CN102384981A - Batch sample experimental device - Google Patents
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- CN102384981A CN102384981A CN2010102726382A CN201010272638A CN102384981A CN 102384981 A CN102384981 A CN 102384981A CN 2010102726382 A CN2010102726382 A CN 2010102726382A CN 201010272638 A CN201010272638 A CN 201010272638A CN 102384981 A CN102384981 A CN 102384981A
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Abstract
The invention relates to a batch sample experimental device, which comprises sample banks, a multi-dimensional moving mechanism, a mechanical hand, a sample locking mechanism and a heating furnace. The mechanical hand comprises a mechanical main hand, a mechanical auxiliary hand, a positioning screw cap, a buffering spring and an encoder. The sample locking mechanism comprises a locking screw core, a clamping cabin locking nut and a clamping cabin which are arranged in coaxial mode. The multi-dimensional moving mechanism comprises a hand body vertical support and a horizontal lead screw, and accordingly vertical and horizontal movement of the mechanical hand, the front and back movement of the sample banks and the front and back movement of the furnace are achieved. The sample banks and the heating furnace are arranged on the same vertical position, two sample banks are arranged on the upper side and the lower side of the device, and the heating furnace is arranged between the two sample banks. By means of the batch sample experimental device, replacing, experiment and processing of mass samples can be achieved in full automation mode, and the processes of replacing, experiment and processing do not need manual intervention.
Description
Technical field
Contrived experiment device of the present invention field particularly, relates in batches sample experimental provision, this device be particularly suitable for the experimentizing experiment and the processing of the multiple a large amount of samples similar with process, and for example the alloy of heterogeneity, heterogeneity ratio is tested; And it also is particularly suitable under the neglected condition in space, carrying out scientific experiment.
Background technology
In the batch sample experimental provision of China, the mechanism of the drive sample ampoule turnover feed bin of employing is a shift fork at present.It is very simple, and it is choosing the head of sample ampoule, drives the motion of sample ampoule.When the sample ampoule moved in feed bin, it can not make non-resistance between sample ampoule and the feed bin.Such consequence is that when carrying out the space experiment, the microgravity state of friction force meeting havoc sample in the space science experiment can cause the failure of space science experiment when serious; Easily cut is caused on sample ampoule surface, even can damage the sample ampoule of processing with quartzy, and this shift fork can not spread out of the measuring-signal of sample in the sample ampoule.
And there are a lot of deficiencies in present batch sample experimental provision, and for example: experimental provision load sample quantity is few, once is merely able to process 6 samples at most, and it is used for the enterprising row space Experiment of Material Science of No. 3 airships of divine boat; In device in the past, also occur easily all having influenced these application of device in Experiment of Material Science because the resistance between sample ampoule and the feed bin causes damage to the sample ampoule or the like.
The present invention has increased the mechanical arm and the sample locking device that can transmit signal through in the past device is improved, and the device after the improvement can once load up to a hundred samples, and experimental provision is simple in structure, volume is little and can realize full automatic working.
Summary of the invention
The object of the present invention is to provide a kind of batch samples experimental provision, utilize it can realize fully automatically batch samples being changed, being tested and processes, replacing, experiment and process must manual interventions.
For realizing above-mentioned purpose, the invention provides a kind of batch samples experimental provision, this device comprises: sample library, multi-dimensional movement mechanism, heating furnace;
Described multi-dimensional movement mechanism comprises hand body vertical support frame and horizontal screw lead, realizes the seesawing of the seesawing of vertical and tangential movement, sample library, stove of mechanical arm;
Described sample library and heating furnace are arranged on same upright position, and the both sides up and down of this device are equipped with two sample libraries, and heating furnace is arranged between two sample libraries.
