CN206029881U - Intelligence sample robot sample arm - Google Patents
Intelligence sample robot sample arm Download PDFInfo
- Publication number
- CN206029881U CN206029881U CN201620905745.7U CN201620905745U CN206029881U CN 206029881 U CN206029881 U CN 206029881U CN 201620905745 U CN201620905745 U CN 201620905745U CN 206029881 U CN206029881 U CN 206029881U
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- China
- Prior art keywords
- sample
- arm
- forearm
- postbrachium
- connecting rod
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- 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.)
- Expired - Fee Related
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- Sampling And Sample Adjustment (AREA)
Abstract
The utility model provides an intelligence sample robot sample arm, belongs to sample equipment field. Its characterized in that: including the postbrachium of execution terminal forearm (1) and control displacement, forearm (1) one end is rotated with the postbrachium and is connected, perpendicular sample pole (11) that set up of other end fixed connection, and postbrachium connection power unit, the postbrachium connect link mechanism for parallelogram, the balance mechanism who keeps action synchronized is installed with the postbrachium outside in forearm (1). The utility model discloses a folding balancing machine arm is as the sample arm, and the sample pole of the one end fixed connection vertical fixation of sample arm, has both realized on a large scale sample demand and sample needs in among a small circle closely through folding balancing machine arm, can keep the sample pole to get the material all the time perpendicularly again, guarantees the accuracy of sample, has improved quick -witted application scope and the sample flexibility of sample.
Description
Technical field
A kind of intelligent sample robot sample arm, belongs to sample apparatus field.
Background technology
At present, after the various grains of domestic purchase, during warehouse-in, it usually needs skewer takes sample and tests, current base
Originally it is divided into two ways, a kind of is artificial sample, i.e., no matter carry out the various inspections to grain in any way, be all people's labour movement
Grain is extracted with sample instrument, whole process is loaded down with trivial details, time-consuming, laborious, due to artificial limited in one's ability when being inspected by random samples every time, reached
Less than the accuracy of sampling observation, also sample testing machine is taken using skewer traditional before some, it is not easy to operate, it is difficult protection, volume
There are many problems during ambassador's purchase grain to solve.
Another kind of is machine sample, using the sample skewering machine for being arranged on fixed position, carries out sample to grain, as long as by distant
Control device remote control sampling rod realizes sampling, and this sample skewering machine significantly reduces labor intensity, but finds in practical operation,
This sample skewering machine there is a problem of one it is very big, when carrying out sample and operating, it is necessary to which staff detects by an unaided eye sampling rod
Sampling insertion point, and carefully record, the slide rail that the mechanism for driving sampling rod to move is fixed tile horizontally is additionally, since, because
This, this kind of equipment is higher to the requirement using space, realizes large range of sample feeding if desired, it is necessary to larger peace
, there is larger restriction in dress space to the sample scope of sample skewering machine, and during sample, the maneuverability flexibility ratio of sampling rod is relatively low, sampling rod
Cuttage height and sampling scope diameter it is less, and be difficult to adjust, operation sequence is relatively complicated.
The content of the invention
Technical problem to be solved in the utility model is：Overcome the deficiencies in the prior art, there is provided a kind of simple to operate, number
Amount is accurate, shrinks freely, sample feeding scope is big and is capable of the intelligent sample robot sample arm of automatic sampling.
This utility model solves the technical scheme of its technical problem employing：This kind of intelligent sample robot sample arm, its
It is characterised by：Including the postbrachium for performing terminal forearm and command displacement, forearm one end is rotated with postbrachium and is connected, and the other end is fixed and connected
Connect vertically disposed sampling rod, postbrachium connection actuating unit, described postbrachium are that parallelogram connects linkage, forearm with
Holding action synchronous balanced controls are installed on the outside of postbrachium.
