CN114393599A - Sampling manipulator and sampling robot suitable for robot - Google Patents
Sampling manipulator and sampling robot suitable for robot Download PDFInfo
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- CN114393599A CN114393599A CN202210169965.8A CN202210169965A CN114393599A CN 114393599 A CN114393599 A CN 114393599A CN 202210169965 A CN202210169965 A CN 202210169965A CN 114393599 A CN114393599 A CN 114393599A
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- sleeve
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- sampling
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- 238000005070 sampling Methods 0.000 title claims abstract description 56
- 230000001681 protective effect Effects 0.000 claims description 10
- 239000003638 chemical reducing agent Substances 0.000 claims description 4
- 238000010276 construction Methods 0.000 claims 2
- 230000000694 effects Effects 0.000 abstract description 3
- 239000000463 material Substances 0.000 description 13
- 238000013461 design Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 238000009423 ventilation Methods 0.000 description 4
- 210000001503 joint Anatomy 0.000 description 3
- 238000005299 abrasion Methods 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0019—End effectors other than grippers
-
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
- G01N1/04—Devices for withdrawing samples in the solid state, e.g. by cutting
- G01N1/08—Devices for withdrawing samples in the solid state, e.g. by cutting involving an extracting tool, e.g. core bit
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
- G01N35/0099—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor comprising robots or similar manipulators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- General Physics & Mathematics (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Manipulator (AREA)
Abstract
The invention provides a sampling manipulator and a sampling robot suitable for a robot, comprising: go up casing portion and activity adapting unit, the inside of going up casing portion includes the inner skleeve, activity adapting unit's inside includes the cylinder, the inside of inner skleeve is provided with the cylinder, and the cylinder can drive the outer sleeve and move between primary importance and second place, go up the outer sleeve with the base of cross universal joint contacts, lower casing portion is in rigid state, and after the outer sleeve was located the second place, go up the outer sleeve and be in the surface of going up casing portion coincides mutually, lower casing portion is in the gentle state. According to the device, the upper outer sleeve is driven to ascend and descend by the air cylinder, so that the upper shell part is switched between a flexible state and a rigid state, the motion latitude of the sampling head is flexible, a dynamic target can be sampled, the practical function of the device is improved, and the applicability of the device is enhanced.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a sampling manipulator and a sampling robot suitable for a robot.
Background
Sampling refers to the process of extracting an individual or sample from a population, i.e., the process of testing or observing the population. Sampling requires a corresponding sampling head to be implemented. In the prior art, a plurality of mechanical arms which can imitate certain motion functions of human hands and arms are widely applied in the sampling process, and meanwhile, the sampling robot can also replace manual sampling.
However, the traditional sampling robot has the problems that the traditional sampling robot does not have a flexible structure, cannot sample a dynamic target, cannot perform deep sampling, is limited in use range and the like.
Patent document CN207832527U discloses a parallel crossing type sampling head, which adopts a ventilation mechanism to control ventilation, control ventilation speed, and regulate and control according to actual conditions, and secondly, adjusts the height through an adjusting rod, controls the height according to actual needs, and adjusts the lifting according to ventilation efficiency and wind speed. The disadvantages of the patent document are: the motion latitude of the sampling head is low and inflexible, and the sampling head does not have a flexible structure and cannot sample a dynamic target.
Patent document CN305120309S discloses a grabbing type sampling arm, which has the following disadvantages: the sampling head can only adopt surface materials, can not carry out deep sampling, and the application range is limited.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a sampling manipulator and a sampling robot suitable for a robot.
According to the present invention, there is provided a sampling manipulator adapted for use in a robot, comprising: the upper shell comprises an upper shell body and a movable connecting part, wherein an inner sleeve is arranged inside the upper shell body, an air cylinder is arranged inside the movable connecting part, the air cylinder can drive an upper outer sleeve to move between a first position and a second position, an outer connecting disc is arranged below the air cylinder, a connecting plate, a connecting disc body and a cross universal joint are sequentially arranged below the outer connecting disc in a downward direction, an upper outer sleeve is arranged on the surface of the inner sleeve, a lower shell body is arranged at the bottom end of the cross universal joint, the lower shell body has a rigid state and a flexible state, when the upper outer sleeve is located at the first position, the upper outer sleeve is in contact with a base of the cross universal joint, and the lower shell body is in the rigid state;
when the upper outer sleeve is positioned at the second position, the inner sleeve part is positioned inside the upper outer sleeve, and the lower shell part is in a flexible state;
the protection structure comprises a mounting groove, a laser position assembly is arranged above the mounting groove, and a buffer piece is arranged in the mounting groove;
the laser position assembly can acquire stroke data of the upper outer sleeve;
the controller is respectively and electrically connected with the laser position assembly and the cylinder.
