CN211517483U - Automatic sampling manipulator - Google Patents
Automatic sampling manipulator Download PDFInfo
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- CN211517483U CN211517483U CN201921642920.8U CN201921642920U CN211517483U CN 211517483 U CN211517483 U CN 211517483U CN 201921642920 U CN201921642920 U CN 201921642920U CN 211517483 U CN211517483 U CN 211517483U
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Abstract
The utility model discloses an automatic sampling manipulator, include: the clamping device comprises a rack, wherein a transverse moving assembly is arranged on the rack, a vertical moving assembly is fixed on the transverse moving assembly, a rotating assembly and a clamping assembly are mounted on the vertical moving assembly, and the clamping assembly can rotate along the z-axis direction under the action of the rotating assembly. The utility model has the advantages of simple structure, be convenient for assemble, dismantle and the maintenance, convenient and safe, nimble swift, stable high and good reproducibility can replace artifical laying-out, improves degree of automation.
Description
Technical Field
The utility model belongs to the technical field of mechanical structure, concretely relates to automatic sampling manipulator.
Background
When the heavy metal content in the soil is subjected to component detection and analysis, the soil to be detected needs to be ground into powder, then samples are screened, packaged and labeled, and finally detection is carried out.
Therefore, how to provide an automatic sampling manipulator which relieves people from boring, troublesome and single picking and placing work and improves the working efficiency is an urgent problem to be solved.
SUMMERY OF THE UTILITY MODEL
An embodiment of the utility model provides an automatic sampling manipulator for solve the problem among the prior art, include:
in one embodiment, an automated sampling manipulator is provided, comprising:
the clamping device comprises a rack, wherein a transverse moving assembly is arranged on the rack, a vertical moving assembly is fixed on the transverse moving assembly, a rotating assembly and a clamping assembly are mounted on the vertical moving assembly, and the clamping assembly can rotate along the z-axis direction under the action of the rotating assembly.
Compared with the prior art, the utility model discloses stability is good, repeatability is high, measurement accuracy is high, can realize automatic that repeatability gets and put soil sample work to liberating the people from boring and vexed compound single getting of work and putting out, improved work efficiency.
The utility model discloses simple structure, the equipment of being convenient for, dismantlement and maintenance, convenient and safe, nimble swift, repetition accuracy is high, can be used for fields such as soil heavy metal detection.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present application, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a schematic diagram of an automated sampling robot according to an embodiment of the present disclosure;
FIG. 2 is a detailed view of an automated sampling robot according to one embodiment of the subject application;
fig. 3 is a topological diagram of the operation of the automatic sampling manipulator according to an embodiment of the present application.
Detailed Description
The present invention will be more fully understood from the following detailed description, which should be read in conjunction with the accompanying drawings. Detailed embodiments of the present invention are disclosed herein; however, it is to be understood that the disclosed embodiments are merely exemplary of the invention, which may be embodied in various forms. Therefore, specific functional details disclosed herein are not to be interpreted as limiting, but merely as a basis for the claims and as a representative basis for teaching one skilled in the art to variously employ the present invention in virtually any appropriately detailed embodiment.
The utility model provides an automatic sampling manipulator, include:
the clamping device comprises a rack, wherein a transverse moving assembly is arranged on the rack, a vertical moving assembly is fixed on the transverse moving assembly, a rotating assembly and a clamping assembly are mounted on the vertical moving assembly, and the clamping assembly can rotate along the z-axis direction under the action of the rotating assembly.
Further, the lateral movement assembly includes:
the x-axis slide rail is fixed on the rack;
the first sliding table is arranged on the x-axis sliding rail and can slide along the x-axis sliding rail;
the first driving device drives the first sliding table to slide;
the vertical moving assembly is fixed on the first sliding table.
Further, the first driving device includes:
the two driving wheels are respectively fixed on the machine frames at the two ends of the x-axis slide rail;
the servo motor is fixedly connected to any one of the transmission wheels;
the transmission belt is arranged between the two transmission wheels, and the first sliding table is fixed on the transmission belt and can slide under the driving of the transmission belt.
