CN112959306B - Flexible cable parallel medicine taking robot for large pharmacy - Google Patents
Flexible cable parallel medicine taking robot for large pharmacy Download PDFInfo
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- CN112959306B CN112959306B CN202110327589.6A CN202110327589A CN112959306B CN 112959306 B CN112959306 B CN 112959306B CN 202110327589 A CN202110327589 A CN 202110327589A CN 112959306 B CN112959306 B CN 112959306B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
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Abstract
The invention provides a flexible cable parallel connection medicine taking robot for a large pharmacy. The flexible cable parallel connection medicine taking robot comprises a central moving table, a medicine box, a mechanical arm assembly, a moving driving mechanism and a control mechanism. The central moving table is provided with a lifting mechanism. The medicine box is arranged at the bottom of the central moving table. The mechanical arm assembly is installed on the central moving table and drives a mechanical gripper to stretch out or retract through an axial driving element. Meanwhile, the mechanical gripper is provided with a gripping driving motor, and medicine gripping or releasing is achieved through the gripping driving motor. The moving driving mechanism comprises four driving units which are distributed at the wall end of the pharmacy, and every two driving units are arranged in a diagonal manner. The driving units are connected with the central moving table through steel wire ropes. The control mechanism is in control connection with the lifting mechanism, the axial driving element, the gripping driving motor and the moving driving mechanism. Diagonal type flexible cable tensioning parallel connection driving is adopted, the robot is matched with the specific mechanical arm assembly to work, the work range can be enlarged, and the stability and reliability of mechanism running can be enhanced.
Description
Technical Field
The invention relates to the field of flexible cable parallel robots, in particular to a flexible cable parallel medicine taking robot for a large pharmacy.
Background
The flexible cable parallel robot has the characteristics of simple structure, large working space, easiness in assembly and disassembly, recombination, high modularization degree, strong load capacity, high movement speed, low price and the like, and is widely applied to the fields of domestic and foreign robots. Similarly, the device has practical application potential in the handling and the transportation of goods in large warehouses.
At present, in order to realize the automation of medicine taking in individual hospitals or pharmacy warehouses at home and abroad, a goods taking mode similar to an automatic vending machine is adopted, namely, medicines to be taken are selected and taken out through instructions, the medicines automatically drop to a lower conveying belt, and then the medicines are conveyed to a designated position through the conveying belt to finish the medicine taking; the defects of the automatic mode are obvious: the medicament storing and taking device and the conveying belt have high installation cost, and the liquid bottled medicaments and tablet medicaments are easy to break and scatter after falling, and have low reliability.
Therefore, aiming at the problems of high medicine taking cost, low reliability, inconvenient medicine taking in a manual pharmacy and easy pollution of medicines of an automatic medicine room device, the flexible cable parallel robot is a feasible method for solving the problems by being used for automatic non-contact medicine taking in the pharmacy. The medicine is taken through the flexible cable parallel robot, the price cost is low, the stability of medicine grabbing and transportation is good, and the reliability is higher.
However, when facing some large hospitals or pharmacies, the common flexible cable parallel robot still shows certain disadvantages in the working space range, the mechanism reliability and the motion stability, and thus cannot meet the actual use requirements.
Accordingly, a flexible cable parallel medicine taking robot for a large pharmacy, which has a large working space range, a reliable tensioning mode and mechanism and stable movement, is urgently needed at present.
Disclosure of Invention
The invention aims to solve the technical problem of providing a flexible cable parallel medicine taking robot which has a large working space range, reliable tensioning mode and mechanism and stable movement and is oriented to a large pharmacy.
The invention adopts the following technical scheme to solve the technical problems:
a flexible cable parallel medicine taking robot for a large pharmacy comprises:
the central mobile station is provided with a lifting mechanism;
the medicine box is arranged at the bottom of the central mobile station;
one end of the mechanical arm assembly is mounted on the central moving table, and the other end of the mechanical arm assembly drives the mechanical gripper to transversely extend or retract through the axial driving element; meanwhile, a gripping driving motor is arranged on the mechanical gripper, and the mechanical gripper realizes the gripping or releasing of the medicine through the driving of the gripping driving motor;
the mobile driving mechanism comprises four groups of driving units which are distributed at the wall end of the drug room and are arranged diagonally between every two driving units; the driving unit is connected with the central mobile station through a steel wire rope and used for driving the central mobile station to move to a medicine position or return to an initial position;
and the control mechanism is respectively connected with the lifting mechanism, the axial driving element, the gripping driving motor and the moving driving mechanism in a control way.
