CN113021367B - Automatic clamping and force-unloading mechanism and automatic liquid distribution system - Google Patents
Automatic clamping and force-unloading mechanism and automatic liquid distribution system Download PDFInfo
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- CN113021367B CN113021367B CN202110265836.4A CN202110265836A CN113021367B CN 113021367 B CN113021367 B CN 113021367B CN 202110265836 A CN202110265836 A CN 202110265836A CN 113021367 B CN113021367 B CN 113021367B
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- 230000007246 mechanism Effects 0.000 title claims abstract description 35
- 239000007788 liquid Substances 0.000 title claims abstract description 10
- 238000009826 distribution Methods 0.000 title claims abstract description 7
- 230000005540 biological transmission Effects 0.000 claims abstract description 171
- 238000013016 damping Methods 0.000 claims abstract description 90
- 230000009471 action Effects 0.000 claims abstract description 6
- 238000005381 potential energy Methods 0.000 claims abstract description 5
- 230000007704 transition Effects 0.000 claims description 45
- 230000000712 assembly Effects 0.000 claims description 10
- 238000000429 assembly Methods 0.000 claims description 10
- 230000033001 locomotion Effects 0.000 claims description 4
- 238000003491 array Methods 0.000 claims description 3
- 230000002452 interceptive effect Effects 0.000 claims description 3
- 239000003814 drug Substances 0.000 description 7
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000003825 pressing Methods 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 230000003203 everyday effect Effects 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
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- 230000002093 peripheral effect Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61J—CONTAINERS SPECIALLY ADAPTED FOR MEDICAL OR PHARMACEUTICAL PURPOSES; DEVICES OR METHODS SPECIALLY ADAPTED FOR BRINGING PHARMACEUTICAL PRODUCTS INTO PARTICULAR PHYSICAL OR ADMINISTERING FORMS; DEVICES FOR ADMINISTERING FOOD OR MEDICINES ORALLY; BABY COMFORTERS; DEVICES FOR RECEIVING SPITTLE
- A61J1/00—Containers specially adapted for medical or pharmaceutical purposes
- A61J1/14—Details; Accessories therefor
- A61J1/20—Arrangements for transferring or mixing fluids, e.g. from vial to syringe
- A61J1/2003—Accessories used in combination with means for transfer or mixing of fluids, e.g. for activating fluid flow, separating fluids, filtering fluid or venting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
- B25J15/103—Gripping heads and other end effectors having finger members with three or more finger members for gripping the object in three contact points
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Abstract
The invention belongs to the technical field of mechanical equipment, in particular to an automatic clamping and force-unloading mechanism and an automatic liquid distribution system, aiming at solving the problem that a clamping device in the prior art cannot automatically unload force, wherein the automatic clamping and force-unloading mechanism comprises a turntable, a driving device, a transmission device, a clamping device and a damping device, wherein the transmission device, the clamping device and the damping device are arranged in the turntable; the transmission device comprises a first transmission assembly and a second transmission assembly; in a working state, the first transmission assembly drives the clamping device to clamp or loosen the target object through the second transmission assembly under the driving of the driving device; when the target is in a clamping state, the target exerts reverse impedance force on the clamping device, the clamping device and the second transmission assembly are stressed and stopped to form a first linkage whole, and under the action of the thrust of the first transmission assembly, the clamping device overcomes the elastic potential energy of the damping device and moves to be disengaged from the first transmission assembly, so that clamping automatic force unloading is realized; the invention can automatically unload the excessive force after clamping, and effectively prevent objects from being damaged and exploded by clamping.
Description
Technical Field
The invention belongs to the technical field of mechanical equipment, and particularly relates to an automatic clamping and force-unloading mechanism and an automatic liquid distribution system.
Background
A robot that is used for supplementary manual work of hospital to join in marriage liquid among the prior art, the task volume of joining in marriage liquid every day is very big, its clamping device need constantly loosen the action with pressing from both sides tightly to the medicine bottle, current clamping device adopts running gear and damping spring to accomplish the unclamping and pressing from both sides tightly to the medicine bottle mostly, but the external diameter of a large amount of medicine bottles of centre gripping is different in the reality, to the centre gripping medicine bottle of treating of equidimension, gear revolve often can appear and loosen too much or loosen not in place, form the problem that tooth punching and medicine bottle can't place the target in place, and simultaneously, to the medicine bottle of not unidimension, the unable accurate control of the tight effect of clamp of gear, it hinders even presss from both sides the explosion easily to press from both sides the medicine bottle.