This device also comprises latch mechanism, comprises the female and clamping storehouse of locking screw core, the locking of clamping storehouse of coaxial setting; Described clamping storehouse is cylindric, is used to hold the sample ampoule; One end in this clamping storehouse is provided with the face slightly of locking; Described locking screw core comprises two sections cylinders that internal diameter is different, and wherein, one section internal diameter is identical with the internal diameter that clamps the storehouse, and the internal diameter of another section is bigger, forms the space between itself and the sample ampoule, is used to hold mechanical arm; Use rotating fixed connection between locking screw core and the clamping storehouse; Described clamping storehouse locking mother fixedly installs, and is sheathed on locking screw core and the joint portion that clamps the storehouse, and the locking in the cooperation clamping storehouse, inside of one of which end face slightly is provided with the inclined-plane;
This experimental provision further comprises mechanical arm: mechanical main hand, mechanical assistant, location blind nut, buffer spring and scrambler; The main hand of described machinery is used for promptly sample ampoule, comprising: three or above finger, coaxial sheathed main hand hand body and hand body pull bar, strainer, outer rotor transposition key; The finger of the main hand of machinery is provided with teeth, be used for the sample ampoule on teeth groove match, with the measuring-signal of transmission sample ampoule; The leading section of described main hand hand body is provided with the first finger riveted joint position, is used for the middle part of rotatable riveted joint finger; The front end of described hand body pull bar also cooperates and is provided with second finger riveted joint position, is used for the end of rotatable riveted joint finger; The intermediate host of described hand body pull bar is polygon and is nested in the main hand hand body; The sheathed strainer that is fixed with in the rear portion of described hand body pull bar; Individual annular groove is arranged on the cylindrical of this strainer front end; Cooperate the spring slide-way of main hand hand body inwall strainer to be fixed on the inner chamber of main hand hand body through this annular groove; Its inner wall at end is provided with internal spline, is used to mesh outer rotor transposition key; Described mechanical assistant is a shift fork, is used to drive latch mechanism, realizes the chucking of sample in feed bin and unclamps, and comprising: fork portion and internal spline portion; Described fork portion is arranged in the circular groove on the main hand hand body, is used to lock mechanism; Described internal spline portion supports and is located between strainer and the location blind nut, and its internal spline cooperates outer rotor transposition spline;
A kind of preferred as technique scheme, the intermediate host of described hand body pull bar is triangular in shape, accordingly, is provided with the triangle slideway in the mechanical arm main body.
Another kind as technique scheme is preferred, and the rear portion of described hand body pull bar is through the fixed strain device that is threaded.
As a kind of improvement of technique scheme, the internal spline portion of described shift fork supports the end face of being located at the location blind nut and is provided with two annular grooves, and the initiating terminal of these two ring groove grooves has a dome-type positioning pit that is shallower than positioning ball respectively.When steel ball when groove slides into positioning pit, positioning ball is sprung in the groove under the effect of spring force, the mechanical arm shift fork stops operating, external tooth transposition spline is deviate from the internal tooth of mechanical arm shift fork.Positioning ball is fixed on the front end of mechanical arm location blind nut by stage clip.
Another kind as technique scheme improves, and described location blind nut and main hand hand body are fixedly connected on the mechanical arm carriage, and the distance between described mechanical assistant and the strainer is the twice of external tooth transposition key tooth portion thickness.
As also a kind of improvement of technique scheme, leave the gap between the spring slide-way on annular groove on the described strainer cylindrical and the main hand hand body inwall.
Another improvement as technique scheme is provided with buffer spring between the polygon intermediate host of described strainer and hand body pull bar.Under the effect of buffer spring pretightning force; Front end is kept in gap between the spring slide-way on annular groove and the main hand hand body inwall; When outer rotor transposition spline withstands strainer; Buffer spring shrinks, and overcomes the dead point that spline produces when inserting, and the annular wheel spline of outer rotor transposition spline and strainer is inserted smoothly.When outer rotor transposition spline moves forward when withdrawing from, the inclined-plane is arranged skidding off on the direction of strainer on the external tooth of outer rotor transposition spline, conveniently to withdraw from.Outer rotor transposition spline front end is left-handed spiral shell button, and the chamfering that screws out direction is also arranged at the bottom of outer rotor transposition spline, with convenient turnover mechanical arm assistant's internal tooth spend strong in.
As another improvement of such scheme, the end that described locking screw core combines to clamp the storehouse is provided with jut, is fastened on the axial location groove that clamps on the outside surface of storehouse.The inwall in described clamping storehouse is a rubbing surface, or is sawtooth pattern.
As another improvement of such scheme, described sample library can make progress, downwards, left, enlarge to the right or dwindle, big I designs as required; Described mechanical arm carries out two dimensional motion on the hand body vertical support frame of positioning switch and scrambler control and horizontal screw lead, find sample, and rectilinear motion converted into through mapping device rotatablely moves.
In the present invention, total system is made up of sample library, mechanical arm, multi-dimensional movement mechanism (seesawing of the seesawing of the vertical and tangential movement of mechanical arm, sample library, stove), and is shown in figure 15.Control system drive motor, driven by motor are respectively tieed up replacing, experiment and the process that motion is accomplished sample.The motion of each dimension is controlled by limit switch or positioning switch or scrambler.
This device is placed on sample finishing stove and sample library on the same upright position, and the used stove of processed sample is arranged between two sample libraries dexterously.This sample storage, extracting and processing mode can maximally utilise the space, in limited space, place more sample.
