CN110549344B - Manipulator and automatic medicine taking device with same - Google Patents
Manipulator and automatic medicine taking device with same Download PDFInfo
- Publication number
- CN110549344B CN110549344B CN201810562251.7A CN201810562251A CN110549344B CN 110549344 B CN110549344 B CN 110549344B CN 201810562251 A CN201810562251 A CN 201810562251A CN 110549344 B CN110549344 B CN 110549344B
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- telescopic mechanism
- fixed
- sliding rod
- sliding
- manipulator
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- 239000003814 drug Substances 0.000 title claims description 40
- 230000007246 mechanism Effects 0.000 claims abstract description 102
- 238000001514 detection method Methods 0.000 claims abstract description 13
- 230000006698 induction Effects 0.000 claims abstract description 3
- 230000001360 synchronised effect Effects 0.000 claims description 31
- 229940079593 drug Drugs 0.000 claims description 8
- 230000005540 biological transmission Effects 0.000 claims description 2
- 238000002347 injection Methods 0.000 description 14
- 239000007924 injection Substances 0.000 description 14
- 230000006872 improvement Effects 0.000 description 8
- 239000003708 ampul Substances 0.000 description 5
- 239000000243 solution Substances 0.000 description 2
- 241001391944 Commicarpus scandens Species 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 238000001802 infusion Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000000843 powder Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- 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
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
Abstract
The invention provides a manipulator which comprises a sucker assembly, wherein the sucker assembly comprises a sliding rod, a sucker positioned at one end of the sliding rod and an inflation and deflation mechanism for controlling the working state of the sucker; the telescopic mechanism drives the sucker assembly to move, and the sliding rod slides relative to the telescopic mechanism; the driving piece is cooperatively arranged on the telescopic mechanism and the sliding rod so that the telescopic mechanism drives the sucker assembly to move; the detection mechanism is used for detecting whether the sucker assembly moves to a position to be taken or not, and comprises an induction piece positioned on one of the sliding rod and the telescopic mechanism and an inductor positioned on the other; and a controller. The sliding rod can slide relative to the telescopic mechanism, and the sensing piece and the sensor detect whether the sucker assembly moves to the object to be fetched or not, so that the manipulator can be prevented from moving to the object to be fetched all the time to damage the object to be fetched, and the sensing piece and the sensor are simple in structure and low in cost.
Description
Technical Field
The application relates to the field of medical equipment, in particular to a manipulator which is telescopic and can detect whether the telescopic length is proper or not and an automatic medicine taking device with the manipulator.
Background
The variety of medicines in hospital pharmacies is increasing, and taking injection in infusion treatment as an example, powder and liquid are divided, and pharmacists take medicines manually, so that the workload of each day is great. Although the existing literature reports of automatic medicine taking devices, on one hand, injection bottles are mostly ampoule bottles, the ampoule bottles are easy to break after being stressed, but the existing mechanical hand is difficult to control, the stretching length of the mechanical hand is estimated according to the medicine amount on a medicine box, the distance between the mechanical hand and the ampoule bottles is not directly detected, when the medicine amount in the medicine box is counted in error, the mechanical hand can be continuously moved to the ampoule bottles to damage the ampoule bottles, and the existing automatic medicine taking device still stays in the literature and cannot be practically applied; on the other hand, the existing mechanical arm is not telescopic or has a short telescopic length, so that the automatic medicine taking device is small in medicine placing quantity, and the automatic medicine taking efficiency is affected; if the telescopic quantity is longer, the structure of the manipulator is huge, and the automatic medicine taking device is inconvenient.
In view of the foregoing, there is a need for an improved manipulator and an automatic medicine taking device with the manipulator, so as to solve the above-mentioned technical problems.
Disclosure of Invention
In order to solve one of the above problems, the present application provides a manipulator which is telescopic and can detect whether the telescopic length is suitable, and an automatic medicine taking device with the manipulator.
To achieve the above object, the present application provides a manipulator including:
the sucking disc assembly is used for sucking objects to be taken and comprises a sliding rod, a sucking disc positioned at one end of the sliding rod and an inflation and deflation mechanism for controlling the working state of the sucking disc;
the telescopic mechanism drives the sucker assembly to move, and the sliding rod slides relative to the telescopic mechanism;
the driving piece is cooperatively arranged between the telescopic mechanism and the sliding rod so that the telescopic mechanism drives the sucker assembly to move;
the detection mechanism is used for detecting whether the sucker assembly moves to a position to be taken or not, and comprises an induction piece positioned on one of the sliding rod and the telescopic mechanism and an inductor positioned on the other;
and the controller is in communication connection with the telescopic mechanism and the detection mechanism.