Disclosure of Invention
In order to solve the problems, namely to solve the problem that the clamping device in the prior art cannot automatically unload force, the invention provides an automatic clamping and force unloading mechanism and an automatic liquid distribution machine system.
The invention provides an automatic clamping and force-unloading mechanism, which comprises a rotary table, a driving device, a transmission device, a clamping device and a damping device, wherein the transmission device, the clamping device and the damping device are all arranged in the rotary table;
the transmission device comprises a first transmission component and a second transmission component which are in meshing transmission, and the first transmission component is arranged at the power output end of the driving device; the second transmission assembly comprises a transition gear assembly and a hand grip gear assembly, and the transition gear assembly is connected with the hand grip gear assembly through a damping transmission gear carrier; the bottom end of the transition gear assembly penetrates through the waist-shaped groove gap of the transmission gear limiting seat; the transmission gear limiting seat is arranged in the turntable; the transition gear assembly is in meshing transmission with the gripper gear assembly; the clamping device is arranged at the top of the gripper gear assembly and used for clamping or loosening the target object;
the damping device comprises a fixing device and a limiting device, and the fixing device is fixedly arranged on the transmission gear limiting seat and used for fixing the damping piece; the limiting devices are two cantilevers of the damping piece and are used for limiting the transition gear assembly;
in a working state, the first transmission assembly drives the clamping device to clamp or loosen a target object through the second transmission assembly under the driving of the driving device; when the target is in a clamping state, the target exerts reverse impedance force on the clamping device, the clamping device and the second transmission assembly are stressed and stopped to form a first linkage whole, and the first linkage whole overcomes the elastic potential energy of the limiting device along the waist-shaped groove of the transmission gear limiting seat and moves to be disengaged from the first transmission assembly under the thrust action of the first transmission assembly so as to automatically clamp and unload the target.
In some preferred embodiments, the transition gear assembly comprises a transmission gear, a gear limit cover and a transmission gear central shaft, one end of the transmission gear central shaft penetrates through the transmission gear, and the other end of the transmission gear central shaft extends into the waist-shaped groove;
the gear limiting cover is arranged at the top of the transmission gear to be fixedly connected with the transmission gear and the transmission gear central shaft;
one end, far away from the gripper gear assembly, of the damping transmission gear carrier is rotatably connected with the central shaft of the transmission gear.
In some preferred embodiments, the waist-shaped groove is an inward concave arc-shaped groove structure;
the distance from the center of the semicircle at the two ends of the inner concave arc-shaped groove structure to the center of the first transmission assembly is a first distance; when the transition gear assembly is meshed with the first transmission assembly, the center of the transmission gear is a second distance from the center of the first transmission assembly; the first distance is greater than the second distance.
In some preferred embodiments, the gripper gear assembly comprises a gripper gear, a gripper gear central shaft and a connecting device, wherein one end of the gripper gear central shaft is arranged through the gripper gear, and the other end of the gripper gear central shaft is connected with the connecting device through a bearing assembly; the connecting device is fixedly arranged on the rotary table;
one end, far away from the transition gear assembly, of the damping transmission gear carrier is rotatably connected with the central shaft of the hand grip gear.
In some preferred embodiments, the clamping device comprises a gripper cover and N grippers, wherein the N grippers are rotatably connected with the gripper cover, and a fitting circle formed by the N grippers and N connecting parts of the gripper cover is concentrically arranged with the gripper cover; the gripper cover is fixedly connected with the rotary disc; the N grippers are folded inwards to hold the object to be clamped or unfolded outwards to release the object to be clamped when the gripper gears rotate.
In some preferred embodiments, the gripper comprises a gripper body, a rotating part and a limiting part, wherein the rotating part is arranged at one end of the gripper body; the rotating part is of a cylindrical structure, and a through hole is formed in the cylindrical structure and is used for being in clearance fit with the protrusion arranged on the hand grip cover; the limiting part is arranged at the bottom of the gripper body;
the bottom of the gripper cover is provided with N gripper limiting grooves, and the N gripper limiting grooves are all arc-shaped kidney-shaped grooves; the limiting part and the arc-shaped kidney-shaped groove are arranged in a clearance way;
the gripper gear is provided with N straight grooves, and the longitudinal axes of the N straight grooves and the radius of the gripper gear are obliquely arranged;
the limiting portion penetrates through the arc-shaped kidney-shaped groove to be suspended in the straight groove, and the length of the limiting portion is larger than the distance from the bottom of the gripper body to the top of the straight groove.
