CN112190106B - Sheet storing and taking mechanism - Google Patents

Abstract

The invention provides a sheet storing and taking mechanism, which comprises a turntable mechanism, a containing mechanism and a material guide pipe (303), wherein the turntable mechanism comprises a shell and a front turntable, an accommodating cavity (326) is formed on the front turntable, the shell coats the front turntable, and the front turntable is movably connected with the shell in a relative rotation manner; the containing mechanism comprises a temporary storage box (306), the material guide pipe (303) is arranged between the turntable mechanism and the containing mechanism, and the sheet-shaped objects in the containing cavity (326) fall into the temporary storage box (306) through the material guide pipe (303) after leaving the turntable mechanism. According to the invention, the containing cavity on the turntable mechanism can be used for containing and temporarily storing the sheet-shaped objects, when the containing cavity rotates along with the front turntable, the sheet-shaped objects in the containing cavity can fall into the temporary storage box through the material guide pipe, and the sheet-shaped objects stored in the temporary storage box can be conveniently taken out from the temporary storage box, so that the taking efficiency of the sheet-shaped objects is effectively improved, and the hidden pollution danger in the taking process of the sheet-shaped objects can be avoided.

Description

Sheet storing and taking mechanism

Technical Field

The invention relates to the technical field of sheet access, in particular to a sheet access mechanism applied to a medicine box.

Background

Along with the improvement of living standard and the continuous enhancement of health consciousness of people, the medicine chest is more and more common in life, and even many families also regard the medicine chest as the necessary product.

Traditional medical kit simple structure, the function is single, however, common medicament type includes particulate matter such as granules, tablet such as tablet and liquid thing such as syrup, consequently, if when storing these heterogeneous medicaments in same medical kit, not only cause mutual contamination easily, take very inconvenient moreover, especially to inconvenient crowd of action such as old person or disability personage, take heterogeneous medicament, waste time more, difficultly. Particularly, when a plurality of sheets are required to be taken out at a time, if the sheets are taken out by individually operating each sheet, the efficiency of taking out the sheets is further reduced.

Disclosure of Invention

The technical problem to be solved by the invention is as follows: to the problems existing in the prior art, the sheet storing and taking mechanism is provided, and the taking efficiency of the sheet is improved.

The technical problem to be solved by the invention is realized by adopting the following technical scheme: a sheet storing and taking mechanism comprises a rotary table mechanism, a containing mechanism and a material guide pipe, wherein the rotary table mechanism comprises a shell and a front rotary table, an accommodating cavity is formed on the front rotary table, the shell covers the front rotary table, and the front rotary table and the shell are movably connected in a relative rotating mode; the containing mechanism comprises a temporary storage box, the guide pipe is arranged between the turntable mechanism and the containing mechanism, and the sheet-shaped objects in the containing cavity fall into the temporary storage box through the guide pipe after leaving the turntable mechanism.

Preferably, the turntable mechanism further comprises an outer cover and a rear turntable, wherein the outer cover is provided with a suction hole, and the rear turntable is provided with a transfer groove; the outer cover wraps the rear turntable, the rear turntable is arranged opposite to the front turntable, and the rear turntable is movably connected with the outer cover in a relative rotation mode; the sheet-shaped objects in the accommodating cavity firstly enter the transfer groove, then leave the turntable mechanism through the suction holes, and finally fall into the temporary storage box through the guide pipe.

Preferably, the device also comprises a fan, wherein an air suction port of the fan is communicated with the suction hole, and an air suction hole is formed in the transfer tank; the sheet in the transfer groove passes through the air suction hole under the negative pressure action of the fan and then leaves the turntable mechanism through the suction hole.

Preferably, the working surface of the transfer groove is of a concave spherical structure.

Preferably, a movable connecting structure capable of rotating relatively is formed between the outer shell and the cover.

Preferably, a movable connecting structure which slides linearly relatively is formed between the temporary storage box and the box cover.

Preferably, the box cover is fixedly connected with the guide piece, a strip-shaped sliding groove is formed in the guide piece, and a sliding fit structure is formed between the guide shaft and the strip-shaped sliding groove; and a movable hinge structure is formed between the push rod of the push-pull electromagnet and the third linkage rod.

Preferably, the bottom of the box cover forms a guide rail, and the temporary storage box is provided with a guide chute which forms a sliding fit structure with the guide rail.

Preferably, the temporary storage box forms a movable connection structure which rotates relatively with the supporting seat through the first rotating shaft.

Preferably, the conveying mechanism comprises a first base and a sliding seat, a first transmission screw rod is mounted on the first base, and a screw rod transmission mechanism is formed between the first transmission screw rod and the sliding seat.

Compared with the prior art, the invention has the beneficial effects that: through the chamber that holds in the carousel mechanism, can realize accomodating of sheet material and keep in, when holding the chamber and rotating along with preceding carousel, the sheet material that is in holding in the chamber is leaving carousel mechanism back, will fall into through the passage to temporarily store up the box, can conveniently take out the sheet material of storage wherein from temporarily storing up the box, especially in the occasion that needs once only to take multiple sheet material, can concentrate the storage in temporarily storing up the box with multiple sheet material earlier, then once only take out from temporarily storing up the box, thereby the efficiency of taking of sheet material has been improved effectively, and can also avoid the sheet material to take the pollution hidden danger of in-process. In addition, the sheet storing and taking mechanism of the invention is not only applied to medicine boxes, but also applied to occasions requiring storing and taking of sheets, such as food packaging, pharmaceutical packaging, feed processing and the like.

Drawings

Fig. 1 is an oblique view of a medicine box.

Fig. 2 is a front view of the medicine chest.

Fig. 3 is an oblique view of the particulate matter self-fetching mechanism.