As a further improvement of the invention, the sucker assembly further comprises an elastic piece positioned between the sliding rod and part of the telescopic mechanism; the telescopic mechanism compresses the elastic piece when moving towards the sucker relative to the sliding rod.
As a further improvement of the invention, the telescopic mechanism comprises a primary telescopic mechanism, a secondary telescopic mechanism positioned on the primary telescopic mechanism and a tertiary telescopic mechanism positioned on the secondary telescopic mechanism, and the sucker assembly is arranged on the tertiary telescopic mechanism.
As a further improvement of the invention, the primary telescopic mechanism comprises a first fixing seat, a first motor fixed on the first fixing seat, a first sliding rail fixed on the first fixing seat, a first pulley group driven by the first motor, and a first sliding block driven by the first pulley group and sliding on the first sliding rail, and the secondary telescopic mechanism is fixed with the first sliding block.
As a further improvement of the invention, the secondary telescopic mechanism comprises a second fixing seat fixed with the first sliding block, a second sliding rail positioned on the second fixing seat, a second sliding block connected to the second sliding rail in a sliding way, and a second belt pulley set for driving the second sliding block to move relative to the second sliding rail, wherein the second belt pulley set comprises two second driven wheels respectively fixed on the second fixing seat and the second sliding block, and a second synchronous belt in transmission connection with the two second driven wheels, part of the second synchronous belt is fixed on the first fixing seat through a second synchronous fixing block, and the other part of the second sliding block is fixedly connected with the other part of the second synchronous belt through a third synchronous fixing block.
As a further improvement of the invention, the three-stage telescopic mechanism comprises a third fixed seat fixed with the second sliding block, a rack fixed on the second fixed seat, a gear fixed on the third fixed seat and meshed with the rack, and a cylindrical rack meshed with the gear, wherein the sliding rod is positioned in the cylindrical rack, and a through hole for the cylindrical rack to pass through is formed in the third fixed seat.
As a further improvement of the invention, the driving piece is a spring arranged between the cylindrical rack and the sliding rod, one end of the spring sleeve is abutted against one end of the cylindrical rack, which faces the sucking disc, and the other end of the spring sleeve is abutted against the sliding rod.
As a further improvement of the invention, the telescopic mechanism further comprises a limiting mechanism, wherein the limiting mechanism comprises a limiting block fixed on the third fixed seat and a limiting piece fixed on the cylindrical rack, and when the cylindrical rack moves relative to the third fixed seat until the limiting piece is abutted with the limiting block, the cylindrical rack stops sliding relative to the third fixed seat.
As a further improvement of the invention, the manipulator further comprises at least one second sucker assembly which is linked with the sucker assembly through a fixing piece, wherein the second sucker assembly comprises a hollow pipe which is fixed with the cylindrical rack, a second sliding rod which slides in the hollow pipe and is fixed with the sliding rod, and a second sucker which is fixed on the second sliding rod.
In order to achieve the above object, the present invention further provides an automatic medicine taking device, which comprises a medicine rack, a plurality of medicine boxes positioned on the medicine rack and used for storing medicines in a classified manner, and the manipulator.
The invention has the beneficial effects that: according to the manipulator disclosed by the invention, the sliding rod can slide relative to the telescopic mechanism, whether the sucker assembly moves to the object to be fetched or not is detected by the sensing piece and the sensor which are respectively arranged on the sliding rod and the telescopic mechanism, the manipulator can be prevented from moving to the object to be fetched all the time to damage the object to be fetched, and the sensing piece and the sensor are simple in structure and low in cost.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute an undue limitation to the application. In the drawings:
FIG. 1 is a schematic view of a manipulator in a retracted state;
FIG. 2 is a schematic view of the manipulator of FIG. 1 in an extended state;
FIG. 3 is a schematic view of the structure of FIG. 2 at another angle;
FIG. 4 is a schematic view of a primary extension mechanism of the manipulator of FIG. 1;
FIG. 5 is a schematic view of the two-stage extension mechanism and three-stage extension mechanism of the manipulator of FIG. 2;
FIG. 6 is a schematic view of the structure of FIG. 5 at another angle;
fig. 7 is an enlarged view of a portion a in fig. 6.