In some preferred embodiments, the gripping device comprises three said fingers, which in an initial state are on the same fitting circle; the three grippers are uniformly arranged;
the bottom of the gripper cover is provided with three gripper limiting grooves which are uniformly arranged; the distance from the hand grip limiting groove to the rotating center of the rotating part is greater than the distance from the hand grip limiting groove to the end part of the hand grip body far away from the rotating part;
the height of the gripper cover is greater than that of the gripper;
the gripper gear is provided with three straight grooves which are uniformly arranged;
the gripper cover is further provided with a plurality of connecting pins, and the connecting pins are arranged without interfering with the grippers and are fixedly connected with the rotary table.
In some preferred embodiments, the damping member is a U-shaped damping spring;
the fixing device comprises a damping spring fixing column, one end of the U-shaped damping spring is wound around the damping spring fixing column to be fixedly arranged, and two cantilevers at the other end of the U-shaped damping spring are oppositely arranged in an L shape;
the damping device also comprises a spring seat which is fixedly arranged on the transmission gear limiting seat; the spring seat is arranged between the transmission gear and the damping spring fixing column; the diameter of the spring seat is smaller than the distance between the two cantilevers of the U-shaped damping spring.
In some preferred embodiments, the distance from the L-shaped end of the cantilever to the damping spring fixing post of the damping spring fixing posts is a third distance; the distance from the center line axis of the transition gear assembly to the longitudinal axis of the damping spring fixing column is a fourth distance; the third distance is greater than the fourth distance.
A second aspect of the invention provides an automatic dispensing system comprising a robot, one or more automatic grip-release mechanisms as described in any one of the above;
each automatic clamping and force-unloading mechanism is provided with one or more second transmission assemblies, a plurality of waist-shaped grooves are formed in a transmission gear limiting seat in each automatic clamping and force-unloading mechanism, and the waist-shaped grooves are matched with transition gear assemblies in the automatic clamping and force-unloading mechanisms; the waist-shaped groove arrays are arranged on the periphery of the center of the rotary table device;
when the driving device is started, the second transmission assemblies can be driven to move simultaneously through the rotation of the first transmission assembly, so that a plurality of targets with different sizes can be clamped and the automatic force can be removed after clamping;
during operation, the robot performs liquid distribution operation of one or more targets based on the clamping movement of the automatic clamping and force-releasing mechanism.
The automatic clamping and force-unloading mechanism provided by the invention can automatically clamp objects of different gears and automatically unload force after clamping, can effectively prevent objects from being damaged or exploded by clamping, can be used for various objects such as round, square, special-shaped and the like, and has wide application range and high practicability.
Drawings
Other features, objects and advantages of the present application will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, made with reference to the accompanying drawings in which:
FIG. 1 is a schematic cross-sectional view of one embodiment of an automatic clamp force release mechanism of the present invention;
FIG. 2 is a schematic perspective view of an embodiment of a part of the apparatus of the automatic clamping and force-releasing mechanism of the present invention;
FIG. 3 is a schematic perspective view of one embodiment of a portion of the apparatus of FIG. 2;
FIG. 4 is a perspective view of one embodiment of the damping gear drive rack and transfer gear of FIG. 1;
FIG. 5 is a perspective view of one embodiment of the grip of FIG. 3;
FIG. 6 is a perspective view of one embodiment of the finger gear of FIG. 3;
FIG. 7 is a schematic perspective view of one embodiment of the damping device of FIG. 3;
FIG. 8 is a schematic perspective view of an embodiment of the clamping device of FIG. 1 in a non-operational state;
fig. 9 is a schematic perspective view of an embodiment of the clamping device of fig. 1 in an operating state.