Preferably, lower casing part includes the motor protecting crust, the bottom of motor protecting crust is provided with the organism sleeve, the telescopic bottom installation impeller sleeve of organism, the telescopic surface mounting of impeller has the impeller access hole, organism sleeve and the telescopic inside of impeller are provided with gathers the drive division.
Preferably, the collection driving part comprises a servo motor, a speed reducer, a machine body supporting plate, a supporting bearing shell, a connecting disc, a spiral impeller, a sampling head and a guide cone are sequentially installed at the bottom end of the servo motor in the downward direction, and a buffering platform is installed on the surface of the spiral impeller.
Preferably, the inner diameter of the upper outer sleeve is greater than the outer diameter of the inner sleeve.
Preferably, the upper outer sleeve is of a sliding structure on the outer wall of the inner sleeve.
Preferably, the upper outer sleeve is capable of interfacing a cross universal joint.
Preferably, the helical impeller may be rotated in a forward or reverse direction.
Preferably, the buffer platform is provided with a plurality of groups on the surface of the helical impeller.
Preferably, the lower part of the sampling head is of a two-tooth structure.
Preferably, the sampling robot is suitable for a sampling manipulator of the robot.
Compared with the prior art, the invention has the following beneficial effects:
1. according to the device, the upper outer sleeve is driven to ascend and descend by the air cylinder, so that the upper shell part is switched between a flexible state and a rigid state, the motion latitude of the sampling head is flexible, a dynamic target can be sampled, the practical function of the device is improved, and the applicability of the device is enhanced.
2. The spiral impeller is driven by the servo motor to rotate forwards and backwards, the spiral impeller can collect and unload materials after rotating forwards and backwards by using the design of the auger of the spiral impeller, and the sampling head can carry out deep sampling by the rotation design of the sampling head, so that the functionality of the device is improved.
3. According to the invention, through the design of the impeller access hole, when the interior of the impeller sleeve is blocked, the impeller access hole can be opened for the overflow hole of the material, so that the phenomenon of complicated maintenance and dredging processes during blocking is avoided, and the usability of the device is improved for the outer sleeve.
4. The buffer piece and the upper sleeve are in butt joint, the buffer protection effect is achieved on the upper outer sleeve, the phenomena of abrasion and noise after butt joint are avoided after rigid butt joint between the upper sleeve and the lower shell portion, the laser position assembly is used for collecting the stroke of the upper sleeve, and the phenomenon that the upper outer sleeve is damaged and broken when continuing to work after being not completely closed is avoided.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a schematic view of a front view flexible structure of the present invention;
FIG. 2 is a schematic cross-sectional front view of the present invention;
FIG. 3 is a schematic view of the rigid structure of the present invention;
fig. 4 is a schematic top view of the protection structure of the present invention.