Detailed Description
For the purposes, technical solutions and advantages of the present application, the technical solutions of the present application will be clearly and completely described below with reference to specific embodiments of the present application and corresponding drawings. It will be apparent that the described embodiments are only some, but not all, of the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the invention.
In the description of the present invention, it should be understood that the terms "longitudinal," "transverse," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, merely to facilitate describing the present invention and simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention.
In the description of the present invention, unless otherwise specified and defined, it should be noted that the terms "mounted," "connected," and "coupled" are to be construed broadly, and may be, for example, mechanical or electrical, or may be in communication with each other between two elements, directly or indirectly through intermediaries, as would be understood by those skilled in the art, in view of the specific meaning of the terms described above.
As shown in fig. 1 to 7, the manipulator 100 of the present invention includes a suction cup assembly 1 for sucking a sample bottle waiting for taking, a telescopic mechanism 2 for driving the suction cup assembly 1 to move, a detection mechanism 3 for detecting whether the suction cup assembly 1 moves to a place waiting for taking, and a controller (not shown). The controller is in communication connection with the telescopic mechanism 2 and the detection mechanism 3, and the controller timely controls the telescopic mechanism 2 according to the information detected by the detection mechanism, so as to prevent the sucker assembly 1 from continuously moving towards the object to be fetched to damage the object to be fetched.
The telescopic mechanism 2 comprises a primary telescopic mechanism 21, a secondary telescopic mechanism 22 positioned on the primary telescopic mechanism 21 and a tertiary telescopic mechanism 23 positioned on the secondary telescopic mechanism 22, and the sucker assembly 1 is installed on the tertiary telescopic mechanism 23.
The primary telescopic mechanism 21 comprises a first fixing seat 211, a first motor 212 fixed on the first fixing seat 211, a first sliding rail 213 fixed on the first fixing seat 211, a first pulley set 214 driven by the first motor 212, and a first sliding block 215 driven by the first pulley set 214 and sliding on the first sliding rail 213, and the secondary telescopic mechanism 22 is fixed with the first sliding block 215.
Specifically, the first pulley set 214 includes a first driving wheel 2141 connected to the first motor 212, a first driven wheel 2142 fixed on the first fixing seat 211 and spaced from the first driving wheel 2141, and a first synchronous belt (not shown) drivingly connected to the first driving wheel 2141 and the first driven wheel 2142, where the first synchronous belt has a structure similar to a common synchronous belt, and the structure of the first synchronous belt is omitted in the drawings for clarity of other structures. The first slider 215 is fixedly connected with a part of the first synchronous belt through a first synchronous fixing block 216, when the motor rotates forward, the first synchronous belt rotates, the first synchronous fixing block 216 fixed with the first synchronous belt moves along with the first synchronous belt and drives the first slider 215 to move along the first sliding rail 213, and the second telescopic mechanism 22 extends outwards along with the movement of the first slider 215.
The secondary telescopic mechanism 22 comprises a second fixing seat 221 fixed with the first slider 215, a second sliding rail 222 positioned on the second fixing seat 221, a second slider 223 slidably connected to the second sliding rail 222, and a second belt pulley set 224 for driving the second slider 223 to move relative to the second sliding rail 222.
The second pulley set 224 includes two second driven pulleys 2241 respectively fixed on the second fixing base 221 and the second slider 223, and a second synchronous belt (not shown) drivingly connected to the two second driven pulleys 2241. The part of the second synchronous belt is fixed on the first fixing base 211 by a second synchronous fixing block 226, and the other part of the second slider 223 is fixedly connected with the other part of the second synchronous belt by a third synchronous fixing block 227. When the second fixing base 221 moves along the first sliding rail 213 along with the first sliding block 215, the second synchronous belt fixed with the second synchronous fixing block 226 is fixed, so that the second synchronous belt rotates around the second driven wheel 2241, and the third synchronous fixing block 227 fixed with the second synchronous belt moves along with the second synchronous belt and drives the second sliding block 223 to move along the second sliding rail 222.
