CN113200344A - Medicine board centre gripping manipulator - Google Patents
Medicine board centre gripping manipulator Download PDFInfo
- Publication number
- CN113200344A CN113200344A CN202110429208.5A CN202110429208A CN113200344A CN 113200344 A CN113200344 A CN 113200344A CN 202110429208 A CN202110429208 A CN 202110429208A CN 113200344 A CN113200344 A CN 113200344A
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- Prior art keywords
- clamping
- clamping block
- movable
- traction
- medicine plate
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Classifications
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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
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
-
- 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
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/027—Tablets, capsules, pills or the like
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Medical Preparation Storing Or Oral Administration Devices (AREA)
Abstract
The invention relates to a medicine plate clamping manipulator which comprises a clamping kit and a clamping action part, wherein the clamping kit consists of a fixed clamping block and a movable clamping block; at least part of the fixed clamping blocks and the movable clamping blocks are in linkage relation of being far away from or close to each other; when the clamping sleeve enters and clamps along the Y axis and moves to be separated from the clamping action part, the fixed clamping block and/or the movable clamping block reset and move to be away from each other; when the clamping sleeve piece moves back to a set position along the Y axis, the clamping action part acts on the fixed clamping block and/or the movable clamping block to enable the clamping sleeve piece and the movable clamping block to mutually approach to clamp the medicine plate parts. The medicine clamping performance of the medicine plate clamping manipulator is reliable, the working efficiency is high, and the manufacturing cost is low.
Description
Technical Field
The invention relates to a robot clamp, in particular to a medicine plate clamping manipulator.
Background
For medical institutions, the unmanned pharmacy management system is a future development trend, namely medicines are placed in corresponding medicine boxes according to set positions, the actions of extracting, storing and the like of the medicines are completed by designated robots, the unmanned pharmacy management system can save manpower and material resources, reduce possible errors, more accurately and unmistakably count medicine allowance so as to timely supplement related medicines, and the efficiency of subpackaging and distributing the medicines is greatly improved. In order to smoothly complete related actions, related robots need to be configured with corresponding mechanical arms, and the service performance and the use effect of the existing similar mechanical arms on the market are unsatisfactory due to the fact that the existing similar mechanical arms are in a searching stage, so that the existing mechanical arms for clamping medicines need to be further improved.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provide the medicine plate clamping manipulator which is reliable in medicine clamping performance, high in working efficiency and low in manufacturing cost.
The purpose of the invention is realized as follows:
a medicine plate clamping manipulator comprises a clamping kit consisting of a fixed clamping block and a movable clamping block, and a clamping action part; at least part of the fixed clamping blocks and the movable clamping blocks are in linkage relation of being far away from or close to each other; when the clamping sleeve enters and clamps along the Y axis and moves to be separated from the clamping action part, the fixed clamping block and/or the movable clamping block reset and move to be away from each other; when the clamping sleeve piece moves back to a set position along the Y axis, the clamping action part acts on the fixed clamping block and/or the movable clamping block to enable the clamping sleeve piece and the movable clamping block to mutually approach to clamp the medicine plate parts.
As a more specific scheme: the medicine plate clamping manipulator further comprises a separating part, wherein a separating tip used for separating and lifting the medicine plate part is arranged on the separating part; the centre gripping external member presss from both sides tight medicine board part of bottommost, and the separation point tip inserts between the medicine board part of bottommost and the medicine board part of time bottom to the medicine board part of separation bottommost and the medicine board part of time bottom, and the medicine board part of lifting time bottom.
As a more specific scheme: this medicine board centre gripping manipulator still includes the cantilever part of adjusting the activity along the X axle, and the centre gripping external member is accomplished on cantilever part and is advanced to press from both sides the activity and/or move back and press from both sides the activity, and the centre gripping external member is adjusted the activity along the X axle along with cantilever part to the not unidimensional medicine board part of adaptation.