Further, the vertical movement assembly includes:
the supporting plate is vertically fixed on the first sliding table;
the z-axis sliding rail is fixed on the supporting plate;
the second sliding table is arranged on the z-axis sliding rail and can slide along the z-axis sliding rail;
the second driving device drives the second sliding table to slide;
further, the second driving device includes:
the two driving wheels are respectively fixed at two ends of the supporting plate along the z-axis direction;
the servo motor is fixedly connected to any one of the transmission wheels;
and the transmission belt is arranged between the two transmission wheels, and the second sliding table is fixed on the transmission belt and can slide under the driving of the transmission belt.
Further, the vertical moving assembly further comprises a drag chain, and the drag chain is vertically arranged on one side of the supporting plate and used for placing and protecting a circuit on the manipulator.
In other technical solutions, the first driving device and the second driving device may also be screw driving motors, the first sliding table and the second sliding table are respectively fixed on the screw, and the first sliding table and the second sliding table respectively move in the directions of the x axis and the z axis under the driving of the driving motors.
Further, the rotating assembly is fixed on the second sliding table.
Furthermore, the rotating assembly comprises a rotating cylinder, and the clamping assembly is fixed on the rotating cylinder and rotates under the action of the rotating cylinder.
Further, the clamping assembly comprises a clamping jaw and a third driving device for driving the clamping jaw to open and close.
Further, the clamping jaw includes exposed core and stiff end, the stiff end is fixed in on the third drive arrangement, the relative internal surface of exposed core is inwards sunken to establish and is formed the cambered surface.
In the technical scheme, the arc surface of the clamping end is matched with the side surface shape of the grinding tank required to be grabbed by the manipulator, so that the grinding tank can be grabbed conveniently, the grabbing is firmer in order to increase friction force, and an inner pad made of silica gel or plastic can be arranged on the arc surface.
Further, third drive arrangement is telescopic cylinder, including the telescopic link, the telescopic link is connected the stiff end of clamping jaw.
Furthermore, the bottom of the rack is also provided with supporting legs, the bottom surfaces of the supporting legs are circularly arranged, the contact area on the ground is increased, and the automatic sampling mechanical arm is more stable.
Further, still be provided with a plurality of interfaces on the automatic sampling manipulator, include respectively: a power interface (+12VDC), a communication interface (USB), and an analog input interface.
Example 1:
referring to fig. 1, the present application provides an automatic sampling manipulator, which includes a rack 1, a lateral movement assembly disposed on the rack 1 and capable of moving along the rack 1 in an x-axis direction, a vertical movement assembly disposed on the lateral movement assembly and capable of moving along a z-axis direction, a rotation assembly 4 mounted on the vertical movement assembly, and a clamping assembly disposed on the rotation assembly 4.
Frame 1 adopts the aluminium alloy frame that the complete machine is firm, simple to operate, and the bottom of frame 1 is equipped with supporting leg 11, and the bottom surface of supporting leg 11 is circular for improve automatic screening plant's stability.
The transverse moving assembly comprises an x-axis slide rail 21 fixed on the rack 1, a first sliding table 22 arranged on the x-axis slide rail 21 and capable of sliding along the x-axis slide rail 21, and a first driving device arranged on the rack 1 and used for driving the first sliding table to slide.
The first driving device comprises transmission wheels 231 respectively fixed on the frames at two ends of the x-axis slide rail 21, a servo motor 232 fixedly connected to any one of the transmission wheels and a transmission belt 233 arranged between the two transmission wheels 231, the first sliding table 22 is fixed on the transmission belt 233, the servo motor 232 is a servo motor of 750w, the servo motor 232 drives the transmission wheels 231 to rotate to drive the transmission belt 233 and the first sliding table 22 to move, and the movement of the transverse moving component in the x-axis direction is realized.
On vertical removal subassembly was fixed in first slip table 22, vertical removal subassembly included vertical backup pad 31 that is fixed in on the first slip table 22, be fixed in z axle slide rail 32 on the backup pad 31, locate on the z axle slide rail 32 and can follow the gliding second slip table 33 of z axle slide rail 32 and drive the gliding second drive arrangement 34 of second slip table 33, still include tow chain 35, tow chain 35 is vertical to be set up in backup pad 32 one side, one end is connected in second slip table 33, tow chain 35 is used for placing and the circuit on the protection manipulator.
