CN108673545B - Cotton sampling manipulator - Google Patents
Cotton sampling manipulator Download PDFInfo
- Publication number
- CN108673545B CN108673545B CN201810662381.8A CN201810662381A CN108673545B CN 108673545 B CN108673545 B CN 108673545B CN 201810662381 A CN201810662381 A CN 201810662381A CN 108673545 B CN108673545 B CN 108673545B
- Authority
- CN
- China
- Prior art keywords
- rod
- cotton
- connecting rod
- sector gear
- clamping
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
-
- 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
Landscapes
- 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 utility model provides a cotton sampling manipulator, including the U type bottom plate, the back wall of U type bottom plate is higher than the front wall, clamp the hydro-cylinder and fix on the rear side of the back wall of U type bottom plate through the hydro-cylinder with connecting flange, clamp the piston rod of hydro-cylinder and run through the back wall, and the direction rack is connected to the front end, still be provided with two pole-like damping hydro-cylinders, the piston rod tip of two pole-like damping hydro-cylinders both sides is fixed on the front wall and the back wall of corresponding U type bottom plate through a lock nut respectively, be provided with the connecting plate that is located under the direction rack through the landing leg is fixed on the damping cylinder of two pole-like damping hydro-cylinders, the bilateral symmetry of direction rack is provided with the chuck subassembly that is used for pressing from both sides the cotton sample under the drive of direction rack, chuck subassembly symmetry is connected in the both sides of connecting plate. The invention can realize mechanical automation of cotton sampling, effectively liberate operators from dangerous manual working processes, and can also rapidly and efficiently sample cotton, thereby improving the production efficiency and the overall efficiency of detection.
Description
Technical Field
The invention relates to a sampling manipulator. In particular to a cotton sampling manipulator for sampling cotton in a cotton bale which is fixedly arranged and placed.
Background
In the raw cotton quality detection process, a part of cotton in all cotton bags to be detected is required to be arbitrarily extracted for detection. Cotton sampling is often performed manually, and no suitable sampling tool is available. Operators grasp cotton fibers on the surface layer of the cotton bale by hands, raw cotton detection is completed by manpower, and especially cotton in the cotton bale which is fixedly arranged and placed is sampled, so that the manual operation intensity is high, the detection efficiency is low, and potential safety hazards are easy to occur.
Disclosure of Invention
The invention aims to solve the technical problem of providing a cotton sampling manipulator capable of rapidly and efficiently sampling cotton.
The technical scheme adopted by the invention is as follows: the utility model provides a cotton sampling manipulator, includes U type bottom plate, the back wall of U type bottom plate is higher than the front wall, and clamping cylinder passes through the hydro-cylinder and is fixed on the rear side of the back wall of U type bottom plate with flange, clamping cylinder's piston rod runs through the back wall, and the front end is connected the guide rack, still be provided with two pole-like damping hydro-cylinders that go out, the piston rod tip of two pole-like damping hydro-cylinder both sides is fixed on the front wall and the back wall of corresponding U type bottom plate through a lock nut respectively, be provided with the connecting plate that is located below the guide rack through the landing leg fixation on the damping cylinder of two pole-like damping hydro-cylinder, the bilateral symmetry of guide rack is provided with the chuck subassembly that is used for pressing from both sides the cotton sample under the drive of guide rack, chuck subassembly symmetry connect the both sides of connecting plate.
The chuck assembly includes: a first sector gear and a second sector gear which are respectively meshed with racks on two sides of the guide rack and are respectively connected with two sides of the connecting plate in a hinged manner through a snap spring connecting piece, a first gear rod and a second gear rod are integrally formed on the front sides of the first sector gear and the second sector gear, the ends of the first gear rod and the second gear rod are respectively connected with a left chuck and a right chuck which are used for clamping cotton samples in a hinged manner, the left chuck and the right chuck are also respectively hinged with the front ends of a first connecting rod and a second connecting rod, the rear ends of the first connecting rod and the second connecting rod are respectively hinged with the two sides of the connecting plate through a clamp spring connecting piece, and the first connecting rod and the second connecting rod are correspondingly parallel to the first gear rod and the second gear rod and are positioned on the outer sides of the first gear rod and the second gear rod.