Batch sample experimental provision of the present invention has a mechanical arm, and it can grasp sample.It can crawl out sample from sample library, then sample is put into heating furnace, in stove, processes after the sample, from stove, takes out sample, sample is being put back on original its position in sample library.
Batch sample experimental provision of the present invention has two sample libraries up and down.Sample library can make progress, downwards, left, enlarge to the right or dwindle, flexible design according to actual needs.Sample library can arrive greatly greatly and load up to a hundred samples, may diminish to for a short time to load tens samples.
Among the present invention, take to seek, the mode of extracting and processed sample.It is to seek and the location through bidimensional that sample grasps, and the mode that the third dimension is taken out is carried out.Mechanical arm can carry out two dimensional motion on hand body vertical support frame and horizontal screw lead, thereby can find samples all in the sample library.
Inventor in invention has used the method for scrambler and positioning switch co, and the motion on adversary's body vertical support frame and the horizontal screw lead is accurately located.With straight-line process, convert into through mapping device and to rotatablely move, make the angle of corresponding 0～360 ° of whole rectilinear motion stroke.So just can utilize the output signal of rotary encoder, the control mechanical arm grasps out sample exactly, sample is sent in the burner hearth, at last sample sent back in the sample library from sample library.
Among the present invention, have latch mechanism between storehouse sample and the sample bin, can guarantee that like this sample can not drop to the outside of sample bin owing to the vibration of mechanism.
Batch sample experimental provision of the present invention, it can be under the control of control system, must manual intervention, fully automatically accomplish the experiment and the processing of all samples, no matter and experiment and process time are several days or some months.
The present invention has the following advantages:
1. experimental provision load sample quantity is many
Can once load and reach up to a hundred samples, that is to say, can once carry out the experiment of up to a hundred samples.
2. experimental provision is simple in structure, volume is little, in light weight, simple in structure
It is formed by several module combinations, can dismantle, change sample library easily, change stove.It is particularly suitable in the enterprising row space Experiment of Material Science of the spacecraft of limited weight, limited bulk, limited power.
3. extensibility is strong, can increase other functions easily, on this device, can increase other scientific experiment means easily, for example quenches, implements functions such as observation, rotating magnetic field.
4. full automatic working
Must manual intervention, fully automatically accomplish the experiment and the processing work of all samples, and no matter sample experiment and the length of process time.
Description of drawings
Fig. 1 is the structural representation that the present invention is used to grasp the mechanical arm of sample ampoule;
Fig. 2 is that the present invention is used to grasp the mechanical arm of sample ampoule and the structural representation that latch mechanism cooperates;
Fig. 3 is the structural representation of the main hand hand body of the present invention's mechanical arm of being used to grasp the sample ampoule;
Fig. 4 is the structural representation of the hand body pull bar of the present invention's mechanical arm of being used to grasp the sample ampoule;
Fig. 5 is the structural representation of main another state of hand hand body of the present invention's mechanical arm of being used to grasp the sample ampoule;
Fig. 6 is the structural representation of the triangle slideway of the present invention's mechanical arm of being used to grasp the sample ampoule;
Fig. 7 is the partial cutaway schematic of the mechanical main hand of the present invention's mechanical arm of being used to grasp the sample ampoule;
Fig. 8 is the partial exploded view of the present invention's mechanical assistant, strainer and outer rotor transposition spline of being used to grasp the mechanical arm of sample ampoule;
Fig. 9 is the partial assembled synoptic diagram of the present invention's mechanical assistant, strainer and outer rotor transposition spline of being used to grasp the mechanical arm of sample ampoule;
Figure 10 is the structural representation of positioning ball of mechanical assistant's end face of the present invention's mechanical arm of being used to grasp the sample ampoule;
Figure 11 is the assembling synoptic diagram that the present invention is used to grasp the mechanical arm of sample ampoule.
Figure 12 is the cross-sectional view that latch mechanism of the present invention is in releasing orientation;
Figure 13 is the cross-sectional view that latch mechanism of the present invention is in locking state;
Synoptic diagram when Figure 14 is a latch mechanism releasing orientation of the present invention;
Figure 15 is the one-piece construction figure of experimental provision of the present invention;
Figure 16 is the sectional view of the one-piece construction figure of Figure 15 along C-C;
Figure 17 is the sectional view of the one-piece construction figure of Figure 15 along E-E;
Figure 18 is the sectional view of the sectional view of Figure 16 along F-F;
Figure 19 is removable, modular, the sample library that can load 102 sample ampoules of the present invention;
Figure 20 is the sectional view of the sample library of Figure 19 along B-B;
Figure 21 is the sectional view of the sample library of Figure 19 along A-A;
Figure 22 is that sample of the present invention grasps process flow diagram.
