CN110962148A - Manipulator for sampling and preparing samples - Google Patents

Abstract

The invention discloses a manipulator for sample collection and preparation, which comprises a base, a driving mechanism and a bidirectional moving mechanism, wherein the driving mechanism and the bidirectional moving mechanism are arranged on the base, the bidirectional moving mechanism is driven by the driving mechanism to realize reverse synchronous movement, and two mechanical clamping arms are fixed on the bidirectional moving mechanism and used for enclosing to form a clamping space so as to clamp through the reverse synchronous movement of the bidirectional moving mechanism. The invention has the advantages of simple and compact structure, convenient and flexible operation, strong stability, high safety and synchronous and accurate movement.

Description

Manipulator for sampling and preparing samples

Technical Field

The invention mainly relates to the field of material sample collecting and analyzing equipment, in particular to a manipulator for sample collection and preparation.

Background

For the sampling and analyzing work of materials (such as ores and coal materials), each country has a mandatory standard, and the sampling and analyzing work must be carried out according to the standard. The sample collecting and analyzing process includes the steps of reducing the granularity and the quality of the collected sample gradually without destroying the sample representativeness until the granularity and quality precision of the sample are met, and performing relevant test analysis on the sample meeting the requirement. There can be no loss of sample during this process, and no physical or chemical changes to the sample that would affect the final test results.

When the sample is collected and analyzed, a manipulator is needed to clamp and transfer the container containing the sample. The prior manipulator has the following technical problems:

1. with the advent of the era of intelligent, multi-type and multi-sample simultaneous processing of a sampling system, sample containers with different shapes, sizes and volumes such as sample barrels and sample bottles may exist in one sampling system at the same time, and a manipulator in the prior art is not suitable for clamping containers with different types or shapes, so that the intelligent degree is low and the sampling efficiency is reduced.

2. The manipulator in the prior art is large in size and complex in structure, and usually more than two driving mechanisms are needed to drive the two clamping parts respectively to realize clamping, so that the occupied space is large, and the manufacturing and maintenance costs are high.

3. The manipulator of the prior art has poor self-stability. Because what the centre gripping is the sample that weight is heavier to need multi-angle, long distance's transportation, this probably leads to the sample because rocking of manipulator self in the transportation, leads to the sample unrestrained, seriously influences sampling work efficiency and subsequent sampling ization experimental accuracy.

4. The safety of the manipulator in the prior art is poor. When sudden power failure and gas failure occur, the clamping force of the manipulator disappears or is weakened, and the sample container falls off due to the fact that the sample with heavy weight is clamped, so that the container is damaged and the sample is scattered.

5. The precision of the clamping movement of the manipulator in the prior art is not enough. Because the two clamping parts are respectively driven, the two clamping parts do not move synchronously, and the risk that one clamping part moves in place while the other clamping part still moves exists, so that the serious consequence that the sample is contacted and spilled can be caused.

6. The size of the clamping force of the manipulator in the prior art is controlled by a sensor alone, so that the clamping force is not easy to grasp, and the manipulator can not flexibly adapt to clamping of different volumes.

Disclosure of Invention

The technical problem solved by the invention is that: aiming at the problems in the prior art, the manipulator for sample collection and preparation, which has the advantages of simple and compact structure, convenient and flexible operation, strong stability, high safety and synchronous and accurate motion, is provided.

In order to solve the technical problems, the invention adopts the following technical scheme:

the utility model provides a manipulator for sample is adopted and is makeed, includes the base and locates actuating mechanism, the two-way moving mechanism on the base, the two-way moving mechanism realizes reverse synchronous motion under actuating mechanism's drive, be fixed with two mechanical arm lock on the two-way moving mechanism, be used for enclosing formation centre gripping space and carry out the centre gripping with the reverse synchronous motion through the two-way moving mechanism.

As a further improvement of the invention, the bidirectional moving mechanism comprises two rack slider assemblies which are arranged on the base in a limiting and sliding mode, a gear which is meshed with the two rack slider assemblies is arranged between the two rack slider assemblies, and a mechanical clamping arm is fixed on each of the two rack slider assemblies. As a further improvement of the invention, the base is provided with two linear slide rail portions arranged in parallel up and down, each rack slide assembly comprises more than two limiting sliders which limit and slide on the two linear slide rail portions respectively, an outward side of each limiting slider forms a mechanical clamping arm mounting surface, an inward side of each limiting slider to which the rack slide assembly belongs is connected through a connecting plate, two connecting plates are provided with a rack portion parallel to the linear slide rail portions, and the gear is meshed and mounted between the two rack portions arranged up and down.

