CN114348642A - Gripping device for liquid bags - Google Patents
Gripping device for liquid bags Download PDFInfo
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- CN114348642A CN114348642A CN202210041247.2A CN202210041247A CN114348642A CN 114348642 A CN114348642 A CN 114348642A CN 202210041247 A CN202210041247 A CN 202210041247A CN 114348642 A CN114348642 A CN 114348642A
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Abstract
The application relates to the technical field of liquid bag sorting, and discloses a grabbing device for a liquid bag, which comprises a bearing mechanism, a jacking mechanism and a clamping mechanism, wherein the bearing mechanism is used for bearing the liquid bag, and a plurality of rows of avoidance holes which penetrate through the bearing mechanism from top to bottom are formed in the surface of the bearing mechanism, which is in contact with the liquid bag; the jacking mechanism is arranged below the bearing mechanism, one surface of the jacking mechanism, which is opposite to the bearing mechanism, is provided with a plurality of rows of thimbles, and the thimbles can move upwards to penetrate through the plurality of rows of avoidance holes to jack up the liquid bag so as to enable the liquid bag to be separated from the contact with the bearing mechanism; the clamping mechanism comprises a fork-shaped portion capable of moving horizontally, a plurality of avoiding grooves are formed in the fork-shaped portion, the fork-shaped portion avoids the plurality of ejector pins horizontally extending into the lower portion of the liquid bag, and the liquid bag is enabled to move upwards to be separated from the contact of the jacking mechanism.
Description
Technical Field
The application relates to the technical field of liquid bag sorting, for example to a grabbing device for liquid bags.
Background
In medical treatment, a fluid bag is a common container, which is commonly used to contain blood or intravenous medication. Compared with a bottle-shaped container, the liquid bag has the advantages that the shape of the liquid bag can be changed in the dripping process, an air pressure balancing hole is not needed, and the phenomenon that dust particles in the air pollute blood or medicines in the liquid bag can be effectively prevented. However, since the liquid bag cannot keep a fixed shape, in the sorting process, the mechanical arm is used for grabbing the liquid bag, so that the infusion bag is easily broken or the infusion bag falls off due to the fact that the liquid bag cannot be grabbed.
In the prior art, a tray filling mechanism for infusion bags is disclosed, which comprises a gripping device, a placing device and a tray conveying line; the grabbing device is provided with a grabbing robot hand, and the grabbing robot hand grabs the infusion bag and conveys the infusion bag to the placing device; the mechanical arm of the grabbing manipulator is provided with an installation block, the installation block is provided with four suckers, and the suckers adsorb the infusion bag.
In the process of implementing the embodiments of the present disclosure, it is found that at least the following problems exist in the related art:
when the shape of the surface of the liquid bag opposite to the sucker is uneven, the sucker cannot well adsorb the liquid bag. The sucking disc is used for grabbing the infusion bag, and the generated air noise is large.
Disclosure of Invention
The following presents a simplified summary in order to provide a basic understanding of some aspects of the disclosed embodiments. This summary is not an extensive overview nor is intended to identify key/critical elements or to delineate the scope of such embodiments but rather as a prelude to the more detailed description that is presented later.
The embodiment of the disclosure provides a grabbing device for fluid bag to solve the problem of how to better grab the fluid bag.
In some embodiments, the gripping device for the liquid bag comprises a bearing mechanism, a jacking mechanism and a clamping mechanism, wherein the bearing mechanism is used for bearing the liquid bag, and a plurality of rows of yielding holes which penetrate through the bearing mechanism from top to bottom are formed in the surface of the bearing mechanism, which is in contact with the liquid bag; the jacking mechanism is arranged below the bearing mechanism, one surface of the jacking mechanism, which is opposite to the bearing mechanism, is provided with a plurality of rows of thimbles, and the thimbles can move upwards to penetrate through the plurality of rows of avoidance holes to jack up the liquid bag so as to enable the liquid bag to be separated from the contact with the bearing mechanism; the clamping mechanism comprises a fork-shaped portion capable of moving horizontally, a plurality of avoiding grooves are formed in the fork-shaped portion, the fork-shaped portion avoids the plurality of ejector pins horizontally extending into the lower portion of the liquid bag, and the liquid bag is enabled to move upwards to be separated from the contact of the jacking mechanism.