The accompanying drawing sign:
1, mechanical main hand 2, mechanical arm assistant 3, sample ampoule
4, main hand hand body 5, finger pull bar 6, finger
7, the position is riveted in 8, the first finger rotating shaft 9, second of the first riveted joint position
10, second finger rotating shaft 11, intermediate host 12, strainer
13, triangle slideway 14, internal thread 15, annular groove
16, spring slide-way 17, assistant's shift fork 18, buffer spring
19, outer rotor transposition spline 20, steel ball chute 21, location blind nut
22, internal spline 23, locking screw core 24, clamping storehouse locking mother
25, clamp storehouse 26, lock face slightly
27, the space between clamping storehouse and the sample
28, sample bin 29, sample library 30, heating furnace
31, hand body vertical support frame 32, horizontal screw lead 33, mechanical arm
Embodiment
Below in conjunction with accompanying drawing and embodiment the present invention is elaborated.
As shown in Figure 3, the sample experimental provision partly is made up of sample bin 28, sample library 29, heating furnace 30, mechanical arm 33, hand body vertical support frame 31, horizontal screw lead 32, sample latch mechanism etc. in batches.In experimental provision when work,, mechanical arm 33 vertically runs to the upright position of the sample thief ampoule 3 of wanting, and then tangential movement to the sample position that will get.It is effective that sample library 29 arrives limit switch forward.Mechanical arm 33 closes and closes, and grasps sample ampoule 3, and mechanical arm 33 turns clockwise, and with release between sample ampoule 3 and the sample bin 28, sample library 29 moves to bottommost, and sample ampoule 3 is removed.The vertical earlier operation of mechanical arm 33, level run is aimed at burner hearth to the middle part again.Heating furnace 30 marches forward, and sample ampoule 3 is inserted in the burner hearth.Begin sample ampoule 3 is heated, also promptly begin process sample.Sample can have dual mode to process, and a kind of is that heating furnace 30 moves backward, and another kind is that move the temperature field in the control heating furnace 30.After the sample grown process was accomplished, heating furnace 30 fell back on the back limit switch fast and effectively locates.The vertical earlier back of mechanical arm 33 level run is aimed at feed bin to the feed bin place of this sample.Sample library 29 moves forward, and when sample library 29 front limit switches were effective, sample ampoule 3 was placed among the feed bin.Sample is locked in mechanical arm 33 rotation counterclockwise.Controller control machinery is held in hand and is got next sample.
It is shown in figure 22 that its sample grasps process flow diagram.
Sample library removable, modular, that can load 102 sample ampoules is shown in figure 20.
As shown in Figure 1, the mechanical arm in apparatus of the present invention is made up of with mechanical arm assistant 2 two parts the main hand 1 of machinery, and mechanical main hand is responsible for promptly sample ampoule 3, and conducts the measuring-signal of sample in the sample ampoule 3; Mechanical arm assistant 2 is responsible for the chucking of sample ampoule in feed bin and unclamps, like Figure 12 and shown in Figure 13.
In this example; The main hand of machinery mainly is made up of three fingers 6, main hand hand body 4, finger pull bar 5, strainer 12, and mechanical main hand 1 is a pull bar motion principle, and three fingers 6 are riveted on three riveted joint positions 7/9 of main hand hand body 4 respectively by the rotating shaft of three fingers; The riveted joint form is the riveted joint of living; Position is pointed 6 and can be rotated around the first finger rotating shaft 8, second finger rotating shaft 10 in opposite directions, and is as shown in Figure 3.
Like Fig. 3, shown in 4; Three hand bodies riveted joint position of finger pull bar 5 each other 120 be distributed on the hand body front end; One end of three fingers and finger pull bar 5 terminal three be 120 ° pull bar riveted joint position each other; Rivet respectively with 6 rotating shafts of three fingers equally, the riveted joint form is the riveted joint of living, and finger can be around the first finger rotating shaft 8.When finger pull bar 5 shortened, three fingers 6 were done around the first finger rotating shaft 8 simultaneously and are relatively rotated, and three fingers 6 close up, promptly sample ampoule 3.When 5 elongations of finger pull bar, three fingers 6 are done in opposite directions around second finger rotating shaft 10 simultaneously and are rotated, and finger opens, thereby unclamps the sample ampoule, and is as shown in Figure 5.
As shown in Figure 6, finger pull bar 5 intermediate hosts 11 are triangular form, and front end is a screw rod; End is riveted joint position 7/9, terminal and finger riveted joint, and the intermediate host 11 of triangular form is through the triangle slideway 13 of mechanical arm main body; Its rotary freedom is limited, and therefore, finger pull bar 5 can only axially move.