The three-stage telescopic mechanism 23 comprises a third fixing seat 231 fixed with the second sliding block 223, a rack 232 fixed on the second fixing seat 221, a gear 233 fixed on the third fixing seat 231 and meshed with the rack 232, and a cylindrical rack 234 meshed with the gear 233, wherein part of the sucker assembly 1 is positioned in the cylindrical rack 234, and a through hole (not numbered) for the cylindrical rack 234 to pass through is formed in the third fixing seat 231. When the second slider 223 moves, the gear 233 moves along with the second slider 223 and rotates under the engagement of the rack 232, and the gear 233 drives the cylindrical rack 234 to move relative to the third fixing seat 231 and extend outwards. The three-stage telescopic mechanism 23 is fixed on the second fixing seat by fixing the rack 232 on the second fixing seat, fixing the gear 233 on the third fixing seat 231, and enabling the cylindrical rack 234 to slide relative to the third fixing seat 231 through the through hole, so that the extension length of the suction cup assembly 1 can be further increased without additionally adding a driving motor.
The telescopic mechanism 2 is matched with the primary telescopic mechanism 21, the secondary telescopic mechanism 22 and the tertiary telescopic mechanism 23, so that the extensible length of the sucker assembly 1 is greatly increased on the basis of keeping the original volume.
The telescopic mechanism 2 further comprises a limiting mechanism 24, the limiting mechanism 24 comprises a limiting block 241 fixed on the third fixing seat 231 and a limiting plate 242 fixed on the cylindrical rack 234, and when the cylindrical rack 234 moves relative to the third fixing seat 231 until the limiting plate 242 abuts against the limiting block 241, the cylindrical rack 234 stops sliding relative to the third fixing seat 231.
The sucker assembly 1 comprises a sliding rod 11 sliding relative to the telescopic mechanism, a sucker 12 positioned at one end of the sliding rod 11, and an air charging and discharging mechanism (not shown) controlling the working state of the sucker 12, and the manipulator further comprises a driving piece cooperatively arranged on the telescopic mechanism 2 and/or the sliding rod 11 so that the telescopic mechanism 2 drives the sucker assembly 1 to move. The suction cup 12 is made of flexible material, and can not damage the object to be fetched even if the manipulator 100 approaches the object to be fetched slightly excessively when contacting the injection bottle to wait for fetching the object.
The driving member is a spring disposed between the cylindrical rack 234 and the slide rod 11, specifically, the spring is sleeved on the slide rod 11, and one end of the spring abuts against one end of the cylindrical rack 234 facing the suction cup 12, and the other end of the spring abuts against the slide rod 11. When the cylindrical rack 234 moves towards the suction cup 12, the elastic piece 13 is pressed, and the elastic piece 13 transmits force to the slide rod 11 and drives the slide rod 11 to move along with the cylindrical rack 234; when the suction cup 12 moves to the injection bottle, the sliding rod 11 does not move forward any more, and the cylindrical rack 234 moves towards the suction cup 12 relative to the sliding rod 11 and compresses the elastic piece 13 to be in a compressed state; meanwhile, the detection mechanism 3 detects that the sliding rod 11 and the cylindrical rack 234 are displaced, the controller controls the first motor 212 to stop running and release the control of the first driving wheel 2141, the cylindrical rack 234 does not move forward any more, and after the sucker assembly 1 is retracted backward, the elastic member 13 returns to its original state and drives the sliding rod 11 to move to the original position relative to the cylindrical rack 234 towards the direction of the sucker 12.
The inflation and deflation mechanism comprises an air pump and an air pipe connected with the air pump and the sucker 12, and the air pipe penetrates through the slide rod 11 and is connected with the sucker 12.
The detection mechanism 3 includes a sensing piece 31 and a sensor 32 respectively disposed on the slide bar 11 and the cylindrical rack 234, that is: the sensor 32 is disposed on one of the slide bar 11 and the cylindrical rack 234, and the sensor piece 31 is disposed on the other. When the sucker 12 moves to the injection bottle, the sliding rod 11 does not move any more, at this time, the cylindrical rack 234 moves towards the sucker 12 relative to the sliding rod 11, the sensor 32 receives a signal and transmits the signal to the controller, and the controller controls the telescopic mechanism 2 not to extend any more.
In this embodiment, the sensor 32 is a U-shaped photoelectric sensor, the sensing piece 31 extends into or breaks away from the U-shaped photoelectric sensor to provide a signal that the two relatively move along a predetermined direction, and a user can install the relative position of the two according to the actual situation, and when the sliding rod 11 is not moved any more and the cylindrical rack 234 moves toward the suction cup 12 relative to the sliding rod 11, the sensing piece 31 extends into or breaks away from the U-shaped photoelectric sensor to provide a signal. The detection mechanism 3 is simple in structure, high in detection accuracy and low in cost.
