CN108333079A - A kind of intelligent robot for detection density - Google Patents
A kind of intelligent robot for detection density Download PDFInfo
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- CN108333079A CN108333079A CN201711499377.6A CN201711499377A CN108333079A CN 108333079 A CN108333079 A CN 108333079A CN 201711499377 A CN201711499377 A CN 201711499377A CN 108333079 A CN108333079 A CN 108333079A
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- hanging basket
- holding claw
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N9/00—Investigating density or specific gravity of materials; Analysing materials by determining density or specific gravity
- G01N9/08—Investigating density or specific gravity of materials; Analysing materials by determining density or specific gravity by measuring buoyant force of solid materials by weighing both in air and in a liquid
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Abstract
The invention discloses a kind of intelligent robots for detection density, belong to intelligent robot technology field.The present invention includes main robot unit, Density Detection unit and objective table unit, and the main mechanical cleft hand of main robot unit is installed on main mechanical arm, and main mechanical arm drives the crawl of main mechanical cleft hand, mobile article to be measured；Density Detection unit weighing mechanism lower part is provided with hoisting mechanism, which lifts article to be measured, and the measurement solution pool is set to the lower part of hoisting mechanism；Objective table unit is for carrying article to be measured.Article to be measured is first placed on weighing mechanism and weighs by the present invention, then article to be measured is immersed in solution and is weighed, and then detects the density of article to be measured.
Description
Technical field
The present invention relates to field in intelligent robotics, more specifically to a kind of intelligent robot for detection density.
Background technology
High risk industries refer to that there are greater risk, the higher industries of danger coefficient.High risk industries due to operating environment complexity,
Emergency situations are unpredictable；There is universal high-risk work post in existing manufacturing industry, worked using robot, it both can be with
It guarantees both quality and quantity to complete work, and it is possible to prevente effectively from the potential dangerous threat for bringing the person.
It is multiple that many places of the industries such as the manufacturing, health care, nuclear test and nuclear power, chemical metallurgy will produce a large amount of components
The danger compound product that miscellaneous, density unevenness, corrosivity are big, radioactivity is high, easily cause serious injury to people, animal and environment.This
Class danger compound body is generally stored within the enclosed space using the method for isolation；The sample detection of danger compound product is non-in processing procedure
Often important link, this stage is sometimes for the detection of the physical property to compound product of endangering, the various objects for compound body of being endangered with understanding
Manage index.Wherein, the density of danger compound product is just important an index parameter.But existing robot detecting system, and
It is not specifically applied to the Density Detection equipment of danger compound product so that the Density Detection of irregular shape danger compound product becomes skill
Problem in art so that existing technical staff is difficult to effectively analyze the various physical parameters of danger compound product.
Through retrieval, innovation and creation it is entitled：A kind of high-risk environment welding robot (application number：201610869367.6
The applying date：2016-10-01) comprising welding rod, four ducted fans, parallel mechanical arm, pedestal, four adsorbable pedipulators,
Pedestal includes transverse slat, turnover panel, two shafts, and transverse slat is the square plate that a centre is equipped with rectangular window, in rectangular window
Both sides be respectively provided with a shaft, one piece is equipped in rectangular window can enclose the turnover panel to rotate around the axis, above turnover panel
Parallel mechanical arm is installed；Use four ducted fans to provide lift for robot, and using four adsorbable pedipulators with
It is fixed between workpiece, while the straight line welding of any direction, curve welding can be met using parallel mechanical arm.The technology
Although realizing high-risk environment welding job, still it is difficult to realize under high-risk environment to the Density Detection for compound product of endangering.
In addition, innovation and creation is entitled：A kind of danger solution extracting method (application number based on mobile robot：
201710073718.7 the applying date：2017-02-10) comprising mobile-robot system state-detection and initial work
Method；The method of supervisory control desk system dangerization solution extraction instruction issuing；The method that mobile route is planned automatically；Dangerization solution is certainly
Dynamic positioning and the method quantitatively extracted；The method that dangerization solution secure storage, transport and fixed point are placed；Extra dangerization solution is certainly
The method of dynamic processing.This method is suitable for dangerization solution sampling detection-phase, by introducing a kind of danger based on mobile robot
Change solution extraction system, the fixed danger solution extraction device used in high-risk environment is substituted for the corrosion resistant shifting of radiation protection
Mobile robot dangerization solution extraction device, to realize that dangerization solution is efficient, quantify, Visual Inference operation.Although the technology
The extraction of dangerization solution is realized, but is still difficult to realize the Density Detection to compound product of endangering.
Invention content
1. technical problems to be solved by the inivention
It is an object of the invention to overcome in the prior art, it is difficult to the deficiency that the density for compound product of endangering is detected, carry
For a kind of intelligent robot for detection density, co-operated by main robot unit and Density Detection unit, it will be to be measured
Article is moved to Density Detection unit, and carries out Density Detection to article to be measured, and the Density Detection to compound product of endangering may be implemented.
2. technical solution
In order to achieve the above objectives, technical solution provided by the invention is：
A kind of intelligent robot for detection density of the present invention, main robot unit, the master of the main robot unit
Mechanical claw hand is installed on main mechanical arm, and main mechanical arm drives the crawl of main mechanical cleft hand, mobile article to be measured；Density Detection unit,
The Density Detection unit weighing mechanism lower part is provided with hoisting mechanism, which lifts article to be measured, the measurement
Solution pool is set to the lower part of hoisting mechanism；Objective table unit, the objective table unit is for carrying article to be measured.
Preferably, the main mechanical cleft hand includes bar shaped clamping jaw, axial prong hand fixed plate and axial prong hand revolving part, host machinery claw
Hand is rotatablely connected by axial prong hand revolving part and main mechanical arm, and axial prong hand fixed plate is installed on axial prong hand revolving part, clevis
Pawl is installed in axial prong hand fixed plate.
Preferably, Density Detection unit further includes elevating mechanism, which includes lifter plate, lifting and driving bar and drive
Dynamic component is provided with feed screw on the driving part, and the top of the driving part is provided with lifter plate, is arranged on lifter plate
Have and drives lifter plate to carry out elevating movement, the liter by feed screw with the matched threaded hole of feed screw, driving part
The top of drop plate is provided with lifting and driving bar, and the top of the lifting and driving bar is connected with solution pool is measured.
Preferably, hanging basket supporting mechanism is provided on objective table unit, the hanging basket supporting mechanism is hung for carrying sample
Basket；Or/and counterweight supporting mechanism is provided on objective table unit, counterweight supporting mechanism is for carrying counterweight.
Preferably, the first assembly side of axial prong hand fixed plate is provided with horizontal slide rail, be provided on bar shaped clamping jaw with it is above-mentioned
The matched transverse slider of sliding slot, bar shaped clamping jaw can be opened and closed along the length direction of horizontal slide rail.
