Clamping jaw device for soil sample library

Abstract

The utility model belongs to the field of manipulators, and provides a clamping jaw device for a soil sample library, which comprises a first driving device, a second driving device and a clamping jaw, the second driving device is arranged on the first driving device, the clamping jaw is arranged on the second driving device, and the clamping jaw is arranged on the second driving device. The first driving device is configured to drive the second driving device and the clamping jaw to rotate, and the second driving device is configured to drive the clamping jaw to move back and forth in the arrangement direction of the clamping jaw. The first driving device, the second driving device and the clamping jaw are arranged, the first driving device is configured to drive the second driving device and the clamping jaw to rotate, the rotating angle is fixed, the first driving device is used for being matched with a sample library with an inclined opening, and sample bottles can be conveniently taken and placed in the sample library; the two-way sample taking and placing device is simple in structure, small in size and capable of being applied to a two-way sample taking and placing library with narrow space.

Description

Technical Field

[0001] The utility model belongs to the field of manipulators, and in particular relates to a clamping claw device used for a soil sample library. Background Art

[0002] At present, most laboratory soil samples are preserved by encapsulating them in glass bottles and PVC bottles, and then placing them on fixed steel shelves with numbers. This method has the disadvantages of small sample storage capacity, inconvenient to take, and inconvenient to manage samples in an information manner. To solve the above problems, a soil sample library with sample bottles arranged vertically in a matrix and tilted is invented, such as Chinese patent CN115783596A, the name of the invention is a soil sample preservation system, but the clamping device in the prior art has problems such as large volume, complex action process, and low accuracy, which is not suitable for the above soil sample library. Therefore, it is necessary for those skilled in the art to design a matching clamping device for this soil sample library. Utility Model Content

[0003] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0004] The utility model provides a clamping device for a soil sample library, comprising a first driving device, a second driving device and a clamping jaw, wherein the second driving device is arranged on the first driving device, and the clamping jaw is arranged on the second driving device, the first driving device is configured to drive the second driving device and the clamping jaw to rotate, and the second driving device is configured to drive the clamping jaw to move back and forth along the direction in which it is arranged.

[0005] Preferably, the first driving device may be a rotary motor, and the second driving device may be an electric cylinder.

[0006] Furthermore, the second driving device and the clamping jaw rotate to both sides in a vertical direction relative to the first driving device.

[0007] Furthermore, the rotation angles of the second driving device and the clamp on both sides of the vertical direction relative to the first driving device are fixed. Since the sample library is arranged to be inclined longitudinally, in order to facilitate the removal of the sample bottle, the rotation angle is fixed, and the rotation angle is preferably +22.5° and -22.5°.

[0008] Furthermore, a machine vision device is provided on the clamping jaw, and the machine vision device is configured to measure the relative position between the clamping jaw and the target sample bottle, and the mechanical arm moves accordingly according to the measured data. Machine Vision The device may be an industrial camera.

[0009] Furthermore, the clamp is provided with a distance meter, which is configured to measure the distance between the clamp and the sample reservoir, and the second driving device drives the clamp to move a corresponding distance according to the measurement data. The distance meter is preferably a laser distance meter.

[0010] Furthermore, the clamping jaw includes a first clamping jaw portion and a second clamping jaw portion, and the first clamping jaw portion is configured to drive the second clamping jaw portion to open and close.

[0011] Furthermore, at least two second clamping jaws are provided.

[0012] Furthermore, the end of the second clamping jaw is provided with a chamfer, and the chamfer is used to hook the bottle cap of the sample bottle.

[0013] Furthermore, the clamping device is connected to a mechanical arm, and the clamping device moves in horizontal and vertical directions under the action of the mechanical arm.

[0014] The utility model has the following beneficial effects:

[0015] (1) The utility model is provided with a first driving device, a second driving device and a clamping jaw, wherein the first driving device is configured to drive the second driving device and the clamping jaw to rotate, and the rotation angle is fixed to match the sample library with an inclined opening, so as to facilitate taking and placing sample bottles in the sample library;

[0016] (2) The utility model has a simple structure and a small size, and can be applied to a sample library with a relatively narrow space and a two-way access;

[0017] (3) The utility model is provided with a machine vision device and a rangefinder. The machine vision device first determines the distance between the gripper and the position of the sample bottle to be taken in the sample library. The gripper is moved to the corresponding position under the action of the mechanical arm. Then, the rangefinder measures the distance between the gripper and the placement position of the sample bottle to be taken. Under the action of the second driving device, the gripper moves to the placement position of the sample bottle to be taken and the sample bottle is taken. Through the two distance judgments, the gripper device can realize positioning very accurately to perform the sample bottle taking and placing operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a structural schematic diagram of the utility model.

