Sampling device for mechanical arm and mechanical arm sampling equipment

Abstract

The utility model discloses a mechanical arm sampling device and mechanical arm sampling equipment, the mechanical arm sampling device comprises a mounting bracket, a deflection mechanism and a butt clamp mechanism, the mounting bracket is used for being connected with the free end of a mechanical arm, the deflection mechanism comprises a telescopic driving piece and a deflection seat, the deflection seat is hinged on the mounting bracket, and the butt clamp mechanism is arranged on the mounting bracket. The telescopic driving part is arranged on the mounting bracket and used for driving the deflection seat to rotate, the butt-clamping mechanism comprises a butt-clamping driving part, two clamping arm bodies, two first clamping fingers and two second clamping fingers, and the butt-clamping driving part is arranged on the deflection seat and can drive the two clamping arm bodies to move close to each other or away from each other along a hinge axis parallel to the deflection seat; the two first clamping fingers are arranged on the two clamping arm bodies respectively and stretch out towards the deflection direction of the deflection base, the two second clamping fingers are arranged on the two clamping arm bodies respectively and stretch out towards the deflection direction deviating from the deflection base, and the sampling device can achieve automatic sampling and improve the sample detection efficiency.

Description

Technical Field

[0001] The utility model belongs to the technical field of steelmaking, and in particular relates to a sampling device for a mechanical arm and a mechanical arm sampling equipment. Background Art

[0002] In the steel industry, it is necessary to detect the state of the molten metal in the furnace by analyzing the sample. The sampling process requires the use of a sampling probe, which has a round pancake-shaped sample cavity and a round tube-shaped sample inlet. The operator inserts the sampling probe into the sample cavity from the sample inlet, and then takes the solidified iron sample out of the sampling probe. Due to the existence of the sample inlet, the iron sample will form a handle-shaped tail. The operator needs to cut off the tail of the iron sample first, and then put it into the sample bottle for sample testing. In the existing sample analysis process, the operation of taking and placing samples and sample bottles must be completed manually by the operator, which is inefficient and has certain safety risks. Utility Model Content

[0003] In view of the above-mentioned defects or shortcomings, the utility model provides a sampling device for a robotic arm and a robotic arm sampling equipment, aiming to solve the technical problems in the prior art that manual taking and placing of samples and sample bottles is required, resulting in low sample analysis efficiency and safety risks.

[0004] To achieve the above-mentioned purpose, the utility model provides a sampling device for a robotic arm, wherein the sampling device for the robotic arm includes a mounting bracket, a deflection mechanism and a clamping mechanism, the mounting bracket is used to be connected to the free end of the robotic arm, the deflection mechanism includes a telescopic driving member and a deflection seat, the deflection seat is hinged to the mounting bracket, the telescopic driving member is arranged on the mounting bracket and is used to drive the deflection seat to rotate, the clamping mechanism includes a clamping driving member, two clamping arm bodies, two first clamping fingers and two second clamping fingers, the clamping driving member is arranged on the deflection seat and can drive the two clamping arm bodies to move toward or away from each other along a hinge axis parallel to the deflection seat, the two first clamping fingers are respectively arranged on the two clamping arm bodies and extend out in the deflection direction of the deflection seat, and the two second clamping fingers are respectively arranged on the two clamping arm bodies and extend out in the deflection direction away from the deflection seat.

[0005] In an embodiment of the utility model, the clamping drive member is arranged on a side of the deflection seat away from the telescopic drive member, and the sampling device further comprises a suction cup assembly, the suction cup assembly comprises a suction cup mounting body and a suction cup body, the suction cup mounting body is connected to the deflection seat and extends toward the side away from the clamping drive member, and the suction cup body is arranged at one end of the suction cup mounting body away from the deflection seat. In an embodiment of the utility model, the deflection seat comprises a deflection hinge portion and a connecting plate portion extending from the side wall of the deflection hinge portion, a first mounting surface for connecting the suction cup mounting body is formed on a side of the connecting plate portion away from the deflection hinge portion, and two hinged ends of the deflection hinge portion are respectively hinged to the mounting bracket and the telescopic drive member in a one-to-one correspondence.