Folding balancing mechanical arm is set up between sampling rod and actuating unit, and one end of balancing mechanical arm is fixed and connected
Vertical fixed sampling rod is connect, lifting arm forms parallel four side by connecting pivoted arm with forearm end respectively with the two ends of translation arms
Can realize respectively rotating between shape linkage, lifting arm and translation arms and connection pivoted arm and forearm.Both folding skewer had been passed through
Sample arm realizes large-scale sample demand, can keep sampling rod vertical feeding all the time again, it is ensured that the accuracy of sampling, foldable
Sample arm fold when be capable of achieving closely a small range sample need, stretch when, the telescopic extensions of balancing mechanical arm
Up to 1.9 ~ 4.5 meters, the sample needs of long-distance large-range can be met again, the scope of application and the sample that improve sample skewering machine is flexible
Property.
Described postbrachium includes the lifting arm be arrangeding in parallel and translation arms, lifting arm and translation arms one end by connecting pivoted arm
Rotatable parallel connection, the other end connect forearm by rotating shaft respectively.
Described balanced controls include the first balanced connecting rod, the second balance connecting rod and rotation connecting plate, rotate connecting plate
For set square, one summit of set square is rotatably installed in the junction of translation arms and forearm, and two other summit is fixed respectively to be connected
The first balanced connecting rod and second balance connecting rod one end is connect, the first balanced connecting rod other end is by balancing connecting plate connection translation
Arm, second balance connecting rod one end connect forearm by sampling rod support.
It is respectively provided with the balanced connecting rod be arrangeding in parallel in translation arms side and forearm side, the first balanced connecting rod and second flat
Weighing apparatus connecting rod forms parallelogram linkage with translation arms and forearm respectively, meanwhile, then connected by the rotation of common connection
Fishplate bar formation rotates connection, and translation arms itself can pass through translation arms and the first balanced connecting rod via rotation connection during moving
Plate finally drives forearm and the second balance connecting rod to realize moving horizontally.With reference to the lift action of above-mentioned lifting arm, you can logical
Lifting and horizontal shifting that whole balancing mechanical arm realizes sampling rod is crossed, simple to operate, flexible movements are changeable, telescopic extensions
It is larger.
The first described balanced connecting rod and the second balance connecting rod are set in parallel in described translation arms and forearm respectively
Side.
Described actuating unit is arranged on the top of column, including elevating mechanism, rotating mechanism and translation mechanism, whirler
Structure is arranged on the top surface of column, installs translation mechanism on rotating mechanism, installs elevating mechanism in rotating mechanism side.
Meanwhile, actuating unit is using the mechanism for being capable of achieving translation, three kinds of mode of operations of lifting and rotation, and is connected by circuit
Connect controller, it is preferred that be input into the program of control actuating unit action in controller, by controller to needing many of sample
Individual sample point carries out coordinate input, you can easily realize the automatization of whole sample process by controller, without the need for multiple skewers
Sampling point is operated one by one, more eliminates the trouble of the full name concern during whole sample, need to only select to realize input control
The program of device and corresponding sample coordinate, you can realize.
Compared with prior art, this utility model is had an advantageous effect in that：
1st, folding balancing mechanical arm is set up between sampling rod and actuating unit, and one end of sample arm is fixedly connected
Vertical fixed sampling rod, both realized large-scale sample demand by folding sample arm arm, and can keep sampling rod again
All the time vertical feeding, it is ensured that the accuracy of sampling, folding sample arm are capable of achieving the skewer of closely a small range when folding
Sample needs, and when stretching, can meet the sample needs of long-distance large-range again, improves the scope of application and the sample spirit of sample skewering machine
Activity.
Description of the drawings
Fig. 1 is intelligent sample robot sample arm configuration schematic diagram of the present utility model.
Fig. 2 is intelligent sample robot structural representation of the present utility model.
Part A close-up schematic views of the Fig. 3 for Fig. 2.