As shown in Figure 7, the screw rod of finger pull bar 5 front ends is connected with strainer 12 terminal internal threads 14, and when strainer 12 rotated, finger pull bar 5 was flexible thereupon, thereby drove the rotation of finger 6.Individual annular groove 15 is arranged on strainer 12 cylindricals, strainer 12 is fixed on the inner chamber of main hand hand body 4 by the spring slide-way 16 of main hand hand body 4 inwalls, like this, the axial freedom of strainer 12 is limited, and can only on sliding 16 roads of spring, move in a circle.Between annular groove 15 on strainer 12 cylindricals and the spring slide-way 16 certain clearance is arranged; Under the effect of buffer spring 18 pretightning forces; Front end is kept in the gap, and when outer rotor transposition spline 19 withstood strainer 12, buffer spring 18 shrank; Overcome the dead point that spline produces when inserting, the outer rotor transposition spline 19 and the annular wheel spline of strainer 12 are inserted smoothly.When outer rotor transposition spline moves forward when withdrawing from, on the direction that skids off strainer 12, the inclined-plane is arranged on the external tooth of outer rotor transposition spline 19, conveniently to withdraw from.Outer rotor transposition spline 19 front ends are left-handed spiral shell buttons, and the chamfering that screws out direction is also arranged at the bottom of outer rotor transposition spline 19, spend in strong 22 with convenient turnover mechanical arm assistant's internal tooth.
As shown in Figure 8; The front end of strainer 12 is internal splines 22; When the outer rotor transposition key that transmits kinetic energy puts the internal spline 22 of strainer 12 under and during with its interlock; As shown in Figure 9, strainer 12 is followed outer rotor transposition key and is rotated together, and strainer 12 terminal screw rods with the mechanical arm pull bar are done relative helical motion.
Like Figure 10, shown in 11; The cylindrical of machinery assistant shift fork 17 is gapped with boss with mechanical arm master hand hand body groove and cooperates; Under the effect of positioning ball, the end of mechanical arm shift fork is stayed in the gap, and mechanical arm shift fork axial freedom is by mechanical arm hand body and blind nut 21 restrictions of mechanical arm location; Can only rotate at thorny body center; When 22 interlocks of internal spline of outer rotor transposition spline 19 and shift fork, the mechanical arm shift fork rotates with outer rotor transposition spline 19, and outer rotor transposition spline 19 can be done along the internal tooth of shift fork and endwisely slips.
The front end end face of mechanical arm shift fork has two annular matrix steel ball chutes 20; The ring groove initiating terminal has a dome-type positioning pit that is shallower than positioning ball respectively; When steel ball when steel ball chute 20 slides into positioning pit; Positioning ball is sprung in the steel ball chute 20 under the effect of spring force, and the mechanical arm shift fork stops operating, and external tooth transposition spline 19 is deviate from the internal tooth of mechanical arm shift fork.Positioning ball is fixed on the front end of mechanical arm location blind nut 21 by stage clip.Steel ball has following three effects:
1. positioning action.Confirm assistant's reference position.
2. play spacing effect as slideway, reduce the friction force between mechanical assistant's shift fork 17 and hand body and the mechanical arm blind nut.
3. the dead point when the buffering external spline skids off.
Through the position of control steel ball in steel ball chute 20 (angles of assistant's shift fork 17 rotations just), can control the power that tightens of sample feed bin, and regulate the internal diameter of feed bin thus, thereby make can pack into the sample of different-diameter of feed bin.
Shown in figure 11, blind nut 21 rear ends, mechanical arm location are connected with mechanical arm hand body and main hand hand body 4 is fixed on the mechanical arm carriage together.The space that twice external tooth transposition key thickness is arranged between mechanical arm shift fork and the strainer 12.The left-handed screw of external tooth transposition spline 19 rear ends links to each other with gear through the internal thread 14 of mechanical arm shift fork and mechanical arm blind nut front end, and this gear is rotated by driven by motor, thereby drives robot movement.
When sample library arrived assigned address, open mechanical finger 6 inserted in the slot to make way of sample clamping body, and the sample that aligning will grasp grasps the position.Mechanical arm assistant's shift fork gets in the corresponding recesses of sample binding clasp simultaneously.Mechanical arm is firmly grasped sample ampoule 3, and the position relation (when feed bin does not unclamp) of mechanical arm and feed bin clamp system is shown in figure 13.