As one of the preferable modes of the present invention, each set of driving units respectively includes a set of housing, and a driving motor, a gear reducer and a first winding drum which are arranged in the housing, wherein a key connection is adopted between an output end of the driving motor and an input end of the gear reducer, and between an output end of the gear reducer and the first winding drum; meanwhile, each group of first winding drums is respectively wound with a group of steel wire ropes, and the mobile driving mechanism is movably connected with the central mobile station through four groups of steel wire ropes.
As one preferable mode of the invention, each group of the shells is further provided with a buckle structure for fixing the free end of the steel wire rope.
In a preferred embodiment of the present invention, the center mobile station includes a mobile station body; four groups of fixed pulley blocks are arranged at the outer side end of the moving platform body, each group of fixed pulley blocks comprises an upper fixed pulley and a lower fixed pulley, and the lifting mechanism is arranged in the moving platform body; the four groups of steel wire ropes on the mobile driving mechanism are respectively and correspondingly connected with one group of fixed pulley blocks, and the two fixed pulleys in the same group are connected through the same steel wire rope in a tensioning mode.
In a preferred embodiment of the present invention, the elevating mechanism includes a rhombic elevating table, a linear motor, an elevating table push rod, and an elevating table push rod guide box fixed to the central moving table; the rhombic lifting platform is provided with a linear motor, and the rhombic lifting platform is driven by the linear motor to stretch and deform up and down; the upper end of the linear motor is provided with the lifting platform push rod, and the upper end of the lifting platform push rod extends upwards into a downward opening of the lifting platform push rod guide box and slides up and down along the inner wall of the opening under the driving of the linear motor; the linear motor is connected with the control mechanism in a control mode, and under the control of the control mechanism, the rhombic lifting table is driven to extend or shorten along the length direction of the rhombic lifting table and meanwhile the lifting table push rod is driven to push up or retract down the lifting table push rod guide box, so that the integral ascending or descending of the central moving table is realized.
As one preferable mode of the present invention, the robot arm assembly is disposed at the bottom of the lifting mechanism, and is lifted by the lifting mechanism; meanwhile, the medicine box is arranged below the mechanical arm assembly, after the mechanical arm assembly grabs the medicine, the axial driving element drives the mechanical hand to transversely retract, the grabbing driving motor drives the mechanical hand to loosen, and the medicine falls downwards into the medicine box.
As one of preferable modes of the invention, the axial driving element is a transversely arranged electric screw; the electric screw rod is connected with the mechanical gripper to drive the mechanical gripper to extend out or retract along the axial direction of the mechanical gripper.
As one preferable mode of the invention, the mechanical gripper adopts under-actuated two-finger gripping and comprises a mechanical hand palm part and two fingers connected with the mechanical hand palm part; the manipulator palm part is connected with the electric screw rod through a coupler, and a pair of gripping driving motors is arranged in the manipulator palm part; wherein each of the grip driving motors controls one finger, respectively.
As one preferable mode of the present invention, each of the grip driving motors is connected to a second winding drum, and a flexible rope is wound around the second winding drum; each finger comprises a first knuckle, a second knuckle, a first inter-finger pulley for connecting the first knuckle and the palm part of the mechanical hand and a second inter-finger pulley for connecting the first knuckle and the second knuckle respectively; the flexible rope extends from the position of the second winding drum to the finger arrangement direction to be sequentially connected with the first inter-finger pulley and the second inter-finger pulley, and is fixed on the second knuckle at the tail end of the flexible rope; and under the drive of the grabbing drive motor, the second winding drum pulls the flexible rope, and the flexible rope is connected with the first knuckle and the first inter-finger pulley and the second inter-finger pulley to control the second knuckle.