The description of the reference numbers follows in order:
100. the driving device 110, the gripper motor 120 and the gripper motor fixing cover; 210. a main gear; 220. a transmission gear; 230. a gear limit cover; 240. a damping transmission gear carrier; 250. a transmission gear limiting seat 251 and a limiting groove; 260. a gripper gear 261, a straight groove 262 and a gripper gear central shaft; 270. a transmission gear central shaft; 310. damping spring fixed column, 320, spring seat, 330, U-shaped damping spring, 340, spring spacing piece; 400. the gripper comprises a clamping device 410, a gripper body 411, a rotating part 412, a limiting part 420, a gripper cover 421, a connecting pin 422 and a gripper limiting groove; 500. a turntable; 600. an object.
Detailed Description
In order to make the embodiments, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it is apparent that the described embodiments are some, but not all embodiments of the present invention. It should be understood by those skilled in the art that these embodiments are only for explaining the technical principle of the present invention, and are not intended to limit the scope of the present invention.
The invention provides an automatic clamping and force-unloading mechanism, which comprises a rotary table, a driving device, a transmission device, a clamping device and a damping device, wherein the transmission device, the clamping device and the damping device are all arranged in the rotary table; the transmission device comprises a first transmission component and a second transmission component which are in meshing transmission, and the first transmission component is arranged at the power output end of the driving device; the second transmission assembly comprises a transition gear assembly and a hand grip gear assembly, and the transition gear assembly is connected with the hand grip gear assembly through a damping transmission gear carrier; the bottom end of the transition gear assembly penetrates through the gap of the waist-shaped groove of the transmission gear limiting seat, and the waist-shaped groove is used for limiting the transition gear assembly and ensuring the transition gear assembly to move along a set route; the transmission gear limiting seat is arranged in the turntable and is used for being matched with one or more second transmission assemblies arranged on the peripheral side of the first transmission assembly to clamp a target object and automatically unloading force after clamping; the transition gear assembly is in meshing transmission with the gripper gear assembly; the clamping device is arranged at the top of the gripper gear assembly and used for clamping or loosening the target object; the damping device comprises a fixing device and a limiting device, wherein the fixing device is fixedly arranged on the transmission gear limiting seat and used for fixing the damping piece; the limiting devices are two cantilevers of the damping piece and are used for limiting the transition gear assembly, and when the transition gear assembly and the first transmission assembly are in a meshed state, the transition gear assembly ensures meshed transmission of the transition gear assembly, the gripper gear assembly and the first transmission assembly through the limiting devices; in a working state, the first transmission assembly drives the clamping device to clamp or loosen the target object through the second transmission assembly under the driving of the driving device; when the target object is in a clamping state, the target object exerts reverse impedance force on the clamping device, the clamping device and the second transmission assembly are stressed and stopped to form a first linkage whole, and the first linkage whole overcomes the elastic potential energy of the limiting device along the waist-shaped groove of the transmission gear limiting seat to move to a position where the first linkage whole is disengaged from the first transmission assembly under the thrust action of the first transmission assembly, namely, dislocated, so that automatic force unloading after the target object is clamped is realized, and the target object is prevented from being damaged or exploded by clamping. The automatic clamping and force-unloading mechanism provided by the invention can be used simultaneously in a plurality of groups and can also be independently used.
Furthermore, the transition gear assembly comprises a transmission gear, a gear limiting cover and a transmission gear central shaft, one end of the transmission gear central shaft penetrates through the transmission gear, and the other end of the transmission gear central shaft extends into the waist-shaped groove; the gear limiting cover is arranged at the top of the transmission gear to fixedly connect the transmission gear and the transmission gear central shaft; one end of the damping transmission gear carrier, which is far away from the gripper gear assembly, is rotatably connected with the central shaft of the transmission gear. The gripper gear assembly comprises a gripper gear, a gripper gear central shaft and a connecting device, wherein one end of the gripper gear central shaft penetrates through the gripper gear, and the other end of the gripper gear central shaft is connected with the connecting device through a bearing assembly; the connecting device is fixedly arranged on the rotary table; one end of the damping transmission gear carrier, which is far away from the transition gear assembly, is rotatably connected with the central shaft of the gripper gear.
Furthermore, the clamping device comprises a gripper cover and N grippers, the N grippers are rotatably connected with the gripper cover, and fitting circles formed by the N grippers and the N connecting parts of the gripper cover are concentrically arranged with the gripper cover; the gripper cover is fixedly connected with the rotary table; the N grippers are folded inwards to hold the object to be clamped or unfolded outwards to release the object to be clamped when the gripper gears rotate.