The key of outer rotor transposition spline was positioned at the alligator of the strainer of mechanical arm master hand when manipulator finger opened.Mechanical arm electric motor starting, strainer 12 are done with the transposition spline and are turned clockwise, external tooth transposition spline slippage forward simultaneously, and finger pull bar 5 shortens the finger grips sample.Outer rotor transposition spline 19 breaks away from strainer 12, gets into the space of strainer 12 and assistant's shift fork 17, mechanical main hand grip sample ampoule 3 back stop motions; External tooth transposition spline 19 continues rotation and operation forward; In the internal spline 22 of entering mechanical arm assistant 2 shift fork, drive shift fork and turn clockwise, shift fork drive sample latch mechanism is done and is turned clockwise; The withdrawal of sample lock chambers; The sample clamping lock is opened, and when the hand body was firmly grasped sample ampoule 3, the relative position synoptic diagram (feed bin unclamps) of sample clamp system and mechanical arm was shown in figure 12.
Sample library is retreated, and sample ampoule 3 is removed, and outer rotor transposition spline 19 is positioned at the internal spline 22 of shift fork, motor stop motion.
After this, sample ampoule 3 moves with mechanical hand system.After sample machined, arm-and-hand system drove sample ampoule 3 and gets back to original position, and sample library 29 starts; Get back to the crawled position of sample ampoule 3, this moment, feed bin unclamped, and sample ampoule 3 playbacks smoothly; Mechanical arm assistant 2 shift fork gets in the groove of clamping system, and the mechanical arm motor starts once more, does rotating counterclockwise; Outer rotor spline 19 drive sample clamp systems are done and are rotated counterclockwise; Outer rotor transposition spline 19 slides backward along the shift fork internal tooth, and sample ampoule 3 clamping chambeies are drawn out, and thus sample ampoule 3 is clamped.Outer rotor transposition spline 19 breaks away from the shift fork internal tooth; Get into the space, shift fork stops operating, and outer rotor transposition spline 19 continues to slide backward; Get into internal spline 22 interlocks of strainer 12 with the strainer 12 of main hand; Drive strainer 12 is done and is rotated counterclockwise, the elongation of hand body tie rod, and finger 6 unclamps sample ampoule 3.
Also comprise latch mechanism among the present invention, shown in Figure 12 and 14, latch mechanism by locking screw core 23, clamp storehouse locking female 24, clamp storehouse 25, lock face 26 slightly, clamp gap 27 between storehouse and the sample etc. and partly constitute.
Shown in figure 12, the course of action that the sample ampoule takes out is: mechanical arm 33 is firmly grasped after the sample ampoule 3, and assistant's 2 rotations of mechanical arm clamp the locking screw core 23 in storehouses 25; Drive to clamp storehouse set nut 24 motion of spinning, make axial rectilinear motion thereby drive clamping storehouse 25, direction of motion deviates from mechanical arm; The locking at clamping 25 two ends, storehouse face 26 is slightly unclamped; Clamp the storehouse and do radial motion, direction of motion is outside, unclamps sample.Converting in the process that clamps the storehouse radial motion through face slightly, gap 27 appears in the inwall of sample and sample bin, and starter motor clamps the storehouse and drives and step up storehouse 25 and outwards move, makes sample ampoule 3 withdraw from a kind clamping storehouse 25.
Shown in figure 13, clamp storehouse sample ampoule to put into the process of stepping up storehouse 25 following: after sample is accomplished experiment, clamp storehouse 25 and do not put back to sample with can having any deviation and take out preceding 25 positions, clamping storehouse.Starter motor clamps drive clamping storehouse 25, storehouse and inwardly moves.Start mechanical torch machine, the assistant of mechanical arm begins to do retrograde rotation around main hand, the latch mechanism that make to clamp storehouse 25 motion of spinning; Thereby drive the clamping storehouse and make axial rectilinear motion; Direction of motion is inside, clamps the two ends, storehouse and locks face 26 lockings slightly, clamps storehouse 25 and does radial motion; Direction of motion is inside, the chucking sample.After reaching predetermined clamping force, mechanical arm master hand begins to open, the sample that comes up, and starter motor drives and clamps storehouse 25 and outwards move, makes sample ampoule 3 withdraw from mechanical arm 33 with the clamping storehouse.The process of whole placement sample ampoule is accomplished.