Fig. 4 is a front view of the particulate matter self-fetching mechanism.

Fig. 5 is an oblique view (lower right) of the geneva gear.

Fig. 6 is an oblique view (upper left) of the geneva gear.

Fig. 7 is an oblique view (lower left) of the geneva gear.

Fig. 8 is a front view of the geneva gear.

Fig. 9 is an oblique view (upper right) of the transport mechanism.

Fig. 10 is an oblique view (lower right) of the transport mechanism.

Fig. 11 is a front view of the transfer mechanism.

Fig. 12 is a mechanism movement diagram of the transfer mechanism.

Fig. 13 is an oblique view (upper right) of the dumping mechanism.

Fig. 14 is a front view of the pouring mechanism shown in fig. 13.

Fig. 15 is a mechanism movement diagram of the tilting mechanism.

Fig. 16 is an oblique view of the dumping mechanism (dumping action).

Fig. 17 is a front view of the pouring mechanism shown in fig. 16.

Fig. 18 is a side view of the pouring mechanism shown in fig. 16.

Fig. 19 is an oblique view of the bag cutting mechanism.

Fig. 20 is an oblique view of the output mechanism.

Fig. 21 is a front view of the output mechanism.

Fig. 22 is a mechanism movement diagram of the output mechanism.

Fig. 23 is an oblique view of a transmission structure of the particulate matter self-taking mechanism.

Fig. 24 is an oblique view of the sheet accessing mechanism.

Fig. 25 is a front view (front surface) of the sheet storing and feeding mechanism.

Fig. 26 is a front view (rear side) of the sheet storing and feeding mechanism.

Fig. 27 is an oblique view of the turntable mechanism.

Fig. 28 is a front view of the turntable mechanism.

Fig. 29 is a perspective view of the turntable mechanism.

Fig. 30 is a front view of the dial mechanism of fig. 28.

Fig. 31 is a side view of the dial mechanism of fig. 29.

Fig. 32 is an oblique view of the rear turntable.

Fig. 33 is a front view of the rear turntable.

Fig. 34 is a mechanism movement diagram of the turntable mechanism.

Fig. 35 is an oblique view of the receiving mechanism.

Fig. 36 is a front view of the storage mechanism.

Fig. 37 is a bottom view of the storage mechanism.

Fig. 38 is an oblique view of the conveying mechanism.

Fig. 39 is a front view of the conveying mechanism.

Fig. 40 is a side view of the transport mechanism.

Fig. 41 is an oblique view of the liquid substance pickup mechanism.

Fig. 42 is a front view of the liquid substance extracting mechanism.

Fig. 43 is a side view of the liquid substance extracting mechanism.

Fig. 44 is a partial enlarged view of a portion a in fig. 40.

Fig. 45 is a partial configuration diagram (damper mechanism) at B in fig. 43.

Fig. 46 is a cross-sectional view taken along line C-C of the damper mechanism shown in fig. 44.

Fig. 47 is a plan view of the damper mechanism shown in fig. 44.

FIG. 48 is an oblique view of the capping mechanism.

Fig. 49 is a front view of the capping mechanism.

Fig. 50 is a cross-sectional view taken along line D-D in fig. 49.

Fig. 51 is an oblique view of the self-adjusting mechanism.

Fig. 52 is a front view of the self-adjusting mechanism.

Fig. 53 is an oblique view of the clamping mechanism.

Fig. 54 is a front view of the clamping mechanism.

Fig. 55 is a top view of the clamping mechanism.

Fig. 56 is a mechanism movement diagram of the gripping mechanism.

Fig. 57 is an oblique view of the elevating mechanism.

Fig. 58 is a front view of the elevating mechanism.

Fig. 59 is a schematic view of the working principle of the liquid substance self-taking mechanism (the mechanism movement diagram, the bottle cap clamping).

Fig. 60 is a schematic view showing the operation principle of the liquid substance pickup mechanism (the mechanism movement diagram, opening and closing the cover).

Fig. 61 is a schematic view of the working principle of the liquid substance self-taking mechanism (the mechanism movement diagram, the bottle cap is released).