Furthermore, the gripper comprises a gripper body, a rotating part and a limiting part, wherein the rotating part is arranged at one end of the gripper body; the rotating part is of a cylindrical structure, and a through hole is formed in the cylindrical structure and is used for being in clearance fit with the protrusion arranged on the gripper cover; the limiting part is arranged at the bottom of the gripper body; the bottom of the gripper cover is provided with N gripper limiting grooves, and the N gripper limiting grooves are all arc-shaped kidney-shaped grooves; the limiting part is arranged in a clearance with the arc-shaped kidney-shaped groove; the gripper gear is provided with N straight grooves, and the longitudinal axes of the N straight grooves and the radius of the gripper gear are obliquely arranged; the limiting portion penetrates through the arc-shaped kidney-shaped groove and stretches into the straight groove, and the length of the limiting portion is larger than the distance from the bottom of the gripper body to the top of the straight groove.
Further, the damping piece is a U-shaped damping spring; the fixing device comprises a damping spring fixing column, one end of the U-shaped damping spring is fixedly wound on the damping spring fixing column, and two cantilevers at the other end of the U-shaped damping spring are oppositely arranged in an L shape; the damping device also comprises a spring seat which is fixedly arranged on the transmission gear limiting seat; the spring seat is arranged between the transmission gear and the damping spring fixing column. In the working process, the U-shaped damping spring can complete the center positioning of the transition gear assembly and the self-returning after dislocation.
A second aspect of the invention provides an automatic fluid dispensing system comprising a robot, one or more automatic clamping and force-releasing mechanisms; each automatic clamping and force-unloading mechanism is provided with one or more second transmission assemblies, a plurality of waist-shaped grooves are formed in a transmission gear limiting seat in each automatic clamping and force-unloading mechanism, and the waist-shaped grooves are matched with transition gear assemblies in the automatic clamping and force-unloading mechanisms; the plurality of waist-shaped groove arrays are arranged on the periphery of the center of the turntable device; when the driving device is started, the plurality of second transmission assemblies can be driven to move simultaneously through the rotation of the first transmission assembly so as to clamp a plurality of targets with different sizes and automatically unload force after clamping; during operation, the robot performs liquid dispensing operations for one or more objects based on the clamping motion of the automatic clamping and force-releasing mechanism.
The invention is further described with reference to the following detailed description of embodiments with reference to the accompanying drawings.
Referring to fig. 1 and 2, fig. 1 is a schematic cross-sectional view of an embodiment of an automatic clamping and force-releasing mechanism of the present invention, and fig. 2 is a schematic perspective view of an embodiment of a part of devices in the automatic clamping and force-releasing mechanism of the present invention; the mechanism comprises a turntable 500, a driving device 100, a transmission device, a clamping device 400 and a damping device, wherein the transmission device, the clamping device and the damping device are all arranged in the turntable; the transmission device comprises a first transmission component and a second transmission component which are in meshing transmission, in the embodiment, the first transmission component comprises a main gear 210, the driving device comprises a gripper motor 110, the gripper motor is arranged on the turntable through a gripper motor fixing cover 120, and the main gear is arranged at the power output end of the gripper motor; the second transmission assembly comprises a transition gear assembly and a hand grip gear assembly, and the transition gear assembly is connected with the hand grip gear assembly through a damping transmission gear carrier 240; the bottom end of the transition gear assembly penetrates through the waist-shaped groove gap of the transmission gear limiting seat 250, and the transmission gear limiting seat is of a disc-shaped structure and is coaxially arranged with the first transmission assembly; the transmission gear limiting seat is arranged in the turntable; the gripper gear assembly is in meshing transmission with the gripper gear assembly; the gripping device 400 is disposed at the top of the gripper gear assembly for clamping or loosening the target object; the damping device comprises a fixing device and a limiting device, wherein the fixing device is fixedly arranged on the transmission gear limiting seat and used for fixing the damping piece; the limiting devices are two cantilevers of the damping piece and are used for limiting the transition gear assembly; in a working state, the main gear drives the clamping device to clamp or loosen the target object 600 through the transition gear assembly and the gripper gear assembly under the driving of the gripper motor; when the target is in a clamping state, the target exerts reverse impedance force on the clamping device, the clamping device and the second transmission assembly are stressed and stopped to form a first linkage whole, and the first linkage whole overcomes the elastic potential energy of the limiting device along the waist-shaped groove of the limiting seat of the transmission gear to move to be disengaged from the first transmission assembly under the thrust action of the main gear so as to realize automatic force relief on the clamped target; wherein the waist-shaped groove is a limit groove 251.