The upper parallel plates which are connected up and down through the snap spring connecting piece and used for stabilizing the first sector gear, the second sector gear, the rear end of the first connecting rod and the rear end of the second connecting rod are arranged on the first sector gear, the second sector gear, the rear end of the first connecting rod and the rear end of the second connecting rod.
The left chuck and the right chuck are symmetrically arranged in the same structure and comprise: the clamping plate is used for clamping cotton, two chuck connecting plates which are fixedly connected to the outer side face of the clamping plate through supporting ribs and are used for connecting the first sector gear and the rear end of the first connecting rod or the rear end of the second sector gear and the rear end of the second connecting rod, two first pin shaft holes are formed in the two chuck connecting plates respectively, the rear ends of the first sector gear and the first connecting rod or the rear ends of the second sector gear and the rear ends of the second connecting rod are clamped between the two chuck connecting plates, and the chucks penetrating through the first pin shaft holes are hinged with the two chuck connecting plates through pin shafts.
The front end side of the clamping plate is provided with an introduction cutting which is convenient to insert into cotton and is provided with an introduction inclined plane.
The clamping plate is provided with a stripping strip which can prevent cotton from falling off on the side surface used for clamping cotton.
The rear end face of the guide rack is provided with a screw hole which is in threaded connection with a piston rod of the clamping oil cylinder, two sides of the rear end of the guide rack are provided with second pin shaft holes which are used for fixing the piston rod through pin shafts, the guide rack is respectively provided with racks which are used for being meshed with a first sector gear and a second sector gear in the chuck assembly at two sides in front of the second pin shaft holes, and the bottom face of the guide rack is provided with grooves which are used for being combined with the connecting plate to form sliding pairs.
The connecting plate is of a T-shaped structure, the supporting legs are fixed below the vertical part of the T-shaped structure through screws, the rear ends of the first sector gear and the first connecting rod in the chuck assembly and the rear ends of the second sector gear and the second connecting rod are fixedly connected to two sides of the horizontal part of the T-shaped structure through a clamp spring connecting piece respectively, and the middle part of the horizontal part of the T-shaped structure is provided with a guide key which is upwards protruded and combined with a groove on the bottom surface of the guide rack in a sliding mode.
The double-rod-out type damping oil cylinder is composed of a hydraulic cylinder with two ends provided with a piston rod and a one-way throttle valve, wherein the two ends of the one-way throttle valve are respectively connected with oil passing holes of two oil cavities of the hydraulic cylinder through oil pipes.
According to the cotton sampling manipulator disclosed by the invention, the linear motion of the piston rod of the hydraulic cylinder is converted into the gear-rack meshing motion, the opening and the tightness of the clamping head are realized through the connecting rod, in addition, the damping oil cylinder is arranged, and the clamping head is ensured to reliably clamp cotton by increasing the resistance of the clamping oil cylinder when the clamping oil cylinder retreats. The invention can realize mechanical automation of cotton sampling, effectively liberate operators from dangerous manual working processes, and can also rapidly and efficiently sample cotton, thereby improving the production efficiency and the overall efficiency of detection.
Drawings
FIG. 1 is a schematic perspective view of a cotton sampling manipulator according to the present invention;
FIG. 2 is a top view of a cotton sampling robot of the present invention;
FIG. 3 is a schematic view of the front structure of a cotton sampling manipulator according to the present invention;
FIG. 4 is a schematic view of the collet assembly of the present invention;
FIG. 5 is a schematic view of the structure of the guide rack of the present invention;
FIG. 6 is a schematic view of the bottom structure of FIG. 5;
FIG. 7 is a schematic view of the structure of the connecting plate of the present invention;
FIG. 8 is a side view of FIG. 7;
FIG. 9 is a left side view of FIG. 8;
FIG. 10 is a schematic view of a dual outlet rod type damping cylinder of the present invention;
FIG. 11 is a schematic view of the left/right collet configuration of the present invention;
FIG. 12 is a top view of FIG. 11;
fig. 13 is a side view of fig. 11.
