circular arc dividing plate and be 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 completed shovel, the function such as digs, and rear deck is used for depositing dust, and funnel is detachable.Be the curve of particular design at the bottom of 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 arranged in the gripper driving box, stretch out the two ends of the first output shaft outside the gripper driving box and an end of gripper shovel pawl (4) and be rotationally connected, the other end top inversion of gripper shovel pawl (4) has funnel (3); Stretching out the two ends of the second output shaft outside the gripper 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 slidably 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; The first drive motor is after the first gear drive, the first Worm and worm-wheel gearing, and the first output shaft two ends and the gripper shovel pawl (4) that stretch out outside the gripper driving box at the first worm-wheel shaft two ends are rotationally connected; The second drive motor is after the second gear drive, the second Worm and worm-wheel gearing, and the second output shaft two ends and the gripper jaw (2) that stretch out outside the gripper driving box at the second worm-wheel shaft two ends are rotationally connected; Be arranged on the two parallel opposite installations of cover driving mechanism in the gripper driving box.
3. a kind of grit discrete sampling gripper according to claim 1, it 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 arranged on 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 is positioned at shovel pawl front deck top at gripper driving box (1), shovel pawl front deck and shovel pawl rear deck are separated by by a circular arc dividing plate, have breach in the middle of the circular arc dividing plate and be 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 CN102445357A (en) | 2012-05-09 |
| CN102445357B true CN102445357B (en) | 2013-06-12 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201110304177 Active CN102445357B (en) | 2011-10-10 | 2011-10-10 | Dust particle separation and sampling gripper |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106404619B (en) * | 2016-11-15 | 2023-12-22 | 重庆科技学院 | Original particle size measurement system for sintering mixture |
| CN109822613B (en) * | 2019-01-29 | 2022-02-08 | 北京镁伽机器人科技有限公司 | Mechanical claw assembly and robot |
| CN115096686B (en) * | 2022-08-24 | 2022-11-29 | 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 |
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| Publication number | Publication date |
|---|---|
| CN102445357A (en) | 2012-05-09 |
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