Preferably, the end set of bar shaped clamping jaw has lateral V-shaped groove, and longitudinal V-shaped groove is provided in the middle part of bar shaped clamping jaw, horizontal
To holding tank is provided between V-shaped groove and longitudinal V-shaped groove, the opening direction of the transverse direction V-shaped groove is transversely to the machine direction V-shaped groove
Opening direction.
Preferably, the main mechanical cleft hand further includes small holding claw, and the small holding claw is installed on the of axial prong hand fixed plate
Four assembly sides, the small holding claw include lower part holding claw and top holding claw, and the lower part holding claw and top holding claw are set as arc-shaped,
And the crooked radian of top holding claw is less than the crooked radian of lower part holding claw, the top holding claw is set to the top of lower part holding claw,
And holding claw notch is formed between top holding claw and lower part holding claw.
Preferably, the elevating mechanism further includes lifting support member, which includes vertical supporting rod, lower part
Cross bar and upper cross bar, vertical supporting rod are fixedly installed in the bottom support plate of detection unit frame, and lower crosspiece is fixedly mounted
In the lower part of vertical supporting rod, upper cross bar is fixedly installed in the top of vertical supporting rod, is set between the lower crosspiece and upper cross bar
It is equipped with guiding montant, be provided on the lifter plate and is oriented to the matched pilot hole of montant, lifter plate is filled by pilot hole
It fits over and is oriented on montant, lifter plate can in the vertical direction be moved with montant is oriented to.
Preferably, hoisting mechanism includes vertical loading board, hanging basket frame and hanging basket hanging plate, passes through hook at the top of the vertical loading board
It is connected with weighing mechanism, vertical loading board lower part is connected by hinge with hanging basket frame, and the bottom of the hanging basket frame is provided with hanging basket hanging plate.
Preferably, the Density Detection unit is provided with temperature measuring mechanism, which, which is used to detect, measures solution pool
Liquid level sensor is provided in temperature or/and Density Detection unit, liquid level sensor is used to detect the liquid level height for measuring solution pool
Degree.
3. advantageous effect
Using technical solution provided by the invention, compared with existing known technology, there is following remarkable result：
(1) a kind of intelligent robot for detection density of the invention, the main mechanical cleft hand crawl of main robot unit
Article to be measured on objective table, and article to be measured is placed on the weighing mechanism of Density Detection unit weighed to obtain it is to be measured
The quality of article is mObject, after article to be measured is immersed in the measurement solution pool of Density Detection unit, the mass change of weighing mechanism
For Δ m, and then detect the density of article to be measured；When Density Detection for compound product of endangering, danger compound product can be effectively prevented from
Influence to health of human body；
(2) a kind of intelligent robot for detection density of the invention, main mechanical cleft hand by axial prong hand revolving part and
Main mechanical arm is rotatablely connected, and axial prong hand fixed plate is installed on axial prong hand revolving part, and bar shaped clamping jaw is installed on axial prong hand fixed plate
On, the flexibility ratio during Density Detection is improved, and then the efficiency of detection can be improved；
(4) top of a kind of intelligent robot for detection density of the invention, vertical loading board passes through hook and weighing machine
Structure is connected, and vertical loading board lower part is connected by hinge with hanging basket frame, and the bottom of hanging basket frame is provided with hanging basket hanging plate, and hoisting mechanism can be with
Stable is mounted on weighing mechanism, and hanging basket hanging plate is used for carry sample hanging basket, is convenient for the operation of Density Detection；
(5) a kind of intelligent robot for detection density of the invention, the end set of bar shaped clamping jaw have lateral V-arrangement
Slot is provided with longitudinal V-shaped groove in the middle part of bar shaped clamping jaw, is provided with holding tank between lateral V-shaped groove and longitudinal V-shaped groove, improves
Mechanically operated stability and flexibility, and then convenient for the operation of Density Detection.
Description of the drawings
Fig. 1 is the overall structure diagram of the present invention；
Fig. 2 is the structural schematic diagram (visual angle 1) of the Density Detection unit of the present invention；
Fig. 3 is the structural schematic diagram (visual angle 2) of the Density Detection unit of the present invention；
Fig. 4 is the weighing mechanism and hoisting mechanism schematic diagram of the Density Detection unit of the present invention；
Fig. 5 is the enlarged structure schematic diagram of the weighing mechanism of the present invention；
Fig. 6 is the overall structure diagram of the objective table unit of the present invention；
Fig. 7 is the objective table unit and its counterweight supporting mechanism enlarged structure schematic diagram of the present invention；
Fig. 8 is the structural schematic diagram of the hanging basket supporting mechanism of the present invention；
Fig. 9 is the structural schematic diagram of the counterweight support member of the counterweight supporting mechanism of the present invention；
Figure 10 is the sectional view of counterweight support member of the present invention；
Figure 11 is the structural schematic diagram of the main mechanical cleft hand of the present invention；
Figure 12 is the structural schematic diagram for taking lid pawl of the main mechanical cleft hand of the present invention；
Figure 13 is the sectional view of the measurement solution pool of the embodiment of the present invention 5；
Label declaration in schematic diagram：
100, main robot unit；
101, main mechanical cleft hand；102, main mechanical arm；110, bar shaped clamping jaw；111, lateral V-shaped groove；112, holding tank；
113, longitudinal V-shaped groove；114, clamping jaw stomata；115, transverse slider；120, big holding claw；121, holding claw stomata；122, holding claw boss；
123, moving block I；130, lid pawl is taken；131, lid supporting rod is taken；132, lid clamping piece is taken；133, alignment sensor；134, it is clamped
Mouthful；140, small holding claw；141, lower part holding claw；142, top holding claw；143, holding claw notch；144, moving block II；145, lower part is convex
Platform；150, axial prong hand fixed plate；151, the first assembly side；1511, horizontal slide rail；152, the second assembly side；153, third is assembled
End；1531, be open sliding rail；154, the 4th assembly side；160, axial prong hand revolving part.