As a further improvement of the invention, the linear slide rail part is in a convex cylindrical shape, and the limiting slide blocks are respectively provided with an inward concave part which is arranged corresponding to the linear slide rail part and used for enabling the limiting slide blocks to be slidably clamped and limited on the linear slide rail part.

As a further improvement of the invention, the driving mechanism comprises a locking driving cylinder arranged in parallel with the linear slide rail part, and the driving end of the locking driving cylinder is connected with a connecting plate through a connecting piece.

The invention further comprises a driving cylinder position detection device, wherein the driving cylinder position detection device comprises a switch sensing sheet and more than one proximity switch which are matched, the switch sensing sheet is arranged on the connecting piece, and the more than one proximity switch is arranged on the base along the moving direction of the connecting piece.

As a further improvement of the invention, a container detection device is arranged on the base at a clamping space formed by the two mechanical clamping arms in a surrounding manner and is used for judging whether a container exists in the clamping space.

As a further improvement of the present invention, the container detection device includes a photosensor.

As a further improvement of the invention, the two mechanical clamping arms are respectively provided with a corresponding bending part for forming more than two clamping spaces with different volumes after being encircled.

As a further improvement of the invention, the front ends of the two mechanical clamping arms are in a symmetrical sharp-mouth shape and are provided with concave arc surfaces for clamping cylindrical sample bottles after being surrounded.

As a further improvement of the invention, the base is box-shaped, the driving mechanism is arranged in the box, the two-way moving mechanism is arranged on the side wall of one side of the base, and the side wall of the other side corresponding to the base is provided with a mounting flange for fixing the base.

Compared with the prior art, the invention has the advantages that:

firstly, the mechanical arm for sample collection and preparation forms a technical functional group by the single driving mechanism and the special arrangement of mutual matching and mutual support of the gear and the two rack sliding block assemblies which are meshed simultaneously, and further realizes the technical effect that only one driving mechanism can simultaneously drive the two mechanical arm locks to synchronously and reversely move to form clamping, so that the mechanical arm has the advantages of simple and compact structure, quick and flexible driving, small occupied space, suitability for installation and use, and low manufacturing and maintenance cost.

According to the manipulator for sample collection and preparation, the two rack sliding block assemblies are meshed with the gear at the same time and are limited on the base, so that the technical effect that the two rack sliding block assemblies do not displace along the sliding track is achieved, the stability of the manipulator is high, the danger that the sample is scattered due to the shaking of the manipulator in the sample transfer process is avoided, and the sample collection and preparation working efficiency and the subsequent collection and preparation experimental precision are effectively guaranteed.

Thirdly, the manipulator for sample collection and preparation adopts the matching mode of the two rack sliding block components and the gear rack mechanism meshed with the gear, so that the safety is high. Even if meet when proruption outage circumstances of breathing out, receive the mutual tooth chucking complex influence of rack and pinion for the clamping-force of manipulator can obtain keeping, and then can not take place to lead to the sample container to drop, cause the container to damage and the unrestrained consequence of sample.

Fourthly, the manipulator for sample collection and preparation provided by the invention has the technical effect that the two mechanical clamping arms can be driven to synchronously and reversely move synchronously and synchronously to form clamping by only one driving mechanism through the single driving mechanism and the special arrangement of mutual matching and mutual support of the gear and the two rack sliding block assemblies which are meshed simultaneously, so that the two mechanical clamping arms are high in movement accuracy and strong in movement synchronism, and the serious result that one clamping part moves in place and the other clamping part still moves to cause the sample to be touched and dropped can be avoided.