[0006] In an embodiment of the utility model, the suction cup mounting body includes a folding plate portion and an extended plate portion connected in sequence, the folding plate portion is arranged on the first mounting surface and is bent away from the clamping driving member, the extended plate portion extends from the folding plate portion toward a side away from the clamping driving member, and the suction cup body is arranged at one end of the extended plate portion away from the folding plate portion.

[0007] In an embodiment of the utility model, the mounting bracket includes a mounting plate and a mounting column, the mounting plate is used to be connected to the free end of the robotic arm, the mounting column is arranged on the side of the mounting plate away from the free end, the deflection seat is hinged to the end of the mounting column away from the mounting plate, the telescopic driving member is arranged on the mounting plate and the driving end is telescopically arranged toward the side away from the mounting plate, the driving end of the telescopic driving member is drivingly connected to the deflection seat, and the clamping driving member is arranged on the side of the deflection seat away from the telescopic driving member.

[0008] In an embodiment of the utility model, two clamping driving ends are arranged on the side of the clamping driving member away from the deflection seat, the connecting line of the two clamping driving ends is parallel to the hinge axis of the deflection seat, and the two clamping driving ends can approach each other or move away from each other, and the two clamping arm bodies are connected to the two clamping driving ends one by one.

[0009] In the embodiment of the utility model, the first clamping fingers are sequentially formed with a first pair of clamping surfaces and a second pair of clamping surfaces along the extending direction thereof, the first pair of clamping surfaces are arranged in a wave shape, and the second pair of clamping surfaces are arranged in a V shape.

[0010] In an embodiment of the utility model, the second clamping fingers include a connecting portion, an abutting portion and a clamping portion which are connected in sequence. The connecting portions of the two second clamping fingers are respectively connected to the side opposite to the two clamping arm bodies, and the abutting portion is arranged perpendicular to the connecting portion to form a positioning surface for abutting against the clamping arm body. The clamping portion extends from the side of the abutting portion away from the clamping arm body and forms a third clamping surface for clamping the sample bottle.

[0011] In an embodiment of the utility model, the sampling device for the robot arm further comprises an image recognition device disposed on the mounting bracket, and the image recognition device is used to collect and analyze images of the working area of ​​the sampling device for the robot arm.

[0012] In order to achieve the above-mentioned object, the utility model also provides a robotic arm sampling device, wherein the robotic arm sampling device includes the above-mentioned robotic arm sampling device.

[0013] Through the above technical solution, the sampling device for a robotic arm provided by the embodiment of the utility model has the following beneficial effects:

[0014] When the above-mentioned sampling device for the mechanical arm is used, the mounting bracket is used to be connected to the free end of the mechanical arm, and the sampling device is translated and rotated in the corresponding working area by the mechanical arm. A deflection mechanism and a clamping mechanism are arranged on the mounting bracket. The two first clamping fingers of the clamping mechanism are used to clamp the sample, and the two second clamping fingers of the clamping mechanism are used to clamp the sample bottle. The first clamping finger and the second clamping finger are both arranged on the clamping arm body and extend in opposite directions. Then, the sample and the sample bottle can be clamped respectively by a single clamping driving member. The deflection mechanism includes a telescopic driving member and a deflection seat. The deflection seat is hinged on the mounting bracket. The telescopic driving member is connected to the mounting bracket. The retractable drive member is arranged on the mounting bracket and is used to drive the deflection seat to rotate. By controlling the retractable movement of the retractable drive member, the working clamping finger of the clamping mechanism can be selected, so that the clamping mechanism has two different working states. In one working state, the first clamping finger is in the working position, and the robotic arm can use the sampling device to clamp and transfer the sample. In another working state, the second clamping finger is in the working position, and the sampling device can realize the automatic clamping of the sample and the sample bottle, thereby improving the efficiency of the sample detection, and the operator does not need to contact the sample, thereby improving the safety of the detection. In addition, the sampling device only needs to be configured with a single robotic arm to realize the clamping and transfer of the sample and the sample bottle, avoiding the problem of mutual interference of multiple robotic arms and reducing the overall cost of the equipment.