In the figure
1: clamping cylinder 1.1: piston rod
2: u-shaped bottom plate 2.1: front wall
2.2: rear wall 3: double-rod type damping oil cylinder
3.1: hydraulic cylinder 3.2 of piston rod: one-way throttle valve
4: the support leg 5: connecting plate
6: pin shaft 7a for chuck: left chuck
7b: right collet 7.1: clamping plate
7.2: support rib 7.3: chuck connecting plate
7.4: first pin hole 7.5: anti-falling strip
7.6: the insert 8a: first connecting rod
8b: the second connecting rod 9: upper parallel plate
10: jump ring connecting piece 11: pin shaft
12a: first sector gear 12b: first gear lever
12c: second sector gear 12d: second gear lever
13: guide rack 13.1: screw hole
13.2: second pin hole 13.3: rack bar
13.4: groove 14: reinforcing rib plate
15: the connecting flange 16 for the oil cylinder: screw bolt
17: bolt connection 18: lock nut
Description of the embodiments
A cotton sampling robot according to the present invention will be described in detail with reference to the following examples and drawings.
As shown in fig. 1, 2 and 3, the cotton sampling manipulator of the invention comprises a U-shaped bottom plate 2, wherein the rear wall 2.2 of the U-shaped bottom plate 2 is higher than the front wall 2.1, a clamping cylinder 1 is fixed on the rear side of the rear wall 2.2 of the U-shaped bottom plate 2 through a connecting flange 15 for a cylinder, a piston rod 1.1 of the clamping cylinder 1 penetrates through the rear wall 2.2, the front end is connected with a guide rack 13, a double-outlet rod type damping cylinder 3 is further arranged, the piston rod ends on two sides of the double-outlet rod type damping cylinder 3 are respectively fixed on the front wall 2.1 and the rear wall 2.2 of the corresponding U-shaped bottom plate 2 through a locking nut 18, a connecting plate 5 positioned below the guide rack 13 is fixedly arranged on a damping cylinder barrel of the double-outlet type damping cylinder 3 through a supporting leg 4, chuck assemblies used for clamping samples are symmetrically arranged on two sides of the guide rack 13 and driven by the guide rack 13, and the chuck assemblies are symmetrically connected on two sides of the connecting plate 5. Reinforcing rib plates 14 are arranged at right angles of the U-shaped bottom plate 2.
As shown in fig. 4, the chuck assembly includes: the first sector gear 12a and the second sector gear 12c which are respectively meshed with racks on two sides of the guide rack 13 and are respectively connected to two sides of the connecting plate 5 in a hinged mode through a clamp spring connecting piece 10, a first gear rod 12b and a second gear rod 12d are integrally formed on the front sides of the first sector gear 12a and the second sector gear 12c, the ends of the first gear rod 12b and the second gear rod 12d are respectively connected with a left chuck 7a and a right chuck 7b which are used for clamping cotton samples in a hinged mode, the left chuck 7a and the right chuck 7b are also respectively connected with the front ends of a first connecting rod 8a and a second connecting rod 8b in a hinged mode, the rear ends of the first connecting rod 8a and the second connecting rod 8b are respectively connected to two sides of the connecting plate 5 in a hinged mode through a clamp spring connecting piece 10, and the first connecting rod 8a and the second connecting rod 8b are correspondingly parallel to the first gear rod 12b and the second gear rod 12d and are located on the outer sides of the first gear rod 12b and the second gear rod 12 d.
As shown in fig. 1 and 2, the rear ends of the first sector gear 12a, the second sector gear 12c, the first connecting rod 8a and the second connecting rod 8b are provided with upper parallel plates 9 which are connected up and down together through a snap spring connecting piece 10 and used for stabilizing the rear ends of the first sector gear 12a, the second sector gear 12c, the first connecting rod 8a and the second connecting rod 8 b.
As shown in fig. 4, 12 and 13, the left chuck 7a and the right chuck 7b are symmetrically arranged in the same structure, and each of them includes: the clamping plate 7.1 for clamping cotton is fixedly connected to the outer side face of the clamping plate 7.1 through the supporting rib 7.2 and is used for connecting the first sector gear 12a and the rear end of the first connecting rod 8a or the rear end of the second sector gear 12c and the rear end of the second connecting rod 8b, two first pin shaft holes 7.4 are respectively formed in the two clamping plate 7.3, and the rear ends of the first sector gear 12a and the rear end of the first connecting rod 8a or the rear end of the second sector gear 12c and the rear end of the second connecting rod 8b are clamped between the two clamping plate 7.3 and are hinged with the two clamping plate 7.3 through the clamping pin shaft 6 penetrating through the first pin shaft hole 7.4.