Fifthly, according to the manipulator for sample collection and preparation, more than two limit sliders which are arranged up and down and slide on the upper linear slide rail part and the lower linear slide rail part in a limiting manner exist in each rack slider component, namely, the upper limit sliders and the lower limit sliders of each rack slider component form a surface effect, and the surface effect is that the mechanical clamping arm is convenient to mount, so that the mechanical clamping arm is more stably mounted (otherwise, only one mounting point is needed, the mounting stability is greatly reduced); secondly, be convenient for further spacing (the spacing point is more) to mechanical arm lock, and then make the connectivity of mechanical arm lock and sharp slide rail portion (also with the base), spacing nature is higher, makes mechanical arm lock be difficult to take place self and rocks more for operating stability is stronger. And reliable connection of a plurality of limiting slide blocks to which each rack slide block assembly belongs can be realized through the connecting plate, so that synchronous motion of the limiting slide blocks is ensured, and stable and reliable operation of the mechanical clamping arm is finally ensured.

And sixthly, the linear slide rail part is in a convex cylindrical shape, and the limiting slide blocks are respectively provided with an inward concave part which is arranged corresponding to the linear slide rail part and used for enabling the limiting slide blocks to be clamped and limited on the linear slide rail part in a sliding way. This has further strengthened the spacing cooperation between sharp slide rail portion and a plurality of spacing slider to this kind of face contact can form reliable spacing support to spacing slider, makes a plurality of spacing sliders be difficult to take place to rock, and then makes the mechanical arm lock more be difficult to take place self to rock, makes operating stability stronger.

Seventhly, according to the manipulator for sample collection and preparation, the locking driving cylinder automatically realizes locking when power is off and gas is off, so that the safety is further high. Even if meet the unexpected outage condition of cutting off the gas, receive the influence of rack and pinion mutual tooth chucking cooperation and the influence of locking drive actuating cylinder automatic locking, further make the clamping-force of manipulator can obtain keeping. Meanwhile, the clamping force of the manipulator can be flexibly adjusted by adjusting the air pressure of the locking driving air cylinder.

Eighthly, the manipulator for sample collection and preparation is provided with a plurality of clamping moving stations by arranging a plurality of proximity switches, so that the function of clamping containers of different sizes can be realized. Meanwhile, the stop position of the driving mechanism can be flexibly adjusted by adjusting the mounting position of the proximity switch, so that the clamping force of the manipulator can be flexibly adjusted.

And ninthly, the two mechanical clamping arms are respectively provided with corresponding bending parts for forming more than two clamping spaces with different volumes after being surrounded. The manipulator is suitable for clamping containers of different types or different shapes, so that the intelligent degree is high, and the working efficiency is high.

Drawings

Fig. 1 is a schematic perspective view of a manipulator for sample preparation according to the present invention.

Fig. 2 is a schematic partial perspective view of the manipulator for sample preparation according to the present invention.

Fig. 3 is a schematic partial perspective view of the manipulator for sample preparation according to the present invention.

Fig. 4 is a schematic partial perspective view of a manipulator for sample preparation according to the present invention.

Fig. 5 is a schematic view of the first embodiment of the manipulator for sample preparation according to the present invention.

Fig. 6 is a schematic view of the second principle of the robot for sample preparation according to the present invention.

Fig. 7 is a schematic view showing the structural principle of the manipulator for sample preparation according to the present invention in application.

Fig. 8 is a schematic view of the structure of the bidirectional moving mechanism of the present invention in another embodiment.

Fig. 9 is a schematic structural diagram of a bidirectional moving mechanism according to another embodiment of the present invention.

Fig. 10 is a schematic diagram of the structural principle of the bidirectional moving mechanism in other embodiments of the invention.

Illustration of the drawings:

1. a base; 11. a linear slide rail portion; 12. installing a flange; 2. a drive mechanism; 21. a connecting member; 3. a bidirectional moving mechanism; 31. a rack slider assembly; 311. a limiting slide block; 312. a connecting plate; 313. a rack portion; 32. a gear; 4. a mechanical clamping arm; 5. a drive cylinder position detecting device; 51. a switch induction sheet; 52. a proximity switch; 6. a container detection device.

Detailed Description

The present invention will be described in further detail with reference to the following specific embodiments and the accompanying drawings.