[0015] Other features and advantages of the present invention will be described in detail in the subsequent specific implementation section. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The accompanying drawings are used to provide an understanding of the present invention and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the present invention, but do not constitute a limitation to the present invention. In the accompanying drawings:

[0017] Figure 1 It is a schematic structural diagram of a sampling device for a mechanical arm according to an embodiment of the utility model;

[0018] Figure 2 It is a schematic structural diagram of a sampling device for a robot arm in another state according to an embodiment of the utility model;

[0019] Figure 3 It is a structural schematic diagram of a clamping mechanism and a flipping mechanism in one embodiment of the utility model;

[0020] Figure 4 It is a front view of a clamping mechanism in one embodiment of the utility model;

[0021] Figure 5 It is a structural schematic diagram of a mounting column in an embodiment of the utility model;

[0022] Figure 6It is a schematic diagram of the structure of the deflection seat in one embodiment of the utility model;

[0023] Figure 7 It is a structural schematic diagram of a fixed hinge block in one embodiment of the utility model;

[0024] Figure 8 It is a schematic diagram of the assembly of an image recognition device according to an embodiment of the utility model.

[0025] Description of Reference Numerals

[0026] 1 Mounting bracket 11 Mounting plate

[0027] 12 Mounting column 121 Base plate

[0028] 122 reinforcement plate 123 limit plate

[0029] 13 fixed hinge block 131 base block

[0030] 132 fixed hinge part 133 connection end

[0031] 2 Deflection mechanism 21 Telescopic drive element

[0032] 22 deflection seat 221 deflection hinge

[0033] 222 connecting plate portion 223 first mounting surface

[0034] 3 Clamping mechanism 31 Clamping drive

[0035] 32 clamp arm body 33 first clamp finger

[0036] 331 first pair of clamping surfaces 332 second pair of clamping surfaces

[0037] 34 second clamping finger 341 third pair of clamping surfaces

[0038] 342 connecting portion 343 abutting portion

[0039] 344 clamping part 4 suction cup assembly

[0040] 41 suction cup mounting body 411 folding plate portion

[0041] 412 extension plate 42 suction cup body

[0042] 5 Image recognition device 51 Protective cover

[0043] 52 Camera Module DETAILED DESCRIPTION

[0044] The specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. It should be understood that the specific embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0045] The sampling device for a robot arm and the sampling equipment for a robot arm of the present invention will be described below with reference to the accompanying drawings.

[0046] like Figure 1 and Figure 2 As shown, the utility model provides a sampling device for a robotic arm, wherein the sampling device for a robotic arm comprises:

[0047] A mounting bracket 1, used to be connected to the free end of the robotic arm;

[0048] The deflection mechanism 2 comprises a telescopic driving member 21 and a deflection seat 22, wherein the deflection seat 22 is hinged to the mounting bracket 1, and the telescopic driving member 21 is arranged on the mounting bracket 1 and is used to drive the deflection seat 22 to rotate;

[0049] The clamping mechanism 3 includes a clamping drive member 31, two clamping arm bodies 32, two first clamping fingers 33 and two second clamping fingers 34. The clamping drive member 31 is arranged on the deflection seat 22 and can drive the two clamping arm bodies 32 to move towards or away from each other along a hinge axis parallel to the deflection seat 22. The two first clamping fingers 33 are respectively arranged on the two clamping arm bodies 32 and extend toward the deflection direction of the deflection seat 22. The two second clamping fingers 34 are respectively arranged on the two clamping arm bodies 32 and extend toward the deflection direction away from the deflection seat 22.