In some embodiments, the fork includes a first fork and a second fork, wherein the second fork is opposite to the first fork, and the first fork and the second fork are movable toward each other to protrude from two sides of the fluid bag into the fluid bag to clamp the fluid bag together.
In some embodiments, the gripping mechanism further comprises a back plate, a first connecting plate, a second connecting plate, and a gripping drive, wherein the back plate is configured with a first rail and a second rail that are parallel to each other; the first connecting plate is arranged on the first rail in a sliding mode and used for connecting the first fork-shaped part; the second connecting plate is arranged on the second track in a sliding mode and used for connecting the second fork-shaped part; and the clamping driving device is used for driving the first connecting plate and the second connecting plate to move oppositely and reversely.
In some embodiments, the first connecting plate is configured with a first drive runner and the second connecting plate is configured with a second drive runner; the clamping driving device comprises a driving motor and a transmission rod, wherein an output shaft of the driving motor is vertically arranged and is positioned between the first track and the second track; the transmission rod is arranged along the radial direction of the driving motor, the middle of the transmission rod is fixed on an output shaft of the driving motor, the first end of the transmission rod is arranged in the first driving sliding groove in a sliding mode, the second end of the transmission rod is arranged in the second driving sliding groove in a sliding mode, and when the driving motor rotates, the transmission rod drives the first connecting plate and the second connecting plate to move in opposite directions or move in the reverse direction.
In some embodiments, the carrying mechanism can place a plurality of fluid bags in the width direction; the gripping device further comprises a fixed support, a lifting driving device, a translation track and a translation driving device, wherein the fixed support is provided with the lifting track which is vertically arranged, and the gripping mechanism is connected to the lifting track in a sliding manner; the lifting driving device is used for driving the clamping mechanism to move up and down; the translation track is arranged along the width direction of the bearing mechanism, and the fixed bracket is connected to the translation track in a sliding manner; and the translation driving device is used for driving the driving bracket to move along the translation track.
In some embodiments, the bearing mechanism comprises a tray and a partition plate, wherein a plurality of avoiding holes are formed in the bottom of the tray; the clapboard divides the tray into a plurality of rows of liquid bag placing spaces along the length direction of the bearing mechanism.
In some embodiments, the gripping device further comprises a traveling track, a traveling beam and a traveling driving device, wherein the traveling track is arranged along the length direction of the carrying mechanism; the traveling beam is connected with the traveling rail in a sliding mode, and the translation rail is arranged on the traveling beam; the traveling driving device is used for driving the traveling beam to move along the traveling track; the bearing mechanism is provided with a plurality of trays along the length direction of the bearing mechanism, and the advancing driving device drives the advancing beam to move along the advancing track so that the clamping mechanism is positioned above different trays.
In some embodiments, the jacking mechanism comprises a top plate, a bottom plate and a jacking driving device, wherein the top plate is provided with a plurality of rows of thimbles extending upwards from the upper surface; a bottom plate located below the top plate; and the jacking driving device is fixed on the bottom plate, is in driving connection with the top plate and is used for driving the top plate to move up and down.
In some embodiments, the jacking mechanism further comprises a guide hole and a guide post, wherein the guide hole is vertically penetrated and opened in the top plate; and the guide post extends upwards from the bottom plate to the guide hole.
In some embodiments, the jacking mechanism further comprises a jacking mechanism moving track and a jacking mechanism moving driving device, wherein the jacking mechanism moving track is arranged along the length direction of the bearing mechanism, and a bottom plate of the jacking mechanism is connected with the jacking mechanism moving track in a sliding manner; and the jacking mechanism moving driving device is used for driving the bottom plate of the jacking mechanism to slide along the jacking mechanism moving track.
The grabbing device for liquid bag that this disclosed embodiment provided can realize following technological effect:
1. the liquid bag is clamped by matching the rows of the thimbles and the fork-shaped parts, and the clamping mechanism is not contacted with the liquid bag in the clamping process, so that the liquid bag is not easy to break;
2. on the other hand, suction devices such as a sucker and the like are not needed, the structure is simple, and the running noise is low.
The foregoing general description and the following description are exemplary and explanatory only and are not restrictive of the application.