The front end side of the clamping plate 7.1 is provided with an introduction cutting 7.6 which is convenient to be inserted into cotton and is provided with an introduction inclined plane. The clamping plate 7.1 is provided with a stripping strip 7.5 which can prevent cotton from falling off on the side used for clamping cotton.
As shown in fig. 5 and 6, a screw hole 13.1 for being in threaded connection with the piston rod 1.1 of the clamping cylinder 1 is formed on the rear end surface of the guide rack 13, and second pin holes 13.2 for fixing the piston rod 1.1 through the pin 11 are formed on two sides of the rear end of the guide rack 13, so that lateral movement is prevented. The guide racks 13 are respectively formed with racks 13.3 for meshing with a first sector gear 12a and a second sector gear 12c in the chuck assembly at two sides in front of the second pin shaft hole 13.2, and grooves 13.4 for forming sliding pairs in combination with the connecting plate 5 are formed on the bottom surfaces of the guide racks 13. When the piston rod 1.1 of the clamping cylinder 1 is advanced or retracted, the guide rack 13 is brought into an advanced or retracted state, at which time the first sector gear 12a and the second sector gear 12c in meshing relationship with the guide rack 13 start to rotate.
As shown in fig. 7, 8, 9 and 10, the connecting plate 5 is in a T-shaped structure, the supporting leg 4 is fixed below the vertical portion of the T-shaped structure by a screw 16, the rear ends of the first sector gear 12a and the first connecting rod 8a in the chuck assembly, and the rear ends of the second sector gear 12c and the second connecting rod 8b are respectively and fixedly connected to two sides of the horizontal portion of the T-shaped structure by a snap spring connector 10, and a guide key 5.1 slidingly combined with a groove 13.4 on the bottom surface of the guide rack 13 is formed in the middle of the horizontal portion of the T-shaped structure in an upward protruding manner.
The lower end of the supporting leg 4 is provided with an arc structure which can be clamped on a damping cylinder barrel of the double-rod-out type damping cylinder 3.
As shown in fig. 11, the dual-rod type damping cylinder 3 is composed of a hydraulic cylinder 3.1 with a piston rod at two ends and a one-way throttle valve 3.2, wherein two ends of the one-way throttle valve 3.2 are respectively connected with oil passing holes of two oil cavities of the hydraulic cylinder 3.1 through oil pipes.
In the initial state, the piston of the double-rod-type damping cylinder 3 is positioned at the middle position of the cylinder barrel, and the pressure of the left cavity of the double-rod-type damping cylinder 3 is equal to the pressure of the right cavity. When the damping cylinder barrel of the double-rod type damping cylinder 3 advances leftwards, hydraulic oil enters the left cavity from the right cavity through a one-way valve channel in the one-way throttle valve 3.2, and when the damping cylinder barrel of the double-rod type damping cylinder 3 stops advancing, the pressure of the right cavity of the double-rod type damping cylinder 3 is obviously higher than the pressure of the left cavity; when the damping cylinder barrel of the double-rod type damping cylinder 3 retreats rightwards, hydraulic oil can only enter the right cavity from the left cavity of the damping cylinder 3 through a throttle valve in the one-way throttle valve 3.2. Because the opening of the throttle valve opening in the one-way throttle valve 3.2 is smaller, certain through-flow resistance exists, and the right cavity pressure of the double-rod-type damping cylinder 3 is obviously higher than the left cavity pressure when the damping cylinder barrel of the double-rod-type damping cylinder 3 advances leftwards, the damping cylinder barrel of the double-rod-type damping cylinder 3 basically has no rollback displacement within a period of time when the piston rod of the clamping cylinder 1 is in the beginning of the rollback, and the damping cylinder barrel of the double-rod-type damping cylinder 3 can only start to roll back under the action of enough load force.