As shown in fig. 1 to 10, the present invention provides a manipulator for sample collection and preparation, which includes a base 1, a driving mechanism 2 disposed on the base 1, and a bidirectional moving mechanism 3, wherein the base 1 is provided with a plurality of fixing components (not shown) for fixing the driving mechanism 2. The bidirectional moving mechanism 3 is driven by the driving mechanism 2 to realize reverse synchronous movement, and two mechanical clamping arms 4 are fixed on the bidirectional moving mechanism 3 and used for enclosing to form a clamping space so as to clamp through the reverse synchronous movement of the bidirectional moving mechanism 3. In this embodiment, the bidirectional moving mechanism 3 includes two rack slider assemblies 31 disposed on the base 1 in a limited sliding manner, that is, the rack slider assemblies 31 are limited on the base 1, and regarding the limited manner, the rack slider assemblies may be engaged with the concave limiting slider 311 through the convex linear sliding rail portion 11 as described below, or may be engaged with other limited manners such as a sliding groove and a slider, as long as the rack slider assemblies 31 are limited on the base 1, so as to achieve the technical effect that no other displacement occurs except for movement along the sliding track. A gear 32 engaged with each other is arranged between the two rack slider assemblies 31 to enable the two rack slider assemblies 31 to realize reverse synchronous sliding under the driving of the driving mechanism 2, namely the gear 32 is simultaneously engaged with the rack parts of the two rack slider assemblies 31, and as long as one rack slider assembly 31 slides, another rack slider assembly 31 is inevitably driven to synchronously slide through the gear 32. Importantly, the two rack slider assemblies 31 realize reverse synchronous sliding, namely reverse sliding, as shown in fig. 2, when the rack slider assembly 31 on the right side moves to the right, the rack slider assembly 31 on the left side moves to the left synchronously, so that the two rack slider assemblies are farther and farther away; when the rack slider assembly 31 on the right side moves to the left, the rack slider assembly 31 on the left side moves to the right in synchronization so that the two are closer and closer. The two rack slider assemblies 31 are respectively fixed with a mechanical clamping arm 4 for enclosing to form a clamping space so as to clamp through synchronous sliding of the two rack slider assemblies 31. The specific implementation principle is as follows:

when the clamping is needed, the driving mechanism 2 starts to drive, and due to the fact that the gear 32 and the two rack sliding block assemblies 31 are meshed simultaneously, the two rack sliding block assemblies 31 realize reverse synchronous sliding, the distance between the two rack sliding block assemblies is longer and longer, and then the distance between the two mechanical clamping arms 4 is longer and longer, and a clamping space is formed. When an article (such as a sample bottle) enters the clamping space, the driving mechanism 2 starts to drive reversely, and at this time, the two rack slider assemblies 31 realize reverse synchronous sliding again, and the distance between the two rack slider assemblies is increased, so that the distance between the two mechanical clamping arms 4 is increased, and finally the article is tightly clamped between the two mechanical clamping arms 4. As for the driving manner of the driving mechanism 2, it is desirable to adopt a manner that the driving mechanism 2 drives one of the rack slider assemblies 31 to move as described below, or a manner that the driving mechanism 2 directly drives the gear 32 to move, and then the gear 32 enables the two rack slider assemblies 31 to realize reverse synchronous sliding, which falls within the protection scope of the present invention. Through the special scientific design, the method has the following technical advantages:

firstly, the manipulator for sample collection and preparation forms a technical functional group by the special arrangement of the single driving mechanism 2, the gear 32 and the two rack sliding block assemblies 31 which are meshed simultaneously and matched with each other and supported mutually, and further realizes the technical effect that only one driving mechanism can simultaneously drive the two mechanical clamping arms 4 to synchronously and reversely move to form clamping, so that the manipulator has the advantages of simple and compact structure, quick and flexible driving, small occupied space, suitability for installation and use, and low manufacturing and maintenance cost.

Secondly, according to the manipulator for sample collection and preparation, the two rack sliding block assemblies 31 are meshed with the gear 32 at the same time, and the two rack sliding block assemblies 31 are limited on the base 1, so that the technical effect that other displacements can not occur except the movement according to the sliding track is achieved, the stability of the manipulator is high, the danger that the sample is scattered due to the shaking of the manipulator can not occur in the sample transfer process, and the sample collection and preparation working efficiency and the subsequent collection and preparation experiment precision are effectively guaranteed.