Drawings
One or more embodiments are illustrated by way of example in the accompanying drawings, which correspond to the accompanying drawings and not in limitation thereof, in which elements having the same reference numeral designations are shown as like elements and not in limitation thereof, and wherein:
FIG. 1 is a schematic view of an overall structure of a grasping device for a fluid bag according to an embodiment of the present disclosure;
FIG. 2 is a schematic view of another overall structure of a grasping device for a fluid bag according to an embodiment of the present disclosure;
FIG. 3 is a schematic structural diagram of a carrying mechanism of a grasping device for a fluid bag according to an embodiment of the present disclosure;
FIG. 4 is an enlarged partial schematic view of a grasping device for a fluid bag according to an embodiment of the present disclosure;
FIG. 5 is a schematic view of a portion of a grasping device for a fluid bag according to an embodiment of the present disclosure;
FIG. 6 is a schematic structural diagram of a gripping mechanism of a gripping device for fluid bags according to an embodiment of the present disclosure;
FIG. 7 is a schematic structural diagram of a gripping mechanism of another gripping device for fluid bags according to an embodiment of the present disclosure;
FIG. 8 is a schematic structural diagram of a gripping mechanism of another gripping device for fluid bags according to an embodiment of the present disclosure;
FIG. 9 is a schematic structural diagram of a jacking mechanism of a gripping device for fluid bags according to an embodiment of the present disclosure;
fig. 10 is a schematic structural diagram of a jacking mechanism of another grabbing device for liquid bags according to an embodiment of the present disclosure.
Reference numerals:
100: a carrying mechanism; 110: a tray; 111: avoiding holes; 120: a partition plate;
200: a jacking mechanism; 210: a top plate; 211: a thimble; 212: a guide hole; 220: a base plate; 230: a jacking driving device; 240: a guide post;
300: a gripping mechanism; 311: a first fork; 312: a first connecting plate; 313: a first drive chute; 321: a second prong; 322 second connecting plate; 323: a second drive chute; 330: a back plate; 331: a first track; 332: a second track; 340: a gripping drive device; 341: a drive motor; 342: a transmission rod; 350: fixing a bracket;
400: a liquid bag;
510: translating the rail; 520: a translation drive device;
610: a travel track; 620: a traveling beam; 630: a travel drive device;
710: the jacking mechanism moves the track; 720: the jacking mechanism moves the drive unit.
Detailed Description
So that the manner in which the features and elements of the disclosed embodiments can be understood in detail, a more particular description of the disclosed embodiments, briefly summarized above, may be had by reference to the embodiments, some of which are illustrated in the appended drawings. In the following description of the technology, for purposes of explanation, numerous details are set forth in order to provide a thorough understanding of the disclosed embodiments. However, one or more embodiments may be practiced without these details. In other instances, well-known structures and devices may be shown in simplified form in order to simplify the drawing.
The terms "first," "second," and the like in the description and in the claims, and the above-described drawings of embodiments of the present disclosure, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the present disclosure described herein may be made. Furthermore, the terms "comprising" and "having," as well as any variations thereof, are intended to cover non-exclusive inclusions.
In the embodiments of the present disclosure, the terms "upper", "lower", "inner", "middle", "outer", "front", "rear", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings. These terms are used primarily to better describe the disclosed embodiments and their examples and are not intended to limit the indicated devices, elements or components to a particular orientation or to be constructed and operated in a particular orientation. Moreover, some of the above terms may be used to indicate other meanings besides the orientation or positional relationship, for example, the term "on" may also be used to indicate some kind of attachment or connection relationship in some cases. The specific meanings of these terms in the embodiments of the present disclosure can be understood by those of ordinary skill in the art as appropriate.
In addition, the terms "disposed," "connected," and "secured" are to be construed broadly. For example, "connected" may be a fixed connection, a detachable connection, or a unitary construction; can be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements or components. Specific meanings of the above terms in the embodiments of the present disclosure can be understood by those of ordinary skill in the art according to specific situations.
The term "plurality" means two or more unless otherwise specified.
In the embodiment of the present disclosure, the character "/" indicates that the preceding and following objects are in an or relationship. For example, A/B represents: a or B.
The term "and/or" is an associative relationship that describes objects, meaning that three relationships may exist. For example, a and/or B, represents: a or B, or A and B.