[0019] Figure 2 yes Figure 1 Schematic diagram on the left.

[0020] Figure 3 It is a schematic diagram of the initial working state of the utility model.

[0021] Figure 4 It is a schematic diagram of the working state of the utility model rotating to the right.

[0022] Figure 5 It is a schematic diagram of the working state of the utility model rotating to the right.

[0023] Figure 6 It is a structural schematic diagram of the clamping jaws in the utility model.

[0024] Figure 7 It is a structural schematic diagram of the clamping claws in the utility model for clamping a sample bottle. DETAILED DESCRIPTION

[0025] The specific implementation methods of the utility model are described in detail below in conjunction with the accompanying drawings. It should be pointed out that the embodiments are only specific explanations of the utility model and should not be regarded as limitations of the utility model. The purpose of the embodiments is to enable those skilled in the art to better understand and reproduce the technical solutions of the utility model. The protection scope of the utility model shall still be based on the scope defined in the claims.

[0026] like Figure 1-2 As shown, the utility model provides a clamping device for a soil sample library, comprising a first driving device 1, a second driving device 2 and a clamping jaw 3, wherein the second driving device 2 is arranged on the first driving device 1, and the clamping jaw 3 is arranged on the second driving device 2, the first driving device 1 is configured to drive the second driving device 2 and the clamping jaw 3 to rotate, and the second driving device 2 is configured to drive the clamping jaw 3 to move back and forth along the direction in which it is set.

[0027] Preferably, the first driving device 1 may be a rotary motor, and the second driving device 2 may be an electric cylinder.

[0028] Specifically, the first driving device 1 includes a first driving member and a first mounting seat, the first driving member is mounted on the first mounting seat, the second driving device 2 includes a second driving member 22 and a second mounting seat 21, the second driving member 22 is mounted on the second mounting seat 21, the second mounting seat 21 is connected to the rotating component of the first driving member, and the rotating component 11 drives the second driving device to rotate. A slide rail is provided on the second mounting seat, and a slider 33 is provided on the clamping jaw 3. The slider is fixedly arranged on the clamping jaw and can reciprocate along the direction in which the slide rail is set (i.e., the direction in which the clamping jaw is set) under the action of the second driving member.

[0029] The clamping jaw 3 is provided with a machine vision device 4, and the machine vision device 4 is configured to measure the relative position of the clamping jaw 3 and the target sample bottle 5. The mechanical arm moves accordingly according to the measured data. The machine vision device 4 can be an industrial camera.

[0030] Since the sample library is arranged in a longitudinally inclined manner and the space between the sample libraries is relatively narrow, in order to facilitate the taking of the sample bottle, the second driving device 2 and the clamping jaw 3 rotate to both sides of the vertical direction relative to the first driving device 1, and the rotation angle is fixed, and the rotation angle is preferably +22.5° and -22.5°, that is, the second driving device 2 and the clamping jaw 3 have three states relative to the first driving device 1, such as Figure 3-5 As shown, taking the directions in the figure as an example, they are respectively horizontal (i.e., perpendicular to the vertical direction of the first drive device), rotated 22.5° to the left (i.e., rotated -22.5°), and rotated 22.5° to the right (i.e., rotated +22.5°). The initial state of the clamping device is horizontal. According to the detection of the machine vision device 4, it is determined whether the target sample bottle is located on the left or right side, and then the second drive device 2 and the clamping jaw 3 are moved to the same direction.

[0031] The clamping jaw 3 is provided with a distance meter 6, which is configured to measure the distance between the clamping jaw 3 and the sample reservoir, and the second driving device 2 drives the clamping jaw 3 to move a corresponding distance according to the measurement data. The distance meter 6 is preferably a laser distance meter.

[0032] like Figure 6-7 As shown, the clamping jaw 3 includes a first clamping jaw portion 31 and a second clamping jaw portion 32, and the first clamping jaw portion 31 is configured to drive the second clamping jaw portion 32 to open and close. There are at least two second clamping jaw portions 32. The end of the second clamping jaw portion 32 is provided with a chamfer 321, and the chamfer 321 is used to hook the bottle cap of the sample bottle.