The sensing piece 31 and the sensor 32 may be cooperatively disposed at either end of the cylindrical rack 234. In this embodiment, the sensor 32 is fixed to a side of the cylindrical rack 234 away from the suction cup 12 through a fixing frame, and the fixing frame and the limiting piece 242 are the same structural member; the sensing piece 31 is fixed on one side of the sliding rod 11 far away from the suction disc 12, when the sliding rod 11 moves along with the cylindrical rack 234, the sensing piece 31 is positioned in the U-shaped photoelectric sensor, and when the sliding rod 11 does not move any more, the sensing piece 31 is fixed; the sensing piece 31 moves along with the cylindrical rack 234 relative to the sliding rod 11 towards the direction of the suction cup 12, the sensing piece 31 is separated from the U-shaped photoelectric sensor, and the U-shaped photoelectric sensor gives a signal that the suction cup 12 moves to the injection bottle.
The controller is communicatively coupled to the first motor 212, the second motor, and the inductor 32. When a fault occurs, the detection mechanism 3 detects that the sucker 12 moves to the injection bottle, and the controller controls the motor to reversely rotate to pull back the sucker assembly 1, so that the sucker assembly 1 is prevented from damaging the injection bottle; the motor then releases the first drive wheel 2141 and the telescopic mechanism 2 is free to slide.
In addition, in order to stably grasp the injection bottle, the manipulator 100 further includes at least one second suction cup assembly 1' coupled to the suction cup assembly 1 through a fixing member, and the second suction cup assembly 1' includes a hollow tube 234' fixed to the cylindrical rack 234, a second slide bar 11' sliding in the hollow tube 234' and fixed to the slide bar 11, and a second suction cup 12' fixed to the second slide bar 11 '. The second suction cup assembly 1' differs from the suction cup assembly 1 only in that: the outer wall of the cylindrical rack 234 is provided with a rack matched with the gear 233, so that the rack can be driven by the gear 233 to actively move, and the outer wall of the hollow pipe 234' does not need to be driven by the cylindrical rack 234 to synchronously move through the fixing piece.
The invention also provides an automatic medicine taking device (not shown), which comprises a medicine rack, a plurality of medicine boxes which are positioned on the medicine rack and used for storing medicines in a classified mode, and the manipulator 100. Medicines such as injection bottles are stored in a plurality of medicine boxes in a classified mode, and the medicines such as injection bottles are automatically grabbed from the medicine boxes according to patient information through a mechanical arm, so that working efficiency is improved, and mistakes can be avoided. Of course, the automatic medicine taking device can also optionally comprise a conveyor belt, a medicine basket and other structures for conveying medicines such as injection bottles and the like to medical staff. After the manipulator 100 is adopted, the depth of the medicine box can be deepened, so that more injection bottles can be stored, and the working efficiency is improved; and the manipulator 100 can avoid damaging the injection bottle.
In summary, the sliding rod 11 of the manipulator 100 of the present invention is slidable relative to the telescopic mechanism 2, and the sensor 32 and the sensor 31 separately disposed on the sliding rod 11 and the telescopic mechanism 2 detect whether the suction cup assembly 1 moves to the object to be fetched, so that the manipulator 100 is prevented from extending outwards to damage the object to be fetched, and the sensor 32 and the sensor 31 are simple in structure and low in cost.
It should be understood that although the present disclosure describes embodiments in terms of examples, not every embodiment is provided with a single embodiment, and that this description is for clarity only, and that the skilled artisan should recognize that the embodiments may be combined appropriately to form other embodiments that will be understood by those skilled in the art.
The above list of detailed descriptions is only specific to practical embodiments of the present invention, and is not intended to limit the scope of the present invention, and all equivalent embodiments or modifications that do not depart from the spirit of the present invention should be included in the scope of the present invention.