It should be noted that, in the case of no conflict, the embodiments and features in the embodiments of the present disclosure may be combined with each other.
With reference to fig. 1 to 10, an embodiment of the present disclosure provides a gripping device for a liquid bag 400, including a bearing mechanism 100, a jacking mechanism 200, and a gripping mechanism 300, where the bearing mechanism 100 is used for bearing the liquid bag 400, and a surface of the bearing mechanism 100, which is in contact with the liquid bag 400, is provided with multiple rows of yielding holes 111 penetrating up and down; the jacking mechanism 200 is arranged below the bearing mechanism 100, a plurality of rows of ejector pins 211 are arranged on one surface of the jacking mechanism 200 opposite to the bearing mechanism 100, and the plurality of rows of ejector pins 211 can move upwards to penetrate through the plurality of rows of avoiding holes 111 to jack up the liquid bag 400 so that the liquid bag 400 is separated from the contact with the bearing mechanism 100; the clamping mechanism 300 comprises a fork-shaped part capable of moving horizontally, a plurality of avoiding grooves are formed in the fork-shaped part, the fork-shaped part avoids a plurality of ejector pins 211 and horizontally extends into the lower portion of the liquid bag 400, and the liquid bag 400 moves upwards to be separated from the contact with the jacking mechanism 200.
In the embodiment of the present disclosure, the gripping device for the fluid bag 400 includes, from top to bottom, the gripping mechanism 300, the carrying mechanism 100, and the jacking mechanism 200. An integrated bracket may be provided to connect the gripping mechanism 300, the supporting mechanism 100 and the jacking mechanism 200, or the gripping mechanism 300, the supporting mechanism 100 and the jacking mechanism 200 may be provided separately, which is not limited herein. The bearing mechanism 100 is used for bearing the liquid bag 400, and the surface of the bearing mechanism 100 contacting the liquid bag 400 is provided with an up-down through avoiding hole 111, so that the thimble 211 can pass through the avoiding hole 111 from bottom to top from the avoiding hole 111 to jack up the liquid bag 400.
In the embodiment of the present disclosure, the length direction of the gripping device is the X-axis direction, and the width direction of the gripping device is the Y-axis direction. The plurality of rows of avoidance holes 111 are the plurality of rows of avoidance holes 111 along the X-axis direction. Corresponding to the avoiding hole 111, the plurality of rows of ejector pins 211 are also a plurality of rows of ejector pins 211 in the X-axis direction. When the liquid bag 400 is placed on the carrying mechanism 100, the rows of ejector pins 211 can pass through the rows of avoiding holes 111 upwards to jack up the liquid bag. At this time, the liquid bag is out of contact with the support mechanism 100 and is supported by the rows of the ejector pins 211.
A first gap is formed between two adjacent rows of ejector pins 211 in the plurality of rows of ejector pins 211. The fork includes a plurality of tines that extend in the X-axis direction. When the height of the fork is between the fluid bag 400 and the support means 100, the fork may move in the X-axis direction, extending horizontally into the first gap and in the height direction between the fluid bag 400 and the support means 100. At this time, the fork moves upward, contacting the fluid bag 400; continuing upward movement, fluid bag 400 is removed from contact with the rows of spikes 211 and is carried by the fork.
By adopting the gripping device for the liquid bag 400 provided by the embodiment of the disclosure, on one hand, the liquid bag is gripped by the cooperation of the multiple rows of ejector pins 211 and the fork-shaped part, and the gripping mechanism 300 is not contacted with the liquid bag 400 in the gripping process, so that the liquid bag 400 is not easily broken. On the other hand, suction devices such as a sucker and the like are not needed, the structure is simple, and the running noise is low.
Optionally, each row of avoiding holes 111 includes a plurality of avoiding holes 111, and each row of ejector pins 211 includes a plurality of ejector pins 211. The distance between the plurality of avoiding holes 111 is equal to the distance between the plurality of ejector pins 211. Thus, the avoiding holes 111 are in an array form, and the ejector pins 211 are also in an array form. Compared with the form of forming a plurality of rows of through grooves, the arrangement of the avoiding holes 111 in an array manner can improve the structural strength of the bearing mechanism 100. The avoiding holes 111 and the ejector pins 211 are arranged in an array manner, so that more avoiding holes 111 and ejector pins 211 can be arranged in a certain range, and the unit density of the avoiding holes 111 and the ejector pins 211 can be improved. Thus, when the thimble 211 jacks up the liquid bag 400, the liquid bag 400 is more uniformly stressed and is not easy to roll, which is beneficial to the clamping mechanism 300 to clamp the liquid bag 400.
