CN204110912U - A kind of coal sample bottle gripper of manipulator - Google Patents
A kind of coal sample bottle gripper of manipulator Download PDFInfo
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- CN204110912U CN204110912U CN201420505205.0U CN201420505205U CN204110912U CN 204110912 U CN204110912 U CN 204110912U CN 201420505205 U CN201420505205 U CN 201420505205U CN 204110912 U CN204110912 U CN 204110912U
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- seat
- coal sample
- sample bottle
- manipulator
- grab
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Abstract
This application discloses a kind of coal sample bottle gripper of manipulator, comprising: permanent seat; Rotatably be arranged at the rotating table of described permanent seat in the horizontal direction; What drive described rotating table to carry out in the horizontal direction rotating horizontally rotates actuating device; Be arranged at the retractor device on described rotating table; The turntable seat be fixedly connected with the telescopic end of described retractor device; Be arranged at the vertical rotating driving device of described turntable seat; Drive the hand vertically rotated to grab device by described vertical rotating driving device, described hand grab device comprise grab seat, can relatively near or grab described in being relatively remotely connected to seat two jig arm and drive two described jig arm relatively near or relatively away from driving clamping device.Setting like this, the coal sample bottle gripper of manipulator that the utility model provides, it can replace manually picking and placeing coal sample bottle, effectively reduces manual labor's intensity, and avoid people contact, decrease human intervention.
Description
Technical field
The utility model relates to coal sample fetching device technical field, particularly relates to a kind of coal sample bottle gripper of manipulator.
Background technology
In the technological process such as sampling, sample preparation, chemical examination of power plant soot, the coal-fired coal sample producing the weight that complies with the national standard requirements that needs is chemically examined.
In preparation coal sample technique, according to the requirement in standard GB/T 474-2008 " preparation method of coal sample ", to the coal sample prepared, one of them need to be filed for reference coal sample, be stored on the shelf inside storage room, record from from coal sample quotes result, requires that storing coal sample preserves two months, in order to result correctness before check.
Prior art, file for reference in the preserving type of coal sample traditional, depositing in process of coal sample is all filed for reference on the coal sample frame in coal sample room by artificial coal sample of filing for reference to be put into, and when needing to check certain coal sample result, is also the coal sample of check will be needed by people to take out to filing for reference between sample.So, the increase of manual labor's intensity is caused.
Utility model content
The utility model provides a kind of coal sample bottle gripper of manipulator, and it can replace manually picking and placeing coal sample bottle, effectively reduces manual labor's intensity, and avoid people contact, decrease human intervention.
A kind of coal sample bottle gripper of manipulator that the utility model provides, comprising:
Permanent seat;
Rotatably be arranged at the rotating table of described permanent seat in the horizontal direction;
What drive described rotating table to carry out in the horizontal direction rotating horizontally rotates actuating device;
Be arranged at the retractor device on described rotating table;
The turntable seat be fixedly connected with the telescopic end of described retractor device;
Be arranged at the vertical rotating driving device of described turntable seat;
Drive the hand vertically rotated to grab device by described vertical rotating driving device, described hand grab device comprise grab seat, can relatively near or grab described in being relatively remotely connected to seat two jig arm and drive two described jig arm relatively near or relatively away from driving clamping device.
Preferably, two described jig arm, one of them be fixedly installed on described in grab seat, another be slidably disposed in by the driving effect of described driving clamping device described in grab seat.
Preferably, the corresponding surface of two described jig arm is equipped with elastomeric pad.
Preferably, described in horizontally rotate actuating device be servomotor, the support of described servomotor is fixedly connected with the bottom surface of described permanent seat, and the motor shaft of described servomotor is connected with described rotating table through described permanent seat.
Preferably, described retractor device is cylinder, hydraulic actuating cylinder or linear electric motors.
Preferably, described vertical rotating driving device is stepping motor, and the support of described stepping motor is fixedly connected on described turntable seat, and the motor shaft of described stepping motor is connected with described seat of grabbing.
Preferably, described driving clamping device is linear electric motors, cylinder or hydraulic actuating cylinder.