Wherein, 1, the balance of forearm 2, second connecting rod 3, rotate connecting plate 4, the first balanced connecting rod 5, translation arms
6th, lifting arm 7, connection pivoted arm 8, balance connecting plate 9, lifting arm mounting seat 10, translation arms mounting seat 11, sample
Bar 12, sampling rod support 13, elevating mechanism 1301, lifting motor 1302, lift slide 1303, lifting sliding rail
1304th, lifting screw 14, rotating mechanism 1401, electric rotating machine 1402, rotating base 15, translation mechanism 1501,
It is translation motor 1502, motor support base 1503, translation screw rod 1504, translation slide 1505, translation slide rail 16, vertical
Post.
Specific embodiment
Fig. 1 ~ 3 are most preferred embodiments of the present utility model, and 1 ~ 3 pair of this utility model does furtherly below in conjunction with the accompanying drawings
It is bright.
Referring to the drawings 1 ~ 3：A kind of intelligent sample robot sample arm, after execution terminal forearm 1 and command displacement
Arm, 1 one end of forearm are rotated with postbrachium and are connected, and the other end is fixedly connected vertically disposed sampling rod 11, and postbrachium connects actuating unit,
Described postbrachium is that parallelogram connects linkage, the balancing machine synchronous with holding action is provided with the outside of postbrachium of forearm 1
Structure.
Postbrachium includes that be arranged in parallel lifting arm 6 and translation arms 5, lifting arm 6 and 5 one end of translation arms can by connecting pivoted arm 7
The parallel connection for rotating, the other end connect forearm 1 by rotating shaft respectively.Balanced controls include that the first balanced connecting rod 4, second is balanced
Connecting rod 2 and rotate connecting plate 3, rotations connecting plate 3 is set square, one summit of set square be rotatably installed in translation arms 5 with it is front
The junction of arm 1, two other summit are respectively fixedly connected with the first balanced connecting rod 4 and second 2 one end of balance connecting rod, and first
4 other end of balanced connecting rod connects translation arms 5 by balancing connecting plate 8, and second 2 one end of balance connecting rod passes through sampling rod support 12
Connection forearm 1.First balanced connecting rod 4 and the second balance connecting rod 2 are set in parallel in described translation arms 5 and forearm 1 respectively
Side.
A kind of intelligent sample robot sample arm, including sample discharger, vacuum pump, column 16, suction flexible pipe and sample
Bar 11, sampling rod 11 are provided with actuating unit by the hose connection sample discharger of suction, column 16, are driven by actuating unit
Sampling rod 11 realizes movement, is provided with folding balance sample arm of the present utility model between sampling rod 11 and actuating unit, this
One end of the sample arm of utility model is fixedly connected vertical fixed sampling rod 11, and actuating unit includes elevating mechanism 13, translation
Mechanism 15 and the triaxial connecting system of rotating mechanism 14, actuating unit pass through line connecting controller.Actuating unit is arranged on vertical
The top of post 16, including elevating mechanism 13, rotating mechanism 14 and translation mechanism 15, rotating mechanism 14 is arranged on the top of column 16
Face, installs translation mechanism 15 on rotating mechanism 14, installs elevating mechanism 13 in 14 side of rotating mechanism.
In the present embodiment, as shown in figure 3, actuating unit is arranged on the top of column 16, rotating mechanism 14 is arranged on column
Top surface, on rotating mechanism 14 install translation mechanism 15,14 side of rotating mechanism install elevating mechanism 13.Rotating mechanism 14
Including electric rotating machine 1401 and rotating base 1402, rotating base 1402 is rotatably sleeved on column；Translation mechanism 15 is wrapped
Include, translate slide rail 1505
For two groups of parallel installation, be slidably connected between two translation slide rails 1505 translation slide 1504, and the power of translation motor 1501 is defeated
Go out end connection translation screw rod 1503,1504 side of the translation threaded connection translation slide of screw rod 1503 translates the another of slide 1504
Side is fixedly connected balancing mechanical arm by translation arms mounting seat 10；Elevating mechanism 13 includes lifting motor 1301, lift slide
1302nd, lifting sliding rail 1303 and lifting screw 1304, two groups for parallel longitudinal installation of lifting sliding rail 1303, two lifting sliding rails
Be slidably connected between 1303 lift slide 1302, the clutch end connection lifting screw 1304 of lifting motor 1301, lifts spiral shell
1302 side of the threaded connection lift slide of bar 1304, the opposite side of lift slide 1302 are fixedly connected by lifting arm mounting seat 9
Balancing mechanical arm.