300, Density Detection unit；
310, weighing mechanism；311, top weighs balance；312, auxiliary weighs box；313, bar is weighed；314, device is weighed；
315, hook is weighed；320, hoisting mechanism；321, vertical loading board；3211, heater element；322, hanging basket frame；323, hanging basket hanging plate；
3231, hanging plate concave arc side；3232, hanging plate first side；3233, hanging plate second side；3234, hanging plate guide surface；330, it measures
Solution pool；331, bath support plate；332, lower-weighing component；333, run-off；334, spout hole；3361, lower stabilier；
3362, middle stabilier；3363, stabilier is pushed up；3364, current stabilization plate hole；340, elevating mechanism；341, vertical supporting rod；342, lower part
Cross bar；343, upper cross bar；344, lifter plate；345, lifting and driving bar；346, it is oriented to montant；347, feed screw；348, it drives
Dynamic component；350, detection unit frame；351, top support plate；352, bottom support plate；353, vertical support frame；361, it surveys
Warm mechanism；3611, detector probe；362, liquid level sensor；363, handling hanging rod；
400, objective table unit；
410, sample hanging basket；420, object carrying support；421, rack leg；430, hanging basket supporting mechanism；431, hanging basket support portion
Part；432, hanging basket support plate；4321, support plate guide surface；4322, support plate cancave cambered surface；4323, cambered surface fumarole；4324, it props up
Fagging heater；433, dry jet plate；4331, bottom fumarole；440, counterweight supporting mechanism；441, counterweight heating platform；
442, counterweight support member；443, counterweight heating collar；444, jet inclined-plane；445, main jet stomata；446, inclined-plane fumarole；447、
Equal channeling slot；448, counterweight support surface；450, tank supporting mechanism is accommodated；451, tank claw is accommodated；
600, bottom plate platform.
Specific implementation mode
The detailed description for the exemplary embodiment hereafter invented the present invention forms the one of description with reference to attached drawing, the attached drawing
Part has been shown as example the enforceable exemplary embodiment of invention of the invention in the figure.Although these exemplary realities
Example is applied to be described in sufficient detail so that those skilled in the art can implement invention of the present invention, it is to be understood that it can be realized
His embodiment and can various changes can be made to present invention invention in the case where not departing from the spirit and scope that the present invention invents.Hereafter
The range that the required present invention invents is not limited to the more detailed description of the embodiment of the invention invented, and only
In order to be illustrated and do not limit the description of the characteristics of inventing the present invention and feature, to propose to execute what the present invention invented
Best mode, and it is sufficient to make those skilled in the art that can implement invention of the present invention.Therefore, the range that the present invention invents only by
Appended claims limit.
Hereafter the detailed description of the invention invented and example embodiment are more fully understood in combination with attached drawing, wherein this hair
The element and feature of bright invention are identified by reference numeral.
Embodiment 1
In conjunction with Fig. 1-Figure 13, a kind of intelligent robot for detection density of the invention, including main robot unit 100
With Density Detection unit 300, wherein main robot unit 100 includes main mechanical cleft hand 101 and main mechanical arm 102, the host
Machinery claw hand 101 is installed on main mechanical arm 102, and main mechanical arm 102 drives 101 crawl of main mechanical cleft hand, mobile article to be measured；It is main
Robot cell 100, Density Detection unit 300 and objective table unit 400 are installed on bottom plate platform 600 (as shown in Figure 1).
Main robot unit 100 includes main mechanical cleft hand 101 and main mechanical arm 102, and the main mechanical cleft hand 101 is installed on
Main mechanical arm 102, main mechanical arm 102 drive 101 crawl of main mechanical cleft hand, mobile article to be measured；Main mechanical cleft hand 101 includes item
Clevis pawl 110, axial prong hand fixed plate 150 and axial prong hand revolving part 160, main mechanical cleft hand 101 pass through axial prong hand revolving part 160
It is rotatablely connected with main mechanical arm 102, axial prong hand fixed plate 150 is installed on axial prong hand revolving part 160, and bar shaped clamping jaw 110 is installed
In in axial prong hand fixed plate 150.Setting is provided with the first assembly there are four station on four stations in axial prong hand fixed plate 150
The 151, second assembly side 152, third assembly side 153 and the 4th assembly side 154 are held, and four stations are uniformly distributed in axial prong hand
The four direction of fixed plate 150.The lower part of the first wherein above-mentioned assembly side 151 is provided with horizontal slide rail 1511, and the transverse direction
The length direction of sliding rail 1511 is provided with and above-mentioned sliding slot phase perpendicular to the length direction of bar shaped clamping jaw 110 on bar shaped clamping jaw 110
The transverse slider 115 of cooperation, bar shaped clamping jaw 110 can be opened and closed along the length direction of horizontal slide rail 1511.Bar shaped clamping jaw 110
End set has lateral V-shaped groove 111, and the slot bottom of the transverse direction V-shaped groove 111 is provided with recess, and lateral V-shaped groove 111 is clamping object
When, recess can be buckled in around object simultaneously, prevent object from skidding in the lateral V-shaped groove 111, to improve clamp it is steady
It is qualitative.The middle part of bar shaped clamping jaw 110 is provided with longitudinal V-shaped groove 113, and the slot bottom of the longitudinal V-shaped groove 113 is provided with recess, is pressing from both sides
Recess can be buckled in around object simultaneously when filling object, prevent object from skidding in lateral V-shaped groove 111；Lateral V-shaped groove 111
Holding tank 112 is provided between longitudinal V-shaped groove 113, when lateral V-shaped groove 111 clamps the object with protrusion, lateral V-shaped groove
111 are clipped in the neck of object, then the head of object can be contained in holding tank 112, to improve the stability clamped.This
Outside, it should be noted that the opening direction of lateral V-shaped groove 111 is transversely to the machine direction the opening direction of V-shaped groove 113, lateral V-shaped groove
111 and longitudinal V-shaped groove 113 can gripping objects (as shown in figure 11) in different directions.
The end set of bar shaped clamping jaw 110 has clamping jaw stomata 114, the i.e. front end of transverse direction V-shaped groove 111 to be provided with clamping jaw stomata
114, in gripping objects, the clamping jaw stomata 114 of 111 front end of lateral V-shaped groove can purge object lateral V-shaped groove 111,
And clamping jaw stomata 114 is provided on the surface of bar shaped clamping jaw 110, the injection direction of the clamping jaw stomata 114 on 110 surface of bar shaped clamping jaw
114 injection direction of clamping jaw stomata perpendicular to 111 front end of lateral V-shaped groove, longitudinal V-shaped groove 113 is in gripping objects, bar shaped clamping jaw
The clamping jaw stomata 114 on 110 surfaces can purge object (as shown in figure 11).
The main mechanical cleft hand 101 of the present embodiment further includes big holding claw 120, takes lid pawl 130 and small holding claw 140, wherein big embrace
Pawl 120 is installed on the second assembly side 152, and 152 lower part of the second assembly side is provided with sliding rail, and the connecting pin of big holding claw 120 is provided with
With the matched sliding block of above-mentioned sliding rail, big holding claw 120 can be slided with sliding block along the length direction of sliding rail, and big holding claw 120 passes through
In on sliding block, each holding claw of big holding claw 120 can be carried out with moving block I 123 for center of rotation the rotational installations of moving block I 123
It rotates, and controls the opening and closing degree of big holding claw 120 during rotation, further it should be noted that being arranged in big holding claw 120
There is holding claw stomata 121, the holding claw stomata 121 is perpendicular to the surface of big holding claw 120, and holding claw stomata 121 is by the fixing end of holding claw
Extend to the end of holding claw, and the opening of holding claw stomata 121 is gradually reduced, big holding claw 120, can be to object in gripping objects
It is purged；The lower part of the big holding claw 120 is provided with holding claw boss 122, and holding claw boss 122 protrudes from big holding claw 120
Cambered surface, and holding claw boss 122 forms stepped boss with 120 intrados of big holding claw.