[0050] When the above-mentioned sampling device for the mechanical arm is used, the mounting bracket 1 is used to be connected to the free end of the mechanical arm, and the sampling device is translated and rotated in the corresponding working area by the mechanical arm. The mounting bracket 1 is provided with a deflection mechanism 2 and a clamping mechanism 3. The two first clamping fingers 33 of the clamping mechanism 3 are used to clamp the sample, and the two second clamping fingers 34 of the clamping mechanism 3 are used to clamp the sample bottle. The first clamping fingers 33 and the second clamping fingers 34 are both arranged on the clamping arm body 32 and extend in opposite directions. Then, the sample and the sample bottle can be clamped respectively by a single clamping drive member 31; the deflection mechanism 2 includes a telescopic The drive member 21 and the deflection seat 22, the deflection seat 22 is hinged on the mounting bracket 1, the telescopic drive member 21 is arranged on the mounting bracket 1 and is used to drive the deflection seat 22 to rotate. By controlling the telescopic movement of the telescopic drive member 21, the working clamping finger of the clamping mechanism 3 can be selected, so that the clamping mechanism 3 has two different working states. In one working state, the first clamping finger 33 is in the working position, and the sampling device can realize the automatic clamping of samples and sample bottles, which improves the efficiency of sample detection, and the operator does not need to contact the sample, which improves the safety of detection. In addition, the sampling device only needs to be configured with a single mechanical arm to realize the clamping and transfer of samples and sample bottles, avoiding the problem of mutual interference of multiple mechanical arms and reducing the overall cost of the equipment.

[0051] like Figures 1 to 3 As shown, in the embodiment of the utility model, the clamping drive member 31 is arranged on the side of the deflection seat 22 away from the telescopic drive member 21, and the sampling device also includes a suction cup assembly 4, which includes a suction cup mounting body 41 and a suction cup body 42. The mounting body is connected to the deflection seat 22 and extends toward the side away from the clamping drive member 31. The suction cup body 42 is arranged at one end of the suction cup mounting body 41 away from the deflection seat 22. The function of the suction cup assembly 4 is to put the sample into the sample bottle, thereby realizing the automatic operation of sample delivery. Figure 2 The suction cup mounting body 41 and the clamping arm body 32 extend opposite to each other. By controlling the telescopic driving member 21 to extend, the suction cup assembly 4 is in the working position, so that the sample is transferred to the bottling device. The clamping mechanism 3 is located on the side away from the suction cup body 42 as a whole, ensuring that the clamping mechanism 3 will not interfere with the bottling device during the sample transfer process.

[0052] Specifically, the sampling device for the robot arm has three working modes. Figure 1In the first working mode, the telescopic driving member 21 is retracted, the first clamping finger 33 is in the working position (the distance between the first clamping finger 33 and the mounting plate 11 is the farthest), and the robot arm can use the sampling device to clamp the sample; in the second working mode, the telescopic driving member 21 is extended, the deflection seat 22 drives the clamping mechanism 3 to deflect 90°, and at the same time, the mounting bracket 1 is rotated 90° compared with the first working mode, so that the second clamping finger 34 is in the working position (the distance between the second clamping finger 34 and the mounting plate 11 is the farthest and the two second clamping fingers 34 are horizontally spaced), and the robot arm can use the sampling device to clamp the sample bottle; see Figure 3 In the third working mode, the telescopic driving member 21 is extended, and the deflection seat 22 drives the clamping mechanism 3 to deflect 90°, so that the suction cup body 42 is in the working position (the distance between the suction cup body 42 and the mounting plate 11 is the farthest), and the robotic arm can use the sampling device to absorb the sample.

[0053] like Figure 2 As shown, in the embodiment of the utility model, the suction cup mounting body 41 includes a folding plate portion 411 and an extension plate portion 412 connected in sequence, the folding plate portion 411 is arranged on the first mounting surface 223 and is bent away from the clamping driving member 31, the extension plate portion 412 is extended from the folding plate portion 411 to the side away from the clamping driving member 31, and the suction cup body 42 is arranged at one end of the extension plate portion 412 away from the folding plate portion 411. The function of the folding plate portion 411 and the extension plate portion 412 is to keep a certain distance between the suction cup body 42 and the mounting bracket 1 in the third working mode, so that the surrounding side of the suction cup body 42 is relatively open, so as to avoid interference between the suction device of the robot arm and the bottling device.