As one preferable mode of the present invention, a positioning spring is further fixedly connected between the first knuckle and the second knuckle.
Compared with the prior art, the invention has the advantages that:
(1) the diagonal flexible cable tensioning parallel drive is adopted, so that the flexible cable can be lengthened or shortened according to the size of the warehouse, the working space range is expanded, effective tensioning force can be provided for the central mobile station, and the running stability and reliability of the mechanism are enhanced; meanwhile, the mechanical gripper of the mechanical arm assembly can simultaneously realize the actions of up-down lifting, front-back stretching and medicine grabbing and releasing, the moving freedom degree of the device can be further increased, and the working space is enlarged;
(2) the mechanical gripper adopts under-actuated two-finger gripping and comprises a mechanical hand palm part and two fingers connected with the mechanical hand palm part; a pair of grabbing drive motors are arranged in the palm part of the mechanical hand, each grabbing drive motor controls one finger respectively, the shape of the medicine bottle or the medicine box can be well fitted, and the grabbing stability is good;
(3) according to the invention, the medicine box is arranged at the lower part of the mechanical arm component to temporarily store and grab the medicines, so that the robot can be started at one time and continuously grab the medicines, and the working efficiency of the flexible cable parallel medicine taking robot can be effectively improved.
Drawings
Fig. 1 is a schematic overall structure diagram of a flexible cable parallel medicine taking robot facing a large pharmacy in embodiment 1.
Fig. 2 is a schematic structural view of a driving unit in embodiment 1.
Fig. 3 is a schematic view of the overall configuration of the center mobile station in embodiment 1.
Fig. 4 is a schematic front view of the structure of fig. 3.
Fig. 5 is a schematic top view of the structure of fig. 3.
Fig. 6 is a schematic structural view of the robot arm assembly in embodiment 1.
Fig. 7 is an enlarged view of the structure of the mechanical gripper of fig. 6.
Fig. 8 is a front cut-away view of the mechanical grip of fig. 6.
Fig. 9 is a top cut-away view of the mechanical gripper of fig. 6.
Fig. 10 is a state diagram of the flexible cable parallel drug-taking robot used in embodiment 1, which faces a large pharmacy.
In the figure: 1 is a central moving table, 11 is a moving table body, 12 is a cover plate, 13 is a fixed pulley group, 131 is a fixed pulley, 14 is a lifting mechanism, 141 is a rhombic lifting table, 142 is a linear motor, 143 is a lifting table push rod, 144 is a lifting table push rod guide box, 2 is a medicine box, 3 is a mechanical arm component, 31 is an axial driving element, 311 is an electric lead screw, 312 is a guide polished rod, 313 is a lead screw driving motor, 314 is a coupler, 32 is a mechanical hand grip, 321 is a mechanical hand palm portion, 322 is a palm portion plate, 323 is a finger, 3231 is a first knuckle, 3232 is a second knuckle, 3233 is a first inter-finger pulley, 3234 is a second inter-finger pulley, 3235 is a positioning spring, 33 is a gripping driving motor, 34 is a second reel, 35 is a flexible rope, 4 is a moving driving mechanism, 41 is a driving unit, 411 is a shell, 412 is a driving motor, 413 is a gear reducer, 414 is a first reel, 415 is a buckle structure, and 42 is a steel wire rope.
Detailed Description
The following examples are given for the detailed implementation and specific operation of the present invention, but the scope of the present invention is not limited to the following examples.
Example 1
As shown in fig. 1 to 10, the flexible cable parallel medicine taking robot for large pharmacies of the present embodiment includes a central moving platform 1, a medicine box 2, a mechanical arm assembly 3, a moving driving mechanism 4 and a control mechanism.
Referring to fig. 1 and 3, the central mobile station 1 includes a mobile station body 11 and a cover plate 12 covering the mobile station body 11; four groups of fixed pulley blocks 13 are arranged at the outer side end of the mobile platform body 11, each group of fixed pulley blocks 13 comprises an upper fixed pulley 131 and a lower fixed pulley 131, and a lifting mechanism 14 is arranged in the mobile platform body 11.