The figures show that: 100. an upper housing portion; 101. an inner sleeve; 102. a connecting plate; 103. the tray body is connected; 104. a cross universal joint; 105. connecting a flange seat; 200. a movable connecting member; 201. a cylinder; 202. an outer connecting disc; 203. fastening a nut; 204. an upper outer sleeve; 205. an air inlet and outlet nozzle of the air cylinder; 300. a lower housing portion; 301. a motor protective housing; 302. a machine body sleeve; 303. a connecting disc; 304. an impeller sleeve; 305. an impeller access hole; 306. a sensor holder; 400. a collection driving part; 401. a servo motor; 402. a speed reducer; 403. a machine body support plate; 404. supporting the bearing housing; 405. a helical impeller; 406. a buffer platform; 407. a sampling head; 408. a guide cone; 5. a protective structure; 501. a laser position assembly; 502. mounting grooves; 503. a buffer member; 504. and a Bluetooth module.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
The first embodiment is as follows:
referring to fig. 1, 2 and 3, the present invention provides a sampling manipulator suitable for a robot, including: the upper shell part 100 and the movable connecting part 200, the inner sleeve 101 is arranged in the upper shell part 100, the cylinder 201 is arranged in the movable connecting part 200, the cylinder 201 is arranged in the inner sleeve 101, the cylinder 201 can drive the upper outer sleeve 204 to move between a first position and a second position, the outer connecting plate 202 is arranged below the cylinder 201, the connecting plate 102, the connecting plate body 103 and the universal joint cross 104 are sequentially arranged below the outer connecting plate 202 along the downward direction, the upper outer sleeve 204 is arranged on the surface of the inner sleeve 101, the lower shell part 300 is arranged at the bottom end of the universal joint cross 104, the lower shell part 300 has a rigid state and a flexible state, when the upper outer sleeve 204 is positioned at the first position, the upper outer sleeve 204 is in contact with the base of the universal joint cross 104, the lower shell part 300 is in the rigid state, and when the upper outer sleeve 204 is positioned at the second position, the inner sleeve 101 is partially positioned in the upper outer sleeve 204, the lower housing portion 300 is in a flexible state;
the inner diameter of the upper outer sleeve 204 is larger than the outer diameter of the inner sleeve 101, the upper outer sleeve 204 is of a sliding structure on the outer wall of the inner sleeve 101, the upper outer sleeve 204 can butt the universal joint cross 104, when the upper outer sleeve 204 is in a flexible state, at least one part of the movable connecting component 200 is exposed out of the upper outer sleeve 204, so that the upper shell part 100 and the lower shell part 300 are in flexible connection in the horizontal direction, when the upper outer sleeve 204 is in a rigid state, the upper outer sleeve 204 surrounds the outer part of the inner sleeve 101, and the lower end of the upper outer sleeve 204 is clamped and locked with the top of the motor protective shell 301, so that the upper shell part 100 and the lower shell part 300 are in rigid connection in the radial direction;
specifically, as shown in fig. 2 and 3, the lower housing part 300 includes a motor protective housing 301, an organism sleeve 302 is disposed at the bottom end of the motor protective housing 301, an impeller sleeve 304 is mounted at the bottom end of the organism sleeve 302, the collection driving part 400 is disposed inside the organism sleeve 302 and the impeller sleeve 304, and sensor brackets 306 for placing sensors are mounted at two sides of the impeller sleeve 304;
an impeller access hole 305 is arranged on the surface of the impeller sleeve 304, and the impeller access hole 305 can be used as a material overflow hole by opening a cover plate when necessary;
specifically, as shown in fig. 2, the acquisition driving portion 400 includes a servo motor 401, a speed reducer 402, a body supporting plate 403, a supporting bearing housing 404, a connecting disc 303, a spiral impeller 405, a sampling head 407, and a guide cone 408 are sequentially installed at the bottom end of the servo motor 401 along a downward direction, a buffer platform 406 is installed on the surface of the spiral impeller 405, and the spiral impeller 405, the buffer platform 406, the sampling head 407, and the guide cone 408 are welded or bolted to form an integral structure;
the spiral impeller 405 can rotate forward or backward, the spiral impeller 405 corotation material is collected, the spiral impeller 405 reversal material unloading buffer platform 406 is provided with a plurality of groups on the surface of the spiral impeller 405, and when the spiral impeller 405 is in a static state, the material gliding is hindered. The lower part of the sampling head 407 is of a two-tooth structure, so that large materials can be conveniently crushed.
The second embodiment is as follows:
specifically, as shown in fig. 4, the protective structure 5 includes a mounting groove 502, a laser position assembly 501 is disposed above the mounting groove 502, a buffer 503 is mounted inside the mounting groove 502, and the buffer 503 is preferably a rubber member; laser position assembly 501 is capable of acquiring travel data of upper outer sleeve 204; the controller is respectively electrically connected with the laser position assembly 501 and the cylinder 201; the buffer member 503 is embedded in the mounting groove 502 at the top end of the lower casing part 300, when the upper outer sleeve 204 is butted with the lower casing part 300, the buffer member 503 is preferentially contacted, the upper outer sleeve 204 is buffered by the self principle of the buffer member, and noise and abrasion caused by rigid butting between the lower casing part 300 and the upper outer sleeve 204 are avoided.