This utility model is operationally, hose connection by sample discharger and suction, before actuating unit is started, can lead to
Cross controller and be input into each position coordinates for needing sample, then start the control program of controller, opened by controller operation
Dynamic actuating unit, is coordinated by the triaxial connecting system of elevating mechanism, translation mechanism and rotating mechanism, sampling rod 11 is pushed to
Each position of sample is needed, sampling rod 11 under the manipulation of controller is automatically performed lifting, translation and rotates the dynamic of adjustment
Make, complete the sample work of multiple sample points one by one.
Wherein, sample discharger and vacuum pump, now, grain are started after certain depth in the insertion of sampling rod 11 grain heap
Enter inside sampling rod 11 from the material sucking port of 11 bottom of sampling rod, and move up under the draft effect of vacuum pump, Jin Ercong
Discharging opening at the top of sampling rod 11 is discharged into suction flexible pipe, discharges eventually through sample discharger.
Specifically, when sampling rod 11 is moved, base 1402 is rotated by electric rotating machine 1401 and is rotated, and then realized
Drive sample arm of the present utility model to rotate while whole actuating unit rotation, finally realize the rotation of sampling rod 11；Sample
When bar 11 needs translation adjustment sample diameter, by manipulating translation motor 1501,1501 output shaft of translation motor drives translation spiral shell
Bar 1503 is rotated, and so as to drive the translation slide 1504 being threadedly coupled therewith to move linearly along translation slide rail 1505, translates slide
1504 move up and down realization moves horizontally, meanwhile, translate slide 1504 and drive by putting down that translation arms mounting seat 10 is attached thereto
5 one end level of synchronization movement of displacement arm, 5 other end of translation arms are synchronously pushed or pull on and are connected by parallelogram connection-rod structure therewith
The forearm 1 for connecing protracts or bounces back, and realizes the size adjustment of 11 sample diameter of sampling rod；When sampling rod 11 needs adjustable height, lead to
Cross manipulation lifting motor 1301,1301 output shaft of lifting motor drives lifting screw 1304 to rotate, lifting screw 1304 drive with
The lift slide 1302 of threaded connection move linearly along the longitudinal direction of lifting sliding rail 1303, meanwhile, lift slide 1302 drives and passes through
6 one end of lifting arm that lifting arm mounting seat 9 is attached thereto synchronously moves up and down, and 6 other end of lifting arm is synchronously pulled and passed through therewith
The forearm 1 of connection rises or falls, and realizes the size adjustment of 11 sample height of sampling rod.
The above, is only preferred embodiment of the present utility model, is not to make other forms to this utility model
Restriction, any those skilled in the art changed possibly also with the technology contents of the disclosure above or be modified as equivalent
The Equivalent embodiments of change.But it is every without departing from technical solutions of the utility model content, according to technology reality of the present utility model
Any simple modification, equivalent variations and remodeling that confrontation above example is made, still fall within the guarantor of technical solutions of the utility model
Shield scope.
Claims (5)
1. a kind of intelligent sample robot sample arm, it is characterised in that：Including execution terminal forearm（1）After command displacement
Arm, forearm（1）One end is rotated with postbrachium and is connected, and the other end is fixedly connected vertically disposed sampling rod（11）, postbrachium connection power
Mechanism, described postbrachium are that parallelogram connects linkage, forearm（1）It is synchronous with holding action is provided with the outside of postbrachium
Balanced controls.
2. a kind of intelligent sample robot sample arm according to claim 1, it is characterised in that：Described postbrachium includes putting down
The lifting arm that row is arranged（6）And translation arms（5）, lifting arm（6）And translation arms（5）One end is by connecting pivoted arm（7）Rotatably
Parallel connection, the other end connect forearm by rotating shaft respectively（1）.