[0033] The clamping device is connected to the mechanical arm, and the clamping device moves in the horizontal and vertical directions under the action of the mechanical arm. The clamping device moves to the position where the target sample bottle is located under the action of the mechanical arm.

[0034] The clamping device is in a ready-to-grip state, the second driving device 2 and the clamping device 3 are in a horizontal state relative to the first driving device 1 (that is, perpendicular to the vertical direction of the first driving device 1),

[0035] The workflow of the clamping jaw device for clamping a sample bottle is as follows:

[0036] First, the machine vision device 4 takes a picture of the sample library to determine the relative position between the sample bottle 5 to be taken and the clamp 3, and then the robot arm drives the clamp device to move to the position where the sample bottle 5 to be taken is located, and the clamp 3 is rotated to the same side of the sample bottle to be taken by the first driving device 1;

[0037] Then, the distance meter 6 measures the distance between the clamp 3 and the sample library, determines the distance that the second driving device 2 drives the clamp 3 to move, and prevents the grasping failure caused by over-movement or insufficient movement. After determining the sampling distance, the second driving device 2 moves the measured distance length, and then the clamp 3 grasps the sample bottle to be taken;

[0038] Then, the second driving device 2 drives the clamping jaw 3 to move in the reverse direction to take out the sample bottle to be taken;

[0039] Finally, the gripper device is moved to the target location under the action of the robotic arm.

[0040] The workflow of the gripper device for placing the sample bottle into the sample library is as follows:

[0041] First, the sample bottle to be clamped is placed horizontally, and the machine vision device 4 takes a picture of the sample library to determine the relative position between the station where the sample bottle is to be placed and the clamping jaw 3, and then the mechanical arm drives the clamping jaw device to move to the position where the sample bottle is to be placed, and the first driving device 1 rotates the clamping jaw 3 to the same side of the station where the sample bottle is to be placed;

[0042] Then, the distance meter 6 measures the distance between the clamp 3 and the sample library, determines the distance that the second driving device 2 drives the clamp 3 to move, and after determining the sampling distance, the second driving device 2 moves the measured distance length, and then the clamp 3 opens to put the sample bottle into the station to be placed in the target sample library;

[0043] Then, the second driving device 2 drives the clamping jaws to withdraw in the opposite direction;

[0044] Finally, the gripper device is moved to the next target under the action of the robotic arm.

[0045] Although the preferred embodiments of the present application have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the present application.

[0046] It should be noted that the technical features not described in detail in the present invention can be achieved by any existing technology.

Claims

1. A gripper device for a soil sample library, characterized in that: It includes a first driving device, a second driving device and a clamping jaw, wherein the second driving device is arranged on the first driving device, and the clamping jaw is arranged on the second driving device, the first driving device is configured to drive the second driving device and the clamping jaw to rotate, and the second driving device is configured to drive the clamping jaw to move back and forth along the direction in which it is set.

2. A gripper device for a soil sample library according to claim 1, characterized in that: The second driving device and the clamping jaw rotate to both sides in a vertical direction relative to the first driving device.

3. A gripper device for a soil sample library according to claim 2, characterized in that: The second driving device and the clamping jaw rotate at fixed angles on both sides of the vertical direction relative to the first driving device.

4. The gripper device for a soil sample library according to claim 1, characterized in that: A machine vision device is provided on the clamping jaw, and the machine vision device is configured to measure the relative position of the clamping jaw and the target sample bottle.

5. The gripper device for a soil sample library according to claim 1, characterized in that: The clamping jaw is provided with a distance meter, and the distance meter is configured to measure the distance between the clamping jaw and the sample library.

6. The gripper device for a soil sample library according to claim 1, characterized in that: The clamping jaw includes a first clamping jaw portion and a second clamping jaw portion, wherein the first clamping jaw portion is configured to drive the second clamping jaw portion to open and close.

7. A gripper device for a soil sample library according to claim 6, characterized in that: There are at least two second clamping jaws.

8. The gripper device for a soil sample library according to claim 6, characterized in that: The end of the second clamping claw is provided with a chamfer, and the chamfer is used to hook the bottle cap of the sample bottle.

9. The gripper device for a soil sample library according to claim 1, characterized in that: The clamping jaw device is connected to the mechanical arm, and the clamping jaw device moves in horizontal and vertical directions under the action of the mechanical arm.

Images