The labels in the figure are: 1-box body, 2-particulate matter self-taking mechanism, 3-sheet matter storing and taking mechanism, 4-liquid matter self-taking mechanism, 5-mounting seat, 6-medicine taking cup, 7-medicine bag, 8-bottle cap, 9-bottle body, 201-first transmission shaft, 202-second transmission shaft, 203-first mechanical arm, 204-first base, 205-bag placing groove, 206-second mechanical arm, 207-first linkage rod, 208-connecting rod, 209-first driving rod, 210-first frame, 211-turntable seat, 212-second driving rod, 213-driven rod, 214-first sliding seat, 215-second frame, 216-second linkage rod, 217-driven rocker, 218-third frame, 219-first driven shaft, 220-main push rod, 221-third transmission shaft, 222-first motor, 223-fixed blade, 224-movable blade, 225-driving disk, 226-first driven disk, 227-second driven disk, 228-transition groove, 229-third driven disk, 230-fourth driven disk, 231-second driven shaft, 232-third driven shaft, 233-driving rocker, 234-first support, 235-second support, 236-knife seat, 237-first gear, 238-second gear, 301-second base, 302-supporting seat, 303-guide pipe, 304-second motor, 305-outer cover, 306-temporary storage box, 307-box cover, 308-fan, 309-third motor, 310-push-pull electromagnet, 311-outer shell, 312-fourth motor, 313-front turntable, 314-rear turntable, 315-transfer groove, 316-suction hole, 317-suction hole, 318-cover, 319-guide shaft, 320-third linkage rod, 321-guide piece, 322-first base, 323-first transmission screw rod, 324-sliding seat, 325-fifth motor, 326-containing cavity, 327-first rotating shaft, 328-guide rail, 401-third base, 402-main sliding seat, 403-stop seat, 404-fourth transmission shaft, 405-sixth motor, 406-outer ring shell, 407-third gear, 408-fifth transmission shaft, 409-movable sliding rail, 410-transmission rod, 411-fourth linkage rod, 412-fourth gear, 413-top seat, 414 a-left electromagnetic brake, 414 b-right electromagnetic brake, 415-fifth gear, 416-side seat, 417-sixth gear, 418-seventh gear, 419-eighth gear, 420-second drive screw, 421-flexible jaw, 422-stage, 423-front drawbar, 424-support, 425-ninth gear, 426-first spring, 427-motor seat, 428-base plate, 429-fixed slide rail, 430-third drive screw, 431-second slide seat, 432-spring seat, 433-magnet, 434-slave slide seat, 435-inner ring housing, 436-inner slide seat, 437-push rod, 438-second spring, 439-flexible clamp block, 440-spring plunger, 441-guide groove, 442-power rod, 443-sixth linkage rod, 444-seventh linkage rod, 445-eighth linkage rod, 446-ninth linkage rod, 447-tenth linkage rod, 448-third bracket, 449-second rotating shaft, 450-second base, 451-eleventh linkage rod, 452-bottom sliding groove, 453-twelfth linkage rod, 454-rear traction rod, 455-seventh motor, 456-driving screw rod, 457-pin shaft, 458-thirteenth linkage rod, 459-bottom sliding shaft, 460-tenth gear, 461-top sliding shaft, 462-top sliding groove, 463-fourteenth linkage rod, 464-positioning seat, 465-third rotating shaft.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

As shown in fig. 1 and 2, the medicine chest mainly comprises a box body 1, a particulate matter self-taking mechanism 2, a sheet material storing and taking mechanism 3 and a liquid material self-taking mechanism 4, wherein an installation seat 5 is fixedly connected in an inner cavity of the box body 1, the particulate matter self-taking mechanism 2 and the sheet material storing and taking mechanism 3 are both arranged below the installation seat 5, and the liquid material self-taking mechanism 4 is arranged on the installation seat 5. The specific structure of the particulate matter self-taking mechanism 2 is shown in fig. 3 and 4, and mainly comprises a first base 204, a sheave mechanism, a conveying mechanism, a bag shearing mechanism, a pouring mechanism and an output mechanism, wherein a bag placing groove 205 is installed on the first base 204. When the machine works, the sheave mechanisms respectively drive the conveying mechanism, the bag shearing mechanism, the dumping mechanism and the output mechanism to act in sequence, firstly, bagged particles are output to the bag shearing mechanism by the conveying mechanism, then, the bag shearing mechanism shears a packaging bag of the bagged particles, and then, the dumped particles are dumped out of the packaging bag by the dumping mechanism; after the dumping mechanism outputs the particles to the output mechanism, the output mechanism outputs the received particles to the box body 1. Specifically, the method comprises the following steps:

as shown in fig. 5, 6, 7, and 8, the geneva mechanism includes a turntable base 211, a first motor 222, a driving disk 225, a first driven disk 226, a second driven disk 227, a third driven disk 229, and a fourth driven disk 230, wherein the turntable base 211 is fixedly mounted on the first base 204, and a transition groove 228 is formed in the turntable base 211; the driving disk 225 is fixedly connected with the main push rod 220, a movable connection capable of rotating relatively is formed between the driving disk 225 and the turntable base 211, and the driving disk 225 is driven by a first motor 222. The first driven disc 226 is fixedly connected with the first driven shaft 219, and a movable connection capable of rotating relatively is formed between the first driven disc 226 and the turntable base 211. The second driven disc 227 is fixedly connected with the second driven shaft 231, a relatively rotating movable connection is formed between the second driven disc 227 and the turntable base 211, and the second driven shaft 231 and the first driven shaft 219 are respectively positioned at two opposite sides of the turntable base 211. The third driven disk 229 is fixedly connected with the third driven shaft 232, and a movable connection capable of rotating relatively is formed between the third driven disk 229 and the turntable base 211. The fourth driven disc 230 is fixedly connected with the second transmission shaft 202, and a movable connection capable of rotating relatively is formed between the fourth driven disc 230 and the turntable base 211, as shown in fig. 5.

The structure of the transfer mechanism is shown in fig. 9, 10, 11 and 12, and mainly includes a third frame 218, a second linkage rod 216, a driven rocker 217 and a driving rocker 233, the third frame 218 is fixedly connected with the first base 204, and the second linkage rod 216 is connected with the first robot 203. Typically, the second linkage rod 216 is connected to the first manipulator 203 via a first bracket 234. The second linkage rod 216, the driven rocker 217, the third frame 218 and the driving rocker 233 form a parallelogram structure together, opposite ends of the second linkage rod 216 are movably hinged with one end of the driven rocker 217 and one end of the driving rocker 233 respectively, and opposite ends of the third frame 218 are movably hinged with the other end of the driven rocker 217 and the other end of the driving rocker 233 respectively.

As shown in fig. 3, 4 and 19, the bag shearing mechanism includes a blade holder 236, a fixed blade 223 and a movable blade 224, the blade holder 236 is fixedly connected to the first base 204, the fixed blade 223 is fixedly connected to the blade holder 236, the movable blade 224 is movably connected to the blade holder 236 in a relative rotation manner, and the movable blade 224 is driven by the second transmission shaft 202.