The second driving device 34 also includes two driving wheels fixed to two ends of the supporting plate 31 along the z-axis direction; the servo motor is fixedly connected to any one of the transmission wheels; drive belt locates between two drive wheels, and second slip table 33 is fixed in on the drive belt to can slide under drive belt's drive, this servo motor is 100 w's servo motor, and servo motor drive wheel rotates, drives drive belt and second slip table 33 and removes, realizes the removal of vertical removal subassembly in the ascending of z axle direction.
Referring to fig. 2, the rotating assembly 4 is fixed on the second sliding table 33, and the rotating assembly 4 includes a rotating cylinder, and the rotating cylinder drives the clamping assembly to rotate along the z-axis.
The clamping assembly is fixed on the rotating assembly 4, and the clamping assembly comprises a clamping jaw 52 and a third driving device 51 for driving the clamping jaw 52 to open and close.
The clamping jaw 52 comprises a clamping end 522 and a fixed end 521, the fixed end 521 and the clamping end 522 are integrally arranged, the fixed end 521 is fixed on the third driving device 51, and the inner surface opposite to the clamping end 522 is inwards concave to form an arc surface.
In above-mentioned technical scheme, the cambered surface of exposed core is identical with the grinding jar side surface shape that the manipulator needs snatched, is convenient for to snatch of grinding jar, simultaneously for increase frictional force for it is more firm to snatch, can also be provided with the interior pad of silica gel or plastics on the cambered surface.
The third driving device 51 is a telescopic cylinder, and includes a telescopic rod connected to the fixed end 521 of the clamping jaw 52.
Further, still be provided with a plurality of interfaces on the automatic sampling manipulator, include respectively: a power interface (+12VDC), a communication interface (USB), and an analog input interface.
Example 2:
the present embodiment is different from embodiment 1 in that, in the present embodiment, the first driving device and the second driving device 34 are screw rod transmission motors, the first sliding table 22 and the second sliding table 33 are respectively fixed on screw rods of the screw rod transmission motors, and the first sliding table 22 and the second sliding table 33 respectively move in the x-axis direction and the z-axis direction under the driving of the transmission motors.
Referring to fig. 3, the work flow of the automatic sampling manipulator of the present application is:
s 1: removing the grinding pot from the grinder;
s 2: the clamping grinding tank moves to a material placing position to wait for placing materials;
s 3: putting the grinding tank with the materials in a grinder for grinding soil;
s 4: taking out the grinding tank with ground soil on the grinding machine, putting the grinding tank on an automatic screening device, pouring the soil into a screening device for screening, and then receiving a screened soil sample;
s 5: pouring the screened soil sample into an automatic packaging machine for packaging operation;
s 6: and the mechanical arm carries the grinding tank to return to the original position to prepare for the grinding, screening, packaging and detecting of the next soil sample.
The utility model provides an automatic sampling manipulator, which adopts an aluminum profile frame with stable whole machine and convenient installation, a clamping jaw 52 grabs a grinding tank, the grinding tank runs to a material placing position through the linkage of a transverse moving component and a vertical moving component, then runs to a grinding position through the linkage of the transverse moving component and the vertical moving component, the grinding tank is put into a grinding machine for grinding, after the grinding is completed, the grinding tank runs to a screening position through the linkage of the transverse moving component and the vertical moving component, a soil sample is guided into a filter screen through a telescopic cylinder and a rotary cylinder, after the screening is completed, the clamping jaw 52 and the grinding tank are driven to collect screened soil samples through the linkage of the transverse moving component and the vertical moving component, the soil samples in the grinding tank are conveyed to a packaging position through the transverse moving component and the vertical moving component, the soil samples are poured into an automatic packaging machine for packaging through the telescopic cylinder and the rotary cylinder, and returning to the material pouring position after the completion to wait for the next cycle.
The equipment of this application carries out the up-and-down motion through 100W's servo motor, carries out the side-to-side movement of x axle through 750W's servo motor, presss from both sides through telescopic cylinder and gets grinding tank and rotate through revolving cylinder and fall the material.