Referring to fig. 1, a medicine box 2 is disposed at the bottom of a central mobile station 1 for temporarily storing medicines.
Referring to fig. 1, 3 and 8, one end of the robot arm assembly 3 is mounted on the central moving table 1, and the other end drives the mechanical gripper 32 to laterally extend or retract through the axial driving element 31; meanwhile, a gripping driving motor 33 is arranged in the mechanical gripper 32, and the mechanical gripper 32 realizes the gripping or releasing of the medicine through the driving of the gripping driving motor 33.
Referring to fig. 1, 2 and 3, the mobile driving mechanism 4 includes four sets of driving units 41 fixed on the wall of the pharmacy by bolts and arranged diagonally between two driving units, each driving unit 41 is connected with one set of fixed pulley block 13 of the central mobile station 1 by a set of steel wire rope 42, and two fixed pulleys 131 of the same set are connected by tensioning the same steel wire rope 42; the movement driving mechanism 4 is used to drive the center moving stage 1 to move to the medicine position or return to the initial position.
The control mechanism comprises an outer end control platform; the outer end control platform is respectively connected with the lifting mechanism 14, the axial driving element 31, the gripping driving motor 33 and each driving unit 41 of the moving driving mechanism 4 in a control way, and a microcomputer sends a control command to the structures.
Further, referring to fig. 2, in the present embodiment, each set of driving units 41 includes a set of housing 411, and a driving motor 412, a gear reducer 413 and a first reel 414 disposed in the housing 411; wherein, the first winding drum 414 is wound with the steel wire rope 42, the output end of the driving motor 412 is connected with the input end of the gear reducer 413, and the output end of the gear reducer 413 is connected with the first winding drum 414 by a key. In the above structure, the driving motor 412 outputs the rotation power, the speed is converted through the gear reducer 413, and the torque is output to the first reel 414, and the first reel 414 drives the steel wire rope 42 to stretch; the four groups of driving units 41 drive the steel wire ropes 42 to be matched in a linkage manner, so that the position and the moving speed of the central moving platform 1 are controlled.
In addition, each group of the shells 411 is further provided with a buckle structure 415, and the end of the steel cable 42 passing through the fixed pulley group 13 can be fixed through the buckle structure 415.
Further, referring to fig. 4 and 5, in the present embodiment, the lifting mechanism 14 includes a rhombic lifting platform 141, a linear motor 142, a lifting platform push rod 143, and a lifting platform push rod guiding box 144 fixed to the moving platform body 11; the rhombic lifting platform 141 is provided with a linear motor 142, and the linear motor 142 is driven to realize vertical stretching deformation; the upper end of the linear motor 142 is provided with a lifting platform push rod 143, and the upper end of the lifting platform push rod 143 extends upwards into the downward opening of the lifting platform push rod guide box 144 and slides up and down along the inner wall of the opening under the driving of the linear motor 142. The linear motor 142 is connected to the control mechanism, and under the control of the control mechanism, drives the rhombic elevating platform 141 to extend or shorten along the length direction thereof, and simultaneously drives the elevating platform push rod 143 to push up or retract the elevating platform push rod guide box 144, so as to realize the integral ascending or descending of the central moving platform 1.
Further, referring to fig. 1 and 3, in the present embodiment, the robot arm assembly 3 is disposed at the bottom of the rhombic elevating platform 141, and is elevated by the rhombic elevating platform 141; meanwhile, the medicine box 2 is arranged below the mechanical arm assembly 3, after the mechanical arm assembly 3 grabs the medicine, the axial driving element 31 drives the mechanical gripper 32 to transversely retract, and the gripping driving motor 33 drives the mechanical gripper 32 to loosen, so that the medicine naturally falls into the medicine box 2 under the action of gravity.