The small holding claw 140 of the present embodiment is installed on the 4th assembly side 154 of axial prong hand fixed plate 150, the 4th assembly side 154
Lower part is again provided with sliding rail, and the connecting pin of small holding claw 140 is provided with sliding block, and small holding claw 140 can be with sliding block along the length of sliding rail
Direction sliding is spent, small holding claw 140 includes lower part holding claw 141 and top holding claw 142, the lower part holding claw 141 and top holding claw
142 are set as arc-shaped, and the crooked radian of top holding claw 142 is less than the crooked radian of lower part holding claw 141, the top holding claw
142 are set to the top of lower part holding claw 141, and holding claw notch 143 is formed between top holding claw 142 and lower part holding claw 141, to
Convenient for gripping objects, and it is worth noting that the width of lower part holding claw 141 is more than the width of top holding claw 142, under
Lower boss 145 is formed between portion's holding claw 141 and top holding claw 142, and the clamping of object is imitated to improve small holding claw 140
Fruit.The holding claw of small holding claw 140 is rotatablely installed by moving block II 144 on sliding block, and the holding claw of small holding claw 140 can be with moving block
II 144 is that center of rotation is rotated, to control the opening and closing degree of small holding claw 140.
The present embodiment takes lid pawl 130 to be set in third assembly side 153, and opening is provided in third assembly side 153 and is slided
Rail 1531 takes lid pawl 130 to be slidably mounted on opening sliding rail 1531 by sliding block, takes lid pawl 130 along opening sliding rail 1531
Length direction slides, to which control takes the folding of lid pawl 130.It includes taking lid supporting rod 131 and alignment sensor to take lid pawl 130
133, this takes the end set of lid supporting rod 131 to take lid clamping piece 132, and lid clamping piece 132 is taken to be provided with the clamp port of V-arrangement
134, the alignment sensor 133 be set to two take lid supporting rod 131 between, alignment sensor 133 is for detecting quilt to be measured
Grip the position (as shown in figure 12) of object.
The Density Detection unit 300 of the present embodiment includes weighing mechanism 310, hoisting mechanism 320 and measurement solution pool 330
(as shown in Figures 2 and 3), 310 lower part of the weighing mechanism are provided with hoisting mechanism 320, which is waited for lifting
Article is surveyed, the measurement solution pool 330 is slidably mounted on the lower part of hoisting mechanism 320；Wherein weighing mechanism 310 includes top
It weighs balance 311 and auxiliary weighs box 312, which weighs the upper surface that balance 311 is set to top support plate 351, and should
Top support plate 351 is horizontally disposed, and the outside that top weighs balance 311 is provided with seal box, and auxiliary weighs box 312 and is set to
Portion weighs the lower part of balance 311, and auxiliary weighs the upper and lower surface that box 312 is fixed on top support plate 351, and top weighs balance
It is provided on 311 and weighs bar 313, weighed 313 lower part of bar and be connected with the weighing device 314 in auxiliary weighing box 312, weigh device
314 both sides are symmetrical arranged, and there are two the lower part settings for weighing device 314 weighs hook 315, and two weigh 315 pass of hook
It is symmetrical in the geometric center for weighing device 314, it weighs and is hung on hoisting mechanism 320 on hook 315, and vertical loading board 321 is mounted on
It weighs on hook 315 (as shown in Figure 6).Hoisting mechanism 320 includes vertical loading board 321, hanging basket frame 322 and hanging basket hanging plate 323, lifting
The top of bar 321 is connected by linking up with weighing mechanism 310, and 321 lower part of vertical loading board is connected by hinge with hanging basket frame 322, institute
The bottom for stating hanging basket frame 322 is provided with hanging basket hanging plate 323 (as shown in Figure 4).
Hanging plate concave arc side 3231 is provided on the hanging basket hanging plate 323 of the present embodiment, which hangs with sample
The edge of basket 410 matches, and sample hanging basket 410 can be mounted on hanging plate concave arc side 3231, and hanging plate concave arc side 3231 and extension
The junction of plate first side 3232；At the same time, hanging plate concave arc side 3231 and the junction of hanging plate second side 3233 are arranged
There are hanging plate guide surface 3234, the hanging plate guide surface 3234 to be set as arc-shaped, arc-shaped hanging plate guide surface 3234 makes
Sample hanging basket 410 can be preferably put into hanging basket hanging plate 323.
The shaft of the vertical loading board 321 of the present embodiment and the connects hinge of hanging basket frame 322 is axially perpendicular to the flat of hanging basket frame 322
Face, i.e. shaft are axial parallel with the normal vector of 322 plane of hanging basket frame, and the vertical loading board 321 and the junction of hanging basket frame 322 is set
It is equipped with heater element 3211, which avoids 322 surface of hanging basket frame from retaining for being thermally dried to hanging basket frame 322
Moisture and influence Density Detection as a result, improving accuracy of detection in turn.
The Density Detection unit 300 of the present embodiment further includes elevating mechanism 340, which includes lifter plate
344, lifting and driving bar 345 and driving part 348 are provided with feed screw 347 on the driving part 348, the driving part
348 top is provided with lifter plate 344, is provided on lifter plate 344 and 347 matched threaded hole of feed screw, driving portion
Part 348 drives lifter plate 344 to carry out elevating movement, the normal direction of 344 plane of lifter plate of the present embodiment by feed screw 347
Amount is parallel to the axis of feed screw 347, i.e. 344 plane of lifter plate is vertical with the axis of feed screw 347, feed screw 347
Lifter plate 344 can be pushed smoothly to move upwards.Above-mentioned driving part 348 can be that driving motor directly drives (such as
Shown in Fig. 3).
The top of the lifter plate 344 of the present embodiment is provided with lifting and driving bar 345, the top of the lifting and driving bar 345 with
It measures solution pool 330 to be connected, the middle part at the top of lifting and driving bar 345 and the bath support plate 331 for measuring 330 bottom of solution pool
It is connected；Wherein elevating mechanism 340 further includes lifting support member, which includes vertical supporting rod 341, lower crosspiece
342 and upper cross bar 343, vertical supporting rod 341 be fixedly installed on detection unit frame 350, detection unit frame 350 include top
Portion's support plate 351 and bottom support plate 352, pass through vertical support frame 353 between top support plate 351 and bottom support plate 352
It is fixed and supports.