[0054] like Figure 6 As shown, in the embodiment of the utility model, the deflection seat 22 includes a deflection hinge part 221 and a connecting plate part 222 extending from the side wall of the deflection hinge part 221. The side of the connecting plate part 222 away from the deflection hinge part 221 is formed with a first mounting surface 223 for connecting the suction cup mounting body 41, and the side of the connecting plate part 222 facing the clamping mechanism 3 is formed with a second mounting surface for mounting the clamping mechanism 3. The two hinged ends of the deflection hinge part 221 are hinged to the mounting bracket 1 and the telescopic drive member 21 one by one. The connecting plate part 222 has two functions. One is to install the suction cup mounting body 41; the other is to abut against the fixed hinge block 13 of the mounting bracket 1 to limit the position, see Figure 2 and Figure 3 , the connecting plate portion 222 is respectively in contact with two different limiting surfaces of the fixed hinge block 13. Figure 6 and Figure 7The deflection hinge 221 is set in an inverted L shape and has hinge holes for the pins to pass through at both ends. Connecting plates 222 extend from both sides of the deflection hinge 221, and a first mounting surface 223 is formed on one of the connecting plates 222. The fixed hinge block 13 includes a base block 131, two fixed hinges 132 and two connecting ends 133. The two fixed hinges 132 extend from the base block 131 at intervals and form a first limiting surface, a transition arc surface and a second limiting surface connected in sequence. The first limiting surface and the second limiting surface are set at 90 degrees. One end of the deflection hinge 221 extends between the two fixed hinges 132, and the transition arc surface is used for the connecting plate 222 to deflect through. The two connecting ends 133 extend from the top surface of the base block 131 corresponding to the two fixed hinges 132 respectively and are used to connect the base plate 121 of the mounting bracket 1.

[0055] like Figure 5 As shown, in the embodiment of the utility model, the mounting bracket 1 includes a mounting plate 11 and a mounting column 12, the mounting plate 11 is used to be connected to the free end of the mechanical arm, the mounting column 12 is arranged on the side of the mounting plate 11 away from the free end, the deflection seat 22 is hinged to the end of the mounting column 12 away from the mounting plate 11, the telescopic driving member 21 is arranged on the mounting plate 11 and the driving end is telescopically arranged toward the side away from the mounting plate 11, the driving end of the telescopic driving member 21 is drivingly connected to the deflection seat 22, and the clamping driving member 31 is arranged on the side of the deflection seat 22 away from the telescopic driving member 21. The mounting column 12 extends the working range of the mechanical arm, so that the mechanical arm can be set at a position far away from the sample cutting device and the bottling device.

[0056] Specifically, the mounting column 12 includes a base plate portion 121, a reinforcement plate portion 122 and a limit plate portion 123. The base plate portion 121 is extended from the mounting plate 11, the fixed hinge block 13 and the telescopic drive member 21 are respectively arranged on both sides of the base plate portion 121, the reinforcement plate portion 122 is extended from the mounting plate 11 along the base plate portion 121, and the limit plate portion 123 is arranged at one end of the base plate portion 121 away from the mounting plate 11. Through the above arrangement, the material usage of the mounting column 12 is reduced while meeting the structural strength. The limit plate portion 123 can abut against the deflection hinge portion 221 of the deflection seat 22, further ensuring the accuracy of the deflection angle of the deflection seat 22. Further, the number of the limit plate portions 123 is two, and the two limit plate portions 123 are arranged at intervals for the telescopic end of the telescopic drive member 21 to extend or retract; the thickness of the reinforcement plate portion 122 gradually decreases from the mounting plate 11 toward the limit plate portion 123.

[0057] The sample targeted by the utility model is a molten steel sample, and the sample is in the shape of a round cake, such as Figure 3As shown, in order to adapt to the clamping of the round pancake-shaped sample, in the embodiment of the utility model, the clamping drive member 31 is provided with two clamping drive ends on the side away from the deflection seat 22, the connection line of the two clamping drive ends is parallel to the hinge axis of the deflection seat 22, and the two clamping drive ends can approach each other or move away from each other, and the two clamping arms 32 are connected to the two clamping drive ends in a one-to-one correspondence. The clamping drive member 31 adopts a translation clamping, which can better adapt to the clamping needs of the molten steel sample. Of course, for samples of other shapes, a rotating clamping drive member (that is, the clamping drive end can rotate around its central axis) can also be selected according to actual needs.