Thirdly, the manipulator for sample collection and preparation of the invention has high safety because of adopting the matching mode of the two rack sliding block assemblies 31 and the gear rack mechanism meshed with the gear 32 at the same time. Even if meet when proruption outage circumstances of breathing out, receive the mutual tooth chucking complex influence of rack and pinion for the clamping-force of manipulator can obtain keeping, and then can not take place to lead to the sample container to drop, cause the container to damage and the unrestrained consequence of sample.

Fourthly, according to the manipulator for sample collection and preparation, the technical effect that the two mechanical clamping arms 4 can be driven to synchronously move reversely and synchronously to form clamping by only one driving mechanism is achieved through the special arrangement that the single driving mechanism 2, the gear 32 and the two rack sliding block assemblies 31 are meshed simultaneously and matched with each other and supported mutually, so that the two mechanical clamping arms 4 are high in movement accuracy and strong in movement synchronism, and the serious result that one clamping part moves in place while the other clamping part still moves to cause the sample to be touched and dropped can be avoided. Further, in the preferred embodiment, two linear sliding rail portions 11 arranged in parallel up and down are provided on the base 1, each rack slider assembly 31 includes two or more limiting sliders 311 sliding in a limiting manner on the two linear sliding rail portions 11, an outward side of each limiting slider 311 forms a mechanical clamping arm mounting surface, an inward side of each limiting slider 311 to which each rack slider assembly 31 belongs is connected through a connecting plate 312, two rack portions 313 parallel to the linear sliding rail portions 11 are provided on the two connecting plates 312, and the gear 32 is engaged and mounted between the two rack portions 313 arranged up and down. Due to the special structural arrangement, more than two limit sliders 311 which are arranged up and down and slide on the upper linear sliding rail parts 11 and the lower linear sliding rail parts respectively exist in each rack slider assembly 31, that is, the upper limit sliders 311 and the lower limit sliders 311 of each rack slider assembly 31 form a surface effect, and the surface effect is that the mechanical clamping arm 4 is convenient to mount, so that the mechanical clamping arm 4 is more stably mounted (otherwise, the mounting stability is greatly reduced if only one mounting point is provided); secondly, be convenient for further spacing (more limit points) mechanical arm lock 4, and then make mechanical arm lock 4 and sharp slide rail portion 11 (also with base 1) connectivity, spacing higher, make mechanical arm lock 4 be difficult to take place self and rock more, make operating stability stronger. And the reliable connection of the plurality of limiting slide blocks 311 to which each rack slide block assembly 31 belongs can be realized through the connecting plate 312, so that the synchronous motion of the plurality of limiting slide blocks 311 is ensured, and finally, the stable and reliable operation of the mechanical clamping arm 4 is ensured.

Further, in the preferred embodiment, the linear sliding rail portion 11 is a protruding cylinder, and the limiting sliding blocks 311 are each provided with an inner concave portion corresponding to the linear sliding rail portion 11 for slidably clamping and limiting the limiting sliding blocks 311 on the linear sliding rail portion 11. This has further strengthened the spacing cooperation between sharp slide rail portion 11 and a plurality of spacing slider 311 to this kind of face contact can form reliable spacing support to spacing slider 311, makes a plurality of spacing slider 311 be difficult to take place to rock, and then makes mechanical arm lock 4 be difficult to take place self to rock more, makes operating stability stronger.

Further, in the preferred embodiment, the driving mechanism 2 includes a lock driving cylinder disposed in parallel with the linear rail portion 11, and the driving end of the lock driving cylinder is connected to a connecting plate 312 through a connecting member 21. The locking driving cylinder automatically realizes locking when power is off, so that the safety is further high. Even if meet the unexpected outage condition of cutting off the gas, receive the influence of rack and pinion mutual tooth chucking cooperation and the influence of locking drive actuating cylinder automatic locking, further make the clamping-force of manipulator can obtain keeping. Meanwhile, the clamping force of the manipulator can be flexibly adjusted by adjusting the air pressure of the locking driving air cylinder. Of course, in other embodiments, a locking actuation cylinder may be used.