As a more specific scheme: the medicine plate clamping manipulator further comprises an adjusting power assembly, wherein the adjusting power assembly comprises an adjusting motor and an adjusting screw rod, an output shaft of the adjusting motor is in transmission connection with the adjusting screw rod, and the adjusting screw rod extends along the X axis; and the cantilever component is provided with an adjusting nut which is in threaded connection with the adjusting screw rod so as to drive the clamping sleeve to adjust and slide along the X axis.
As a more specific scheme: the fixed clamping block is provided with a fixed clamping part, and the movable clamping block is provided with a movable clamping part corresponding to the fixed clamping part; the medicine plate clamping manipulator further comprises a guide sliding chute, and the clamping sleeve slides on the guide sliding chute; when the clamping sleeve member slides along the Y-axis into the guide sliding groove, the clamping action part acts on the fixed clamping block and/or the movable clamping block.
As a more specific scheme: the clamping action part is the inner wall of the guide sliding chute; the movable clamping block is provided with a touch part, and at least part of the touch part slides on the guide sliding chute; when the touch part slides along with the movable clamping block to enter the guide sliding groove, the clamping action part acts on the movable clamping block to be close to the fixed clamping block through the touch part.
As a more specific scheme: the fixed clamping part and/or the movable clamping part are/is provided with clamping teeth, and when the fixed clamping part and the movable clamping part clamp the medicine plate component, the clamping teeth are pressed on the medicine plate component.
As a more specific scheme: the movable clamping block is hinged below the fixed clamping block, the resetting activity of the movable clamping block is controlled by gravity, when the movable clamping block is separated from the clamping action part, the gravity drives the movable clamping block to reset and swing downwards, and the fixed clamping part and the movable clamping part are mutually far away;
or an elastic piece is arranged between the fixed clamping block and the movable clamping block, one end of the elastic piece acts on the fixed clamping block, and the other end of the elastic piece acts on the movable clamping block; when the clamping action part acts on the movable clamping block, the fixed clamping block and the movable clamping block act together to enable the elastic piece to be stressed and store energy; when the movable clamping block is separated from the clamping action part, the elastic piece releases the elastic force to enable the movable clamping block to reset and swing, and the fixed clamping part and the movable clamping part are mutually far away.
As a more specific scheme: the medicine plate clamping manipulator further comprises a clamping traction assembly and a traction power assembly used for driving the clamping traction assembly to reciprocate along the Y axis, the clamping traction assembly is in transmission connection with a clamping external member, and the clamping external member reciprocates along the Y axis of the clamping traction assembly so that the clamping external member can complete clamping movement and/or clamping retreating movement.
As a more specific scheme: the traction power assembly comprises a traction motor and a traction screw rod, an output shaft of the traction motor is in transmission connection with the traction screw rod, and the traction screw rod extends along the Y axis; the clamping and traction assembly comprises a traction nut, the traction nut is in threaded connection with the traction screw, and the traction power assembly drives the clamping sleeve to slide in a reciprocating mode along the Y axis through the clamping and traction assembly.
The invention has the following beneficial effects:
through setting up the centre gripping external member of constituteing by fixed clamp splice and activity clamp splice: when the clamping sleeve enters the clamping action part and moves to be separated from the clamping action part, the movable clamping block resets and moves relative to the fixed clamping block, so that the fixed clamping part and the movable clamping part are far away from each other, and the medicine plate part can smoothly enter between the fixed clamping part and the movable clamping part; when the clamping external member retreats from clamping and moves to slide into the guide sliding groove, the clamping action part acts on the clamping external member to enable the fixed clamping part and the movable clamping part to mutually draw close and tighten the medicine plate component, so that the clamping external member can draw out the medicine plate component at the bottommost layer from the medicine box. Therefore, the medicine plate clamping manipulator can effectively control the clamping external member to automatically clamp and extract the medicine plate component through the clamping inlet movement and the clamping outlet movement along the Y axis, can complete the whole set of clamping action by only arranging one set of power assembly, and has the advantages of reliable performance, high clamping efficiency, low manufacturing cost and the like; in addition, the medicine plate component at the bottommost layer is separated from the medicine plate component at the secondary bottom layer by arranging the separation component, so that the clamping kit can smoothly/effectively clamp and draw out the medicine plate component at the bottommost layer, and the clamping and drawing performance of the manipulator is further ensured; in addition, the cantilever component is arranged to drive the clamping sleeve to adjust and move along the X axis, so that the X axis position of the clamping sleeve can be adjusted, and the clamping sleeve is further adapted to medicine plate components with different sizes.