With further reference to FIG. 3, FIG. 3 is a schematic perspective view of one embodiment of a portion of the apparatus of FIG. 2; the transition gear assembly comprises a transmission gear 220, a gear limiting cover 230 and a transmission gear central shaft, one end of the transmission gear central shaft penetrates through the transmission gear, and the other end of the transmission gear central shaft extends into the kidney-shaped groove; the gear limiting cover is arranged on the top of the transmission gear to fixedly connect the transmission gear and the transmission gear central shaft.
Preferably, the waist-shaped groove is of an inwards concave arc-shaped groove structure; the distance from the center of the semicircle at the two ends of the inner concave arc-shaped groove structure to the center of the first transmission assembly is a first distance; when the transition gear assembly is meshed with the main gear, the center of the transmission gear is a second distance from the center of the main gear; the first distance is greater than the second distance.
Further, the gripper gear assembly comprises a gripper gear 260, a gripper gear central shaft and a connecting device, wherein one end of the gripper gear central shaft penetrates through the gripper gear, and the other end of the gripper gear central shaft is connected with the connecting device through a bearing assembly; the connecting device is fixedly arranged on the rotary disc.
Preferably, the damping member is a U-shaped damping spring 330; the fixing device comprises a damping spring fixing column 310, one end of the U-shaped damping spring is fixedly wound on the damping spring fixing column, and two cantilevers at the other end of the U-shaped damping spring are oppositely arranged in an L shape; the damping device further comprises a spring seat 320 which is fixedly arranged on the transmission gear limiting seat; the damping device further comprises a spring limiting piece 340 arranged on the upper portion of the spring seat and used for being connected with the spring seat.
Preferably, the spring seat is arranged between the transmission gear and the damping spring fixing column; the diameter of the spring seat is smaller than the distance between the two cantilevers of the U-shaped damping spring.
Preferably, the distance from the L-shaped end of the cantilever to the damping spring fixing column of the damping spring fixing column is a third distance; the distance from the center line axis of the transition gear assembly to the longitudinal axis of the damping spring fixing column is a fourth distance; the third distance is greater than the fourth distance.
Further, referring to fig. 4 to 9, fig. 4 is a schematic perspective view of an embodiment of a damping gear transmission frame and a transmission gear in fig. 1, fig. 5 is a schematic perspective view of an embodiment of a hand grip in fig. 3, fig. 6 is a schematic perspective view of an embodiment of a hand grip gear in fig. 3, fig. 7 is a schematic perspective view of an embodiment of a damping device in fig. 3, fig. 8 is a schematic perspective view of an embodiment of a clamping device in fig. 1 in a non-working state, and fig. 9 is a schematic perspective view of an embodiment of a clamping device in fig. 1 in a working state; the clamping device comprises three grippers, and the three grippers are positioned on the same fitting circle in an initial state; the three grippers are uniformly arranged; three tongs spacing grooves 422 are seted up to the bottom of tongs cover 420, and three tongs spacing grooves evenly set up.
Preferably, the height of the gripper cover is greater than that of the gripper; three straight grooves 261 are formed in the gripper gear and are uniformly arranged; the grip cover is further provided with a plurality of connecting pins 421, and the plurality of connecting pins are arranged without interfering with the grip and are used for being fixedly connected with the turntable.
Furthermore, the three gripper limiting grooves are all arc-shaped kidney-shaped grooves; the limiting part is arranged in a clearance with the arc-shaped kidney-shaped groove; the longitudinal axes of the three straight grooves and the radius of the gripper gear are obliquely arranged; the limiting portion penetrates through the arc-shaped kidney-shaped groove and stretches into the straight groove, the length of the limiting portion is larger than the distance from the bottom of the gripper body to the top of the straight groove, and the gripper can be driven to move to clamp or loosen a target object when the gripper gear rotates.