The laser position assembly 501 is provided with a laser displacement sensor, the laser displacement sensor is used for collecting distance data of the up-down telescopic stroke of the upper sleeve 204, then the collected distance data are transmitted to the controller, when the controller analyzes that the collected distance data are abnormal, the work of the robot is interrupted, and an error code is output to an external terminal through the Bluetooth module 504; the controller is electrically connected to the bluetooth module 504.
The working principle of the invention is as follows:
firstly, a connecting flange seat 105 is butted with a proper external sampling robot, the air cylinder 201 can be stretched and contracted through the self characteristic of an air inlet and outlet nozzle 205 of the air cylinder, then an outer connecting disc 202 and the air cylinder 201 are fixed through a fastening nut 203, the outer connecting disc 202 is connected with an upper outer sleeve 204, a connecting plate 102 is butted with a connecting disc body 103, the upper outer sleeve 204 can be driven to stretch and contract after the air cylinder 201 is stretched and contracted, and meanwhile, under the arrangement of a cross universal joint 104, the upper shell part 100 and the lower shell part 300 are switched between two states of rigidity and flexibility;
secondly, the servo motor 401 is used for driving the spiral impeller 405 in the impeller sleeve 304 to rotate forwards or backwards, and meanwhile, the spiral impeller 405 auger is used for collecting and discharging materials, when the sampling head 407 rotates under the driving of the spiral impeller 405, the materials can be extracted, and the depth of the extracted materials can be improved by the design that the sampling head 407 drives the guide cone 408.
Finally, the opening of the impeller access hole 305 can discharge the materials in the impeller sleeve 304, so that the phenomenon of material blockage in the impeller sleeve 304 is avoided, and the whole work of the device is finally completed.
In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (10)
1. A sampling manipulator adapted for use with a robot, comprising: an upper housing part (100), a movable connecting part (200), a protective structure (5) and a controller, the inner part of the upper shell part (100) comprises an inner sleeve (101), the inner part of the movable connecting part (200) comprises an air cylinder (201), the inner part of the inner sleeve (101) is provided with the air cylinder (201), and the air cylinder (201) can drive the upper outer sleeve (204) to move between a first position and a second position, an outer connecting disc (202) is arranged below the cylinder (201), a connecting plate (102), a connecting disc body (103) and a cross universal joint (104) are sequentially arranged below the outer connecting disc (202) along the downward direction, an upper outer sleeve (204) is arranged on the surface of the inner sleeve (101), a lower shell (300) is installed at the bottom end of the universal joint cross (104), and the lower shell (300) has a rigid state and a flexible state;
when the upper outer sleeve (204) is in the first position, the upper outer sleeve (204) is in contact with the base of the universal joint cross (104) and the lower housing portion (300) is in a rigid state,
when the upper outer sleeve (204) is in the second position, the inner sleeve (101) is partially inside the upper outer sleeve (204), and the lower housing portion (300) is in a flexible state;
the protective structure (5) comprises a mounting groove (502), a laser position assembly (501) is arranged above the mounting groove (502), and a buffer piece (503) is mounted inside the mounting groove (502);
the laser position assembly (501) is capable of acquiring travel data of the upper outer sleeve (204);
the controller is respectively electrically connected with the laser position assembly (501) and the air cylinder (201).
2. The sampling manipulator suitable for a robot of claim 1, wherein the lower housing part (300) comprises a motor protective shell (301), an organism sleeve (302) is arranged at the bottom end of the motor protective shell (301), an impeller sleeve (304) is arranged at the bottom end of the organism sleeve (302), an impeller access hole (305) is arranged on the surface of the impeller sleeve (304), and a collection driving part (400) is arranged inside the organism sleeve (302) and the impeller sleeve (304).