Drawings
Fig. 1 is a schematic structural view of a medicine board clamping robot according to an embodiment of the present invention.
Fig. 2 is an exploded view of a tablet holding robot according to an embodiment of the present invention.
Fig. 3 is a front view of a drug plate holding robot in an embodiment of the present invention.
Fig. 4 is a bottom view of a tablet holding robot in an embodiment of the present invention.
FIG. 5 is an assembly view of the clamping mechanism according to an embodiment of the present invention.
FIG. 6 is an exploded view of a clamping mechanism in accordance with an embodiment of the present invention.
Fig. 7 is a schematic structural diagram of a fixing clamp block according to an embodiment of the invention.
Fig. 8 is a schematic structural diagram of a movable clamping block according to an embodiment of the present invention.
Fig. 9 is a schematic partial structure view of the clamping arm mechanism according to an embodiment of the present invention.
Figure 10 is a partial exploded view of the clamping arm mechanism in one embodiment of the present invention.
Fig. 11 is an enlarged view at L in fig. 9.
Fig. 12 is a perspective view of a first usage state of the tablet holding robot in an embodiment of the present invention.
Fig. 13 is a front view of a first usage state of a tablet holding robot in accordance with an embodiment of the present invention.
Fig. 14 is a bottom view of a first usage state of a tablet holding robot in accordance with an embodiment of the present invention.
Fig. 15 is a front view of a second usage state of the medicine plate holding robot in one embodiment of the present invention.
Fig. 16 is a bottom view of the second status of the medicine plate holding robot in one embodiment of the present invention.
Fig. 17 is a front view of a third status of the use of the medicine plate holding robot in one embodiment of the present invention.
Fig. 18 is a bottom view of the third status of the medicine plate holding robot in an embodiment of the present invention.
Fig. 19 is an enlarged view of fig. 14 at K1.
Fig. 20 is an enlarged view of fig. 16 at K2.
Fig. 21 is an enlarged view at K3 in fig. 18.
Detailed Description
The invention is further described with reference to the following figures and examples.
First embodiment
Referring to fig. 1 to 21, the medicine plate holding robot in the present embodiment includes a holding kit composed of a fixed block 1 and a movable block 2, and a holding action portion 1202; at least part of the fixed clamping block 1 and the movable clamping block 2 are in linkage relation of being far away from or close to each other; when the clamping sleeve enters and clamps along the Y axis and moves to be separated from the clamping action part, the fixed clamping block 1 and/or the movable clamping block 2 reset and move to be far away from each other; when the clamping sleeve piece moves back to a set position along the Y axis, the clamping action part acts on the fixed clamping block 1 and/or the movable clamping block 2, so that the clamping sleeve piece and the movable clamping block are mutually close to each other to clamp the medicine plate part D.
Further, the medicine plate clamping manipulator further comprises a separation part 15, and a separation tip 1501 used for separating and lifting the medicine plate part D is arranged on the separation part 15; the clamping set clamps the lowermost drug plate part D, and the separation tip 1501 is inserted between the lowermost drug plate part D and the next lowermost drug plate part D to separate the lowermost drug plate part D and the next lowermost drug plate part D, and lift the next lowermost drug plate part D.
Further, this medicine board centre gripping manipulator still includes cantilever part 12 along the activity of X axle regulation, and the centre gripping external member accomplishes into the clamp activity and moves back the clamp activity on cantilever part 12, and the centre gripping external member is adjusted the activity along the X axle along cantilever part 12 to the X axle position of adjusting the centre gripping external member makes its adaptation medicine board part D of unidimensional not.