The specific structure of the dumping mechanism is as shown in fig. 13, 14, 15, 16, 17, and 18, and mainly includes a first linkage rod 207, a link rod 208, a first driving rod 209, and a first frame 210, where the first frame 210 is fixedly connected to the first base 204, two opposite ends of the first frame 210 are movably hinged to one end of the link rod 208 and one end of the first driving rod 209, respectively, and two opposite ends of the first linkage rod 207 are movably hinged to the other end of the link rod 208 and the other end of the first driving rod 209, respectively. The first linkage rod 207 is connected with the second manipulator 206; typically, the first linkage 207 is connected to the second robot 206 via a second bracket 235.

As shown in fig. 20, 21 and 22, the output mechanism includes a second driving rod 212, a driven rod 213, a first sliding seat 214 and a second frame 215, the second frame 215 is fixedly connected to the turntable base 211, the second driving rod 212 and the second frame 215 are movably connected to each other in a relatively rotating manner, the first sliding seat 214 and the second frame 215 are movably connected to each other in a relatively linear sliding manner, opposite ends of the driven rod 213 respectively form a movable hinge structure with the second driving rod 212 and the first sliding seat 214, and the second driving rod 212 is driven by a second driven shaft 231 on the geneva mechanism.

The transmission structure of the particulate matter self-taking mechanism 2 is shown in fig. 2, 4 and 23, the first driven shaft 219 is connected with one end of a first transmission shaft 201 through a universal joint, and the other end of the first transmission shaft 201 is connected with a driving rocker 233; one end of the second transmission shaft 202 is fixedly connected with the fourth driven disc 230, and the other end is fixedly connected with the movable blade 224; the first driving rod 209 is fixedly connected with a third transmission shaft 221, and the third transmission shaft 221 is fixedly connected with a second gear 238; the third driven shaft 232 is fixedly connected with a first gear 237, and the first gear 237 and a second gear 238 form a meshing transmission structure; the second driven shaft 231 is fixedly connected with the second driving rod 212.

Generally, a strip-shaped sliding groove may be formed on each of the first driven disk 226, the second driven disk 227, the third driven disk 229 and the fourth driven disk 230, an arc-shaped notch may be formed on each of two opposite sides of the strip-shaped sliding groove, and an arc-shaped notch may be formed on the driving disk 225. When the driving disk 225 rotates, the first driven disk 226, the second driven disk 227, the third driven disk 229 and the fourth driven disk 230 can be respectively driven by the main push rod 220 to rotate reversely in turn.

The work flow of the particulate matter self-taking mechanism 2 is as follows: first, the medicine bag 7 containing the particulate matter is placed in the bag placing groove 205, and when the first motor 222 drives the driving disk 225 to rotate 360 degrees clockwise, the main push rod 220 drives the first driven disk 226, the second driven disk 227, the third driven disk 229 and the fourth driven disk 230 to rotate 90 degrees counterclockwise in sequence, thereby forming a positive stroke.

During this forward stroke, the first robot 203 of the transfer mechanism grips one end of the medicine bag 7, and the medicine cup 6 is placed on the first slide 214. The main push rod 220 drives the first driven plate 226 to rotate, the first driven plate 226 drives the first transmission shaft 201 through the first driven shaft 219, the first transmission shaft 201 drives the driving rocker 233 to move so as to transmit the medicine bag 7 to the working position of the second manipulator 206, the second manipulator 206 clamps the other end of the medicine bag 7, and at the moment, the medicine bag 7 is clamped at a fixed position through the mutual matching clamping of the first manipulator 203 and the second manipulator 206. Then, the main push rod 220 drives the fourth driven plate 230 to rotate, the fourth driven plate 230 drives the second transmission shaft 202 to rotate, the second transmission shaft 202 drives the movable blade 224 to approach the fixed blade 223 until the movable blade 224 and the fixed blade 223 cooperate with each other to cut off the medicine bag 7, and at this time, the second manipulator 206 clamps the medicine bag 7. Next, the main push rod 220 drives the third driven disc 229 to rotate, the third driven disc 229 drives the first gear 237 to rotate through the third driven shaft 232, the second gear 238 is driven to rotate by the first gear 237, and the second gear 238 drives the first driving rod 209 to rotate relative to the first frame 210 through the third transmission shaft 221 until all the particulate matters in the medicine bag 7 clamped by the second manipulator 206 are poured into the medicine taking cup 6. Finally, the main push rod 220 drives the second driven disc 227 to rotate, and the second driven disc 227 drives the second driving rod 212 to rotate through the second driven shaft 231 until the medicine taking cup 6 on the first sliding seat 214 moves out of the box body 1.

When the driving disc 225 rotates 360 degrees counterclockwise, the driving push rod 220 drives the first driven disc 226, the second driven disc 227, the third driven disc 229 and the fourth driven disc 230 to rotate 90 degrees clockwise in sequence, so that a reverse stroke is formed, and after the reverse stroke is completed, the particulate matter self-taking mechanism 2 just returns to an initial state. The reverse stroke is just opposite to the forward stroke, and is not described in detail herein.