3. The sampling manipulator suitable for a robot of claim 2, wherein the collection driving part (400) comprises a servo motor (401), a speed reducer (402), a machine body supporting plate (403), a supporting bearing shell (404), a connecting disc (303), a spiral impeller (405), a sampling head (407) and a guide cone (408) are sequentially installed at the bottom end of the servo motor (401) along the downward direction, and a buffer platform (406) is installed on the surface of the spiral impeller (405).
4. The sampling manipulator as claimed in claim 1 adapted for use in a robot, wherein the inner diameter of the upper outer sleeve (204) is larger than the outer diameter of the inner sleeve (101).
5. The sampling manipulator as claimed in claim 1 adapted for use in a robot, wherein the upper outer sleeve (204) is of a sliding construction on the outer wall of the inner sleeve (101).
6. The robotic sampling manipulator of claim 1, wherein the upper outer sleeve (204) is configured to interface a cross-gimbal (104).
7. A sampling manipulator according to claim 3 adapted for a robot, wherein the helical impeller (405) is rotatable in forward or reverse direction.
8. A sampling manipulator adapted for a robot according to claim 3, characterized in that the buffer platform (406) is provided with a plurality of sets on the surface of the helical impeller (405).
9. A sampling manipulator adapted for use in a robot according to claim 3, characterized in that the lower part of the sampling head (407) is of a two-tooth construction.
10. A sampling robot comprising a sampling manipulator adapted for use with a robot as claimed in any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210169965.8A CN114393599A (en) | 2022-02-23 | 2022-02-23 | Sampling manipulator and sampling robot suitable for robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210169965.8A CN114393599A (en) | 2022-02-23 | 2022-02-23 | Sampling manipulator and sampling robot suitable for robot |
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| Publication Number | Publication Date |
|---|---|
| CN114393599A true CN114393599A (en) | 2022-04-26 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210169965.8A Pending CN114393599A (en) | 2022-02-23 | 2022-02-23 | Sampling manipulator and sampling robot suitable for robot |
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| Country | Link |
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| CN (1) | CN114393599A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115815237A (en) * | 2022-08-24 | 2023-03-21 | 北京白象新技术有限公司 | Endoscope cleaning and disinfecting device capable of compensating docking deviation fully and automatically |
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| GB976172A (en) * | 1963-01-31 | 1964-11-25 | Cons Pneumatic Tool Company Lt | Improvements in or relating to sampling augers |
| CN201882569U (en) * | 2010-11-20 | 2011-06-29 | 武汉皇冠友谊油脂工程有限公司 | Sealing-quantifying conveying device used for washing soy protein by alcohol |
| CN202547973U (en) * | 2012-04-12 | 2012-11-21 | 赛摩电气股份有限公司 | Spiral sampler |
| CN105214808A (en) * | 2015-11-04 | 2016-01-06 | 北方重工集团有限公司 | A kind of helical blade type grinding machine |
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| CN113432539A (en) * | 2021-05-28 | 2021-09-24 | 北京机械设备研究所 | Laser measuring device for oil cylinder expansion amount |
| CN216695622U (en) * | 2021-12-31 | 2022-06-07 | 上海方酋机器人有限公司 | Sampling manipulator and sampling robot suitable for robot |
-
2022
- 2022-02-23 CN CN202210169965.8A patent/CN114393599A/en active Pending
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| GB976172A (en) * | 1963-01-31 | 1964-11-25 | Cons Pneumatic Tool Company Lt | Improvements in or relating to sampling augers |
| CN201882569U (en) * | 2010-11-20 | 2011-06-29 | 武汉皇冠友谊油脂工程有限公司 | Sealing-quantifying conveying device used for washing soy protein by alcohol |
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| CN207832527U (en) * | 2018-02-05 | 2018-09-07 | 上海腾滔科技有限公司 | One kind is parallel to pass through formula sampling head |
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| CN209805634U (en) * | 2019-01-17 | 2019-12-17 | 赵岗 | A intelligent rigging equipment for new forms of energy motor protecgulum |
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| Title |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115815237A (en) * | 2022-08-24 | 2023-03-21 | 北京白象新技术有限公司 | Endoscope cleaning and disinfecting device capable of compensating docking deviation fully and automatically |
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