Furthermore, the medicine plate clamping manipulator further comprises an adjusting power assembly, the adjusting power assembly comprises an adjusting motor 23 and an adjusting screw 24, an output shaft of the adjusting motor 23 is in transmission connection with the adjusting screw 24 so as to drive the adjusting screw 24 to rotate in a positioning mode, and the adjusting screw 24 extends along the X axis; an adjusting nut 18 is fixedly arranged on the cantilever component 12, the adjusting nut 18 is in threaded connection with an adjusting screw 24, and when the adjusting screw 24 rotates, the clamping sleeve is driven to slide along the X axis under the action of threads. Specifically, the clamping sleeve members are matched with the cantilever parts 12 one by one, the clamping sleeve members in this embodiment are provided with two sets, the cantilever parts 12 and the clamping sleeve members are correspondingly provided with two sets, and the two cantilever parts 12 are in mirror symmetry with each other; the adjusting screw 24 is provided with a first adjusting thread 2401 and a second adjusting thread 2402 with opposite thread directions, the adjusting nut 18 on one cantilever component 12 is in threaded connection with the first adjusting thread 2401, and the adjusting nut 18 on the other cantilever component 12 is in threaded connection with the second adjusting thread 2402; when the adjusting screw 24 is rotated, the two cantilever members 12 drive the corresponding clamping sets to move away from or close to each other, so as to adjust the distance between the two clamping sets according to different medicine plate members D.
Furthermore, a fixed clamping part 101 is arranged on the fixed clamping block 1, and a movable clamping part 201 corresponding to the fixed clamping part 101 is arranged on the movable clamping block 2; the medicine plate clamping manipulator further comprises a guide sliding chute 1201, and the clamping suite slides on the guide sliding chute 1201; when the clamping sleeve slides along the Y-axis into the guide sliding chute 1201, the clamping action part 1202 acts on the fixed clamping block 1 and/or the movable clamping block 2. Specifically, the guide chute 1201 is provided inside the cantilever member 12, and the guide chute 1201 is provided open inside.
Further, the clamping action part 1202 is the inner bottom wall of the guide chute 1201; the bottom of the movable clamping block 2 is provided with a touch part 202, and at least part of the touch part 202 slides on the guide sliding chute 1201; when the touching portion 202 slides to the entering guide sliding chute 1201 along with the entering of the movable clamping block 2, the clamping action portion 1202 acts on the movable clamping block 2 to close with the fixed clamping block 1 through the touching portion 202.
Further, fixed clamping part 101 and activity clamping part 201 are equipped with bellied clamp tooth 203 respectively, and when fixed clamping part 101 and activity clamping part 201 pressed from both sides tight medicine board part D each other, press from both sides tooth 203 and compress tightly on medicine board part D, prevent effectively that medicine board part D from skidding and drop, and then promote the stability of centre gripping.
Furthermore, an elastic part 4 is arranged between the fixed clamping block 1 and the movable clamping block 2, the elastic part 4 related to the embodiment is a spiral spring, one end of the elastic part 4 acts on the fixed clamping block 1, and the other end of the elastic part 4 acts on the movable clamping block 2 through a reset transmission part 5; when the clamping action part 1202 acts on the touch part 202 on the movable clamping block 2, the elastic part 4 is stressed to compress and store energy under the combined action of the fixed clamping block 1 and the movable clamping block 2; when the touching portion 202 is separated from the clamping action portion 1202, the elastic member 4 releases the elastic force to make the movable clamping block 2 reset and swing downwards, and the fixed clamping portion 101 and the movable clamping portion 201 are separated from each other. In addition, the elastic member 4 can also be a torsion spring, i.e. the torsion spring is sleeved on the rotating shaft 3, one acting end of the torsion spring acts on the fixed clamping block 1, and the other acting end acts on the movable clamping block 2.