The working principle of the cotton sampling manipulator of the invention is as follows:
when the cotton is required to be grasped for detection, the piston rod of the clamping cylinder 1 extends out and the guide rack 13 is made to advance. The guide rack 13 is meshed with the first sector gear 12a and the second sector gear 12c respectively, drives the first sector gear 12a and the second sector gear 12c to rotate, and then the first connecting rod 8a and the second connecting rod 8b move with the left clamping head 7a and the right clamping head 7b, so that the left clamping head 7a and the right clamping head 7b are opened to the largest opening and extend into the cotton bale notch, and at the moment, the cylinder barrel of the double-rod type damping cylinder welded together with the connecting plate 5 moves forwards together. After the left and right chucks 7a and 7b cut into the bale, the piston rod 1.1 of the clamping cylinder 1 moves backward, the guide rack 13 moves in mesh with the first and second sector gears 12a and 12c, and the first and second links 8a and 8b have a movement tendency with the left and right chucks 7a and 7 b. However, since there is a great resistance when the double-out-rod type damping cylinder 3 welded with the connection plate 5 is retracted, the initial retraction displacement of the connection plate 5 is small, so that the left and right chucks 7a and 7b are ensured to clamp the cotton sample under the action of the first and second gear rods 12b and 12d of the first and second sector gears 12a and 12c and the first and second links 8a and 8 b. With the piston rod 1.1 of the clamping cylinder 1 continuing to retreat, the damping cylinder barrel of the double-rod-outlet type damping cylinder 3 starts to retreat under the action of sufficient load force, the left cavity pressure of the double-rod-outlet type damping cylinder 3 rises, when the left cavity pressure is larger than the right cavity pressure, the damping cylinder barrel retreats rapidly, and the piston rod of the clamping cylinder 1 stops moving after reaching an initial position, so that cotton grabbing work is completed. The piston rod of the clamping cylinder 1 stretches out again, the guide rack 13 moves forwards and meshes with the first sector gear 12a and the second sector gear 12c again, the first connecting rod 8a and the second connecting rod 8b stretch out with the left chuck 7a and the right chuck 7b, the grabbed cotton falls to corresponding devices, and the grabbed cotton stretches into the bale notch along with the continuous advance of the piston rod of the clamping cylinder 1, so that next cotton grabbing work is performed.
Claims (6)
1. The cotton sampling manipulator comprises a U-shaped bottom plate (2), and is characterized in that the rear wall (2.2) of the U-shaped bottom plate (2) is higher than the front wall (2.1), a clamping cylinder (1) is fixed on the rear side of the rear wall (2.2) of the U-shaped bottom plate (2) through a connecting flange (15) for the cylinder, a piston rod (1.1) of the clamping cylinder (1) penetrates through the rear wall (2.2), the front end is connected with a guide rack (13), a double-outlet rod type damping cylinder (3) is further arranged, piston rod ends at two sides of the double-outlet rod type damping cylinder (3) are respectively fixed on the front wall (2.1) and the rear wall (2.2) of the corresponding U-shaped bottom plate (2) through a locking nut (18), connecting plates (5) positioned below the guide rack (13) are fixedly arranged on damping cylinders of the double-outlet rod type damping cylinder (3) through supporting legs (4), two symmetrical driving components for taking cotton clips are arranged on two sides of the guide rack (13), and the clamping components are symmetrically connected with the connecting plates (5) at two sides of the clamping head components;
the chuck assembly includes: the cotton sample collecting device comprises a connecting plate (5), a first sector gear (12 a) and a second sector gear (12 c) which are respectively meshed with racks on two sides of the guiding rack (13) and are respectively connected with the front ends of the connecting plate (5) in a hinged mode through a clamp spring connecting piece (10), a first gear rod (12 b) and a second gear rod (12 d) are integrally formed on the front sides of the first sector gear (12 a) and the second sector gear (12 c), the ends of the first gear rod (12 b) and the second gear rod (12 d) are respectively connected with a left clamp head (7 a) and a right clamp head (7 b) which are used for clamping cotton samples in a hinged mode, the front ends of the first connecting rod (8 a) and the second connecting rod (8 b) are respectively connected with the front ends of the first connecting rod (8 a) and the second connecting rod (8 b) in a hinged mode through the clamp spring connecting piece (10), and the rear ends of the first connecting rod (8 a) and the second connecting rod (8 b) are respectively connected with the two sides of the connecting plate (5) in a hinged mode, and the first connecting rod (8 b) and the second connecting rod (12 b) are respectively located on the outer sides of the first gear rod (12 d) and the second gear rod (12 d); the upper parallel plates (9) which are connected up and down through the snap spring connecting piece (10) and used for stabilizing the rear ends of the first sector gear (12 a), the second sector gear (12 c), the first connecting rod (8 a) and the second connecting rod (8 b) are arranged on the rear ends of the first sector gear (12 a), the second sector gear (12 c), the first connecting rod (8 a) and the second connecting rod (8 b);
the double-rod-out type damping oil cylinder (3) is composed of a hydraulic cylinder (3.1) with two ends provided with a piston rod and a one-way throttle valve (3.2), wherein the two ends of the one-way throttle valve (3.2) are respectively connected with oil passing holes of two oil cavities of the hydraulic cylinder (3.1) through oil pipes.