As shown in fig. 24, 25 and 26, the sheet storing and taking mechanism 3 mainly includes a second base 301, a rotating disc mechanism, a material guiding pipe 303, a receiving mechanism and a conveying mechanism, the rotating disc mechanism includes a second motor 304, a housing 311 and a front rotating disc 313, and a receiving cavity 326 is formed on the front rotating disc 313, as shown in fig. 29 and 30; the housing 311 covers the front rotary disc 313, a movable connection for relative rotation is formed between the front rotary disc 313 and the housing 311, and the second motor 304 drives the front rotary disc 313 to rotate relative to the housing 311. The storage mechanism comprises a temporary storage box 306, the temporary storage box 306 is connected with a first rotating shaft 327, the first rotating shaft 327 is movably connected with a supporting seat 302 in a relative rotation mode, the first rotating shaft 327 is driven by a third motor 309, and the supporting seat 302 is fixedly installed on a second base 301, so that a movable connection structure in a relative rotation mode is formed between the temporary storage box 306 and the supporting seat 302 through the first rotating shaft 327. The conveying mechanism includes a first base 322 and a sliding seat 324, a first transmission screw 323 is installed on the first base 322, the first transmission screw 323 is driven by a fifth motor 325, and a screw transmission mechanism is formed between the first transmission screw 323 and the sliding seat 324, as shown in fig. 38, 39 and 40. The second motor 304, the third motor 309 and the fifth motor 325 are respectively and fixedly connected with the second base 301.

As shown in fig. 31, a movable connection structure is formed between the housing 311 and the cover 318, and the tablet can be injected into the accommodating cavity 326 by opening the cover 318. The material guiding tube 303 is disposed between the rotating disc mechanism and the accommodating mechanism, and the sheet material in the accommodating cavity 326 falls into the temporary storage box 306 through the material guiding tube 303 after leaving the rotating disc mechanism, as shown in fig. 34. The temporary storage box 306 rotates relative to the supporting seat 302 through the first rotating shaft 327, and then the sheet-like objects can be output to the sliding seat 324 in the conveying mechanism, and the sliding seat 324 is driven by the first transmission screw 323 to move linearly until the sliding seat 324 sends the sheet-like objects on the sliding seat out of the box body 1.

There may be more than one for the use of a medicine box, in particular the use of tablet medicines. If a plurality of tablet medicines need to be taken out at the same time, in order to improve the taking efficiency, the plurality of tablet medicines can be firstly collected in the temporary storage box 306 and then can be output to the conveying mechanism by the temporary storage box 306 at one time. For this purpose, as shown in fig. 27 and 28, a housing 305, a fan 308, a fourth motor 312 and a rear turntable 314 may be additionally provided, and the fan 308 and the fourth motor 312 are respectively fixedly connected to the second base 301. The outer cover 305 covers the rear turntable 314, a suction hole 317 is formed on the outer cover 305, and a suction port of the fan 308 is communicated with the suction hole 317; the rear turntable 314 and the front turntable 313 are oppositely arranged, a movable connection capable of rotating relatively is formed between the rear turntable 314 and the outer cover 305, the rear turntable 314 is driven by the fourth motor 312, a transfer groove 315 is formed on the rear turntable 314, and an air suction hole 316 is formed in the transfer groove 315, as shown in fig. 32 and 33; generally, the working surface of the transfer chute 315 is preferably a concave spherical structure to facilitate the sliding of the sheet-like objects. The front turntable 313 is provided with a plurality of accommodating cavities 326, and the accommodating cavities 326 are preferably evenly distributed, as shown in fig. 29 and 30.

The storage mechanism further comprises a push-pull electromagnet 310 and a third linkage rod 320, and a movable connecting structure which slides linearly relatively is formed between the temporary storage box 306 and the box cover 307; further, a guide rail 328 may be formed at the bottom of the box cover 307, and a guide chute forming a sliding fit structure with the guide rail 328 is disposed on the temporary storage box 306; a guide shaft 319 is formed at one end of the third linkage rod 320, the box cover 307 is fixedly connected with the guide member 321, a strip-shaped sliding groove is formed in the guide member 321, and a sliding fit structure is formed between the guide shaft 319 and the strip-shaped sliding groove; a movable hinge structure is formed between the push rod of the push-pull electromagnet 310 and the third link 320, as shown in fig. 35, 36 and 37.

After the structure design is adopted, when the tablet access mechanism 3 works, the sealing cover 318 is firstly opened, the same tablet medicine is injected into the accommodating cavity 326, and the front rotary disc 313 is driven by the second motor 304 to rotate once after the same tablet medicine is placed, so that the medicine is moved to a closed environment, and the inlet of the next accommodating cavity 326 is opened; by this circulation, different kinds of tablet-shaped medicines can be sequentially and respectively placed into the different accommodating cavities 326, and finally the sealing cover 318 is closed. The front turntable 313 transfers the tablets in one of the pockets 326 to the transfer slot 315 during rotation, wherein the tablets contact the rear turntable 314 at the transfer slot 315 and the tablets in the other pockets 326 are isolated from the transfer slot 315.

Then, the fan 308 is started, and at the same time, the rear turntable 314 starts to rotate, when the transfer groove 315 rotates to the suction hole 317 along with the rear turntable 314, the sheet in the transfer groove 315 passes through the suction hole 316 under the negative pressure of the fan 308, and then leaves the turntable mechanism through the suction hole 317. The suction holes 316 are designed to be small, and only one sheet is sucked through each time. Finally, the push-pull electromagnet 310 drives the box cover 307 to open relative to the temporary storage box 306, so that the tablet falls into the temporary storage box 306 through the material guiding pipe 303, and at this time, the laser counting device at the temporary storage box 306 counts 1 time until the required tablet number is taken out. After the first tablet is taken out, the laser counting device is cleared, the rear turntable 314 continues to rotate, the above medicine taking process is repeated, and all the required tablets are taken out in sequence. The push-pull electromagnet 310 drives the box cover 307 to close relative to the temporary storage box 306, so that the tablet medicine collected in the temporary storage box 306 can be sealed and stored. By the time of taking medicine, the third motor 309 drives the temporary storage box 306 to rotate relative to the supporting base 302 through the first rotating shaft 327, so as to pour out all the tablet-shaped medicines collected in the temporary storage box 306 at one time, as shown in fig. 34.