Further, referring to fig. 6 and 8, in the present embodiment, the axial driving element 31 is a transversely arranged electric lead screw 311 and a guide polished rod 312 for guiding; the electric screw 311 is connected with the mechanical gripper 32 and is driven by a screw driving motor 313 arranged in the mechanical gripper 32; under the drive of the screw driving motor 313, the electric screw 311 drives the mechanical gripper 32 to extend or retract along the axial direction thereof.
Further, referring to fig. 7, 8 and 9, in the present embodiment, the mechanical gripper 32 adopts under-actuated two-finger gripping, including a manipulator palm portion 321, a palm portion joint plate 322, and two fingers 323 connected to the manipulator palm portion 321; the manipulator palm part 321 is connected with the electric screw 311 through the coupler 314, and a pair of gripping driving motors 33 is arranged in the manipulator palm part 321; wherein each grip driving motor 33 controls one finger 323.
Specifically, each of the grip driving motors 33 is connected to a second winding drum 34, and the second winding drum 34 is wound with a flexible rope 35; each finger 323 comprises a first knuckle 3231, a second knuckle 3232, a first inter-finger pulley 3233 connecting the first knuckle 3231 and the manipulator palm 321, and a second inter-finger pulley 3234 connecting the first knuckle 3231 and the second knuckle 3232; the flexible rope 35 extends from the position of the second winding drum 34 to the arrangement direction of the finger 323 to be sequentially connected with the first inter-finger pulley 3233 and the second inter-finger pulley 3234, and is fixed on the second knuckle 3232 at the tail end of the flexible rope 35; driven by the grip drive motor 33, the second reel 34 pulls the flexible cord 35, and the flexible cord 35 controls the second knuckle 3232 by connecting the first knuckle 3231 to the first inter-finger pulley 3233 and the second inter-finger pulley 3234. Meanwhile, a positioning spring 3235 is further connected between the first knuckle 3231 and the second knuckle 3232, thereby maintaining the relative state of the finger 323. Here, it is noted that the movements of the two fingers 323 of the mechanical grip 32 are corresponding, and the two keep moving in unison during gripping.
In addition, referring to fig. 10, regarding the usage control principle of the robot of the present embodiment:
the driving motors 412 in the four groups of driving units 41 are controlled by the instruction of the microcomputer of the external end control platform and work according to the embedded instruction of the preset number, each driving motor 412 outputs torque to the corresponding gear reducer 413 through key connection, and the output shaft of each gear reducer 413 transmits the driving torque to the corresponding first reel 414. The first reel 414 pulls the steel wire rope 42, the central moving platform 1 is controlled to reach the first preset position through the fixed pulley block 13 on the central moving platform 1, the second instruction is effective, and the linear motor 142 controls the diamond-shaped lifting platform 141 to lower the mechanical arm assembly 3 to the second preset position. And the electric lead screw 311 receives a third instruction and starts to rotate, and the mechanical gripper 32 drives the guide polished rod 312 to axially move through the electric lead screw 311. After the mechanical gripper 32 reaches the third preset serial number designated position, the microcomputer sends a gripping instruction to a pair of gripping driving motors 33 in the manipulator palm part 321, and the gripping driving motors 33 respectively pull the flexible ropes 35 to control two fingers 323; one of the flexible cords 35 controls a first finger 323 by connecting to the first knuckle 3231 and to the first inter-finger pulley 3233 and the second inter-finger pulley 3234 to control the second knuckle 3232, and the other flexible cord 35 similarly controls a second finger 323. At this time, the fingers 323 are slowly clamped from the open state until the finger force sensors detect the gripping force to reach a preset value, the gripping driving motor 33 stops running and the flexible rope 35 is kept in a tensioned state; meanwhile, the electric screw 311 rotates reversely, the mechanical gripper 32 retracts to the initial position, the gripping driving motor 23 of the mechanical hand palm portion 321 controls the tension state of the flexible rope 35 to change, the finger 323 loosens, and the medicine bottle enters the medicine box 2 below the rhombic lifting platform 141 under the action of gravity to complete the designated medicine gripping work. And traversing all preset numbers of the medicines to be taken in sequence, repeating the steps of taking the medicines, and after the numbers are traversed, the robot pulls the steel wire rope 42 to return to the designated initial position through each driving unit 41, and the workers take the medicines out of the medicine box 2 to finish the work of taking the medicines.