Further, the gripper comprises a gripper body 410, a rotating part 411 and a limiting part 412, wherein the rotating part is arranged at one end of the gripper body; the rotating part is of a cylindrical structure, and a through hole is formed in the cylindrical structure and is used for being in clearance fit with the protrusion arranged on the gripper cover; the limiting part is arranged at the bottom of the gripper body.
Preferably, the distance from the hand grip limiting groove to the rotating center of the rotating part is greater than the distance from the hand grip limiting groove to the end part of the hand grip body far away from the rotating part, namely the hand turning limiting groove is arranged in a half area of the hand grip body far away from the rotating part, and the clamping effect of the hand grip on a target object is guaranteed.
Further, one end of the damping transmission gear rack, which is far away from the gripper gear assembly, is rotatably connected with the transmission gear central shaft 270; one end of the damping transmission gear rack, which is far away from the transition gear component, is rotatably connected with the gripper gear central shaft 262, and through the arrangement of the damping transmission gear rack, the transition gear component does circular motion around the central line of the gripper gear central shaft in the waist-shaped groove, so that the engagement and the dislocation with the main gear are realized.
It should be noted that in the description of the present invention, the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicating the directions or positional relationships are based on the directions or positional relationships shown in the drawings, which are only for convenience of description, and do not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Furthermore, it should be noted that, in the description of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
The terms "comprises," "comprising," or any other similar term are intended to cover a non-exclusive inclusion, such that a process, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, article, or apparatus.
So far, the technical solutions of the present invention have been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of the present invention is obviously not limited to these specific embodiments. Equivalent changes or substitutions of related technical features can be made by those skilled in the art without departing from the principle of the invention, and the technical scheme after the changes or substitutions can fall into the protection scope of the invention.
Claims (6)
1. An automatic clamping and force-unloading mechanism is characterized by comprising a rotary table, a driving device, a transmission device, a clamping device and a damping device, wherein the transmission device, the clamping device and the damping device are all arranged in the rotary table;
the transmission device comprises a first transmission component and a second transmission component which are in meshing transmission, and the first transmission component is arranged at the power output end of the driving device; the second transmission assembly comprises a transition gear assembly and a hand grip gear assembly, and the transition gear assembly is connected with the hand grip gear assembly through a damping transmission gear carrier; the bottom end of the transition gear assembly penetrates through the waist-shaped groove gap of the transmission gear limiting seat; the transmission gear limiting seat is arranged in the turntable; the transition gear assembly is in meshing transmission with the gripper gear assembly; the clamping device is arranged at the top of the gripper gear assembly and used for clamping or loosening the target object; the damping device comprises a fixing device and a limiting device, and the fixing device is fixedly arranged on the transmission gear limiting seat and used for fixing the damping piece; the limiting devices are two cantilevers of the damping piece and are used for limiting the transition gear assembly;
the transition gear assembly comprises a transmission gear and a transmission gear central shaft, one end of the transmission gear central shaft penetrates through the transmission gear, and the other end of the transmission gear central shaft extends into the waist-shaped groove; one end, far away from the gripper gear assembly, of the damping transmission gear carrier is rotatably connected with the central shaft of the transmission gear; the waist-shaped groove is of an inwards concave arc-shaped groove structure; the distance from the center of the semicircle at the two ends of the inner concave arc-shaped groove structure to the center of the first transmission assembly is a first distance; when the transition gear assembly is meshed with the first transmission assembly, the center of the transmission gear is a second distance from the center of the first transmission assembly; the first distance is greater than the second distance; the gripper gear assembly comprises a gripper gear, a gripper gear central shaft and a connecting device, wherein one end of the gripper gear central shaft penetrates through the gripper gear, and the other end of the gripper gear central shaft is connected with the connecting device through a bearing assembly; the connecting device is fixedly arranged on the rotary table; one end, far away from the transition gear assembly, of the damping transmission gear carrier is rotatably connected with the central shaft of the hand grip gear; the clamping device comprises N grippers, and the N grippers are folded inwards to hold the object to be clamped or unfolded outwards to release the object to be clamped when the gripper gear rotates;
the damping piece is a U-shaped damping spring; the fixing device comprises a damping spring fixing column, one end of the U-shaped damping spring is wound around the damping spring fixing column to be fixedly arranged, and two cantilevers at the other end of the U-shaped damping spring are oppositely arranged in an L shape; the damping device also comprises a spring seat which is fixedly arranged on the transmission gear limiting seat; the spring seat is arranged between the transmission gear and the damping spring fixing column; the diameter of the spring seat is smaller than the distance between the two cantilevers of the U-shaped damping spring; the distance from the L-shaped end part of the cantilever to the damping spring fixing column of the damping spring fixing column is a third distance; the distance from the center line axis of the transition gear assembly to the longitudinal axis of the damping spring fixing column is a fourth distance; the third distance is greater than the fourth distance;
in a working state, the first transmission assembly drives the clamping device to clamp or loosen a target object through the second transmission assembly under the driving of the driving device; when the target is in a clamping state, the target exerts reverse impedance force on the clamping device, the clamping device and the second transmission assembly are stressed and stopped to form a first linkage whole, and the first linkage whole overcomes the elastic potential energy of the limiting device to move to be disengaged from the first transmission assembly along the waist-shaped groove of the transmission gear limiting seat under the thrust action of the first transmission assembly so as to automatically clamp and unload the target.