[0058] like Figure 4 As shown, in the embodiment of the utility model, the first clamping fingers 33 are sequentially formed with a first pair of clamping surfaces 331 and a second pair of clamping surfaces 332 along the extending direction thereof, the first pair of clamping surfaces 331 are arranged in a wave shape, and the second pair of clamping surfaces 332 are arranged in a V shape, and the two pairs of clamping surfaces correspond to two different clamping states respectively, the first pair of clamping surfaces 331 are used to abut and press against the end surface of the sample, and the second pair of clamping surfaces 332 are used to abut and press against the side surface of the sample.

[0059] like Figure 3 and Figure 4 As shown, in the embodiment of the utility model, the second clamping finger 34 includes a connecting portion 342, a contact portion 343 and a clamping portion 344 connected in sequence, the connecting portions 342 of the two second clamping fingers 34 are respectively connected to the side opposite to the two clamping arm bodies 32, the contact portion 343 is arranged perpendicular to the connecting portion 342 to form a positioning surface for abutting against the clamping arm body 32, and the clamping portion 344 extends from the side of the contact portion 343 away from the clamping arm body 32 and forms a third clamping surface 341 for clamping the sample bottle. The contact portion 343 and the connecting portion 342 form an L-shaped positioning surface, which is convenient for quickly installing the second clamping finger 34.

[0060] like Figure 2 and Figure 8 As shown, in the embodiment of the utility model, the sampling device for the robot arm further includes an image recognition device 5 provided on the mounting bracket 1, and the image recognition device 5 is used to collect and analyze images of the working area of ​​the sampling device for the robot arm. Specifically, the image recognition device 5 includes a protective cover 51 provided on the mounting bracket 1 and a camera module 52 provided in the protective cover 51, and the camera module 52 is used to perform image collection and recognition, thereby controlling the robot arm and the sampling device for the robot arm to automatically sample.

[0061] In order to achieve the above-mentioned object, the utility model also provides a robotic arm sampling device, wherein the robotic arm sampling device includes the above-mentioned robotic arm sampling device.

[0062] Specifically, part of the workflow of the robotic arm sampling device is as follows:

[0063] 1. Control the robotic arm to clamp the sample in the horizontal direction and place the sample part on the storage table in the air;

[0064] Specifically, through the second pair of clamping surfaces 332 , the two first clamping fingers 33 abut and press against the side wall of the sample, thereby clamping the horizontally placed sample.

[0065] 2. Control the robotic arm to clamp the suspended part of the sample along the height direction and place the sample on the sample cutting device;

[0066] Specifically, the first pair of clamping surfaces 331 are aligned with the two end surfaces of the sample, and then the suspended part of the sample is clamped along the height direction and the sample is placed on the sample cutting device.

[0067] 3. Control the robotic arm to place the cut samples on the storage table;

[0068] 4. Control the robotic arm to absorb the sample and place the sample in the sample bottle.

[0069] In the description of the present invention, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, "plurality" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0070] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0071] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0072] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations of the present invention. Ordinary technicians in the field can change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A sampling device for a robotic arm, characterized in that: The sampling device for the robotic arm comprises: A mounting bracket (1) for connecting to the free end of the robotic arm; A deflection mechanism (2), comprising a telescopic driving member (21) and a deflection seat (22), wherein the deflection seat (22) is hinged to the mounting bracket (1), and the telescopic driving member (21) is arranged on the mounting bracket (1) and is used to drive the deflection seat (22) to rotate; The clamping mechanism (3) comprises a clamping driving member (31), two clamping arm bodies (32), two first clamping fingers (33) and two second clamping fingers (34). The clamping driving member (31) is arranged on the deflection seat (22) and can drive the two clamping arm bodies (32) to move towards or away from each other along a hinge axis parallel to the deflection seat (22). The two first clamping fingers (33) are respectively arranged on the two clamping arm bodies (32) and extend in the deflection direction of the deflection seat (22). The two second clamping fingers (34) are respectively arranged on the two clamping arm bodies (32) and extend in the deflection direction away from the deflection seat (22).