Further, in the preferred embodiment, the driving cylinder position detecting device 5 is further included, the driving cylinder position detecting device 5 includes a switch sensing sheet 51 and one or more proximity switches 52 which are matched, the switch sensing sheet 51 is disposed on the connecting member 21, and the one or more proximity switches 52 are disposed on the base 1 along the moving direction of the connecting member 21. When the switch sensing piece 51 approaches and senses the proximity switch 52, the driving mechanism 2 stops driving, and the clamping is formed. By arranging a plurality of proximity switches 52, the manipulator has a plurality of gripping mobile stations, thereby achieving the function of being able to grip a variety of different sizes of containers. Meanwhile, the stop position of the driving mechanism 2 can be conveniently and flexibly adjusted by adjusting the installation position of the proximity switch 52, so that the purpose of flexibly adjusting the clamping force of the manipulator is achieved.

Further, in the preferred embodiment, a container detecting device 6 is disposed on the base 1 at a clamping space surrounded by the two mechanical clamping arms 4 for determining whether a container is present in the clamping space. In this embodiment, the container detection means 6 comprises a photosensor. When detecting that there is the container, begin the centre gripping, intelligent degree is higher.

Further, in the preferred embodiment, each of the two mechanical clamping arms 4 has a corresponding bending portion for forming two or more clamping spaces with different volumes after being surrounded. The mechanical clamping arm 4 in fig. 1, 5, 6 and 7 is bent through the bending part, so that a front clamping space and a rear clamping space are formed, the clamping space in the front is smaller, a small-volume sample bottle can be clamped conveniently, the clamping space in the rear is larger, and a large-volume sample barrel can be clamped conveniently. Particularly, in the embodiment, the section of the two mechanical clamping arms 4 closest to the inner side is matched to form a large rectangular clamping space for clamping the large-volume square barrel in fig. 5; the outermost sections of the two mechanical clamping arms 4 are matched to form a cylindrical small clamping space for clamping the small-volume sample bottle in the figure 7; in the bending part A between the front clamping space and the rear clamping space, the bending part is also scientifically arranged to be in an inwards concave arc shape, so that the large clamping space can be used for clamping the large-volume cylindrical sample barrel shown in the figure 6.

Of course, the bending form is not limited to the illustration, and the bending form may be a plurality of forms, in short, the manipulator of the present invention is suitable for clamping containers of different types or different shapes, resulting in high degree of intelligence and high work efficiency.

Further, in the preferred embodiment, the front ends of the two mechanical clamping arms 4 are both in a symmetrical tip shape and are provided with concave arc surfaces for clamping cylindrical sample bottles after enclosing. The front end of the mechanical clamping arm 4 in a sharp mouth shape can flexibly extend into gaps among a plurality of sample bottles, so that the sample bottles can be taken and placed flexibly.

Further, in the preferred embodiment, the base 1 is box-shaped, the driving mechanism 2 is disposed in the box, the bidirectional moving mechanism 3 is slidably disposed on one side wall of the base 1, and a mounting flange 12 for fixing the base 1 is disposed on the other side wall of the base 1. The manipulator structure of the invention is more compact, the driving mechanism 2, the gear 32 and the two rack sliding block assemblies 31 in the box can be protected, and the service life of the equipment is effectively prolonged.

Based on the technical features and the disclosure of the embodiments, the bidirectional moving mechanism 3 can also be adopted as other embodiments:

as shown in fig. 8, in this embodiment, the bidirectional moving mechanism 3 includes two worms, one is a left-handed worm (71), the other is a right-handed worm (72), one of the worms is connected to the rotational driving end of the driving mechanism 2, the two worms are connected by a coupling (73) at the middle portion to realize synchronous rotation, more than one left slider (711) is sleeved on the left-handed worm (71), and more than one right slider (721) is sleeved on the right-handed worm (72). The installation surface formed by more than one left slider (711) is used for installing one mechanical clamping arm 4, and the installation surface formed by more than one right slider (721) is used for installing the other mechanical clamping arm 4, so that a clamping space is formed by enclosing the mechanical clamping arms. When the driving mechanism 2 is driven to rotate, the left-handed worm (71) and the right-handed worm (72) rotate synchronously, so that the left slider (711) and the right slider (721) can realize synchronous reverse movement.