2. The automatic clamp force relief mechanism of claim 1, wherein said transition gear assembly further comprises a gear limit cage,
the gear limiting cover is arranged at the top of the transmission gear to be fixedly connected with the transmission gear and the transmission gear central shaft.
3. The automatic clamping and force-releasing mechanism according to claim 1, wherein said clamping device further comprises a gripper cover, N said grippers are rotatably connected with said gripper cover, and a fitting circle formed by N connecting portions of N said grippers and said gripper cover is concentrically arranged with said gripper cover; the gripper cover is fixedly connected with the rotary disc.
4. The automatic clamping and force-releasing mechanism of claim 3, wherein the gripper comprises a gripper body, a rotating part and a limiting part, wherein the rotating part is arranged at one end of the gripper body; the rotating part is of a cylindrical structure, and a through hole is formed in the cylindrical structure and is used for being in clearance fit with the protrusion arranged on the hand grip cover; the limiting part is arranged at the bottom of the gripper body;
the bottom of the gripper cover is provided with N gripper limiting grooves, and the N gripper limiting grooves are all arc-shaped kidney-shaped grooves; the limiting part and the arc-shaped kidney-shaped groove are arranged in a clearance way;
the gripper gear is provided with N straight grooves, and the longitudinal axes of the N straight grooves and the radius of the gripper gear are obliquely arranged;
the limiting portion penetrates through the arc-shaped kidney-shaped groove to be suspended in the straight groove, and the length of the limiting portion is larger than the distance from the bottom of the gripper body to the top of the straight groove.
5. The automatic clamping and force-releasing mechanism of claim 4, wherein said clamping means comprises three said fingers, said three said fingers being initially on a same circle; the three grippers are uniformly arranged;
the bottom of the gripper cover is provided with three gripper limiting grooves which are uniformly arranged; the distance from the hand grip limiting groove to the rotating center of the rotating part is greater than the distance from the hand grip limiting groove to the end part of the hand grip body far away from the rotating part;
the height of the gripper cover is greater than that of the gripper;
the gripper gear is provided with three straight grooves which are uniformly arranged;
the gripper cover is further provided with a plurality of connecting pins, and the connecting pins are arranged without interfering with the grippers and are fixedly connected with the rotary table.
6. An automatic dispensing system, characterized in that it comprises a robot, one or more automatic gripping and force-releasing mechanisms according to any one of claims 1-5;
each automatic clamping and force-unloading mechanism is provided with one or more second transmission assemblies, a plurality of waist-shaped grooves are formed in a transmission gear limiting seat in each automatic clamping and force-unloading mechanism, and the waist-shaped grooves are matched with transition gear assemblies in the automatic clamping and force-unloading mechanisms; the waist-shaped groove arrays are arranged on the periphery of the center of the rotary table device;
when the driving device is started, the second transmission assemblies can be driven to move simultaneously through the rotation of the first transmission assembly, so that a plurality of targets with different sizes can be clamped and the automatic force can be removed after clamping;
during operation, the robot performs liquid distribution operation of one or more objects based on the clamping movement of the automatic clamping and force-releasing mechanism.
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| CN113952870B (en) * | 2021-12-22 | 2022-03-22 | 深圳市博为医疗机器人有限公司 | Mixing device |
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