The specific structure of the liquid self-fetching mechanism 4 is shown in fig. 41, 42, 43 and 44, and mainly comprises a third base 401, a base plate 428 and a clamping mechanism, wherein the third base 401 is fixed on the mounting base 5, the base plate 428 is fixedly connected with a fixed slide rail 429, the base plate 428 is movably provided with a movable slide rail 409, and a slide rail structure is formed between the fixed slide rail 429 and the movable slide rail 409. As shown in fig. 46 and 47, a magnet 433 is usually fitted to the base plate 428, and the movable rail 409 and the magnet 433 are magnetically attracted to each other to form a detachable movable connection structure. In addition, the positioning seat 464 is fixedly connected to the base plate 428, an inverted U-shaped opening structure is formed at the bottom of the third support 448, a movable clamping structure is formed between the inverted U-shaped opening structure and the positioning seat 464, and the third support 448 performs a turning motion relative to the positioning seat 464.

The clamping mechanism comprises a mechanical gripper and a third transmission screw rod 430, the specific structure of the mechanical gripper is shown in fig. 53, 54, 55 and 56, the mechanical gripper mainly comprises a power rod 442, a transmission rod 410, a seventh linkage rod 444 and a ninth linkage rod 446, and the transmission rod 410 is movably connected with a third bracket 448 through a third rotating shaft 465; one end of the power rod 442 is movably connected with the second sliding seat 431 through a second rotating shaft 449, the other end of the power rod 442 is movably hinged with one end of the transmission rod 410, the other end of the transmission rod 410 is movably hinged with one end of a sixth linkage rod 443, and the other end of the sixth linkage rod 443 is movably hinged with one end of a tenth linkage rod 447; one end of the seventh linkage rod 444 is movably connected with the third bracket 448 through a third rotating shaft 465, and the other end of the seventh linkage rod 444 is movably hinged with one end of an eighth linkage rod 445 and one end of a tenth linkage rod 447 respectively; one end of the ninth linkage rod 446 is movably hinged with the other end of the eighth linkage rod 445 and the other end of the tenth linkage rod 447 respectively. Generally, the seventh linkage rod 444 is fixedly connected with the flexible clamping jaw 421, and the free end of the ninth linkage rod 446 is also fixedly connected with the flexible clamping jaw 421, so that the clamping stability and reliability of the mechanical gripper can be improved by arranging the flexible clamping jaw 421. The third driving screw 430 is supported by the support 424, and the third driving screw 430 forms a threaded driving connection structure with the second slide carriage 431 and the third support 448 respectively.

Two mechanical claws are arranged, each mechanical claw is movably connected with a second sliding seat 431 through a second rotating shaft 449 and is movably connected with a third support 448 through a third rotating shaft 465, and the second sliding seats 431 respectively form a sliding fit structure with a movable sliding rail 409 and a fixed sliding rail 429; when the third transmission screw 430 drives the second slide carriage 431 to linearly slide relative to the base plate 428 to be matched with the movable slide rail 409 into a whole, the two mechanical claws are in a relatively folded and clamped state and clamp the bottle body 9, and at the moment, the third transmission screw 430, the second slide carriage 431, the movable slide rail 409, the third support 448, the two mechanical claws and the bottle body 9 form an integrated structure; then, when the third driving screw 430 rotates, the second sliding base 431, the movable sliding rail 409, the third supporting frame 448, the two mechanical claws and the bottle body 9 are driven to synchronously turn and move relative to the base plate 428, so that the liquid in the bottle body 9 can be poured out.

When the bottle body 9 is provided with the screwed bottle cap 8, the bottle cap 8 must be removed first to pour out the liquid in the bottle body 9. For this purpose, a cap screwing mechanism may be additionally provided, and the specific structure of the cap screwing mechanism is as shown in fig. 48, 49 and 50, and mainly comprises a main sliding seat 402, an outer ring housing 406, a fourth linkage rod 411 and an inner ring housing 435, and a self-adjusting mechanism is provided between the inner ring housing 435 and the outer ring housing 406; a threaded movable connection structure is formed between the main sliding seat 402 and the second transmission screw rod 420, and a slave sliding seat 434 which slides up and down relative to the main sliding seat 402 is arranged on the main sliding seat 402; one end of the fourth linkage rod 411 is movably hinged with the slave sliding seat 434, the other end is movably hinged with the inner sliding seat 436, and the inner sliding seat 436 is fixedly connected with the pushing rod 437; when the second transmission screw 420 drives the main sliding seat 402 to move upwards relative to the outer ring shell 406, the main sliding seat 402 drives the inner sliding seat 436 to move radially relative to the inner ring shell 435 through the fourth linkage rod 411 until a synchronous rotating body is formed among the main sliding seat 402, the inner ring shell 435 and the inner sliding seat 436; during the synchronous rotation of the main slide 402 and the inner ring housing 435, the inner ring housing 435 is driven to move upward relative to the outer ring housing 406 by the self-aligning mechanism.

The second driving screw 420 is engaged with the stop seat 403, and the stop seat 403 is fixedly connected with the third base 401, so that the upward movement of the main sliding seat 402 can be limited by the stop seat 403, as shown in fig. 42. The self-adjusting mechanism comprises a spring plunger 440, the spring plunger 440 is fixedly mounted on the outer side of the inner ring shell 435, a guide sliding groove 441 with a spiral structure is arranged on the inner side of the outer ring shell 406, and a relative sliding fit structure is formed between the spring plunger 440 and the guide sliding groove 441, as shown in fig. 51 and 52.