2. The sampling device for a robot arm according to claim 1, characterized in that: The clamping drive member (31) is arranged on a side of the deflection seat (22) away from the telescopic drive member (21), and the sampling device also includes a suction cup assembly (4), the suction cup assembly (4) includes a suction cup mounting body (41) and a suction cup body (42), the suction cup mounting body (41) is connected to the deflection seat (22) and extends toward a side away from the clamping drive member (31), and the suction cup body (42) is arranged at one end of the suction cup mounting body (41) away from the deflection seat (22).

3. The sampling device for a robot arm according to claim 2, characterized in that: The deflection seat (22) comprises a deflection hinge portion (221) and a connecting plate portion (222) extending from a side wall of the deflection hinge portion (221); a first mounting surface (223) for connecting to the suction cup mounting body (41) is formed on a side of the connecting plate portion (222) away from the deflection hinge portion (221); and two hinged ends of the deflection hinge portion (221) are respectively hingedly connected to the mounting bracket (1) and the telescopic drive member (21) in a one-to-one correspondence.

4. The sampling device for a robot arm according to claim 3, characterized in that: The suction cup mounting body (41) comprises a folding plate portion (411) and an extension plate portion (412) connected in sequence, the folding plate portion (411) being arranged on the first mounting surface (223) and being bent away from the clamping driving member (31), the extension plate portion (412) extending from the folding plate portion (411) toward a side away from the clamping driving member (31), and the suction cup body (42) being arranged at one end of the extension plate portion (412) away from the folding plate portion (411).

5. The sampling device for a robot arm according to any one of claims 1 to 4, characterized in that: The mounting bracket (1) comprises a mounting plate (11) and a mounting column (12), wherein the mounting plate (11) is used to be connected to the free end of the mechanical arm, the mounting column (12) is arranged on a side of the mounting plate (11) away from the free end, the deflection seat (22) is hinged to an end of the mounting column (12) away from the mounting plate (11), the telescopic drive member (21) is arranged on the mounting plate (11) and the driving end is telescopically arranged toward the side away from the mounting plate (11), the driving end of the telescopic drive member (21) is drivingly connected to the deflection seat (22), and the clamping drive member (31) is arranged on a side of the deflection seat (22) away from the telescopic drive member (21).

6. The sampling device for a robot arm according to any one of claims 1 to 4, characterized in that: The clamping drive member (31) is provided with two clamping drive ends on the side facing away from the deflection seat (22), the connecting line of the two clamping drive ends is parallel to the hinge axis of the deflection seat (22), and the two clamping drive ends can approach each other or move away from each other, and the two clamping arm bodies (32) are connected to the two clamping drive ends in a one-to-one correspondence.

7. The sampling device for a robot arm according to any one of claims 1 to 4, characterized in that: The two first clamping fingers (33) are sequentially formed with a first pair of clamping surfaces (331) and a second pair of clamping surfaces (332) along their extension direction; the first pair of clamping surfaces (331) are arranged in a wave shape, and the second pair of clamping surfaces (332) are arranged in a V shape.

8. The sampling device for a robot arm according to any one of claims 1 to 4, characterized in that: The two second clamping fingers (34) each include a connecting portion (342), an abutting portion (343) and a clamping portion (344) which are connected in sequence. The connecting portions (342) of the two second clamping fingers (34) are respectively connected to the side opposite to the two clamping arm bodies (32) in a one-to-one correspondence. The abutting portion (343) is arranged perpendicular to the connecting portion (342) to form a positioning surface for abutting against the clamping arm body (32). The clamping portion (344) extends from the side of the abutting portion (343) away from the clamping arm body (32) and forms a third clamping surface (341) for clamping a sample bottle.

9. The sampling device for a robot arm according to any one of claims 1 to 4, characterized in that: The sampling device for the robot arm further comprises an image recognition device (5) arranged on the mounting bracket (1), wherein the image recognition device (5) is used to collect and analyze images of a working area of ​​the sampling device for the robot arm.

10. A robotic arm sampling device, characterized in that: The robotic arm sampling equipment comprises a robotic arm and a sampling device for the robotic arm according to any one of claims 1 to 9.

Images