3. a kind of intelligent sample robot sample arm according to claim 1, it is characterised in that：Described balanced controls bag
Include the first balanced connecting rod（4）, second balance connecting rod（2）With rotation connecting plate（3）, rotate connecting plate（3）For set square, triangle
One summit of plate is rotatably installed in translation arms（5）With forearm（1）Junction, it is flat that two other summit is respectively fixedly connected with first
Weighing apparatus connecting rod（4）With the second balance connecting rod（2）One end, the first balanced connecting rod（4）The other end is by balancing connecting plate（8）Connection is flat
Displacement arm（5）, the second balance connecting rod（2）One end passes through sampling rod support（12）Connection forearm（1）.
4. a kind of intelligent sample robot sample arm according to claim 3, it is characterised in that：The first described balance connects
Bar（4）With the second balance connecting rod（2）Described translation arms are set in parallel in respectively（5）And forearm（1）Side.
5. a kind of intelligent sample robot sample arm according to claim 1, it is characterised in that：Described actuating unit peace
It is mounted in column（16）Top, including elevating mechanism（13）, rotating mechanism（14）And translation mechanism（15）, rotating mechanism（14）Peace
It is mounted in column（16）Top surface, in rotating mechanism（14）Upper installation translation mechanism（15）, in rotating mechanism（14）Install and rise in side
Descending mechanism（13）.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620905745.7U CN206029881U (en) | 2016-08-20 | 2016-08-20 | Intelligence sample robot sample arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620905745.7U CN206029881U (en) | 2016-08-20 | 2016-08-20 | Intelligence sample robot sample arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206029881U true CN206029881U (en) | 2017-03-22 |
Family
ID=58307087
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620905745.7U Expired - Fee Related CN206029881U (en) | 2016-08-20 | 2016-08-20 | Intelligence sample robot sample arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206029881U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107521982A (en) * | 2017-09-05 | 2017-12-29 | 郑州鑫胜电子科技有限公司 | A kind of grain is quickly put in storage automatic checking system |
| CN110421577A (en) * | 2019-08-08 | 2019-11-08 | 四川阿泰因机器人智能装备有限公司 | Synchronous telescopic boom and its inspecting robot |
| CN113092137A (en) * | 2021-04-12 | 2021-07-09 | 北京交通大学 | Vehicle single-wheel circular soil tank test device |
| WO2021196135A1 (en) * | 2020-03-30 | 2021-10-07 | 南京达索航空科技有限公司 | Unmanned aerial vehicle folding mechanism |
| CN113720631A (en) * | 2021-09-15 | 2021-11-30 | 河南工业大学 | Sampling machine and control method and control system thereof |
| CN115683745A (en) * | 2023-01-03 | 2023-02-03 | 中储粮成都储藏研究院有限公司 | Intelligent sampling system based on grain purchasing |
-
2016
- 2016-08-20 CN CN201620905745.7U patent/CN206029881U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107521982A (en) * | 2017-09-05 | 2017-12-29 | 郑州鑫胜电子科技有限公司 | A kind of grain is quickly put in storage automatic checking system |
| CN110421577A (en) * | 2019-08-08 | 2019-11-08 | 四川阿泰因机器人智能装备有限公司 | Synchronous telescopic boom and its inspecting robot |
| WO2021196135A1 (en) * | 2020-03-30 | 2021-10-07 | 南京达索航空科技有限公司 | Unmanned aerial vehicle folding mechanism |
| CN113092137A (en) * | 2021-04-12 | 2021-07-09 | 北京交通大学 | Vehicle single-wheel circular soil tank test device |
| CN113720631A (en) * | 2021-09-15 | 2021-11-30 | 河南工业大学 | Sampling machine and control method and control system thereof |
| CN115683745A (en) * | 2023-01-03 | 2023-02-03 | 中储粮成都储藏研究院有限公司 | Intelligent sampling system based on grain purchasing |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170322 Termination date: 20170820 |