Detailed description：Vertical supporting rod 341 is fixedly installed in the bottom support plate 352 of detection unit frame 350, lower part
Cross bar 342 is fixedly installed in the lower part of vertical supporting rod 341, and upper cross bar 343 is fixedly installed in the top of vertical supporting rod 341, should
It is provided between lower crosspiece 342 and upper cross bar 343 and is oriented to montant 346, be provided on lifter plate 344 and be oriented to montant 346
Matched pilot hole, lifter plate 344 are assemblied in by pilot hole and are oriented on montant 346, and lifter plate 344 can be with guiding montant
346 are moved in the vertical direction.The axis of feed screw 347 is parallel with the axis of montant 346 is oriented to so that feed screw
347 when pushing lifter plate 344, and lifter plate 344 rises more steady, prevents lifter plate 344 from deflecting or fluctuating, into
And improve the stability of lifter plate 344.
The temperature measuring mechanism 361 of the present embodiment is used to detect the temperature for measuring solution pool 330, the setting of 361 lower part of temperature measuring mechanism
There is detector probe 3611, the diameter friendship of detector probe 3611 is small, and detector probe 3611 is measuring the fortune upwards of solution pool 330
The problem of after moving, detection measures the temperature in solution pool 330, is to which detection obtains measurement density, solution.Reduce temperature to close
Spend the influence measured.Measure and be provided with spout hole 334 on the side wall of solution pool 330,334 lower part of spout hole is corresponding be provided with it is excessive
Pond 333 is flowed, excessive solution overflow is avoided.
The present embodiment can also include liquid level sensor 362, and liquid level sensor 362, which is used to detect, measures solution pool 330
Liquid level, so that after measurement solution pool 330 rises to designated position, liquid level sensor 362 receives the letter of liquid level
It after number, can be automatically stopped, avoid that error operation occurs.
The objective table unit 400 of the present embodiment includes object carrying support 420 for carrying article to be measured, objective table unit 400,
The lower part of the object carrying support 420 is provided with rack leg 421, and the rack leg 421 to object carrying support 420 for being supported (such as Fig. 6
It is shown).And hanging basket supporting mechanism 430 and counterweight supporting mechanism 440 are provided on objective table unit 400, hanging basket supporting mechanism 430
For carrying sample hanging basket 410；Hanging basket supporting mechanism 430 includes hanging basket support member 431 and hanging basket support plate 432, and hanging basket
Support plate 432 is set in hanging basket support member 431, and the support end of the hanging basket support plate 432 is provided with support plate cancave cambered surface
4322, which matches with sample hanging basket 410, and a pair of of support plate cancave cambered surface 4322 is formed to sample hanging basket
410 supporting and space, supporting and space can be supported sample hanging basket 410, and the front end of support plate cancave cambered surface 4322 is provided with
Support plate guide surface 4321, when sample hanging basket 410 is put into the supporting and space of the formation of support plate cancave cambered surface 4322, support plate is oriented to
Face 4321 can guide sample hanging basket 410, so that sample hanging basket 410 is easier to be put into support plate cancave cambered surface
In 4322 supporting and space (as shown in Figure 8).And cambered surface fumarole 4323 is provided on support plate cancave cambered surface 4322, cambered surface spray
Stomata 4323 can spray high-temperature gas, to being purged to sample hanging basket 410, and then by the molten of 410 surface of sample hanging basket
Liquid volatilizees rapidly, and then improves the accuracy of Density Detection.Further it should be noted that being provided with branch in hanging basket support plate 432
Fagging heater 4324；Support board heating apparatus 4324 is used to heat hanging basket support plate 432 and sample hanging basket 410, to
So that the solution on sample hanging basket 410 volatilizees rapidly, the solution influenced density inspection next time for avoiding sample hanging basket 410 from adhering to
It surveys, this is because during detection density, sample hanging basket 410 from measurement solution pool 330 after taking out, inevitably
A certain amount of solution is adhered to, the solution of 410 surface adhesion of sample hanging basket is removed by hanging basket support plate 432, can be improved close
Spend the precision of detection.
Counterweight supporting mechanism 440 includes counterweight heating platform 441 and counterweight support member 442, and counterweight heating platform 441 can
To be heated to counterweight supporting mechanism 440, to around counterweight build a relatively-high temperature environment, so as to so that
The liquid for obtaining counterweight surface volatilizees as early as possible；It is provided with counterweight support surface 448 in the counterweight support member 442 of the present embodiment, it should
Counterweight support surface 448 can be used for supporting counterweight, and counterweight heating collar 443, counterweight are provided with around counterweight support surface 448
The diameter of heating collar 443 is more than the diameter of counterweight, and counterweight heating collar 443 can carry out counterweight the liquid that heating makes counterweight surface
Body gasifies rapidly, avoids counterweight surface long term from accumulating solution and influences the service life of counterweight, while also avoiding counterweight surface
Liquid influences calibration effect (as shown in Figure 9 and Figure 10) of the counterweight to detection.The inner surface of counterweight heating collar 443 is provided with
Jet inclined-plane 444, is provided with inclined-plane fumarole 446 on jet inclined-plane 444, the injection direction of inclined-plane fumarole 446 with it is horizontal
Angle is a, and value is 45~60 °.
The counterweight support surface 448 of the present embodiment is provided with main jet stomata 445 and equal channeling slot 447, wherein main jet stomata
445 are set to the center of counterweight support surface 448, and equal channeling slot 447 is uniformly set to around main jet stomata 445, gas
Groove 447 is along the radial arrangement of counterweight support surface 448, and channeling slot 447 is connected with main jet stomata 445, the main jet
Stomata 445 can advertise high-temperature gas, can also carry out negative pressure exhausting to counterweight, counterweight is being placed on counterweight support surface
After 448, first regulates and controls wind turbine and main jet stomata 445 is made to carry out exhausting to counterweight support surface 448, then regulate and control wind turbine, main jet again
Stomata 445 advertises high-temperature gas to counterweight support surface 448, and high-temperature gas is blown to tired surface by equal channeling slot 447, is improved
Purging effect of the main jet stomata 445 to counterweight, at the same time counterweight heating collar 443 be carried out at the same time heating, and inclined-plane fumarole
446 purge high-temperature gas to counterweight, so that the liquid on counterweight surface volatilizees rapidly, to improve counterweight to Density Detection
Calibrate effect.The objective table unit 400 of the present embodiment further includes accommodating tank supporting mechanism 450, accommodates and is set on tank supporting mechanism 450
It is equipped with and accommodates tank claw 451, the receiving tank claw 451 is for accommodating and fixing receiving tank.