Furthermore, the medicine plate clamping manipulator further comprises a clamping traction assembly and a traction power assembly used for driving the clamping traction assembly to reciprocate along the Y axis, the clamping traction assembly is in transmission connection with a clamping external member, and the clamping external member reciprocates along the Y axis of the clamping traction assembly so as to enable the clamping external member to complete clamping movement and/or clamping withdrawal movement. Specifically, the clamping traction assembly comprises a traction rod 6, a cover plate 7, a bottom plate 10 and a sliding block 11, wherein the cover plate 7 and the bottom plate 10 are matched and assembled with each other, one end of the traction rod 6 is connected between the cover plate 7 and the bottom plate 10, and the other end of the traction rod is connected with a fixed clamping block 1 in a clamping sleeve; the traction rod 6 slides in the cantilever component 12 in a telescopic way, and the traction rod 6 at least partially slides in the guide chute 1201; in order to match the clamping sleeve to slide along the adjustment of the X axis, an adjustment sliding groove B1 extending along the X axis is arranged between the cover plate 7 and the bottom plate 10, one end of the traction rod 6 is provided with a T-shaped sliding head 602, and the sliding head 602 slides in the adjustment sliding groove B1 to play a role in preventing falling.
Further, the traction power assembly comprises a traction motor 21 and a traction screw 22, an output shaft of the traction motor 21 is in transmission connection with the traction screw 22 to drive the traction screw 22 to rotate in a positioning mode, and the traction screw 22 extends along the Y axis; the clamping traction assembly comprises a traction nut 9 fixedly arranged on the bottom plate 10, the traction nut 9 is in threaded connection with a traction screw 22, and when the traction screw 22 rotates, the traction power assembly drives the clamping sleeve to slide back and forth along the Y axis through the clamping traction assembly.
Further, the embodiment relates to a medicine plate clamping manipulator which comprises a manipulator body A, and a clamping mechanism B and a clamping arm mechanism C which are respectively arranged on the manipulator body A; the traction power assembly and the adjusting power assembly are respectively arranged on the manipulator body A; the clamping sleeve member, the clamping traction assembly and the like are respectively arranged on the clamping mechanism B; the cantilever member 12 is provided on the arm holding mechanism C.
Further, a first sliding portion 103 sliding in the guide sliding groove 1201 is arranged on the fixed clamping block 1, the height of the first sliding portion 103 is h1, a second sliding portion 204 sliding in the guide sliding groove 1201 is arranged on the movable clamping block 2, the touching portion 202 is the bottom surface of the second huadong portion 204, the height of the second sliding portion 204 is h2, the height of the guide sliding groove 1201 is Δ h, h1+ h2 is slightly smaller than Δ h, when the fixed clamping block 1 and the movable clamping block 2 slide into the guide sliding groove 1201 simultaneously, the clamping action portion 1202 acts on the touching portion 202, the first sliding portion 103 and the second sliding portion 204 are close to each other, so that the fixed clamping portion 101 and the movable clamping portion 201 are continuously close to each other to effectively clamp the tablet component D.