When concrete device work, mechanical arm runs to the residing upright position of the sample that will grasp on vertical support frame 31, then under the drive of horizontal screw lead 32, move to sample ampoule 3 positions that will get.It is effective that sample library 29 runs to limit switch forward.Mechanical arm 33 closures grasp sample ampoule 3.Mechanical arm 33 turns clockwise, and with release between sample ampoule 3 and the sample bin 28, sample library 29 moves rearwards to bottommost, and sample ampoule 3 is removed.Mechanical arm operation on vertical support frame 31 earlier runs to the middle part again under the drive of horizontal screw lead, aim at burner hearth.Heating furnace 30 marches forward, and sample is inserted in the burner hearth.After the experiment of sample and process were accomplished, mechanical arm 33 operation on vertical support frame 31 was earlier running to the feed bin place of this sample ampoule 3 on sample library 29 then under the drive of horizontal screw lead 32, aim at feed bin.Sample library 29 moves forward, and when sample library 29 front limit switches were effective, sample ampoule 3 was placed among the feed bin.Mechanical arm is rotated counterclockwise, with locking between sample ampoule 3 and the sample bin 28.Controller control mechanical arm 33 grasps next sample ampoule.
Need to prove, embodiment of the present invention of more than introducing and and unrestricted.It will be understood by those of skill in the art that any modification to technical scheme of the present invention perhaps is equal to alternative spirit and the scope that does not break away from technical scheme of the present invention, it all should be encompassed in the claim scope of the present invention.
Claims (11)
1. a batch sample experimental provision is characterized in that this device comprises: sample library, multi-dimensional movement mechanism, heating furnace;
Described multi-dimensional movement mechanism comprises hand body vertical support frame and horizontal screw lead, realizes the seesawing of the seesawing of vertical and tangential movement, sample library, stove of mechanical arm;
Described sample library and heating furnace are arranged on same upright position, and the both sides up and down of this device are equipped with two sample libraries, and heating furnace is arranged between two sample libraries;
It is characterized in that,
This device also comprises the sample latch mechanism, comprises the female and clamping storehouse of locking screw core, the locking of clamping storehouse of coaxial setting; Described clamping storehouse is cylindric, is used to hold the sample ampoule; One end in this clamping storehouse is provided with the face slightly of locking; Described locking screw core comprises two sections cylinders that internal diameter is different, and wherein, one section internal diameter is identical with the internal diameter that clamps the storehouse, and the internal diameter of another section is bigger, forms the space between itself and the sample ampoule, is used to hold mechanical arm; Use rotating fixed connection between locking screw core and the clamping storehouse; Described clamping storehouse locking mother fixedly installs, and is sheathed on locking screw core and the joint portion that clamps the storehouse, and the locking in the cooperation clamping storehouse, inside of one of which end face slightly is provided with the inclined-plane;
Described mechanical arm comprises: mechanical main hand, mechanical assistant, location blind nut, buffer spring and scrambler; The main hand of described machinery is used for promptly sample ampoule, comprising: three or above finger, coaxial sheathed main hand hand body and hand body pull bar, strainer, outer rotor transposition key; The finger of the main hand of machinery is provided with teeth, be used for the sample ampoule on teeth groove match, with the measuring-signal of transmission sample ampoule; The leading section of described main hand hand body is provided with the first finger riveted joint position, is used for the middle part of rotatable riveted joint finger; The front end of described hand body pull bar also cooperates and is provided with second finger riveted joint position, is used for the end of rotatable riveted joint finger; The intermediate host of described hand body pull bar is polygon and is nested in the main hand hand body; The sheathed strainer that is fixed with in the rear portion of described hand body pull bar; Individual annular groove is arranged on the cylindrical of this strainer front end; Cooperate the spring slide-way of main hand hand body inwall strainer to be fixed on the inner chamber of main hand hand body through this annular groove; Its inner wall at end is provided with internal spline, is used to mesh outer rotor transposition key; Described mechanical assistant is a shift fork, is used to drive latch mechanism, realizes the chucking of sample in feed bin and unclamps, and comprising: fork portion and internal spline portion; Described fork portion is arranged in the circular groove on the main hand hand body, is used to lock mechanism; Described internal spline portion supports and is located between strainer and the location blind nut, and its internal spline cooperates outer rotor transposition spline.
2. batch sample experimental provision according to claim 1 is characterized in that the intermediate host of described hand body pull bar is triangular in shape, accordingly, is provided with the triangle slideway in the mechanical arm main body.
3. batch sample experimental provision according to claim 1 is characterized in that the rear portion of described hand body pull bar is through the fixed strain device that is threaded.
4. batch sample experimental provision according to claim 1; It is characterized in that; The internal spline portion of described shift fork supports the end face of being located at the location blind nut, is provided with two annular grooves, and the initiating terminal of these two ring groove grooves has a dome-type positioning pit that is shallower than positioning ball respectively.
5. batch sample experimental provision according to claim 1; It is characterized in that; Described location blind nut and main hand hand body are fixedly connected on the carriage of mechanical arm, and the distance between described mechanical assistant and the strainer is the twice of the tooth portion thickness of external tooth transposition key.