Correspondingly, the use method of the device of the embodiment comprises the following steps:
(1) initializing a system, checking whether the matching of each machine and the driving unit 41 is good, automatically returning to zero by the central mobile station 1, the mechanical gripper 32 and the rhombic lifting platform 141 under the driving of the steel wire rope 42, determining the initial position of each mechanical module by a limit switch, and manually inputting the initial position coordinates of each mechanical module;
(2) when the medicines are put in storage, pharmacy management staff need to preset and number each medicine and put the medicine in a designated position; the appointed position refers to a preset position of a predetermined medicine, and coordinates of the preset position are stored in preset numbers through a program;
(3) after receiving the names and the serial numbers of the medicines to be taken, the pharmacy management staff inputs the serial numbers of the medicine bottles of the medicines to be taken through the microcomputer of the external end control platform and sends instructions to the driving units 41 of the robot; meanwhile, the central mobile station 1 moves to a first position specified according to a preset number, the lowering height of the rhombic lifting platform 141 is determined through the linear motor 142, the second position specified by the preset number is reached, and the mechanical gripper 32 is controlled through the electric lead screw 311 to reach a third position specified by the preset number;
(4) after the mechanical gripper 32 reaches the third preset serial number designated position, the microcomputer sends a gripping instruction, a gripping driving motor 33 in the manipulator palm part 321 drives the flexible rope 35, the finger 323 is slowly clamped from an open state until the finger force sensor detects that the gripping force reaches a preset size, the gripping driving motor 33 stops running and the flexible rope 35 is kept in a tensioning state; meanwhile, the electric screw 311 rotates reversely, the mechanical gripper 32 retracts to the initial position, the gripping driving motor 33 of the mechanical hand palm 321 controls the tension state of the flexible rope 35 to change, the finger 323 is loosened, and the medicine bottle enters the medicine box 2 below the rhombic lifting platform 141 under the action of gravity to complete the designated medicine gripping work;
(5) and traversing all preset numbers of the medicines to be taken in sequence, repeating the steps of taking the medicines, and after the numbers are traversed, the robot pulls the steel wire rope 42 to return to the designated initial position through each driving unit 41, and the workers take the medicines out of the medicine box 2 to finish the work of taking the medicines.
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, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (1)
1. The utility model provides a flexible cable parallel medicine robot that gets towards large-scale drugstore which characterized in that includes:
the central mobile station is provided with a lifting mechanism;
the medicine box is arranged at the bottom of the central mobile station;
one end of the mechanical arm assembly is mounted on the central moving table, and the other end of the mechanical arm assembly drives the mechanical gripper to transversely extend or retract through the axial driving element; meanwhile, a gripping driving motor is arranged on the mechanical gripper, and the mechanical gripper realizes the gripping or releasing of the medicine through the driving of the gripping driving motor;
the mobile driving mechanism comprises four groups of driving units which are distributed at the wall end of the drug room and are arranged diagonally between every two driving units; the driving unit is connected with the central mobile station through a steel wire rope and used for driving the central mobile station to move to a medicine position or return to an initial position;
the control mechanism is respectively connected with the lifting mechanism, the axial driving element, the gripping driving motor and the moving driving mechanism in a control way;
each group of driving units respectively comprises a group of shells, a driving motor, a gear reducer and a first winding drum, wherein the driving motor, the gear reducer and the first winding drum are arranged in the shells; meanwhile, each group of first winding drums is respectively wound with a group of steel wire ropes, and the movement driving mechanism is movably connected with the central moving platform through four groups of steel wire ropes;
each group of shells is also provided with a buckle structure respectively for fixing the free end of the steel wire rope;