The transmission structure of the liquid material self-fetching mechanism 4 is shown in fig. 41, 42 and 53, the third transmission screw 430 is fixedly connected with the fifth transmission shaft 408, the fifth transmission shaft 408 is fixedly connected with the third gear 407, the third gear 407 and the ninth gear 425 form a meshing transmission structure, the ninth gear 425 is fixedly connected with one end of the fourth transmission shaft 404, and the other end of the fourth transmission shaft 404 is fixedly connected with the fifth gear 415; the fourth transmission shaft 404 is supported by a side seat 416, the side seat 416 is fixedly connected with the third base 401, the fifth gear 415 and a tenth gear 460 form a meshing transmission structure, the tenth gear 460 and a sixth gear 417 form a coaxial connection relationship by a main transmission shaft, the main transmission shaft is supported by a top seat 413, and a left electromagnetic brake 414a is arranged between the tenth gear 460 and the sixth gear 417; the sixth gear 417 and the eighth gear 419 are coaxially connected through a main transmission shaft, the main transmission shaft is supported through a top seat 413, a right electromagnetic brake 414b is arranged between the sixth gear 417 and the eighth gear 419, and the top seat 413 is fixedly connected with the third base 401; the eighth gear 419 and the fourth gear 412 form a meshing transmission structure, and the fourth gear 412 is fixedly connected with a second transmission screw rod 420; the sixth gear 417 and the seventh gear 418 form a meshing transmission structure, the seventh gear 418 is driven by the sixth motor 405, and the sixth motor 405 is fixedly connected with the third base 401.

When the liquid material self-fetching mechanism 4 works, firstly, as shown in fig. 42, the medicine-fetching cup 6 is placed in advance on the object stage 422 located below the mechanical gripper, the sixth motor 405 rotates forward, the right electromagnetic brake 414b is not locked electrically, and the left electromagnetic brake 414a is energized, so that the rotation power of the tenth gear 460 is transmitted to the third transmission screw 430 through the fifth gear 415, the ninth gear 425 and the third gear 407 in sequence, the third transmission screw 430 drives the second sliding base 431 to move axially close to the third gear 407, the two mechanical grippers are driven by the second sliding base 431 to be continuously closed relatively, and when the second sliding base 431 slides linearly to be matched with the movable sliding rail 409 into a whole, the two mechanical grippers clamp the bottle body 9 and keep in a clamped state.

Then, the sixth motor 405 rotates in the reverse direction, the right electromagnetic brake 414b is energized, and the left electromagnetic brake 414a is de-energized and locked, so that the rotational power of the eighth gear 419 is transmitted to the second driving screw 420 through the fourth gear 412; the second driving screw 420 drives the main slide carriage 402 to move axially upward relative to the stop seat 403, the main slide carriage 402 drives the inner slide carriage 436 to move radially relative to the inner ring housing 435 through the fourth linkage rod 411, and the inner slide carriage 436 is fixedly connected with the push rod 437, so that the push rod 437 also moves radially relative to the inner ring housing 435 until the push rod 437 clamps the bottle cap 8, as shown in fig. 59, thereby completing the clamping action of the bottle cap 8. In order to ensure that the bottle cap 8 is reliably clamped, a plurality of inner sliding seats 436 (together with the pushing rod 437) can be arranged, and a plurality of inner sliding seats 436 are uniformly distributed in the annular shell 435; furthermore, the pushing rod 437 adopts a telescopic sleeve, a second spring 438 is sleeved outside the telescopic sleeve, and a flexible clamping block 439 can be fixedly connected to the free end of the pushing rod 437, as shown in fig. 50.

When the closure 8 is clamped, the radial movement of the push rods 437 locks. The sixth motor 405 continues to rotate reversely until a synchronous rotating body is formed among the main sliding seat 402, the inner ring shell 435 and the inner sliding seat 436, and rotates synchronously with the second transmission screw rod 420, so that the bottle cap 8 starts to be unscrewed; during the synchronous rotation of the main sliding seat 402 and the inner ring shell 435, under the action of the internal thread of the bottle cap 8, the spring plunger 440 in the self-adjusting mechanism enters the spiral track of the guide chute 441 through a rotating motion, and the spring plunger 440 performs a spiral ascending motion relative to the guide chute 441, thereby driving the bottle cap 8 to perform an upward motion until the bottle cap 8 is completely separated from the bottle body 9, thereby completing the uncapping action of the bottle cap 8, as shown in fig. 60.

When the bottle cap 8 is completely separated from the bottle body 9, the sixth motor 405 rotates forward again, the right electromagnetic brake 414b is de-energized and locked, the left electromagnetic brake 414a is energized, and at this time, the two mechanical claws clamp the bottle body 9 and keep in a clamped state; the third driving screw 430, the second sliding seat 431, the movable sliding rail 409, the third support 448 and the two mechanical claws all perform synchronous turning motion relative to the base plate 428, so that the liquid in the bottle body 9 can be poured into the medicine taking cup 6 to finish the medicine pouring action.

After the above-mentioned pouring operation is completed, the third driving screw 430, the second sliding seat 431, the movable sliding rail 409, the third support 448 and the two mechanical claws all perform synchronous reverse turning movement relative to the base plate 428 until the bottle body 9 is restored to the upright state. Then, by executing a reverse stroke opposite to the opening operation of the bottle cap 8, the bottle cap 8 and the bottle body 9 can be restored to the initial state of closing, and the closing operation of the bottle cap 8 is completed, as shown in fig. 60. Next, by executing a reverse stroke opposite to the clamping operation of the cap 8, the pushing rod 437 can be completely released from the cap 8, and the releasing operation of the cap 8 can be completed, as shown in fig. 61.