Embodiment 2
The substance of the present embodiment with embodiment 1, the difference is that：On the hanging basket supporting mechanism 430 of the present embodiment
It is additionally provided with dry jet plate 433, which is set to the lower part of hanging basket support plate 432, and dry jet plate
433 with 432 keeping parallelism of hanging basket support plate, be provided with bottom fumarole 4331 in dry jet plate 433, can be sprayed from bottom
High-temperature gas is sprayed in stomata 4331, sample hanging basket 410 is purged, so as to from cambered surface fumarole 4323 and bottom
Fumarole 4331 and then multi-faceted purging, improve purging effect, and coordinate hanging basket support plate 432 to sample hanging basket 410
Heating, so as to which rapidly sample hanging basket 410 is dried, and then improves the accuracy of detection of article density to be measured.With
This simultaneously, heating element can also be arranged in dry jet plate 433, and the heating element is so as to around sample hanging basket 410
High-temperature region is formed, so that sample hanging basket 410 is heated as early as possible, and the liquid on 410 surface of sample hanging basket is removed as early as possible.
Embodiment 3
The substance of the present embodiment with embodiment 1, the difference is that：The counterweight supporting mechanism 440 of the present embodiment is used
In carrying counterweight, counterweight is for calibrating the result of Density Detection.The calibration method for having s bodies is as follows：ρSolutionPass through following step
Rapid measure obtains：
1 quality for weighing sample hanging basket 410 is m01；After sample hanging basket 410 is immersed into solution, sample hanging basket is weighed
410 quality is m02；
2 are added to counterweight in sample hanging basket 410, and the quality for weighing sample hanging basket 410 and counterweight is m21；Again by sample
After hanging basket 410 and counterweight are immersed into solution, the quality for weighing sample hanging basket 410 and counterweight is m22；
3 calculate solution density ρSolution；It is calculated by the following formula the density p of article to be measuredSolution,
Wherein mWeightFor the quality of counterweight；ρWeightFor the density of counterweight.
Embodiment 4
As shown in figure 13, the measurement solution pool 330 of the present embodiment is internally provided with current stabilization board group, under which includes
Stabilier 3361, middle stabilier 3362 and top stabilier 3363, the bottom end of the lower stabilier 3361 is close to measurement solution pool
330 side wall, and lower stabilier 3361 is extended from the both ends side wall of measurement solution pool 330 to center, wherein lower stabilier 3361
One group is set as 2, and 2 lower stabiliers 3361 are obliquely installed, and constitute "eight" shape, lower stabilier 3361 and vertical direction
Angle be 50~65 °；Lower 3361 top of stabilier is provided with current stabilization plate hole 3364；
The top of lower stabilier 3361 is provided with middle stabilier 3362, and the bottom end of middle stabilier 3362 is set to measurement solution
The middle part in pond 330, middle stabilier 3362 are extended from the middle part of measurement solution pool 330 to end sidewalls, and middle stabilier 3362
Bottom end is less than the top of lower stabilier 3361, and the bottom end and top of lower stabilier 3361 are provided with current stabilization plate hole 3364, and top
Current stabilization plate hole 3364 is less than bottom end current stabilization plate hole 3364 at a distance from bottom end at a distance from top；3362 top of middle stabilier and end
The distance of portion's side wall is less than 3361 top of lower stabilier at a distance from end sidewalls, i.e., middle 3362 top of stabilier is than lower stabilier
3361 tops are closer to end sidewalls；And the current stabilization plate hole 3364 on middle 3362 top of stabilier and lower 3361 top of stabilier
Current stabilization plate hole 3364 is staggered, i.e., the current stabilization of the current stabilization plate hole 3364 and lower 3361 top of stabilier on middle 3362 top of stabilier
The bottom surface projection of plate hole 3364 is misaligned；In addition, 3,362 1 groups of middle stabilier is set as 2,2 middle stabiliers 3362 tilt
Setting, and inverted "eight" shape is constituted, middle stabilier 3362 and the angle of vertical direction are 70~80 °
The top of middle stabilier 3362 is provided with top stabilier 3363, top stabilier 3363 spliced by two stabiliers and
At being stitched together at the top of two stabiliers, constitute that both sides are low, intermediate high top stabilier 3363, between two stabiliers
Angle be 100~120 °；Middle part gap is provided between 2 middle stabiliers 3362, top stabilier 3363 is located at the middle part
The upper part in gap；The distance between the left bottom end of top stabilier 3363 and right bottom end are more than at a distance from the gap of middle part, i.e., top is steady
Flowing plate 3363 can be completely covered on the top in middle part gap.Solution pool 330 is measured during rising, will necessarily be caused
The liquid measured in solution pool 330 fluctuates, and for the liquid in molten bath during fluctuation, solution can drive sample hanging basket
410 are shaken, and then can influence the weighing quality of weighing mechanism 310 so that the accuracy of Density Detection is poor, current stabilization board group
The fluctuation situation for measuring solution pool 330 in moving process can be reduced, and then improve the precision of detection.Using counterweight as waiting for
Article is surveyed, wherein embodiment 1 is used to detect the density of counterweight as 7.66g/cm-3；And use the density of the present embodiment detection invention
For 7.79g/cm-3；The density of the counterweight itself is 7.94g/cm-3, by current stabilization board group to measuring the solution in solution pool 330
Stablized, and then improves the precision of detection.
Embodiment 5
The present embodiment using above-mentioned Error Detection Unit, using the method for above-mentioned robot system detection density, detection side
Method is as follows：The main mechanical cleft hand 101 of main robot unit 100 captures the article to be measured on objective table unit 400, and by determinand
It is m that product, which are placed on and are weighed to obtain the quality of article to be measured on the weighing mechanism 310 of Density Detection unit 300,Object, by determinand
After product are immersed in the measurement solution pool 330 of Density Detection unit 300, the mass change of weighing mechanism 310 is Δ m, then determinand
The density of product is：It is as follows：
The main mechanical cleft hand 101 of main robot unit 100 captures the article to be measured on objective table unit 400, and will be to be measured
Article is placed on the weighing mechanism 310 of Density Detection unit 300 and is weighed, and the quality for obtaining article to be measured is mObject, then will
After article to be measured is immersed in the measurement solution pool 330 of Density Detection unit 300, the mass change for measuring weighing mechanism 310 is Δ
M, the density that article to be measured is calculated are：Wherein ρSolutionFor the density of solution.The operating procedure of robot
It is as follows：
Step 1：Main robot unit 100 takes out article to be measured from hermetically sealed can, and by article to be measured by article to be measured
It is moved on the weighing mechanism 310 of Density Detection unit 300；
Step 2：Weighing mechanism 310 weighs article to be measured, and the quality for obtaining article to be measured is mObject；Then drive
It measures solution pool 330 to move upwards, after article to be measured is immersed in the measurement solution pool 330 of Density Detection unit 300, measures and claim
The mass change of measuring mechanism 310 is Δ m.