As shown in fig. 9, in this embodiment, the bidirectional moving mechanism 3 includes two left and right sliding blocks (81) sliding on the base 1, a sliding slot (82) for limiting the two sliding blocks (81) is provided on the base 1, the two sliding blocks (81) are both connected (also hinged) with the pushing driving end of the driving mechanism 2 through a hinged connecting rod (83), when the driving mechanism 2 pushes towards the lower side shown in the figure, it is inevitable that the two left and right sliding blocks (81) are pushed simultaneously through the two connecting rods (83) to move synchronously towards the outer side shown in the figure, when the driving mechanism 2 pulls towards the lower side shown in the figure, it is inevitable that the two left and right sliding blocks (81) are pulled simultaneously through the two connecting rods (83) to move synchronously towards the inner side shown in the figure, and further, synchronous reverse movement is well achieved.

As shown in fig. 10, this embodiment is very similar to the embodiment of fig. 9, except that this embodiment uses a parallelogram linkage structure formed by a plurality of links instead of two separate links, so that the synchronous reverse movement of the left and right sliders (81) is realized by one push and one pull of the driving mechanism 2.

The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above-mentioned embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may be made by those skilled in the art without departing from the principle of the invention.

Claims (11)

1. The utility model provides a manipulator for sample is adopted and is makeed, its characterized in that includes base (1) and locates actuating mechanism (2), two-way moving mechanism (3) on base (1), two-way moving mechanism (3) realize reverse synchronous motion under actuating mechanism's (2) drive, be fixed with two mechanical arm lock (4) on two-way moving mechanism (3), be used for enclosing and form the clamping space and carry out the centre gripping with the reverse synchronous motion through two-way moving mechanism (3).

2. The manipulator for the sampling according to claim 1, wherein the bidirectional moving mechanism (3) comprises two rack slider assemblies (31) slidably disposed on the base (1), a gear (32) engaged with each other is disposed between the two rack slider assemblies (31), and a mechanical clamping arm (4) is fixed on each of the two rack slider assemblies (31).

3. The mechanical arm for sample collection and preparation according to claim 2, wherein two linear sliding rail portions (11) are arranged on the base (1) in parallel from top to bottom, each rack slider assembly (31) comprises more than two limiting sliders (311) which respectively limit and slide on the two linear sliding rail portions (11), one outward side of each limiting slider (311) forms a mechanical clamping arm mounting surface, one inward side of each limiting slider (311) to which the rack slider assembly (31) belongs is connected through a connecting plate (312), two connecting plates (312) are provided with a rack portion (313) parallel to the linear sliding rail portions (11), and the gear (32) is engaged and mounted between the two rack portions (313) arranged from top to bottom.

4. The manipulator for sampling and sampling according to claim 3, wherein the linear slide rail portion (11) is a protruding cylinder, and the limiting sliders (311) are each provided with an inner concave portion corresponding to the linear slide rail portion (11) for slidably clamping and limiting the limiting slider (311) on the linear slide rail portion (11).

5. The manipulator for specimen sampling according to claim 3, wherein the driving mechanism (2) comprises a lock driving cylinder arranged in parallel with the linear rail (11), and a driving end of the lock driving cylinder is connected to a connection plate (312) through a connection member (21).

6. The manipulator for sample preparation according to claim 5, further comprising a driving cylinder position detecting device (5), wherein the driving cylinder position detecting device (5) comprises a switch sensing sheet (51) and one or more proximity switches (52) which are matched, the switch sensing sheet (51) is arranged on the connecting member (21), and the one or more proximity switches (52) are arranged on the base (1) along the moving direction of the connecting member (21).

7. The manipulator according to claim 1, wherein a container detection device (6) is disposed on the base (1) at a clamping space surrounded by the two mechanical arms (4) for determining whether a container is present in the clamping space.

8. The manipulator for sample preparation according to claim 7, wherein the cuvette detection means (6) comprises a photosensor.

9. The manipulator for the sampling and preparation of samples according to claim 1, characterized in that both of the two manipulator arms (4) are provided with corresponding bending portions for forming more than two clamping spaces with different volumes after being surrounded.

10. The manipulator according to claim 9, wherein the front ends of the two mechanical arms (4) are symmetrical and have a sharp mouth shape and an inward concave arc surface for enclosing and clamping a cylindrical sample bottle.

11. The manipulator for the sampling and preparation of samples according to claim 1, wherein the base (1) is box-shaped, the driving mechanism (2) is arranged in the box, the two-way moving mechanism (3) is arranged on one side wall of the base (1), and a mounting flange (12) for fixing the base (1) is arranged on the other side wall corresponding to the base (1).

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