the central mobile station comprises a mobile station body; four groups of fixed pulley blocks are arranged at the outer side end of the moving platform body, each group of fixed pulley blocks comprises an upper fixed pulley and a lower fixed pulley, and the lifting mechanism is arranged in the moving platform body; the four groups of steel wire ropes on the mobile driving mechanism are respectively and correspondingly connected with one group of fixed pulley blocks, and the two fixed pulleys in the same group are connected by tensioning the same steel wire rope;
the lifting mechanism comprises a rhombic lifting table, a linear motor, a lifting table push rod and a lifting table push rod guide box fixed on the central moving table; the rhombic lifting platform is provided with a linear motor, and the rhombic lifting platform is driven by the linear motor to stretch and deform up and down; the upper end of the linear motor is provided with the lifting platform push rod, and the upper end of the lifting platform push rod extends upwards into a downward opening of the lifting platform push rod guide box and slides up and down along the inner wall of the opening under the driving of the linear motor; the linear motor is connected with the control mechanism in a control mode, and under the control of the control mechanism, the rhombic lifting table is driven to extend or shorten along the length direction of the rhombic lifting table and meanwhile the lifting table push rod is driven to push up or retract the lifting table push rod guide box downwards so as to realize integral ascending or descending of the central moving table;
the mechanical arm assembly is arranged at the bottom of the lifting mechanism and is lifted through the lifting mechanism; meanwhile, the medicine box is arranged below the mechanical arm assembly, after the mechanical arm assembly grabs the medicine, the axial driving element drives the mechanical hand to transversely retract, the grabbing driving motor drives the mechanical hand to release, and the medicine falls into the medicine box;
the axial driving element is an electric lead screw which is transversely arranged; the electric screw rod is connected with the mechanical gripper to drive the mechanical gripper to extend out or retract along the axial direction of the mechanical gripper;
the mechanical gripper adopts under-actuated two-finger gripping and comprises a mechanical hand palm part and two fingers connected with the mechanical hand palm part; the manipulator palm part is connected with the electric screw rod through a coupler, and a pair of gripping driving motors is arranged in the manipulator palm part; wherein each of the gripping drive motors controls a finger, respectively;
each grabbing driving motor is respectively connected with a second winding drum, and a flexible rope is wound on the second winding drum; each finger comprises a first knuckle, a second knuckle, a first inter-finger pulley for connecting the first knuckle and the palm part of the mechanical hand and a second inter-finger pulley for connecting the first knuckle and the second knuckle respectively; the flexible rope extends from the position of the second winding drum to the finger arrangement direction to be sequentially connected with the first inter-finger pulley and the second inter-finger pulley, and is fixed on the second knuckle at the tail end of the flexible rope; under the driving of the grabbing driving motor, the second winding drum pulls the flexible rope, and the flexible rope is connected with the first knuckle and the first inter-finger pulley and the second inter-finger pulley to control the second knuckle;
and a positioning spring is fixedly connected between the first knuckle and the second knuckle.
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| CN104382674B (en) * | 2014-10-20 | 2016-06-01 | 华中科技大学 | A kind of drive lacking prosthetic hand reappearing staff crawl function |
| CN104647367B (en) * | 2014-12-29 | 2016-05-25 | 合肥工业大学 | The robot palletizer in parallel of the compound driving of a kind of rope bar |
| ES2952698T3 (en) * | 2016-11-08 | 2023-11-03 | Centre Nat Rech Scient | Cable Operated Parallel Manipulator |
| CN108362336B (en) * | 2018-02-09 | 2021-06-18 | 合肥工业大学 | Parallel flexible cable type air detection system and method for large-space public places |
| CN109395938B (en) * | 2018-11-01 | 2020-07-28 | 合肥工业大学 | Spraying robot mechanism driven by parallel flexible cables |
| CN209682168U (en) * | 2018-11-23 | 2019-11-26 | 厦门兴泰克机电有限公司 | A kind of conveying robot for precision parts processing |
| CN112025668B (en) * | 2020-03-27 | 2021-09-03 | 同济大学 | Library book taking and returning robot system |
| CN111891770A (en) * | 2020-08-27 | 2020-11-06 | 北京品创智能科技有限公司 | Loading robot based on flexible cable |
| CN112248001A (en) * | 2020-09-30 | 2021-01-22 | 湖北工程学院 | Mechanical claw, mechanical hand, replenishment robot and replenishment system |
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