Step 1 the specific steps are：
2-1 takes lid pawl 130 to be moved to the top of hermetically sealed can, and lid pawl 130 is taken to grip the sealing cover of hermetically sealed can, and by sealing cover
It opens；
The small holding claws of 2-2 140 are moved to hermetically sealed can station, and small holding claw 140 grips hermetically sealed can, and the article to be measured in tank is inclined
Down in the sample hanging basket 410 of objective table unit 400, hermetically sealed can is placed on objective table by main mechanical cleft hand 101 after the completion of toppling over
On unit 400；
2-3 bar shapeds clamping jaw 110 is moved to 410 station of sample hanging basket, and bar shaped clamping jaw 110 grips sample hanging basket 410, and will examination
Sample hanging basket 410 is moved on weighing mechanism 310 and is weighed.
The specific detection method of step 2 is as follows：
S1, the quality information for detecting hanging basket
The bar shaped clamping jaw 110 of main robot unit 100 grips sample hanging basket 410, and sample hanging basket 410 is placed on density
Detection unit 300 it is upper, the quality for weighing sample hanging basket 410 is m01；
The elevating mechanism 340 of Density Detection unit 300, the lifting of elevating mechanism 340 is driven to measure solution pool 330 so as to survey
It is m that sample hanging basket 410 is totally submerged and weighs the quality of sample hanging basket 410 in the solution by amount solution pool 33002；At the same time,
The detection of temperature measuring mechanism 361 measures the quality of solution in solution pool 330；The driving of weighing mechanism 310 measures solution pool after the completion of weighing
330 move downward, and bar shaped clamping jaw 110 again takes out sample hanging basket 410 from the hoisting mechanism 320 of 310 lower part of weighing mechanism, and
Sample hanging basket 410 is placed on hanging basket supporting mechanism 430, hanging basket supporting mechanism 430 heats sample hanging basket 410, blows
It sweeps, clean to purge the solvent on 410 surface of sample hanging basket, sample hanging basket 410 will blow a cold wind over after drying up to cool down, and ensures
410 temperature of sample hanging basket is reduced to room temperature；Solution used by the present embodiment is distilled water.
The quality information of S2, detection article to be measured
Main mechanical cleft hand 101 takes lid pawl 130 to be moved to the top of hermetically sealed can, takes lid pawl 130 by the sealing cover of hermetically sealed can
It removes, then the small holding claw 140 of main mechanical cleft hand 101 is moved to the corresponding position of hermetically sealed can, and small holding claw 140 captures hermetically sealed can,
And the article to be measured in hermetically sealed can is poured onto in sample hanging basket 410, and the quality for weighing sample hanging basket 410 and article to be measured is
m11；
After sample hanging basket 410 and article to be measured are immersed into solution, the quality of sample hanging basket 410 and article to be measured is weighed
For m12；Bar shaped clamping jaw 110 again takes out sample hanging basket 410 from the hoisting mechanism 320 of 310 lower part of weighing mechanism, and by sample
Article to be measured in hanging basket 410 is poured onto in hermetically sealed can, then sample hanging basket 410 is placed on hanging basket supporting mechanism 430 and is carried out
Purging.
S3, the density for calculating article to be measured
It is calculated by the following formula the density p of article to be measuredObject,Wherein ρSolution
For the density of solution.It is specifically intended that front and back temperature change≤2 DEG C measured in solution pool 330 of detection density.
Embodiment 1 is wherein used to detect the density of counterweight as 7.71g/cm-3；The density of the counterweight itself is 7.94g/cm-3, by current stabilization board group to measure solution pool 330 in solution stablize, can relatively accurate detection obtain object under test
Density, and then improve the precision of detection.And the density for compound body of endangering can be detected, danger compound body is avoided to examine
The health of human body of operating personnel is endangered during survey.
Embodiment 6
The substance of the present embodiment with embodiment 5, the difference is that, measure solution pool 330 lower part be provided with down
Component 332 is weighed, i.e. lower-weighing component 332 is arranged in bath support plate 331, which measures for weighing
The quality of solution pool 330, and lower-weighing component 332 may be used and be used for correcting the density case that detection obtains, it is surveyed to reduce
Measure influence of the solution fluctuation to Density Detection in solution pool 330.
Sample hanging basket 410 is placed on hoisting mechanism 320, the detection of lower-weighing component 332 measures the quality of solution pool 330
For M01；It measures solution pool 330 to move upwards, measures solution pool 330 by after the submergence in the solution of sample hanging basket 410, detection obtains
The quality for measuring solution pool 330 is M02；
Article to be measured is put into sample hanging basket 410, and sample hanging basket 410 is mounted on hoisting mechanism 320, lower-weighing
The quality that the detection of component 332 measures solution pool 330 is M11；It measures solution pool 330 to move upwards, measures solution pool 330 by sample
After hanging basket 410 and article to be measured are immersed in solution, detection obtains surveying the quality for measuring solution pool 330 being M12；
It is calculated by the following formula the density p of article to be measuredObject
Wherein ρSolutionFor the density of solution,Wherein ρWeightFor the density of counterweight, mWeight
For the standard quality of counterweight.Using counterweight as article to be measured, wherein embodiment 1 is used to detect the density of counterweight as 7.87g/cm-3；
The density of the counterweight itself is 7.94g/cm-3, by using the amendment of lower-weighing component 332, and then improve the detection of density
Precision.
Invention of the present invention is described in detail above in conjunction with specific exemplary embodiment.It is understood, however, that can be
It is carry out various modifications in the case of not departing from the range that the present invention being defined by the following claims invents and modification.It is detailed to retouch
State should be to be considered only as with attached drawing it is illustrative and not restrictive, if there is any such modifications and variations, then
They fall in the range of invention described herein invention.In addition, background technology is intended to grinding in order to illustrate this technology
It was found that shape and meaning, it is no intended to limitation present invention invention or the application and the application field of the invention invented.
More specifically, although the exemplary embodiment that the present invention invents has been described herein, invention of the present invention is simultaneously
These embodiments are not limited to, but include that those skilled in the art repair according to the process that the detailed description of front can be appreciated that
Change, omit, any and whole embodiments of the combination between for example each embodiment, adaptive change and/or replacement.Right is wanted
The restriction asked can widely be explained according to the language used in claim, and be not limited in foregoing detailed description
Or the example described during implementing this application, these examples should be considered as nonexcludability.It is in office where method or process power
Any step that profit is enumerated in requiring can execute and be not limited to the sequence proposed in claim in any order.Therefore,
The range that the present invention invents should determine only by appended claims and its legal equivalents, rather than by theory given above
Bright and example determines.