In order to facilitate the taking operation of the liquid in the bottle 9 and improve the safety of the taking operation of the liquid, a buffer mechanism may be additionally disposed at the bottom of the base plate 428, the buffer mechanism includes a first spring 426 and a spring seat 432, the first spring 426 is disposed between the bottom plate and the top plate of the spring seat 432, and the base plate 428 is supported by the top plate of the spring seat 432, as shown in fig. 44, 45 and 46. In addition, the pouring height of the medicine taking cup 6 can be adjusted through a lifting mechanism.

As shown in fig. 57 and 58, the lifting mechanism includes a stage 422, a front drawbar 423, a second base 450, a rear drawbar 454, a seventh motor 455, and a driving screw 456, and the seventh motor 455 is fixedly mounted on the third base 401 through a motor base 427. A top sliding groove 462 is formed on the object stage 422, and a bottom sliding groove 452 is formed on the second base 450; the front traction rod 423 forms a movable hinge structure with one end of the eleventh linkage rod 451 and one end of the fourteenth linkage rod 463 respectively, the rear traction rod 454 forms a movable hinge structure with one end of a twelfth linkage rod 453 and one end of a thirteenth linkage rod 458 respectively, a movable connecting structure is formed between the eleventh linkage bar 451 and the thirteenth linkage bar 458 through a pin shaft 457, a movable connecting structure is formed between the twelfth linkage bar 453 and the fourteenth linkage bar 463 through a pin shaft 457, the other end of the eleventh linkage bar 451 forms a bottom slide shaft 459 slidably engaged with the bottom slide groove 452, the other end of the fourteenth linkage 463 is formed with a top sliding shaft 461 slidably engaged with the top sliding groove 462, the other end of the twelfth linkage bar 453 is movably connected with the object stage 422, and a movable connection structure is formed between the other end of the thirteenth linkage bar 458 and the second base 450 through a pin 457; the driving screw 456 drives the front drawbar 423 and the rear drawbar 454 to approach each other to raise the stage 422 with respect to the second base 450, or the driving screw 456 drives the front drawbar 423 and the rear drawbar 454 to separate from each other to lower the stage 422 with respect to the second base 450. Generally, two sections of thread structures with opposite turning directions can be machined on the driving screw 456, wherein one section of thread structure forms a thread movable connection with the front traction rod 423, and the other section of thread structure forms a thread movable connection with the rear traction rod 454.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, it should be noted that any modifications, equivalents and improvements made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims (9)

1. A sheet access mechanism, characterized in that: the material guide pipe comprises a turntable mechanism, a containing mechanism and a material guide pipe (303), wherein the turntable mechanism comprises an outer cover (305), a shell (311), a front turntable (313) and a rear turntable (314), a suction hole (317) is formed in the outer cover (305), a plurality of containing cavities (326) are formed in the front turntable (313), a transfer groove (315) is formed in the rear turntable (314), the outer cover (305) covers the rear turntable (314), the rear turntable (314) and the front turntable (313) are oppositely arranged, a movable connection capable of rotating relatively is formed between the rear turntable (314) and the outer cover (305), the shell (311) covers the front turntable (313), and a movable connection capable of rotating relatively is formed between the front turntable (313) and the shell (311); the storage mechanism comprises a temporary storage box (306), and the material guide pipe (303) is arranged between the turntable mechanism and the storage mechanism; the front rotary disc (313) transfers the sheet-shaped objects in one accommodating cavity (326) to the transfer groove (315) in the rotating process, the sheet-shaped objects in one accommodating cavity (326) are in contact with the rear rotary disc (314) at the transfer groove (315), the sheet-shaped objects in other accommodating cavities (326) on the front rotary disc (313) are isolated from the transfer groove (315), the sheet-shaped objects in one accommodating cavity (326) firstly enter the transfer groove (315), then leave the rotary disc mechanism through the suction holes (317), and finally fall into the temporary storage box (306) through the material guide pipe (303).

2. The substrate access mechanism of claim 1, wherein: the device also comprises a fan (308), wherein an air suction port of the fan (308) is communicated with the suction hole (317), and an air suction hole (316) is formed in the transfer tank (315); the sheet materials in the transfer groove (315) pass through the air suction holes (316) under the negative pressure action of the fan (308) and then leave the turntable mechanism through the suction holes (317).

3. The substrate access mechanism of claim 1, wherein: the working surface of the transfer groove (315) is of a concave spherical structure.

4. The substrate access mechanism of claim 1, wherein: the shell (311) and the cover (318) form a movable connection structure which rotates relatively.

5. The substrate access mechanism of claim 1, wherein: a movable connecting structure which slides linearly relatively is formed between the temporary storage box (306) and the box cover (307).

6. The substrate access mechanism of claim 5, wherein: the box cover is characterized by further comprising a push-pull electromagnet (310) and a third linkage rod (320), wherein a guide shaft (319) is formed at one end of the third linkage rod (320), the box cover (307) is fixedly connected with a guide piece (321), a strip-shaped sliding groove is formed in the guide piece (321), and a sliding fit structure is formed between the guide shaft (319) and the strip-shaped sliding groove; a movable hinge structure is formed between the push rod of the push-pull electromagnet (310) and the third linkage rod (320).

7. The substrate access mechanism of claim 5, wherein: the bottom of the box cover (307) forms a guide rail (328), and a guide chute which forms a sliding fit structure with the guide rail (328) is arranged on the temporary storage box (306).

8. The substrate access mechanism of claim 1, wherein: the temporary storage box (306) forms a movable connecting structure which rotates relatively with the supporting seat (302) through a first rotating shaft (327).

9. The substrate access mechanism of claim 1, wherein: the conveying mechanism comprises a first base (322) and a sliding seat (324), a first transmission screw rod (323) is mounted on the first base (322), and a screw rod transmission mechanism is formed between the first transmission screw rod (323) and the sliding seat (324).

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