Claims (10)
1. A manipulator, characterized in that: the manipulator includes:
the sucking disc assembly is used for sucking objects to be taken and comprises a sliding rod, a sucking disc positioned at one end of the sliding rod and an inflation and deflation mechanism for controlling the working state of the sucking disc;
the telescopic mechanism drives the sucker assembly to move, and the sliding rod slides relative to the telescopic mechanism;
the driving piece is cooperatively arranged between the telescopic mechanism and the sliding rod so that the telescopic mechanism drives the sucker assembly to move;
the detection mechanism is used for detecting whether the sucker assembly moves to a position to be taken or not, and comprises an induction piece positioned on one of the sliding rod and the telescopic mechanism and an inductor positioned on the other;
and the controller is in communication connection with the telescopic mechanism and the detection mechanism.
2. The manipulator of claim 1, wherein: the sucker assembly further comprises an elastic piece positioned between the sliding rod and part of the telescopic mechanism; the telescopic mechanism compresses the elastic piece when moving towards the sucker relative to the sliding rod.
3. The manipulator of claim 1, wherein: the telescopic mechanism comprises a primary telescopic mechanism, a secondary telescopic mechanism arranged on the primary telescopic mechanism and a tertiary telescopic mechanism arranged on the secondary telescopic mechanism, and the sucker assembly is arranged on the tertiary telescopic mechanism.
4. A manipulator according to claim 3, wherein: the first-stage telescopic mechanism comprises a first fixed seat, a first motor fixed on the first fixed seat, a first sliding rail fixed on the first fixed seat, a first pulley group driven by the first motor, and a first sliding block driven by the first pulley group and sliding on the first sliding rail, and the second-stage telescopic mechanism is fixed with the first sliding block.
5. The manipulator of claim 4, wherein: the second-stage telescopic mechanism comprises a second fixing seat fixed with the first sliding block, a second sliding rail positioned on the second fixing seat, a second sliding block connected to the second sliding rail in a sliding manner, and a second belt pulley set for driving the second sliding block to move relative to the second sliding rail, wherein the second belt pulley set comprises two second driven wheels respectively fixed on the second fixing seat and the second sliding block, a second synchronous belt in transmission connection with the two second driven wheels, part of the position of the second synchronous belt is fixed on the first fixing seat through a second synchronous fixed block, and the other part of the position of the second sliding block and the other part of the second synchronous belt are fixedly connected through a third synchronous fixed block.
6. The manipulator of claim 5, wherein: the three-stage telescopic mechanism comprises a third fixing seat fixed with the second sliding block, a rack fixed on the second fixing seat, a gear fixed on the third fixing seat and meshed with the rack, and a cylindrical rack meshed with the gear, wherein the sliding rod is positioned in the cylindrical rack, and a through hole for the cylindrical rack to pass through is formed in the third fixing seat.
7. The manipulator of claim 6, wherein: the driving piece is a spring arranged between the cylindrical rack and the sliding rod, one end of the spring is abutted to one end of the cylindrical rack, which faces the sucker, and the other end of the spring is abutted to the sliding rod.
8. The manipulator of claim 6, wherein: the telescopic mechanism further comprises a limiting mechanism, the limiting mechanism comprises a limiting block fixed on the third fixing seat and a limiting piece fixed on the cylindrical rack, and when the cylindrical rack moves to the position, opposite to the third fixing seat, of the limiting piece to be abutted with the limiting block, the cylindrical rack stops sliding relative to the third fixing seat.
9. The manipulator according to any one of claims 6 to 8, wherein: the manipulator further comprises at least one second sucker assembly which is linked with the sucker assembly through a fixing piece, wherein the second sucker assembly comprises an empty pipe fixed with the cylindrical rack, a second sliding rod sliding in the empty pipe and fixed with the sliding rod, and a second sucker fixed on the second sliding rod.
10. An automatic medicine taking device comprising a medicine rack, a plurality of medicine boxes which are positioned on the medicine rack and used for storing medicines in a classified mode, and a manipulator according to any one of claims 1-9.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810562251.7A CN110549344B (en) | 2018-06-04 | 2018-06-04 | Manipulator and automatic medicine taking device with same |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810562251.7A CN110549344B (en) | 2018-06-04 | 2018-06-04 | Manipulator and automatic medicine taking device with same |
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| CN110549344A CN110549344A (en) | 2019-12-10 |
| CN110549344B true CN110549344B (en) | 2024-02-23 |
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| CN115583383A (en) * | 2022-09-08 | 2023-01-10 | 合肥哈工龙延智能装备有限公司 | Telescopic partition plate conveying mechanism based on opening, packaging and sealing integrated machine |
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| CN110549344A (en) | 2019-12-10 |
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