Claims (10)
1. a kind of intelligent robot for detection density, it is characterised in that：
The main mechanical cleft hand (101) of main robot unit (100), the main robot unit (100) is installed on main mechanical arm
(102), main mechanical arm (102) driving main mechanical cleft hand (101) crawl, mobile article to be measured；
Density Detection unit (300), Density Detection unit (300) weighing mechanism (310) lower part are provided with hoisting mechanism
(320), which is set to hoisting mechanism (320) with article to be measured, the measurement solution pool (330) is lifted
Lower part；
Objective table unit (400), the objective table unit (400) is for carrying article to be measured.
2. a kind of intelligent robot for detection density according to claim 1, it is characterised in that：The host machinery claw
Hand (101) includes bar shaped clamping jaw (110), axial prong hand fixed plate (150) and axial prong hand revolving part (160), main mechanical cleft hand (101)
It is rotatablely connected by axial prong hand revolving part (160) and main mechanical arm (102), axial prong hand fixed plate (150) is installed on the rotation of axial prong hand
Turn on part (160), bar shaped clamping jaw C110) it is installed in axial prong hand fixed plate (150).
3. a kind of intelligent robot for detection density according to claim 1, it is characterised in that：Density Detection unit
(300) further include elevating mechanism (340), which includes lifter plate (344), lifting and driving bar (345) and driving
Component (348) is provided with feed screw (347) on the driving part (348), and the top of the driving part (348) is provided with
Lifter plate (344), be provided on lifter plate (344) with feed screw (347) matched threaded hole, driving part (348) is logical
It crosses feed screw (347) driving lifter plate (344) and carries out elevating movement, the top of the lifter plate (344) is provided with lifting and passes
Lever (345), the top of the lifting and driving bar (345) are connected with solution pool (330) is measured.
4. a kind of intelligent robot for detection density according to claim 1, it is characterised in that：Objective table unit
(400) hanging basket supporting mechanism (430) is provided on, the hanging basket supporting mechanism (430) is for carrying sample hanging basket (410)；Or/
Be provided with counterweight supporting mechanism (440) on objective table unit (400), counterweight supporting mechanism (440) is for carrying counterweight.
5. a kind of intelligent robot for detection density according to claim 2, it is characterised in that：Axial prong hand fixed plate
(150) the first assembly side (151) is provided with horizontal slide rail (1511), is provided on bar shaped clamping jaw (110) and above-mentioned sliding slot phase
The transverse slider (115) of cooperation, bar shaped clamping jaw (110) can be opened and closed along the length direction of horizontal slide rail (1511).
6. a kind of intelligent robot for detection density according to claim 2, it is characterised in that：Bar shaped clamping jaw
(110) end set has lateral V-shaped groove (111), and longitudinal V-shaped groove (113), lateral V are provided in the middle part of bar shaped clamping jaw (110)
Holding tank (112) is provided between shape slot (111) and longitudinal V-shaped groove (113), the opening direction of the transverse direction V-shaped groove (111) hangs down
Directly in the opening direction of longitudinal V-shaped groove (113).
7. a kind of intelligent robot for detection density according to claim 2, it is characterised in that：The host machinery claw
Hand (101) further includes small holding claw (140), and the small holding claw (140) is installed on the 4th assembly side of axial prong hand fixed plate (150)
(154), which includes lower part holding claw (141) and top holding claw (142), the lower part holding claw (141) and top
Holding claw (142) is set as arc-shaped, and the crooked radian of top holding claw (142) is less than the crooked radian of lower part holding claw (141), institute
State the top that top holding claw (142) is set to lower part holding claw (141), and shape between top holding claw (142) and lower part holding claw (141)
At holding claw notch (143).
8. a kind of intelligent robot for detection density according to claim 3, it is characterised in that：The elevating mechanism
(340) further include lifting support member, which includes vertical supporting rod (341), lower crosspiece (342) and upper lateral
Bar (343), vertical supporting rod (341) are fixedly installed in the bottom support plate (352) of detection unit frame (350), lower crosspiece
(342) it is fixedly installed in the lower part of vertical supporting rod (341), upper cross bar (343) is fixedly installed in the upper of vertical supporting rod (341)
Portion is provided between the lower crosspiece (342) and upper cross bar (343) and is oriented to montant (346), on the lifter plate (344)
It is provided with and is oriented to montant (346) matched pilot hole, lifter plate (344) is assemblied in by pilot hole and is oriented to montant (346)
On, lifter plate (344) can in the vertical direction be moved with montant (346) is oriented to.
9. according to a kind of intelligent robot for detection density of claim 1-7 any one of them, it is characterised in that：Lifting
Mechanism (320) includes vertical loading board (321), hanging basket frame (322) and hanging basket hanging plate (323), and the top of the vertical loading board (321) is logical
It crosses hook with weighing mechanism (310) to be connected, vertical loading board (321) lower part is connected by hinge with hanging basket frame (322), the hanging basket frame
(322) bottom is provided with hanging basket hanging plate (323).
10. according to a kind of intelligent robot for detection density of claim 1-7 any one of them, it is characterised in that：
The Density Detection unit (300) is provided with temperature measuring mechanism (361), which measures solution pool for detecting
(330) it is provided with liquid level sensor (362) on temperature or/and Density Detection unit (300), liquid level sensor (362) is used for
Detection measures the liquid level of solution pool (330).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711499377.6A CN108333079A (en) | 2017-12-29 | 2017-12-29 | A kind of intelligent robot for detection density |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711499377.6A CN108333079A (en) | 2017-12-29 | 2017-12-29 | A kind of intelligent robot for detection density |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108333079A true CN108333079A (en) | 2018-07-27 |
Family
ID=62924864
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711499377.6A Withdrawn CN108333079A (en) | 2017-12-29 | 2017-12-29 | A kind of intelligent robot for detection density |
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| Country | Link |
|---|---|
| CN (1) | CN108333079A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112858094A (en) * | 2021-01-15 | 2021-05-28 | 四川同人精工科技有限公司 | Automatic control method and system for core density measuring device |
| CN112858095A (en) * | 2021-01-15 | 2021-05-28 | 四川同人精工科技有限公司 | Core density measuring device |
| CN113370187A (en) * | 2021-07-07 | 2021-09-10 | 成都圭目机器人有限公司 | Double-detector suspension mechanism and detection robot |
-
2017
- 2017-12-29 CN CN201711499377.6A patent/CN108333079A/en not_active Withdrawn
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112858094A (en) * | 2021-01-15 | 2021-05-28 | 四川同人精工科技有限公司 | Automatic control method and system for core density measuring device |
| CN112858095A (en) * | 2021-01-15 | 2021-05-28 | 四川同人精工科技有限公司 | Core density measuring device |
| CN113370187A (en) * | 2021-07-07 | 2021-09-10 | 成都圭目机器人有限公司 | Double-detector suspension mechanism and detection robot |
| CN113370187B (en) * | 2021-07-07 | 2022-12-13 | 成都圭目机器人有限公司 | Double-detector suspension mechanism and detection robot |
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Application publication date: 20180727 |