6. batch sample experimental provision according to claim 1 is characterized in that, leaves the gap between the spring slide-way on annular groove on the described strainer cylindrical and the main hand hand body inwall.
7. batch sample experimental provision according to claim 1 is characterized in that, is provided with buffer spring between the polygon intermediate host of described strainer and hand body pull bar.
8. batch sample experimental provision according to claim 1 is characterized in that, the end that described locking screw core combines to clamp the storehouse is provided with jut, is fastened on the axial location groove that clamps on the outside surface of storehouse.
9. batch sample experimental provision according to claim 1 is characterized in that the inwall in described clamping storehouse is a rubbing surface, or is sawtooth pattern.
10. batch sample experimental provision according to claim 1 is characterized in that, described sample library can make progress, downwards, left, enlarge to the right or dwindle.
11. batch sample experimental provision according to claim 1; It is characterized in that; Described mechanical arm carries out two dimensional motion on the hand body vertical support frame of positioning switch and scrambler control and horizontal screw lead; Find sample, and rectilinear motion converted into through mapping device rotatablely move, so that use scrambler that motion process and location are accurately controlled.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010272638 CN102384981B (en) | 2010-09-03 | 2010-09-03 | Batch sample experimental device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010272638 CN102384981B (en) | 2010-09-03 | 2010-09-03 | Batch sample experimental device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102384981A true CN102384981A (en) | 2012-03-21 |
| CN102384981B CN102384981B (en) | 2013-06-26 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201010272638 Expired - Fee Related CN102384981B (en) | 2010-09-03 | 2010-09-03 | Batch sample experimental device |
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| Country | Link |
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| CN (1) | CN102384981B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104503380A (en) * | 2014-11-19 | 2015-04-08 | 中国科学院空间科学与应用研究中心 | Container-less material processing system |
| CN105289064A (en) * | 2015-11-16 | 2016-02-03 | 常州大学 | Beaker-translation gear-transmission equipment for automatic filtering cleaning of soft-coal burned substance |
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| CN1414361A (en) * | 2002-11-28 | 2003-04-30 | 浙江大学 | Mechanical hand hold type deposit sediment sampler without boundary disturbance |
| CN101069965A (en) * | 2006-05-08 | 2007-11-14 | 江苏华盛精细陶瓷科技有限公司 | Grabbing transposition mechanical arm |
| CN101073884A (en) * | 2007-06-20 | 2007-11-21 | 中国科学院长春光学精密机械与物理研究所 | Mechanical hand with conveying and sampling functions |
| CN101125425A (en) * | 2006-08-14 | 2008-02-20 | 常州华盛天龙机械有限公司 | Grabbing transposition mechanical arm |
| CN201361870Y (en) * | 2008-11-07 | 2009-12-16 | 上海电机学院 | Gripper mechanical hand |
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2010
- 2010-09-03 CN CN 201010272638 patent/CN102384981B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1414361A (en) * | 2002-11-28 | 2003-04-30 | 浙江大学 | Mechanical hand hold type deposit sediment sampler without boundary disturbance |
| CN101069965A (en) * | 2006-05-08 | 2007-11-14 | 江苏华盛精细陶瓷科技有限公司 | Grabbing transposition mechanical arm |
| CN101125425A (en) * | 2006-08-14 | 2008-02-20 | 常州华盛天龙机械有限公司 | Grabbing transposition mechanical arm |
| CN101073884A (en) * | 2007-06-20 | 2007-11-21 | 中国科学院长春光学精密机械与物理研究所 | Mechanical hand with conveying and sampling functions |
| CN201361870Y (en) * | 2008-11-07 | 2009-12-16 | 上海电机学院 | Gripper mechanical hand |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104503380A (en) * | 2014-11-19 | 2015-04-08 | 中国科学院空间科学与应用研究中心 | Container-less material processing system |
| CN104503380B (en) * | 2014-11-19 | 2017-02-22 | 中国科学院空间科学与应用研究中心 | Container-less material processing system |
| CN105289064A (en) * | 2015-11-16 | 2016-02-03 | 常州大学 | Beaker-translation gear-transmission equipment for automatic filtering cleaning of soft-coal burned substance |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102384981B (en) | 2013-06-26 |
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Address after: 100190 No. two south of Zhongguancun, Haidian District, Beijing 1 Patentee after: NATIONAL SPACE SCIENCE CENTER, CAS Address before: 100190 No. two south of Zhongguancun, Haidian District, Beijing 1 Patentee before: Space Science & Applied Research Centre, Chinese Academy of Sciences |
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