While the invention has been described with reference to illustrative embodiments, it will be understood by those skilled in the art that various other changes, omissions and/or additions may be made and substantial equivalents may be substituted for elements thereof without departing from the spirit and scope of the invention. In addition, many modifications may be made to adapt a particular situation or material to the teachings of the invention without departing from its scope. Therefore, it is intended that the invention not be limited to the particular embodiment disclosed for carrying out this invention, but that the invention will include all embodiments falling within the scope of the appended claims. Moreover, unless specifically stated any use of the terms first, second, etc. do not denote any order or importance, but rather the terms first, second, etc. are used to distinguish one element from another.
Claims (10)
1. An automatic sampling manipulator, characterized by comprising:
the clamping device comprises a rack, wherein a transverse moving assembly is arranged on the rack, a vertical moving assembly is fixed on the transverse moving assembly, a rotating assembly and a clamping assembly are mounted on the vertical moving assembly, and the clamping assembly can rotate along the z-axis direction under the action of the rotating assembly.
2. The automated sampling manipulator of claim 1, wherein the lateral movement assembly comprises:
the x-axis slide rail is fixed on the rack;
the first sliding table is arranged on the x-axis sliding rail and can slide along the x-axis sliding rail;
the first driving device drives the first sliding table to slide;
the vertical moving assembly is fixed on the first sliding table.
3. The automated sampling manipulator of claim 2, wherein the first drive means comprises:
the two driving wheels are respectively fixed on the machine frames at the two ends of the x-axis slide rail;
the servo motor is fixedly connected to any one of the transmission wheels;
the transmission belt is arranged between the two transmission wheels, and the first sliding table is fixed on the transmission belt and can slide under the driving of the transmission belt.
4. The automated sampling manipulator of claim 2, wherein the vertical movement assembly comprises:
the supporting plate is vertically fixed on the first sliding table;
the z-axis sliding rail is fixed on the supporting plate;
the second sliding table is arranged on the z-axis sliding rail and can slide along the z-axis sliding rail;
and the second driving device drives the second sliding table to slide.
5. The automated sampling manipulator of claim 4, wherein the second drive means comprises:
the two driving wheels are respectively fixed at two ends of the supporting plate along the z-axis direction;
the servo motor is fixedly connected to any one of the transmission wheels;
and the transmission belt is arranged between the two transmission wheels, and the second sliding table is fixed on the transmission belt and can slide under the driving of the transmission belt.
6. The automated sampling manipulator of claim 4, wherein said rotating assembly is fixed to said second slide.
7. The automated sampling manipulator of claim 1, wherein the rotation assembly comprises a rotation cylinder, and the clamping assembly is fixed to the rotation cylinder and rotates under the action of the rotation cylinder.
8. The automated sampling robot of claim 1, wherein the gripping assembly comprises a jaw and a third drive to open and close the jaw.
9. The automated sampling manipulator of claim 8, wherein the clamping jaw comprises a clamping end and a fixed end, the fixed end is fixed on the third driving device, and the opposite inner surface of the clamping end is recessed inwards to form a cambered surface.
10. The automatic sampling manipulator of claim 9, wherein the third driving device is a telescopic cylinder comprising a telescopic rod, and the telescopic rod is connected with the fixed end of the clamping jaw.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921642920.8U CN211517483U (en) | 2019-09-29 | 2019-09-29 | Automatic sampling manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921642920.8U CN211517483U (en) | 2019-09-29 | 2019-09-29 | Automatic sampling manipulator |
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| Publication Number | Publication Date |
|---|---|
| CN211517483U true CN211517483U (en) | 2020-09-18 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201921642920.8U Active CN211517483U (en) | 2019-09-29 | 2019-09-29 | Automatic sampling manipulator |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115487921A (en) * | 2021-06-18 | 2022-12-20 | 北京融通创维科技发展有限公司 | Full-automatic powder sample preparation system and preparation method |
-
2019
- 2019-09-29 CN CN201921642920.8U patent/CN211517483U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115487921A (en) * | 2021-06-18 | 2022-12-20 | 北京融通创维科技发展有限公司 | Full-automatic powder sample preparation system and preparation method |
| CN115487921B (en) * | 2021-06-18 | 2023-12-05 | 北京融通创维科技发展有限公司 | Full-automatic powder sample preparation system and preparation method |
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