2. The cotton sampling manipulator according to claim 1, wherein the left chuck (7 a) and the right chuck (7 b) are symmetrically arranged in the same structure, and each of the left chuck and the right chuck comprises: the cotton clamping device comprises a clamping plate (7.1) for clamping cotton, two chuck connecting plates (7.3) fixedly connected to the outer side face of the clamping plate (7.1) through supporting ribs (7.2) and used for connecting the rear ends of a first sector gear (12 a) and a first connecting rod (8 a) or the rear ends of a second sector gear (12 c) and a second connecting rod (8 b), two first pin shaft holes (7.4) are respectively formed in the two chuck connecting plates (7.3), and the rear ends of the first sector gear (12 a) and the first connecting rod (8 a) or the rear ends of the second sector gear (12 c) and the rear ends of the second connecting rod (8 b) are clamped between the two chuck connecting plates (7.3) and are hinged with the two chuck connecting plates (7.3) through pin shafts (6) penetrating through the first pin shaft holes (7.4).
3. A cotton sampling robot as claimed in claim 2, characterized in that the front end side of the clamping plate (7.1) is formed with an introduction cutting (7.6) having an introduction slope for facilitating insertion into cotton.
4. A cotton sampling manipulator according to claim 2, characterised in that the clamping plate (7.1) is provided with a stripping bar (7.5) on the side for clamping the cotton, which stripping bar is capable of preventing the cotton from falling off.
5. The cotton sampling manipulator according to claim 1, wherein screw holes (13.1) for being in threaded connection with the piston rods (1.1) of the clamping cylinders (1) are formed on the rear end face of the guide rack (13), second pin holes (13.2) for fixing the piston rods (1.1) through the pin shafts (11) are formed on two sides of the rear end of the guide rack (13), racks (13.3) for being meshed with the first sector gears (12 a) and the second sector gears (12 c) in the chuck assembly are formed on two sides of the guide rack (13) in front of the second pin holes (13.2), and grooves (13.4) for forming sliding pairs in combination with the connecting plates (5) are formed on the bottom face of the guide rack (13).