A kind of coal sample bottle gripper of manipulator that the utility model provides, comprising: permanent seat; Rotatably be arranged at the rotating table of described permanent seat in the horizontal direction; What drive described rotating table to carry out in the horizontal direction rotating horizontally rotates actuating device; Be arranged at the retractor device on described rotating table; The turntable seat be fixedly connected with the telescopic end of described retractor device; Be arranged at the vertical rotating driving device of described turntable seat; Drive the hand vertically rotated to grab device by described vertical rotating driving device, described hand grab device comprise grab seat, can relatively near or grab described in being relatively remotely connected to seat two jig arm and drive two described jig arm relatively near or relatively away from driving clamping device.Setting like this, when the coal sample bottle gripper of manipulator adopting the utility model to provide captures coal sample bottle, first can make to horizontally rotate actuating device drives rotating table to rotate in horizontal surface, after adjusting the direction of rotating table, retractor device stretches out to drive hand to grab device and stretches out, to make coal sample bottle between two jig arm, then driving clamping device drives two jig arm by tight for coal sample bottle clip, then vertically rotating driving device drives hand to grab device and vertically moves to be mentioned by coal sample bottle, then by coal sample bottle gripper of manipulator, coal sample bottle is placed into the position needing to place.The coal sample bottle gripper of manipulator that the utility model provides can realize mechanization automatic clamping and placing coal sample bottle, avoids employing and manually picks and places coal sample bottle and the larger problem of the manual labor's intensity brought, and avoid people contact, decrease human intervention.
Accompanying drawing explanation
In order to be illustrated more clearly in the utility model embodiment or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only embodiment of the present utility model, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to the accompanying drawing provided.
Fig. 1 is coal sample bottle gripper of manipulator schematic diagram in the utility model detailed description of the invention;
Fig. 2 is that in the utility model detailed description of the invention, hand grabs device birds-eye view;
In Fig. 1 and Fig. 2:
Permanent seat-11, rotating table-12, horizontally rotate actuating device-13, retractor device-14, turntable seat-15, vertically rotating driving device-16, hand grab device-17, jig arm-18, driving clamping device-19, coal sample bottle-20.
Detailed description of the invention
This detailed description of the invention provides a kind of coal sample bottle gripper of manipulator, and it can replace manually picking and placeing coal sample bottle, effectively reduces manual labor's intensity, and avoid people contact, decrease human intervention.
Below in conjunction with the accompanying drawing in the utility model embodiment, be clearly and completely described the technical scheme in the utility model embodiment, obviously, described embodiment is only the utility model part embodiment, instead of whole embodiments.Based on the embodiment in the utility model, those of ordinary skill in the art are not making the every other embodiment obtained under creative work prerequisite, all belong to the scope of the utility model protection.
Please refer to Fig. 1 and Fig. 2, the coal sample bottle gripper of manipulator that this detailed description of the invention provides, comprise permanent seat 11, rotating table 12, horizontally rotate actuating device 13, retractor device 14, turntable seat 15, vertically rotating driving device 16 and hand grab device 17.
Wherein, rotating table 12 is rotatably arranged at permanent seat 11 in the horizontal direction, horizontally rotates actuating device 13 and rotates in the horizontal direction for driving rotating table 12.
Retractor device 14 is arranged on rotating table 12, and the telescopic end of retractor device 14 is fixedly connected with turntable seat 15.
Vertical rotating driving device 16 is arranged on turntable seat 15, and hand is grabbed device 17 and vertically can be rotated under the driving effect of vertical rotating driving device 16.
In this detailed description of the invention, hand grab device 17 comprise grab seat, can relatively near or relatively remotely be connected to two jig arm 18 of grabbing seat and drive two jig arm 18 relatively near or relatively away from driving clamping device 19.
Setting like this, when the coal sample bottle gripper of manipulator adopting this detailed description of the invention to provide captures coal sample bottle, first can make to horizontally rotate actuating device 13 drives rotating table 12 to rotate in horizontal surface, after adjusting the direction of rotating table 12, retractor device 14 stretches out, grab device 17 to drive hand to stretch out, and make coal sample bottle 20 between two jig arm 18, then driving clamping device 19 drives two jig arm 18 to be clamped by coal sample bottle 20, then vertically rotating driving device 16 drives hand to grab device upwards to mention coal sample bottle 20, and by coal sample bottle gripper of manipulator, coal sample bottle 20 is placed into the position needing to place.
The coal sample bottle gripper of manipulator that this detailed description of the invention provides can realize mechanization automatic clamping and placing coal sample bottle, avoids employing and manually picks and places coal sample bottle and the larger problem of the manual labor's intensity brought, and avoid people contact, decrease human intervention.
In this detailed description of the invention, two jig arm 18 that hand grabs device 17 specific as followsly can state setting.Two jig arm 18, one of them is fixedly installed on grabs on seat, and another is slidably disposed in by the driving effect of driving clamping device 19 and grabs on seat.Setting like this, drives one of them jig arm 18 can realize the clamping of coal sample bottle or loosen by driving clamping device 19.
Certainly, above-mentioned two jig arm 18 also can all be slidably disposed on grabs on seat, driving clamping device 19 drive simultaneously two jig arm 18 close to each other or mutually away from, to clamp coal sample bottle or to loosen coal sample bottle.
In order to ensure that jig arm 18 clamps dynamics and the friction force of coal sample bottle, in the preferred version of this detailed description of the invention, the corresponding surface of two jig arm 18 is equipped with elastomeric pad.Setting like this, jig arm 18 is tight by coal sample bottle clip by elastomeric pad, effectively improves clamping dynamics and friction force.
In this detailed description of the invention, horizontally rotate actuating device 13 and can be specially servomotor, the support of servomotor is fixedly connected with the bottom surface of described permanent seat 11, and the motor shaft of servomotor passes permanent seat 11 and is connected with rotating table 12.
Servomotor can the anglec of rotation of precision control motor shaft, and then accurately can control the anglec of rotation of rotating table 12, makes hand grab device 17 and can accurately aim at coal sample bottle.
Above-mentioned retractor device 14 is cylinder, hydraulic actuating cylinder or linear electric motors, only needs linearly to drive hand to grab device 17 and stretches out or retract.
Vertical rotating driving device 16 can be stepping motor, and the support of stepping motor is fixedly connected on turntable seat 15, the motor shaft of stepping motor with grab seat and be connected.Setting like this, can be with by stepping motor and start to grab device 17 and vertically rotate, and then coal sample bottle 20 can be mentioned from laying rack or put down.
Driving clamping device 19 can be linear electric motors, cylinder or hydraulic actuating cylinder, if can drive two jig arm 18 close to each other or mutually away from.
To the above-mentioned explanation of the disclosed embodiments, professional and technical personnel in the field are realized or uses the utility model.To be apparent for those skilled in the art to the multiple amendment of these embodiments, General Principle as defined herein when not departing from spirit or scope of the present utility model, can realize in other embodiments.Therefore, the utility model can not be restricted to these embodiments shown in this article, but will meet the widest scope consistent with principle disclosed herein and features of novelty.
Claims (7)
1. a coal sample bottle gripper of manipulator, is characterized in that, comprising:
Permanent seat;
Rotatably be arranged at the rotating table of described permanent seat in the horizontal direction;
What drive described rotating table to carry out in the horizontal direction rotating horizontally rotates actuating device;
Be arranged at the retractor device on described rotating table;
The turntable seat be fixedly connected with the telescopic end of described retractor device;
Be arranged at the vertical rotating driving device of described turntable seat;
Drive the hand vertically rotated to grab device by described vertical rotating driving device, described hand grab device comprise grab seat, can relatively near or grab described in being relatively remotely connected to seat two jig arm and drive two described jig arm relatively near or relatively away from driving clamping device.
2. coal sample bottle gripper of manipulator as claimed in claim 1, is characterized in that, two described jig arm, one of them be fixedly installed on described in grab seat, another be slidably disposed in by the driving effect of described driving clamping device described in grab seat.
3. coal sample bottle gripper of manipulator as claimed in claim 2, is characterized in that, the corresponding surface of two described jig arm is equipped with elastomeric pad.
4. coal sample bottle gripper of manipulator as claimed in claim 1, it is characterized in that, the described actuating device that horizontally rotates is servomotor, and the support of described servomotor is fixedly connected with the bottom surface of described permanent seat, and the motor shaft of described servomotor passes described permanent seat and is connected with described rotating table.
5. coal sample bottle gripper of manipulator as claimed in claim 1, it is characterized in that, described retractor device is cylinder, hydraulic actuating cylinder or linear electric motors.
6. coal sample bottle gripper of manipulator as claimed in claim 1, it is characterized in that, described vertical rotating driving device is stepping motor, and the support of described stepping motor is fixedly connected on described turntable seat, and the motor shaft of described stepping motor is connected with described seat of grabbing.
7. coal sample bottle gripper of manipulator as claimed in claim 1, it is characterized in that, described driving clamping device is linear electric motors, cylinder or hydraulic actuating cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420505205.0U CN204110912U (en) | 2014-09-03 | 2014-09-03 | A kind of coal sample bottle gripper of manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420505205.0U CN204110912U (en) | 2014-09-03 | 2014-09-03 | A kind of coal sample bottle gripper of manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204110912U true CN204110912U (en) | 2015-01-21 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420505205.0U Active CN204110912U (en) | 2014-09-03 | 2014-09-03 | A kind of coal sample bottle gripper of manipulator |
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| CN (1) | CN204110912U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105293030A (en) * | 2015-11-30 | 2016-02-03 | 苏州研高自动化科技有限公司 | Filter washer turning and detecting device |
| CN105366359A (en) * | 2015-12-01 | 2016-03-02 | 苏州研高自动化科技有限公司 | Unloading device |
| CN108263674A (en) * | 2018-03-23 | 2018-07-10 | 长沙开元仪器股份有限公司 | A kind of manipulator for bottling machine and the bottling machine with the manipulator |
| CN108313959A (en) * | 2018-03-23 | 2018-07-24 | 长沙开元仪器股份有限公司 | A kind of bottling machine |
| CN109110501A (en) * | 2018-09-14 | 2019-01-01 | 长沙开元仪器有限公司 | A kind of sample bottle conveyer system |
| CN111661641A (en) * | 2020-06-24 | 2020-09-15 | 博众精工科技股份有限公司 | Storage battery clamping mechanism |
-
2014
- 2014-09-03 CN CN201420505205.0U patent/CN204110912U/en active Active
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105293030A (en) * | 2015-11-30 | 2016-02-03 | 苏州研高自动化科技有限公司 | Filter washer turning and detecting device |
| CN105366359A (en) * | 2015-12-01 | 2016-03-02 | 苏州研高自动化科技有限公司 | Unloading device |
| CN108263674A (en) * | 2018-03-23 | 2018-07-10 | 长沙开元仪器股份有限公司 | A kind of manipulator for bottling machine and the bottling machine with the manipulator |
| CN108313959A (en) * | 2018-03-23 | 2018-07-24 | 长沙开元仪器股份有限公司 | A kind of bottling machine |
| CN108313959B (en) * | 2018-03-23 | 2024-05-24 | 长沙开元仪器有限公司 | Bottle filling machine |
| CN109110501A (en) * | 2018-09-14 | 2019-01-01 | 长沙开元仪器有限公司 | A kind of sample bottle conveyer system |
| CN109110501B (en) * | 2018-09-14 | 2020-07-03 | 长沙开元仪器有限公司 | Sample bottle conveying system |
| CN111661641A (en) * | 2020-06-24 | 2020-09-15 | 博众精工科技股份有限公司 | Storage battery clamping mechanism |
| CN111661641B (en) * | 2020-06-24 | 2022-03-08 | 博众精工科技股份有限公司 | Storage battery clamping mechanism |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20190617 Address after: 410000 Xingsha Industrial Base (Changlong Street), Changsha Economic and Technological Development Zone, Changsha City, Hunan Province, No. 1259, Liangtang East Road Patentee after: Kaiyuan Instrument Co., Ltd., Changsha Address before: 410100 No. 172 Kaiyuan Road, Changsha economic and Technological Development Zone, Hunan Patentee before: Changsha Kaiyuan Instruments Co., Ltd. |
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| TR01 | Transfer of patent right |