Principle of operation
In a first use state, referring to fig. 12-14 and 19, the robot drives the medicine board clamping manipulator to move to a set position towards a medicine box E loaded with medicine board components D, at this time, the clamping suite enters along the Y axis to clamp and slide to a separation clamping action part 1202, the movable clamping block 2 is reset and swings downwards under the action of the elastic piece 4, so that the fixed clamping part 101 and the movable clamping part 201 are far away from each other, and the end edge of the medicine board component D at the bottommost layer extends into a position between the fixed clamping part 101 and the movable clamping part 201; meanwhile, the separation tip 1501 on the separation part 15 is inserted between the medicine board part D on the bottommost layer and the medicine board part D on the secondary bottom layer to separate the two and lift the medicine board parts D above the secondary bottom layer, so as to ensure that the medicine board part D on the bottommost layer can be smoothly drawn out;
in a second use state, referring to fig. 15, 16 and 20, the clamping mechanism B drives the clamping sleeve to move back along the Y axis and slide into the guiding chute 1201, and at this time, the clamping action part 1202 acts on the touch part 202, so that the fixed clamping part 101 and the movable clamping part 201 are close to each other and the edge of the lowest layer of medicine plate component D is tightened, and the medicine plate component D is pulled out;
in a third use state, referring to fig. 17, 18 and 21, the clamping mechanism B drives the clamping sleeve to continuously retreat and slide along the Y axis, the clamping action part 1202 continuously acts on the touch part 202, the clamping sleeve continuously and effectively clamps the medicine plate part D, so that the medicine plate part D is pulled between the two cantilever parts 12, and the medicine plate part D is pulled out; finally, the robot conveys the extracted medicine plate component D to a designated position through the medicine plate clamping manipulator, the clamping suite slides along the Y-axis in a clamping mode to be separated from the clamping action part 1202, and the movable clamping block 2 resets downwards and swings, so that the medicine plate component D can be put down.
Second embodiment
This embodiment differs from the first embodiment in that: the movable clamping block 2 is hinged below the fixed clamping block 1, the resetting activity of the movable clamping block 2 is controlled by gravity, when the touch part 202 is separated from the clamping action part 1202, the gravity drives the movable clamping block 2 to reset and swing downwards, and the fixed clamping part 101 and the movable clamping part 201 are far away from each other.
Other parts not described above are the same as those of the first embodiment, and are not explained in detail here.
The foregoing is a preferred embodiment of the present invention, and the basic principles, principal features and advantages of the invention are shown and described. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are intended to illustrate the principles of the invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, and the invention is intended to be protected by the following claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. The utility model provides a medicine board centre gripping manipulator which characterized in that: comprises a clamping sleeve component consisting of a fixed clamping block (1) and a movable clamping block (2) and a clamping action part (1202); at least part of the fixed clamping block (1) and the movable clamping block (2) are in linkage relation of being far away from or close to each other; when the clamping sleeve enters and clamps along the Y axis and moves to be separated from the clamping action part, the fixed clamping block (1) and/or the movable clamping block (2) reset and move to be away from each other; when the clamping sleeve piece moves back to a set position along the Y axis, the clamping action part acts on the fixed clamping block (1) and/or the movable clamping block (2) to mutually approach and clamp the medicine plate part (D).
2. The tablet holding robot of claim 1, wherein: the medicine plate lifting device further comprises a separating part (15), wherein a separating tip (1501) used for separating and lifting the medicine plate part (D) is arranged on the separating part (15); the clamping kit clamps the medicine plate component (D) at the bottommost layer, and the separation tip (1501) is inserted between the medicine plate component (D) at the bottommost layer and the medicine plate component (D) at the secondary bottom layer so as to separate the medicine plate component (D) at the bottommost layer and the medicine plate component (D) at the secondary bottom layer and lift the medicine plate component (D) at the secondary bottom layer.
3. The tablet holding robot of claim 1, wherein: the clamping device is characterized by further comprising a cantilever component (12) capable of adjusting movement along the X axis, the clamping sleeve component completes clamping movement and/or clamping returning movement on the cantilever component (12), and the clamping sleeve component is adjusted to move along the X axis along with the cantilever component (12) so as to be adapted to medicine plate components (D) with different sizes.
4. The tablet holding robot of claim 3, wherein: the X-axis adjusting mechanism is characterized by further comprising an adjusting power assembly, wherein the adjusting power assembly comprises an adjusting motor (23) and an adjusting screw rod (24), an output shaft of the adjusting motor (23) is in transmission connection with the adjusting screw rod (24), and the adjusting screw rod (24) extends along the X axis; and an adjusting nut (18) is arranged on the cantilever component (12), and the adjusting nut (18) is in threaded connection with an adjusting screw rod (24) so as to drive the clamping sleeve to adjust and slide along the X axis.