6. The cotton sampling manipulator according to claim 1, wherein the connecting plate (5) is of a T-shaped structure, the supporting leg (4) is fixed below a vertical portion of the T-shaped structure through a screw (16), the rear ends of the first sector gear (12 a) and the first connecting rod (8 a) in the chuck assembly, and the rear ends of the second sector gear (12 c) and the second connecting rod (8 b) are fixedly connected to two sides of a horizontal portion of the T-shaped structure through a snap spring connecting piece (10), and a guide key (5.1) which is slidingly combined with a groove (13.4) on the bottom surface of the guide rack (13) is formed in the middle of the horizontal portion of the T-shaped structure in an upward protruding mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810662381.8A CN108673545B (en) | 2018-06-25 | 2018-06-25 | Cotton sampling manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810662381.8A CN108673545B (en) | 2018-06-25 | 2018-06-25 | Cotton sampling manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108673545A CN108673545A (en) | 2018-10-19 |
| CN108673545B true CN108673545B (en) | 2023-09-05 |
Family
ID=63812151
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810662381.8A Active CN108673545B (en) | 2018-06-25 | 2018-06-25 | Cotton sampling manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108673545B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112207854B (en) * | 2020-08-27 | 2021-10-15 | 南京市晨枭软件技术有限公司 | Industrial robot presss from both sides takes composite jig |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3904234A (en) * | 1973-10-15 | 1975-09-09 | Stanford Research Inst | Manipulator with electromechanical transducer means |
| FR2265495A1 (en) * | 1974-03-27 | 1975-10-24 | Est Aciers Fins | Hydraulically operated mechanical handling pincer - uses two double acting rams to advance and operate the grip |
| US4456293A (en) * | 1982-08-24 | 1984-06-26 | International Business Machines Corporation | Article gripping apparatus |
| CN107378999A (en) * | 2017-07-24 | 2017-11-24 | 浙江工业大学 | A kind of end effector of robot for clamping irregular workpiece |
| CN208896114U (en) * | 2018-06-25 | 2019-05-24 | 唐山学院 | A kind of cotton machinery of sampling hand |
-
2018
- 2018-06-25 CN CN201810662381.8A patent/CN108673545B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3904234A (en) * | 1973-10-15 | 1975-09-09 | Stanford Research Inst | Manipulator with electromechanical transducer means |
| FR2265495A1 (en) * | 1974-03-27 | 1975-10-24 | Est Aciers Fins | Hydraulically operated mechanical handling pincer - uses two double acting rams to advance and operate the grip |
| US4456293A (en) * | 1982-08-24 | 1984-06-26 | International Business Machines Corporation | Article gripping apparatus |
| CN107378999A (en) * | 2017-07-24 | 2017-11-24 | 浙江工业大学 | A kind of end effector of robot for clamping irregular workpiece |
| CN208896114U (en) * | 2018-06-25 | 2019-05-24 | 唐山学院 | A kind of cotton machinery of sampling hand |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108673545A (en) | 2018-10-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN201089148Y (en) | Simple screw-type pin removal | |
| CN108673545B (en) | Cotton sampling manipulator | |
| CN208896114U (en) | A kind of cotton machinery of sampling hand | |
| CN203044942U (en) | Adjustable post-tensioning oil pressure chuck | |
| CN116231510B (en) | Medium-voltage switchgear with handcart anti-toppling structure in cabinet | |
| CN208788488U (en) | Novel sleeve puller | |
| CN108481263B (en) | Handheld numerical control machine tool handle mounting clamp and application method thereof | |
| CN115990770A (en) | Clamping device for punch press slide block machining and using method thereof | |
| CN208780491U (en) | A kind of cotton sampling apparatus | |
| CN203471429U (en) | Clamping mechanism of metal band sawing machine | |
| CN209737505U (en) | Portable special nail puller | |
| CN220927788U (en) | Road surface core appearance extraction element | |
| CN217889952U (en) | Engineering machine tool accessory welding equipment | |
| CN213163130U (en) | Safe and environment-friendly drilling machine equipment for machining | |
| CN221185339U (en) | Fixing device for welding building construction steel structure materials | |
| CN220679923U (en) | A material loading manipulator for plug equipment | |
| CN214924087U (en) | Auxiliary device for die assembly | |
| CN220849591U (en) | Safety joint for petroleum drill rod | |
| CN212021570U (en) | Injection molding machine extracting device | |
| CN215149238U (en) | Clamping mechanism capable of being inserted into narrow space | |
| CN214109432U (en) | Bolt grabbing mechanism | |
| CN117583464B (en) | Copper aluminum bar punching die and punching process thereof | |
| CN220992719U (en) | Die head component of cold header | |
| CN215409640U (en) | Magnetic positioning pin | |
| CN221280808U (en) | Adjustable cable tube stretching auxiliary mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB03 | Change of inventor or designer information | ||
| CB03 | Change of inventor or designer information |
Inventor after: Gao Junxia Inventor after: Yang Guoquan Inventor before: Yang Guoquan Inventor before: Gao Junxia |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |