CN112645040B - Automatic smart volume grabbing device of mixed type traditional chinese medicine - Google Patents
Automatic smart volume grabbing device of mixed type traditional chinese medicine Download PDFInfo
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- CN112645040B CN112645040B CN202011475775.6A CN202011475775A CN112645040B CN 112645040 B CN112645040 B CN 112645040B CN 202011475775 A CN202011475775 A CN 202011475775A CN 112645040 B CN112645040 B CN 112645040B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/82—Rotary or reciprocating members for direct action on articles or materials, e.g. pushers, rakes, shovels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/905—Control arrangements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
- B65G2203/0208—Control or detection relating to the transported articles
- B65G2203/0258—Weight of the article
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/042—Sensors
Abstract
The invention relates to the technical field of traditional Chinese medicine grabbing, in particular to a mixed automatic precise grabbing device for traditional Chinese medicines, which comprises a base, a controller, a lifting mechanism, a sliding mechanism, a hooking mechanism and a grabbing mechanism, wherein the sliding mechanism comprises a sliding plate, a driving component and two guide rails, the lifting mechanism is arranged at the top of the sliding plate and is used for supporting the grabbing mechanism to lift, the lifting mechanism comprises a lifting plate and a transmission component, the hooking mechanism is arranged at the top of the lifting plate and is used for opening and closing a cabinet, the hooking mechanism comprises a hooking plate and a telescopic component, the grabbing mechanism comprises a pushing component, a clamping component and two grabbing shovels, the driving component, the transmission component, the telescopic component, the pushing component and the clamping component are electrically connected with the controller, and the mixed automatic precise grabbing device for traditional Chinese medicines and the using method are simple and rapid in grabbing process, the steps are fewer, the grabbing efficiency is improved, the medicine grabbing amount of the controller can be accurately controlled, and errors are prevented.
Description
Technical Field
The invention relates to the technical field of traditional Chinese medicine grabbing, in particular to a mixed type automatic precise grabbing device for traditional Chinese medicines.
Background
At present, with the development of society, people can not avoid the treatment of traditional Chinese medicines in daily life, when the traditional Chinese medicines are grabbed, different types of medicinal materials and different weights are grabbed according to a prescription, and manual grabbing is generally performed, but the grabbing efficiency is low in the mode, time and labor are wasted, especially when a plurality of patients exist, the time consumed for manual grabbing is long, the treatment time of the patients can be delayed, the labor intensity of workers can be increased, the problem that the grabbing weight is inaccurate in manual grabbing possibly exists, and the drug effect and the treatment effect of the patients are affected.
Chinese patent application No.: CN 202010209760.9; the publication date is as follows: 2020.06.12 discloses a traditional chinese medicine automatic weighing snatchs equipment, which comprises a bod, including organism and medicine cabinet, sliding connection has the drawer in the medicine cabinet, is equipped with the gear chamber in the organism, and gear chamber upside is equipped with the removal chamber, and it is equipped with the drive chamber to remove the chamber upside, uses horizontal migration's translation device in the gear chamber, and this equipment can snatch required medicinal material automatically fast, and is high-efficient accurate, has reduced staff's the latency of snatching time and patient, alleviates staff's intensity of labour, also can guarantee that the medicinal material quality is accurate.
Chinese patent application No.: CN 201810730372.8; the publication date is as follows: 2018.11.09 discloses a traditional chinese medicine snatchs equipment, including fixed plate portion, a plurality of medicine portions of adorning, two medicine portions of grabbing, two title medicine and transportation portion, two horizontal slide bar portions, two perpendicular slide bar portions, its characterized in that: at first put into the medicinal material drawer that corresponds to the medicinal material, when grabbing the medicine after the medicinal material that the input corresponds and the volume that needs in the computer, reciprocate that row that needs the medicine of grabbing through the sideslip pole part, it is preceding to call medicine and transport the part and remove the powder charge part that needs to open, then open the medicinal material drawer, shovel up the medicinal material through grabbing the medicine part and fall into the volume that needs in the medicinal material box, then return to the bottom surface, the medicinal material in the medicinal material box is taken out to the manual work, make its work efficiency higher, can be more accurate snatch the traditional chinese medicine of different weight, more convenient completion grab the medicine work, the automatic medicine of traditional chinese medicine has been realized.
The above two inventive structures have the following disadvantages:
1. the grabbing process is complex, the steps are multiple, more time is consumed when the traditional Chinese medicines of various types are grabbed, and a large amount of time is wasted, so that the grabbing efficiency is low.
2. When the control tongs open, because the tip inclination of two tongs is great, and the parcel nature is relatively poor, therefore traditional chinese medicine drops fast easily from between two tongs, causes the dose can't snatch the accuracy, and then has reduced and has snatched the precision.
According to the defects of the prior art, a mixed type automatic precise grabbing device for traditional Chinese medicines and a using method thereof are needed to be designed, wherein the grabbing process is simple and rapid, the steps are fewer, the grabbing efficiency is improved, the medicine grabbing amount can be accurately controlled, and errors are prevented.
Disclosure of Invention
The invention aims to provide a mixed type automatic precision gripping device for traditional Chinese medicines and a using method.
In order to achieve the purpose, the invention adopts the following technical scheme:
the utility model provides a mixed type automatic precise grabbing device for traditional Chinese medicine, which comprises a base, a controller, a lifting mechanism, a sliding mechanism, a hooking mechanism and a grabbing mechanism, wherein the sliding mechanism is arranged at the top of the base to support the grabbing mechanism to slide, the sliding mechanism comprises a sliding plate, a driving component and two guide rails, the two guide rails are symmetrically arranged at the top of the base, the sliding plate is arranged at the top of the two guide rails in a sliding manner, the driving component is arranged at the top of the sliding plate, the lifting mechanism is arranged at the top of the sliding plate to support the grabbing mechanism to lift, the lifting mechanism comprises a lifting plate and a transmission component, the top of the sliding plate is vertically provided with a vertical plate, the controller is fixedly arranged on the outer wall of the vertical plate, the lifting plate is arranged on the inner wall of the vertical plate in a sliding manner, the transmission component is arranged on the outer wall of the vertical plate, the hooking mechanism is arranged at the top of the lifting plate to open and close a cabinet, the hooking mechanism comprises a hook plate and a telescopic assembly, the telescopic assembly is arranged at the top of the lifting plate, the hook plate is fixedly arranged on the telescopic assembly, the grabbing mechanism comprises a pushing assembly, a clamping assembly and two grabbing shovels, the pushing assembly is inserted into one end of the lifting plate far away from the vertical plate, the clamping assembly is arranged at the bottom of the pushing assembly, the two grabbing shovels slide on the pushing assembly, the two grabbing shovels are connected with the clamping assembly in a transmission mode, and the driving assembly, the transmission assembly, the telescopic assembly, the pushing assembly and the clamping assembly are electrically connected with the controller.
Furthermore, the propelling movement subassembly includes major axis cylinder, push pedal and two gag lever posts, the major axis cylinder is vertical to be inserted and establishes the one end of keeping away from the riser at the lifter plate, the push pedal is fixed to be established on the output of major axis cylinder, and two gag lever posts are the symmetry and set up the one end of keeping away from the riser at the lifter plate to the bottom of every gag lever post all is with the top fixed connection of push pedal, the major axis cylinder is connected with the controller electricity.
Further, the transmission assembly comprises a driving motor, a first rack and a first gear, the driving motor is fixedly arranged on the outer wall of the vertical plate, the first gear is sleeved on the output end of the driving motor, a sliding block is fixedly arranged at one end, close to the vertical plate, of the bottom of the lifting plate, the sliding block is connected with the vertical plate in a sliding mode, the first rack is fixedly arranged at one end, far away from the lifting plate, of the sliding block, the first rack is connected with the first gear in a meshed mode, and the driving motor is electrically connected with the controller.
Further, the centre gripping subassembly includes second gear, step motor and two second racks, step motor is the vertical top of establishing at the push pedal, and step motor's output passes the push pedal, the second gear cover is established on step motor's output, and two second racks are fixed respectively and are established at the top of two grab shovels to two second racks all are connected with the second gear meshing, step motor is connected with the controller electricity.
Further, the bottom of every snatch shovel is the oblique angle structure to all seted up the discharge gate on the one end outer wall of bottom of every snatch shovel, slide on the inner wall of discharge gate and be equipped with the baffle, all fixedly on the outer wall of every snatch shovel be equipped with miniature electric putter, miniature electric putter's output and baffle fixed connection, weighing sensor is all installed to the inboard bottom of every snatch shovel, and every weighing sensor and every miniature electric putter all are connected with the controller electricity.
Further, flexible subassembly includes electric putter, draws piece and limiting plate, electric putter is fixed to be established at the top of lifter plate, draw the piece fixed to be established on electric putter's output, the top at the lifter plate is fixed to the limiting plate is established to electric putter's output is pegged graft with the limiting plate, electric putter is connected with the controller electricity.
Further, the bottom of drawing the piece is the symmetry and is provided with dog and stopper, the top of hook plate is articulated with the top of dog to it is the symmetry between hook plate and the stopper and is provided with two expanding spring, the top one end of hook plate and the bottom one end of stopper respectively with an expanding spring's both ends fixed connection, and the bottom of hook plate is the wedge structure.
Further, drive assembly includes servo motor, lead screw and two backup pads, and the fixed mounting panel that is equipped with in top of base, servo motor is fixed to be established on the outer wall of mounting panel, and two backup pads are the symmetry and set up the top at the base, the rotatable setting of lead screw is between two backup pads to servo motor's output passes the one end fixed connection of mounting panel and lead screw, the bottom and the lead screw threaded connection of slide, servo motor is connected with the controller electricity.
Further, the fixed diaphragm that is equipped with on the one end outer wall that driving motor was kept away from to the riser, the one end that the lifter plate is close to the riser is the symmetry and is provided with two draw runners, has seted up on the riser and has supplied two gliding spouts of draw runner, and the top one end that the riser was kept away from to the diaphragm and the inside of every spout all are the vertical guide bar that is equipped with, and the inside of every draw runner and the lifter plate are kept away from and are all inserted on the one end inner wall of riser and be equipped with linear bearing, and every guide bar all pegs graft with a linear bearing.
A use method of a mixed type automatic precision gripping device for traditional Chinese medicines comprises the following steps:
s1: opening of the cabinet:
the electric push rod is started by the controller, so that the output end of the electric push rod extends towards one end close to the traditional Chinese medicine cabinet, the pull block is fixedly connected with the output end of the pull block, the pull block is driven to extend towards one end close to the traditional Chinese medicine cabinet, the limiting plate plays a role in limiting, the pull block is ensured to stretch stably, when the pull block extends towards one end close to the traditional Chinese medicine cabinet, the hook plate at the bottom of the pull block can be touched with the handle on the cabinet, the hook plate is hinged with the stop block, the hook plate can rotate towards one end far away from the stop block, at the moment, two telescopic springs automatically contract under the action of the resisting force generated when the hook plate rotates, so that the hook plate is changed from a vertical state to an inclined state and avoids the handle, namely, the hook plate enters the inner ring of the handle, after the hook plate enters the inner ring of the handle, the resisting force between the hook plate and the handle disappears, so that the two telescopic springs reset the hook plate are driven, namely, the inclined state is changed into a vertical state, and then the output end of the electric push rod is driven by the controller to shrink, the cabinet is pulled out from the traditional Chinese medicine cabinet by utilizing the interference force of the hook plate and the inner ring of the handle, and it needs to be explained that the interference force generated at the moment is given by the baffle block to shield the hook plate when the handle is pulled by the hook plate.
S2: grabbing of the traditional Chinese medicine:
after the cabinet is pulled out from the traditional Chinese medicine cabinet, the cabinet is just positioned below the pushing component, at the moment, the universal controller starts the long-axis cylinder, so that the output end of the universal controller extends out to one end close to the inside of the cabinet, the push plate is fixedly connected with the output end of the push plate, the push plate is driven to extend out to one end close to the inside of the cabinet, the two limiting rods play a limiting role, the pushing stability of the push plate is ensured, when the push plate extends out to one end close to the inside of the cabinet, the two grabbing shovels are driven to extend into the inside of the cabinet due to the sliding connection of the two grabbing shovels and the push plate, then the stepping motor is started through the controller, so that the second gear on the output end of the universal controller is driven to rotate, the two grabbing shovels are respectively fixedly connected with the tops of the two grabbing shovels, each grabbing shovel is slidably connected with the push plate, and the two second gears are meshed with the second gear, so as to drive the two grabbing shovels to mutually close to be attached, the traditional Chinese medicine is grabbed to the inner parts of the two grab shovels.
S3: precise control of the traditional Chinese medicine amount:
after the traditional Chinese medicine is grabbed to the inside of the grabbing shovel, the weighing sensor weighs, when the weight of the traditional Chinese medicine is detected to be not enough for grabbing amount, the weighing sensor sends a signal to the controller, so that the miniature electric push rod is started through the controller, the output end of the miniature electric push rod drives the baffle plate to extend out of the discharge port to one end far away from the grabbing shovel, and further the discharge port is slowly opened, in the process, the traditional Chinese medicine slides outwards from the discharge port in the grabbing shovel due to the fact that the bottom of the inner side of the grabbing shovel is of an oblique angle structure, when the remaining amount of the traditional Chinese medicine is detected to be enough for grabbing amount, the output end of the miniature electric push rod is driven to shrink through the controller, so that the baffle plate is reset, the discharge port is closed, the traditional Chinese medicine is stopped to continuously slide out, compared with the prior art, on the one hand, the design of the inclined angle of the bottom of the inner side of the digging shovel is small, and therefore, when the discharge port is opened, the sliding speed of the traditional Chinese medicine inside of the discharge port is slow, on the other hand, because the structure parcel nature of shovel is stronger, the traditional chinese medicine can only be followed the discharge gate by inside toward outer landing, therefore through the roll-off speed of control traditional chinese medicine in discharge gate department, can the holistic landing speed of controller traditional chinese medicine, and then makes the volume of snatching of traditional chinese medicine can accurate control, can not produce great error because of traditional chinese medicine roll-off is too much.
S4: closing the cabinet:
the traditional Chinese medicine grabbing is finished, the electric push rod is started through the controller, so that the output end of the electric push rod extends out towards one end close to the cabinet, the electric push rod is pushed back to the inside of the traditional Chinese medicine cabinet by the aid of the stop block, and then the hook plate is driven by the transmission assembly to ascend to be separated from the inner ring of the handle of the medicine cabinet.
S5: chinese medicine grabbing at different positions:
because the traditional chinese medicine diverse of placing in the traditional chinese medicine cabinet, the position of cupboard is also diverse, therefore design drive assembly, when carrying out the ascending traditional chinese medicine of horizontal direction and snatching, start servo motor through the controller, thereby it is rotatory to drive its output, because lead screw and its output fixed connection, therefore it is rotatory to drive the lead screw between two backup pads, because the bottom threaded connection of lead screw and slide again, slide and two guide rail sliding connection, and then drive the top horizontal slip of the mechanism in the base of snatching of slide and top, when snatching the mechanism and sliding the required cupboard of grabbing that traditional chinese medicine that is equipped with, through controller outage servo motor stop snatching the mechanism and slide, servo motor cooperation lead screw structure, can make and snatch the mechanism and slide more accurately, and then guarantee the accuracy of grabbing medicine, be favorable to promoting and grab medicine efficiency.
When the traditional Chinese medicine in the vertical direction is grabbed, the driving motor is started through the controller, so that the first gear is driven to rotate through the output end of the driving motor, the first rack is fixedly connected with the lifting plate through the sliding block, the sliding block is connected with the vertical plate in a sliding manner, the first gear is meshed with the first gear and is connected with the first rack in a sliding manner because the first rack is fixedly connected with the sliding block, and the electric rack slides downwards on the vertical plate so as to drive the vertical plate and the grabbing mechanism on the vertical plate to slide downwards until the vertical plate slides to a cabinet which needs to be grabbed and is filled with the traditional Chinese medicine, four guide rods and four linear bearings are designed in consideration of the weight problem of the lifting plate because of too many parts designed on the lifting plate, when the lifting plate slides on the vertical plate through two sliding strips, the four guide rods play a limiting role to ensure the stable sliding of the lifting plate, and the four linear bearings reduce the friction force generated when the lifting plate slides, guarantee that the lifter plate slides smoothly, and then be favorable to promoting snatching of traditional chinese medicine efficiency.
The invention has the beneficial effects that:
1. according to the invention, the controller, the hooking mechanism and the grabbing mechanism are designed, the hooking mechanism is started by the controller, the cabinet filled with the traditional Chinese medicine is pulled out of the medicine cabinet, and then the grabbing mechanism is started by the controller to grab the traditional Chinese medicine in the cabinet.
2. The invention starts the clamping component through the controller by designing the clamping component and the two grabbing shovels, so as to drive the two grabbing shovels to approach each other, grab the traditional Chinese medicine out of the cabinet, simultaneously designs the discharge port on the outer wall of each grabbing shovel, designs the baffle inside the discharge port, designs the micro electric push rod, fixedly connects the output end of the micro electric push rod with the baffle, designs the weighing sensor at the bottom of the inner side of the grabbing shovel, when the weight of the traditional Chinese medicine is detected not to meet the grabbing amount, the weighing sensor sends the signal to the controller, so as to start the micro electric push rod through the controller, so that the baffle is driven by the output end of the micro electric push rod to extend out from the discharge port to one end far away from the grabbing shovel, so as to slowly open the discharge port, in the process, because the bottom of the inner side of the grabbing shovel is of an oblique angle structure, the traditional Chinese medicine slides outwards from the discharge port from the interior of the grabbing shovel, when the residual amount of the traditional Chinese medicine is detected to meet the grabbing amount, drive miniature electric putter output through the controller and contract, thereby drive the baffle and reset, close the discharge gate, stop traditional chinese medicine and continue the roll-off, compare in prior art, on the one hand, the inclination design of the inboard bottom of shovel is less, therefore, the discharge gate is when opening, the landing speed that is located its inside traditional chinese medicine is slower, on the other hand, because the structure parcel nature of shovel is stronger, traditional chinese medicine can only be followed the discharge gate by inside toward outside landing, therefore through the roll-off speed of control traditional chinese medicine in discharge gate department, can control the holistic landing speed of traditional chinese medicine, and then make the volume of snatching of traditional chinese medicine can the accurate control, can not produce great error because of the traditional chinese medicine roll-off is too much, realize that the automatic smart volume of traditional chinese medicine snatchs.
3. The invention designs the stop block, the limiting block and the two telescopic springs at the bottom of the pull block, and the hook plate is hinged between the stop block and the limiting block, when the telescopic component drives the pull block to approach the cabinet, the two telescopic springs are stressed to contract, the hook plate is automatically rotated towards one end far away from the stop block under the action of the handle on the cabinet, so as to avoid the handle, after the hook plate enters the inner ring of the handle, the two telescopic springs are reset, so that the hook plate hooks the handle of the cabinet, the cabinet is conveniently pulled out from the traditional Chinese medicine cabinet, so as to facilitate the grabbing work of the traditional Chinese medicine, after the traditional Chinese medicine grabbing is finished, the electric push rod is started through the controller, so that the output end of the electric push rod extends towards one end close to the cabinet, the electric push rod is pushed back to the interior of the traditional Chinese medicine cabinet by the stop block, then the transmission component drives the hook plate to ascend to be separated from the inner ring of the handle of the medicine cabinet, compared with the prior art, can not only pull out the cupboard is automatic at the in-process of grabbing medicine, promote and grab medicine efficiency, can end in grabbing medicine moreover, effectively push back the cupboard, further promote the practicality of this device.
4. According to the invention, through designing the lifting mechanism and the sliding mechanism, the grabbing requirements of different storage positions of different types of traditional Chinese medicines can be met, the flexibility and the practicability of the device are improved, in addition, the sliding mechanism comprises the sliding plate, the driving assembly and the two guide rails, when the grabbing mechanism slides to a cabinet which is required to be grabbed and is filled with the traditional Chinese medicine, the grabbing mechanism stops sliding through the controller power-off servo motor, the servo motor is matched with the screw rod structure, the grabbing mechanism can slide more accurately, the medicine grabbing accuracy is further ensured, and the grabbing efficiency of the mixed type traditional Chinese medicine is favorably improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings in the embodiments of the present invention are briefly described below.
FIG. 1 is a first perspective view of the present invention;
FIG. 2 is an enlarged view taken at A in FIG. 1;
FIG. 3 is a schematic perspective view of the present invention;
FIG. 4 is an enlarged view of FIG. 3 at B;
FIG. 5 is a side view of the present invention;
FIG. 6 is an enlarged view at C of FIG. 5;
FIG. 7 is an enlarged view of FIG. 5 at D;
FIG. 8 is a schematic perspective view of the pushing assembly, clamping assembly and two grapples of the present invention;
FIG. 9 is an enlarged view at E in FIG. 8;
FIG. 10 is an exploded perspective view of the riser and riser of the present invention;
FIG. 11 is an enlarged view at F of FIG. 10;
in the figure: the lifting device comprises a base 1, a controller 2, a lifting mechanism 3, a lifting plate 30, a sliding block 300, a sliding strip 301, a transmission assembly 31, a driving motor 310, a first rack 311, a first gear 312, a sliding mechanism 4, a sliding plate 40, a vertical plate 400, a transverse plate 401, a guide rod 402, a driving assembly 41, a servo motor 410, a screw rod 411, a supporting plate 412, a guide rail 42, a hooking mechanism 5, a hooking plate 50, a telescopic assembly 51, an electric push rod 510, a pulling block 511, a limiting plate 512, a stop block 513, a limiting block 514, a telescopic spring 515, a grabbing mechanism 6, a pushing assembly 60, a long-axis cylinder 600, a pushing plate 601, a limiting rod 602, a clamping assembly 61, a second gear 610, a stepping motor 611, a second rack 612, a grabbing shovel 62, a baffle 620, a micro electric push rod 621 and a weighing sensor 622.
Detailed Description
The technical scheme of the invention is further explained by the specific implementation mode in combination with the attached drawings.
Wherein the showings are for the purpose of illustration only and are shown by way of illustration only and not in actual form, and are not to be construed as limiting the present patent; to better illustrate the embodiments of the present invention, some components of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product.
Referring to fig. 1 to 11, the mixed type automatic precision gripping device for traditional Chinese medicine comprises a base 1, a controller 2, a lifting mechanism 3, a sliding mechanism 4, a hooking mechanism 5 and a gripping mechanism 6, wherein the sliding mechanism 4 is arranged at the top of the base 1 to support the gripping mechanism 6 to slide, the sliding mechanism 4 comprises a sliding plate 40, a driving component 41 and two guide rails 42, the two guide rails 42 are symmetrically arranged at the top of the base 1, the sliding plate 40 is slidably arranged at the tops of the two guide rails 42, the driving component 41 is arranged at the top, the lifting mechanism 3 is arranged at the top of the sliding plate 40 to support the gripping mechanism 6 to lift, the lifting mechanism 3 comprises a lifting plate 30 and a transmission component 31, the top of the sliding plate 40 is vertically provided with a vertical plate 400, the controller 2 is fixedly arranged on the outer wall of the vertical plate 400, the lifting plate 30 is slidably arranged on the inner wall of the vertical plate 400, the transmission assembly 31 is arranged on the outer wall of the vertical plate 400, the hooking mechanism 5 is arranged at the top of the lifting plate 30 and used for opening and closing the cabinet, the hooking mechanism 5 comprises a hook plate 50 and a telescopic assembly 51, the telescopic assembly 51 is arranged at the top of the lifting plate 30, the hook plate 50 is fixedly arranged on the telescopic assembly 51, the grabbing mechanism 6 comprises a pushing assembly 60, a clamping assembly 61 and two grabbing shovels 62, the pushing assembly 60 is inserted at one end, far away from the vertical plate 400, of the lifting plate 30, the clamping assembly 61 is arranged at the bottom of the pushing assembly 60, the two grabbing shovels 62 are arranged on the pushing assembly 60 in a sliding mode, the two grabbing shovels 62 are connected with the clamping assembly 61 in a transmission mode, and the driving assembly 41, the transmission assembly 31, the telescopic assembly 51, the pushing assembly 60 and the clamping assembly 61 are electrically connected with the controller 2.
The pushing assembly 60 comprises a long shaft cylinder 600, a push plate 601 and two limiting rods 602, the long shaft cylinder 600 is vertically inserted into one end of the lifting plate 30 far away from the vertical plate 400, the push plate 601 is fixedly arranged at the output end of the long shaft cylinder 600, the two limiting rods 602 are symmetrically arranged at one end of the lifting plate 30 far away from the vertical plate 400, the bottom of each limiting rod 602 is fixedly connected with the top of the push plate 601, the long shaft cylinder 600 is electrically connected with the controller 2, and after the cabinet is pulled out from the traditional Chinese medicine cabinet, the cabinet is just positioned below the pushing assembly 60, at the moment, the controller 2 starts the long shaft cylinder 600, so that the output end of the long shaft cylinder 600 extends out towards one end close to the inside of the cabinet, and the push plate 601 is fixedly connected with the output end of the push plate 601, so that the push plate 601 is driven to extend out towards one end close to the inside of the cabinet, and the two limiting rods 602 play a role in limiting, and guarantee that the push plate 601 is stably pushed.
The transmission assembly 31 comprises a driving motor 310, a first rack 311 and a first gear 312, the driving motor 310 is fixedly arranged on the outer wall of the vertical plate 400, the first gear 312 is sleeved on the output end of the driving motor 310, the end of the lifting plate 30 close to the bottom of the vertical plate 400 is fixedly provided with a slider 300, the slider 300 is slidably connected with the vertical plate 400, the first rack 311 is fixedly arranged at the end of the slider 300 far away from the lifting plate 30, the first rack 311 is meshed with the first gear 312, the driving motor 310 is electrically connected with the controller 2, when the traditional Chinese medicine grabbing in the vertical direction is carried out, the driving motor 310 is started through the controller 2, so that the first gear 312 is driven to rotate through the output end thereof, because the first rack 311 is fixedly connected with the lifting plate 30 through the slider 300, the slider 300 is slidably connected with the vertical plate 400, and because the first rack 311 is fixedly connected with the slider 300, the first gear 312 is engaged with the first gear 312, so that the electric rack slides downwards on the vertical plate 400, and further drives the vertical plate 400 and the grabbing mechanism 6 thereon to slide downwards until the cabinet containing traditional Chinese medicine to be grabbed slides to the bottom.
The clamping assembly 61 comprises a second gear 610, a stepping motor 611 and two second racks 612, the stepping motor 611 is vertically arranged at the top of the pushing plate 601, the output end of the stepping motor 611 penetrates through the pushing plate 601, the second gear 610 is sleeved on the output end of the stepping motor 611, the two second racks 612 are respectively fixedly arranged at the top of the two grasping shovels 62, the two second racks 612 are respectively meshed with the second gear 610, the stepping motor 611 is electrically connected with the controller 2, when the pushing plate 601 extends towards one end close to the inside of the cabinet, as the two grasping shovels 62 are both slidably connected with the pushing plate 601, the two grasping shovels 62 are driven to extend into the inside of the cabinet, then the stepping motor 611 is started through the controller 2, so as to drive the second gear 610 on the output end to rotate, as the two second racks 612 are respectively fixedly connected with the top of the two grasping shovels 62, each grasping shovel 62 is slidably connected with the pushing plate 601, because the two second racks 612 are meshed with the second gear 610, the two grapple 62 are driven to approach each other until being attached, and the traditional Chinese medicine is grabbed into the two grapple 62.
The bottom of each grabbing shovel 62 is of an oblique angle structure, the outer wall of one end of the bottom of each grabbing shovel 62 is provided with a discharge port, the inner wall of the discharge port is provided with a baffle 620 in a sliding manner, the outer wall of each grabbing shovel 62 is fixedly provided with a miniature electric push rod 621, the output end of the miniature electric push rod 621 is fixedly connected with the baffle 620, the bottom of the inner side of each grabbing shovel 62 is provided with a weighing sensor 622, each weighing sensor 622 and each miniature electric push rod 621 are electrically connected with the controller 2, after the Chinese medicine is grabbed to the inside of the grabbing shovel 62, the weighing sensor 622 weighs, when the weight of the Chinese medicine is detected to be not enough for grabbing amount, the weighing sensor 622 sends a signal to the controller 2, so that the miniature electric push rod 621 is started through the controller 2, the baffle 620 is driven by the output end of the weighing sensor to extend out of one end far away from the grabbing shovel 62 in the discharge port, and the discharge port is slowly opened, in the process, as the inner bottom of the grab shovel 62 is of an oblique angle structure, the traditional Chinese medicine slides outwards from the discharge port from the inside of the grab shovel 62, when the remaining amount of the traditional Chinese medicine is detected to meet the grabbing amount, the controller 2 drives the output end of the miniature electric push rod 621 to contract, so as to drive the baffle 620 to reset, close the discharge port and stop the traditional Chinese medicine from sliding out continuously, compared with the prior art, on one hand, the inclination angle of the inner bottom of the grab shovel is designed to be small, so that the sliding speed of the traditional Chinese medicine in the discharge port is slow when the discharge port is opened, on the other hand, because the structural wrapping performance of the grab shovel is stronger, the traditional Chinese medicine can only slide outwards from the discharge port from inside, and therefore, by controlling the sliding-out speed of the traditional Chinese medicine at the discharge port, the sliding-down speed of the controller 2 for the whole traditional Chinese medicine can be controlled accurately, and large errors caused by excessive sliding-out of the traditional Chinese medicine can be avoided, when the traditional Chinese medicine is grabbed, the controller 2 starts the electric push rod 510, so that the output end of the electric push rod extends out to one end close to the cabinet, the electric push rod is pushed back to the interior of the traditional Chinese medicine cabinet by the stop block 513, and then the transmission assembly 31 drives the hook plate 50 to ascend to be separated from the inner ring of the handle of the medicine cabinet.
Telescopic component 51 includes electric putter 510, draws piece 511 and limiting plate 512, electric putter 510 is fixed to be established at the top of lifter plate 30, draw the piece 511 to fix to be established on electric putter 510's output, the fixed top of establishing at lifter plate 30 of limiting plate 512 to electric putter 510's output is pegged graft with limiting plate 512, electric putter 510 is connected with controller 2 electricity, when grabbing the medicine, at first starts electric putter 510 through controller 2 to make its output stretch out to the one end that is close to traditional chinese medicine cabinet, owing to draw piece 511 and its output fixed connection, therefore drive and draw piece 511 to stretch out to the one end that is close to traditional chinese medicine cabinet, limiting plate 512 plays limiting displacement, guarantees that it is flexible steady to draw piece 511.
The bottom of the pulling block 511 is symmetrically provided with a stop 513 and a limit block 514, the top of the hook plate 50 is hinged with the top of the stop 513, two extension springs 515 are symmetrically arranged between the hook plate 50 and the limit block 514, one end of the top of the hook plate 50 and one end of the bottom of the limit block 514 are respectively fixedly connected with two ends of one extension spring 515, and the bottom of the hook plate 50 is of a wedge-shaped structure, when the pulling block 511 extends towards one end close to the traditional Chinese medicine cabinet, the hook plate 50 at the bottom of the pulling block can be contacted with the handle on the cabinet, because the hook plate 50 is hinged with the stop block 513, the hook plate 50 can rotate towards one end far away from the stop block 513, at the moment, the two extension springs 515 are automatically contracted by the interference force generated when the hook plate 50 rotates, so that the hook plate 50 is changed from a vertical state to an inclined state and the handle is avoided, namely, enters the inner ring of the handle, and after entering the inner ring of the handle, the hook plate 50 is interfered with the handle, two expanding spring 515 reset to drive hook plate 50 and reset, change into vertical state by the tilt state promptly, then the output that rethread controller 2 drove electric putter 510 contracts, utilizes the conflict power of hook plate 50 and handle inner circle to pull out the cupboard from the traditional chinese medicine cabinet, it needs to explain that, the conflict power that produces this moment is because when hook plate 50 pulling handle, dog 513 shelters from hook plate 50 and gives.
The driving assembly 41 comprises a servo motor 410, a screw rod 411 and two supporting plates 412, the top of the base 1 is fixedly provided with a mounting plate, the servo motor 410 is fixedly arranged on the outer wall of the mounting plate, the two supporting plates 412 are symmetrically arranged on the top of the base 1, the screw rod 411 is rotatably arranged between the two supporting plates 412, the output end of the servo motor 410 penetrates through the mounting plate to be fixedly connected with one end of the screw rod 411, the bottom of the sliding plate 40 is in threaded connection with the screw rod 411, the servo motor 410 is electrically connected with the controller 2, the positions of the cabinets are different due to different traditional Chinese medicines placed in the traditional Chinese medicine cabinets, the driving assembly 41 is designed, when the traditional Chinese medicines are grabbed in the horizontal direction, the servo motor 410 is started through the controller 2, so that the output end of the controller is driven to rotate, and the screw rod 411 is fixedly connected with the output end of the screw rod 411, so that the screw rod 411 is driven to rotate between the two supporting plates 412, because the bottom threaded connection of lead screw 411 and slide 40, slide 40 and two guide rails 42 sliding connection, and then drive slide 40 and the mechanism 6 that snatchs at top thereof in the top horizontal slip of base 1, when snatching the mechanism 6 and slide the cupboard that is equipped with that traditional chinese medicine that needs to snatch, cut off power supply servo motor 410 through controller 2 and stop snatching the mechanism 6 and slide, servo motor 410 cooperates the lead screw 411 structure, can make and snatch the mechanism 6 and slide more accurately, and then guarantee the accuracy of grabbing medicine, be favorable to promoting and grab medicine efficiency.
A transverse plate 401 is fixedly arranged on the outer wall of one end of the vertical plate 400 far away from the driving motor 310, two sliding strips 301 are symmetrically arranged at one end of the lifting plate 30 close to the vertical plate 400, sliding grooves for the sliding of the two sliding strips 301 are formed in the vertical plate 400, guide rods 402 are vertically arranged at one end of the transverse plate 401 far away from the top of the vertical plate 400 and inside of each sliding groove, linear bearings are inserted in the inside of each sliding strip 301 and the inner wall of one end of the lifting plate 30 far away from the vertical plate 400, each guide rod 402 is inserted with one linear bearing, because of too many parts designed on the lifting plate 30, four guide rods 402 and four linear bearings are designed in consideration of the weight problem, when the lifting plate 30 slides on the vertical plate 400 through the two sliding strips 301, the four guide rods 402 play a limiting role to ensure the stable sliding of the lifting plate 30, and the four linear bearings reduce the friction force generated when the lifting plate 30 slides, guarantee that lifter plate 30 slides smoothly, and then be favorable to promoting the efficiency of snatching of traditional chinese medicine.
A use method of a mixed type automatic precision gripping device for traditional Chinese medicines comprises the following steps:
s1: opening of the cabinet:
the controller 2 starts the electric push rod 510, so that the output end of the electric push rod extends out to one end close to the traditional Chinese medicine cabinet, the pull block 511 is fixedly connected with the output end of the pull block 511, the pull block 511 is driven to extend out to one end close to the traditional Chinese medicine cabinet, the limit plate 512 plays a role in limiting, the pull block 511 is ensured to stretch stably, when the pull block 511 extends out to one end close to the traditional Chinese medicine cabinet, the hook plate 50 at the bottom of the pull block can be touched with the handle on the cabinet, the hook plate 50 is hinged with the stop block 513, the hook plate 50 can rotate towards one end far away from the stop block 513, at the moment, the two telescopic springs 515 are automatically contracted by the interference force generated when the hook plate 50 rotates, so that the hook plate 50 is changed from a vertical state into an inclined state and the handle is avoided, namely, the hook plate enters the inner ring of the handle, the interference force between the hook plate 50 and the handle disappears, the two telescopic springs 515 are reset, so that the hook plate 50 is driven to reset, that is, the inclined state is changed into the vertical state, and then the controller 2 drives the output end of the electric push rod 510 to contract, so that the cabinet is pulled out from the traditional Chinese medicine cabinet by using the interference force between the hook plate 50 and the inner ring of the handle, it should be noted that the interference force generated at this time is given by the fact that the stopper 513 shields the hook plate 50 when the handle is pulled by the hook plate 50.
S2: grabbing of the traditional Chinese medicine:
after the cabinet is pulled out from the traditional Chinese medicine cabinet, the cabinet is just positioned below the pushing component 60, at this time, the controller 2 starts the long-axis cylinder 600, so that the output end of the long-axis cylinder extends out towards one end close to the inside of the cabinet, the push plate 601 is fixedly connected with the output end of the push plate, so that the push plate 601 is driven to extend out towards one end close to the inside of the cabinet, the two limiting rods 602 play a limiting role, so as to ensure that the push plate 601 is pushed stably, when the push plate 601 extends towards one end close to the inside of the cabinet, the two grabbing shovels 62 are both slidably connected with the push plate 601, so that the two grabbing shovels 62 are driven to extend into the inside of the cabinet, then the controller 2 starts the stepping motor 611, so as to drive the second gear 610 on the output end of the push plate to rotate, because the two second racks 612 are respectively fixedly connected with the tops of the two grabbing shovels 62, each grabbing shovel 62 is slidably connected with the push plate 601, and because the two second racks 612 are both engaged with the second gear 610, and then drive two grab shovel 62 and be close to each other until the laminating, snatch the traditional chinese medicine to the inside of two grab shovel 62.
S3: precise control of the traditional Chinese medicine amount:
after the traditional Chinese medicine is grabbed to the inside of the grabbing shovel 62, the weighing sensor 622 weighs, when the weight of the traditional Chinese medicine is detected not to meet the grabbing amount, the weighing sensor 622 sends the signal to the controller 2, so that the miniature electric push rod 621 is started through the controller 2, the output end of the miniature electric push rod drives the baffle 620 to extend out from one end of the discharge port far away from the grabbing shovel 62, and the discharge port is opened slowly, in the process, the traditional Chinese medicine slides outwards from the discharge port in the grabbing shovel 62 due to the fact that the bottom of the inner side of the grabbing shovel 62 is of an oblique angle structure, when the surplus of the traditional Chinese medicine is detected to meet the grabbing amount, the output end of the miniature electric push rod 621 is driven to contract through the controller 2, so that the baffle 620 is driven to reset, the discharge port is closed, the traditional Chinese medicine is stopped to slide out continuously, compared with the prior art, on one hand, the inclination angle design of the bottom of the inner side of the digging shovel is smaller, therefore, when the discharge gate is opened, the landing speed of the traditional Chinese medicine in the discharge gate is slower, and on the other hand, because the structural wrapping performance of the digging shovel is stronger, the traditional Chinese medicine can only slide from the inside to the outside of the discharge gate, so the sliding speed of the traditional Chinese medicine at the discharge gate can be controlled, the overall sliding speed of the traditional Chinese medicine in the controller 2 can be controlled, the grabbing amount of the traditional Chinese medicine can be accurately controlled, and larger errors caused by too much sliding of the traditional Chinese medicine can be avoided.
S4: closing the cabinet:
after the traditional Chinese medicine is grabbed, the controller 2 starts the electric push rod 510 to extend the output end of the electric push rod to one end close to the cabinet, and then the electric push rod is pushed back to the interior of the traditional Chinese medicine cabinet by the stop block 513, and then the transmission assembly 31 drives the hook plate 50 to ascend to be separated from the inner ring of the handle of the medicine cabinet.
S5: chinese medicine grabbing at different positions:
because the traditional Chinese medicines placed in the traditional Chinese medicine cabinet are different and the positions of the cabinets are different, the driving component 41 is designed, when the traditional Chinese medicines are grabbed in the horizontal direction, the servo motor 410 is started through the controller 2 to drive the output end of the servo motor to rotate, the screw rod 411 is fixedly connected with the output end of the screw rod, the screw rod 411 is driven to rotate between the two supporting plates 412, the slide plate 40 is in sliding connection with the two guide rails 42 because the screw rod 411 is in threaded connection with the bottom of the slide plate 40, the slide plate 40 and the grabbing mechanism 6 at the top of the slide plate 40 are further driven to horizontally slide at the top of the base 1, when the grabbing mechanism 6 slides to the cabinet containing the traditional Chinese medicines to be grabbed, the servo motor 410 is powered off through the controller 2 to stop the grabbing mechanism 6 to slide, the servo motor 410 is matched with the structure of the screw rod 411, the grabbing mechanism 6 can slide more accurately, and the medicine grabbing accuracy is further ensured, is favorable for improving the efficiency of medicine taking.
When the traditional Chinese medicine in the vertical direction is grabbed, the driving motor 310 is started through the controller 2, so that the first gear 312 is driven to rotate through the output end of the driving motor, the first rack 311 is fixedly connected with the lifting plate 30 through the slider 300, the slider 300 is slidably connected with the vertical plate 400, the first gear 312 is meshed with the first gear 312 because the first rack 311 is fixedly connected with the slider 300, the electric rack slides downwards on the vertical plate 400, the vertical plate 400 and the grabbing mechanism 6 thereon are driven to slide downwards until the cabinet containing the traditional Chinese medicine to be grabbed slides to the target, the lifting plate 30 is stopped due to excessive parts, the weight of the lifting plate 30 is considered, four guide rods 402 and four linear bearings are designed, when the lifting plate 30 slides on the vertical plate 400 through the two sliding strips 301, the four guide rods 402 play a limiting role, and the stable sliding of the lifting plate 30 is ensured, four linear bearing then reduce the frictional force that produces when lifter plate 30 slides, guarantee that lifter plate 30 slides smoothly, and then are favorable to promoting the efficiency of snatching of traditional chinese medicine.
The working principle of the invention is as follows: when medicine is taken, the electric push rod 510 is started through the controller 2, so that the output end of the electric push rod extends out to one end close to the traditional Chinese medicine cabinet, the pull block 511 is fixedly connected with the output end of the electric push rod, the pull block 511 is driven to extend out to one end close to the traditional Chinese medicine cabinet, the limiting plate 512 plays a limiting role, and the pull block 511 is ensured to stretch out and draw back stably.
When the pulling block 511 extends out towards the end close to the traditional Chinese medicine cabinet, the hook plate 50 at the bottom of the pulling block will touch the handle on the cabinet, because the hook plate 50 is hinged with the stop 513, the hook plate 50 will rotate towards the end far away from the stop 513, at this time, the two extension springs 515 will automatically contract under the abutting force generated when the hook plate 50 rotates, so that the hook plate 50 will change from the vertical state to the inclined state and avoid the handle, i.e. enter the inner ring of the handle, after entering the inner ring of the handle, the abutting force between the hook plate 50 and the handle disappears, the two extension springs 515 will return, so as to drive the hook plate 50 to return, i.e. change from the inclined state to the vertical state, and then the controller 2 will drive the output end of the electric push rod 510 to contract, so as to pull the cabinet out from the traditional Chinese medicine cabinet by the abutting force between the hook plate 50 and the inner ring of the handle, it should be explained that the abutting force generated at this time is because the hook plate 50 pulls the handle, the stopper 513 blocks the hook plate 50.
After the cupboard is pulled out from the traditional Chinese medicine cupboard, the long shaft cylinder 600 is started by the controller 2 just below the pushing component 60, so that the output end of the long shaft cylinder extends out to the end close to the inside of the cupboard, and the push plate 601 is fixedly connected with the output end of the push plate 601, so that the push plate 601 is driven to extend out to the end close to the inside of the cupboard, and the two limiting rods 602 play a limiting role to guarantee the pushing stability of the push plate 601.
When push pedal 601 stretches out to the one end that is close to cupboard inside, because two grab shovel 62 all with push pedal 601 sliding connection, therefore drive two grab shovel 62 and stretch into the inside of cupboard, then start step motor 611 through controller 2, thereby it is rotatory to drive the second gear 610 on its output, because two second racks 612 respectively with two grab shovel 62's top fixed connection, every grab shovel 62 all with push pedal 601 sliding connection, again because two second racks 612 all are connected with the meshing of second gear 610, and then drive two grab shovel 62 and be close to each other until the laminating, snatch traditional chinese medicine to two grab shovel 62's inside.
After the traditional Chinese medicine is grabbed to the inside of the grabbing shovel 62, the weighing sensor 622 weighs, when the weight of the traditional Chinese medicine is detected not to meet the grabbing amount, the weighing sensor 622 sends the signal to the controller 2, so that the miniature electric push rod 621 is started through the controller 2, the baffle 620 is driven by the output end of the baffle 620 to extend out of one end of the discharge port far away from the grabbing shovel 62, and the discharge port is slowly opened, in the process, the traditional Chinese medicine slides outwards from the discharge port inside the grabbing shovel 62 due to the fact that the bottom of the inner side of the grabbing shovel 62 is of an oblique angle structure, when the surplus of the traditional Chinese medicine is detected to meet the grabbing amount, the output end of the miniature electric push rod 621 is driven by the controller 2 to contract, so that the baffle 620 is driven to reset, the discharge port is closed, the traditional Chinese medicine is stopped to continuously slide out, compared with the prior art, on the one hand, the design of the oblique angle of the bottom of the inner side of the digging shovel is smaller, therefore, when the discharge gate is opened, the landing speed of the traditional Chinese medicine in the discharge gate is slower, and on the other hand, because the structural wrapping performance of the digging shovel is stronger, the traditional Chinese medicine can only slide from the inside to the outside of the discharge gate, so the sliding speed of the traditional Chinese medicine at the discharge gate can be controlled, the overall sliding speed of the traditional Chinese medicine in the controller 2 can be controlled, the grabbing amount of the traditional Chinese medicine can be accurately controlled, and larger errors caused by too much sliding of the traditional Chinese medicine can be avoided.
When the traditional Chinese medicine is completely captured, the controller 2 activates the electric push rod 510, so that the output end of the electric push rod extends out to the end close to the cabinet, and the electric push rod is pushed back to the interior of the traditional Chinese medicine cabinet by the stop 513.
Because the traditional Chinese medicines placed in the traditional Chinese medicine cabinet are different and the positions of the cabinets are different, the driving component 41 is designed, when the traditional Chinese medicines are grabbed in the horizontal direction, the servo motor 410 is started through the controller 2 to drive the output end of the servo motor to rotate, the screw rod 411 is fixedly connected with the output end of the screw rod, the screw rod 411 is driven to rotate between the two supporting plates 412, the slide plate 40 is in sliding connection with the two guide rails 42 because the screw rod 411 is in threaded connection with the bottom of the slide plate 40, the slide plate 40 and the grabbing mechanism 6 at the top of the slide plate 40 are further driven to horizontally slide at the top of the base 1, when the grabbing mechanism 6 slides to the cabinet containing the traditional Chinese medicines to be grabbed, the servo motor 410 is powered off through the controller 2 to stop the grabbing mechanism 6 to slide, the servo motor 410 is matched with the structure of the screw rod 411, the grabbing mechanism 6 can slide more accurately, and the medicine grabbing accuracy is further ensured, is favorable for improving the efficiency of medicine taking.
When the traditional Chinese medicine in the vertical direction is grabbed, the driving motor 310 is started through the controller 2, so that the first gear 312 is driven to rotate through the output end of the driving motor, the first rack 311 is fixedly connected with the lifting plate 30 through the slider 300, the slider 300 is slidably connected with the vertical plate 400, the first gear 312 is meshed with the first gear 312 because the first rack 311 is fixedly connected with the slider 300, the electric rack slides downwards on the vertical plate 400, the vertical plate 400 and the grabbing mechanism 6 thereon are driven to slide downwards until the lifting plate slides to a cabinet which is required to be grabbed and is filled with the traditional Chinese medicine, the lifting plate 30 is provided with four guide rods 402 and four linear bearings due to excessive parts, the weight problem is considered, when the lifting plate 30 slides on the vertical plate 400 through the two sliding strips 301, the four guide rods 402 play a limiting role, and the stable sliding of the lifting plate 30 is ensured, four linear bearings then reduce the frictional force that produces when lifter plate 30 slides, guarantee that lifter plate 30 slides smoothly, and then are favorable to promoting the efficiency of snatching of traditional chinese medicine.
Claims (5)
1. The utility model provides an automatic smart volume grabbing device of mixed type traditional chinese medicine, includes base (1), its characterized in that: the automatic grabbing device is characterized by further comprising a controller (2), a lifting mechanism (3), a sliding mechanism (4), a hooking mechanism (5) and a grabbing mechanism (6), wherein the sliding mechanism (4) is arranged at the top of the base (1) to support the grabbing mechanism (6) to slide, the sliding mechanism (4) comprises a sliding plate (40), a driving assembly (41) and two guide rails (42), the two guide rails (42) are symmetrically arranged at the top of the base (1), the sliding plate (40) is arranged at the tops of the two guide rails (42) in a sliding manner, the driving assembly (41) is arranged at the top of the sliding plate, the lifting mechanism (3) is arranged at the top of the sliding plate (40) to support the grabbing mechanism (6) to lift, the lifting mechanism (3) comprises a lifting plate (30) and a transmission assembly (31), the top of the sliding plate (40) is vertically provided with a vertical plate (400), and the controller (2) is fixedly arranged on the outer wall of the vertical plate (400), the lifting plate (30) is arranged on the inner wall of the vertical plate (400) in a sliding mode, the transmission assembly (31) is arranged on the outer wall of the vertical plate (400), the hooking mechanism (5) is arranged at the top of the lifting plate (30) and used for opening and closing the cabinet, the hooking mechanism (5) comprises a hook plate (50) and a telescopic assembly (51), the telescopic assembly (51) is arranged at the top of the lifting plate (30), the hook plate (50) is fixedly arranged on the telescopic assembly (51), the grabbing mechanism (6) comprises a pushing assembly (60), a clamping assembly (61) and two grabbing shovels (62), the pushing assembly (60) is inserted into one end, far away from the vertical plate (400), of the lifting plate (30), the clamping assembly (61) is arranged at the bottom of the pushing assembly (60), the two grabbing shovels (62) are arranged on the pushing assembly (60) in a sliding mode, and the two grabbing shovels (62) are in transmission connection with the clamping assembly (61), the driving assembly (41), the transmission assembly (31), the telescopic assembly (51), the pushing assembly (60) and the clamping assembly (61) are electrically connected with the controller (2); the pushing assembly (60) comprises a long shaft cylinder (600), a push plate (601) and two limiting rods (602), the long shaft cylinder (600) is vertically inserted into one end, away from the vertical plate (400), of the lifting plate (30), the push plate (601) is fixedly arranged at the output end of the long shaft cylinder (600), the two limiting rods (602) are symmetrically arranged at one end, away from the vertical plate (400), of the lifting plate (30), the bottom of each limiting rod (602) is fixedly connected with the top of the push plate (601), and the long shaft cylinder (600) is electrically connected with the controller (2); the transmission assembly (31) comprises a driving motor (310), a first rack (311) and a first gear (312), the driving motor (310) is fixedly arranged on the outer wall of the vertical plate (400), the first gear (312) is sleeved on the output end of the driving motor (310), one end, close to the bottom of the vertical plate (400), of the lifting plate (30) is fixedly provided with a sliding block (300), the sliding block (300) is in sliding connection with the vertical plate (400), the first rack (311) is fixedly arranged at one end, far away from the lifting plate (30), of the sliding block (300), the first rack (311) is meshed with the first gear (312), and the driving motor (310) is electrically connected with the controller (2); the clamping assembly (61) comprises a second gear (610), a stepping motor (611) and two second racks (612), the stepping motor (611) is vertically arranged at the top of the push plate (601), the output end of the stepping motor (611) penetrates through the push plate (601), the second gear (610) is sleeved on the output end of the stepping motor (611), the two second racks (612) are respectively and fixedly arranged at the tops of the two grab shovels (62), the two second racks (612) are respectively meshed and connected with the second gear (610), and the stepping motor (611) is electrically connected with the controller (2); the bottom of every grab shovel (62) is the oblique angle structure to all seted up the discharge gate on the bottom one end outer wall of every grab shovel (62), slide on the inner wall of discharge gate and be equipped with baffle (620), all fixedly on the outer wall of every grab shovel (62) be equipped with miniature electric putter (621), miniature electric putter's (621) output and baffle (620) fixed connection, weighing sensor (622) are all installed to the inboard bottom of every grab shovel (62), and every weighing sensor (622) and every miniature electric putter (621) all are connected with controller (2) electricity.
2. The hybrid automatic precision grabbing device for traditional Chinese medicines according to claim 1 is characterized in that: flexible subassembly (51) include electric putter (510), draw piece (511) and limiting plate (512), electric putter (510) are fixed to be established at the top of lifter plate (30), draw piece (511) to be fixed to be established on the output of electric putter (510), the top at lifter plate (30) is fixed to limiting plate (512) is established to the output and limiting plate (512) of electric putter (510) are pegged graft, electric putter (510) are connected with controller (2) electricity.
3. The automatic precision grabbing device of mixed type traditional chinese medicine of claim 2 characterized in that: the bottom of drawing piece (511) is the symmetry and is provided with dog (513) and stopper (514), the top of hook plate (50) is articulated with the top of dog (513) to be the symmetry between hook plate (50) and stopper (514) and be provided with two expanding spring (515), the top one end of hook plate (50) and the bottom one end of stopper (514) respectively with the both ends fixed connection of an expanding spring (515), and the bottom of hook plate (50) is the wedge structure.
4. The automatic precision grabbing device of mixed type traditional chinese medicine of claim 3, characterized by: drive assembly (41) include servo motor (410), lead screw (411) and two backup pads (412), and the fixed mounting panel that is equipped with in top of base (1), servo motor (410) are fixed to be established on the outer wall of mounting panel, and two backup pads (412) are the top that the symmetry set up in base (1), the rotatable setting of lead screw (411) is between two backup pads (412) to the one end fixed connection of mounting panel and lead screw (411) is passed to the output of servo motor (410), the bottom and lead screw (411) threaded connection of slide (40), servo motor (410) are connected with controller (2) electricity.
5. The automatic precision grabbing device of mixed type traditional chinese medicine of claim 4, characterized in that: fixed diaphragm (401) that is equipped with on the one end outer wall that driving motor (310) was kept away from in riser (400), the one end that lifter plate (30) are close to riser (400) is the symmetry and is provided with two draw runner (301), set up on riser (400) and supply two draw runner (301) gliding spouts, the top one end that riser (400) were kept away from in diaphragm (401) and the inside of every spout all are vertical guide bar (402) that are equipped with, all insert on the one end inner wall that riser (400) were kept away from in the inside of every draw runner (301) and lifter plate (30) and be equipped with linear bearing, every guide bar (402) all pegs graft with a linear bearing.
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| CN113716332A (en) * | 2021-08-27 | 2021-11-30 | 严瑶婷 | Chinese herbal medicine grabbing device |
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| ITPI20010022A1 (en) * | 2001-03-21 | 2002-09-21 | S R A S R L | METHOD AND EQUIPMENT FOR WITHDRAWAL FROM A CONTAINER OF FOOTWEAR ITEMS |
| KR101343397B1 (en) * | 2012-05-24 | 2013-12-24 | 이승범 | Insertion equipment of warhead, box of warhead and pallet |
| CN203579657U (en) * | 2013-11-28 | 2014-05-07 | 昆明理工大学 | Grabbing mechanism used for aluminum ingot manipulator |
| CN103737605B (en) * | 2013-12-31 | 2015-10-28 | 亨利安（青岛）自动化技术有限公司 | Automation clamp device |
| CN205966380U (en) * | 2016-07-29 | 2017-02-22 | 意力(广州)电子科技有限公司 | Automatic molding equipment with mechanical hand of full -automatic linearity |
| CN108313386A (en) * | 2018-04-10 | 2018-07-24 | 绍兴集知汇信息科技有限公司 | A kind of Chinese medicine processing equipment |
| CN208292234U (en) * | 2018-05-17 | 2018-12-28 | 青岛煜轩工业科技有限公司 | A kind of Full-automatic feeding device |
| CN211895054U (en) * | 2020-01-14 | 2020-11-10 | 东莞市正安有机硅科技有限公司 | Silica gel grab bucket and silica gel quantitative processing device |
| CN111994628A (en) * | 2020-09-29 | 2020-11-27 | 浙江平川智能装备股份有限公司 | Go up two manipulators that snatch of unloading |
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2020
- 2020-12-14 CN CN202011475775.6A patent/CN112645040B/en active Active
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