5. The tablet holding robot of claim 1, wherein: a fixed clamping part (101) is arranged on the fixed clamping block (1), and a movable clamping part (201) corresponding to the fixed clamping part (101) is arranged on the movable clamping block (2); the medicine plate clamping manipulator further comprises a guide sliding groove (1201), and the clamping suite slides on the guide sliding groove (1201); when the clamping sleeve slides to the entering guide sliding groove (1201) along the Y-axis, the clamping action part (1202) acts on the fixed clamping block (1) and/or the movable clamping block (2).
6. The tablet holding robot of claim 5, wherein: the clamping action part (1202) is the inner wall of a guide chute (1201); a touch part (202) is arranged on the movable clamping block (2), and at least part of the touch part (202) slides on the guide sliding groove (1201); when the touch part (202) slides to the guide sliding groove (1201) along with the movable clamping block (2), the clamping action part (1202) acts on the movable clamping block (2) to be close to the fixed clamping block (1) through the touch part (202).
7. The tablet holding robot of claim 5, wherein: the medicine plate clamping device is characterized in that clamping teeth (203) are arranged on the fixed clamping part (101) and/or the movable clamping part (201), and when the fixed clamping part (101) and the movable clamping part (201) clamp a medicine plate component (D) mutually, the clamping teeth (203) are pressed on the medicine plate component (D).
8. The tablet holding robot of claim 1, wherein:
the movable clamping block (2) is hinged below the fixed clamping block (1), the resetting activity of the movable clamping block (2) is controlled by gravity, when the movable clamping block (2) is separated from the clamping action part (1202), the gravity drives the movable clamping block (2) to reset and swing downwards, and the fixed clamping part (101) and the movable clamping part (201) are far away from each other;
or an elastic piece (4) is arranged between the fixed clamping block (1) and the movable clamping block (2), one end of the elastic piece (4) acts on the fixed clamping block (1), and the other end of the elastic piece (4) acts on the movable clamping block (2); when the clamping action part (1202) acts on the movable clamping block (2), the fixed clamping block (1) and the movable clamping block (2) jointly act on the elastic part (4) to store energy under stress; when the movable clamping block (2) is separated from the clamping action part (1202), the elastic piece (4) releases the elastic force to enable the movable clamping block (2) to reset and swing, and the fixed clamping part (101) and the movable clamping part (201) are mutually separated.
9. The tablet holding robot of claim 1, wherein: the clamping traction assembly is in transmission connection with a clamping external member, and the clamping external member reciprocates along the Y axis of the clamping traction assembly so as to enable the clamping external member to complete clamping movement and/or clamping withdrawal movement.
10. The tablet holding robot of claim 9, wherein: the traction power assembly comprises a traction motor (21) and a traction screw (22), an output shaft of the traction motor (21) is in transmission connection with the traction screw (22), and the traction screw (22) extends along the Y axis; the clamping and traction assembly comprises a traction nut (9), the traction nut (9) is in threaded connection with a traction screw (22), and the traction power assembly drives the clamping sleeve to slide along the Y axis in a reciprocating mode through the clamping and traction assembly.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110429208.5A CN113200344A (en) | 2021-04-21 | 2021-04-21 | Medicine board centre gripping manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110429208.5A CN113200344A (en) | 2021-04-21 | 2021-04-21 | Medicine board centre gripping manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113200344A true CN113200344A (en) | 2021-08-03 |
Family
ID=77027575
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110429208.5A Pending CN113200344A (en) | 2021-04-21 | 2021-04-21 | Medicine board centre gripping manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113200344A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114654801A (en) * | 2022-02-22 | 2022-06-24 | 宁波兆荣文化科技股份有限公司 | Assembly line for press-mounting facial tissues in paper boxes |
-
2021
- 2021-04-21 CN CN202110429208.5A patent/CN113200344A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114654801A (en) * | 2022-02-22 | 2022-06-24 | 宁波兆荣文化科技股份有限公司 | Assembly line for press-mounting facial tissues in paper boxes |
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