Optionally, the multiple rows of avoiding holes 111 are multiple rows in the X-axis direction and multiple columns in the Y-axis direction; the plurality of rows of ejector pins 211 are arranged in a plurality of rows in the X-axis direction and in a plurality of columns in the Y-axis direction. The fork is rotatable, and can enter between the bearing mechanism 100 and the liquid bag 400 along the X-axis direction, and can also enter between the bearing mechanism 100 and the liquid bag 400 along the Y-axis direction. Due to the arrangement mode, the opening of the avoiding hole 111 and the arrangement of the thimble 211 are facilitated, and the clamping mode of the clamping mechanism 300 is increased.
Optionally, a contact portion of the thimble 211 and the liquid bag 400 is made of rubber. The coefficient of friction of rubber is relatively high, and needle 211 and fluid bag 400 do not easily slide relative to each other when needle 211 contacts and lifts fluid bag 400. Due to the arrangement mode, the ejector pins 211 can be more stably ejected to the liquid bag 400, and the liquid bag 400 can be conveniently clamped by the clamping mechanism 300.
Optionally, a distance between every two adjacent rows of the avoidance holes 111 in the multiple rows of avoidance holes 111 is 0.2cm to 2cm, and a distance between every two adjacent rows of the avoidance holes 111 in the multiple columns of avoidance holes 111 is 0.2cm to 2 cm. The distance between every two adjacent rows of ejector pins 211 in the multiple rows of ejector pins 211 is 0.2cm to 2cm, and the distance between every two adjacent rows of ejector pins 211 in the multiple rows of ejector pins 211 is 0.2cm to 2 cm. Thus, the liquid bag 400 is uniformly stressed when being jacked up by the thimble 211, is not easy to roll, and is beneficial to the clamping mechanism 300 to clamp the liquid bag.
Optionally, the fork-shaped part includes a first fork-shaped part 311 and a second fork-shaped part 321, wherein the second fork-shaped part 321 is disposed opposite to the first fork-shaped part 311, and the first fork-shaped part 311 and the second fork-shaped part 321 extend into the liquid bag 400 from two sides of the liquid bag 400 to clamp the liquid bag 400 together.
The first fork 311 and the second fork 321 are disposed opposite to each other, and the first fork 311 and the second fork 321 together clamp the fluid bag 400. When the first fork 311 and the second fork 321 move to the first position, they move to the right, and the first fork 311 and the second fork 321 are folded to form a fork space, and at this time, the liquid bag 400 is located in the fork space. The first fork 311 and the second fork 321 are clamped together to facilitate smooth clamping and transportation of the fluid bag 400.
Alternatively, the first fork 311 is inclined downward from the outside to the inside, and the second fork 321 is inclined downward from the outside to the inside. The first forked portion 311 faces the inside of one side of the second forked portion 321, and the other side is the outside. The second forked portion 321 has an inner side toward the first forked portion 311 and an outer side. When the fluid bag 400 is gripped, the first fork 311 and the second fork 321 are closed to grip the fluid bag 400. When the fluid bag 400 is transferred to the preset position, the first fork 311 and the second fork 321 move in opposite directions, and the fluid bag 400 is detached. The first fork 311 and the second fork 321 are provided with an inclination, and the liquid bag 400 can be dropped by its own weight without being hung on the first fork 311 or the second fork 321. This arrangement facilitates unloading of the gripper from the fluid bag 400.
Alternatively, when the first fork 311 and the second fork 321 extend from two sides of the fluid bag 400 to the lower side of the fluid bag 400, the first fork 311 and the second fork 321 are abutted. Thus, there is no gap between the first fork 311 and the second fork 321, and the liquid bag 400 is not easily dropped when the liquid bag 400 is gripped and transported.
Alternatively, when the first fork 311 and the second fork 321 extend from two sides of the fluid bag 400 to the lower side of the fluid bag 400, the first fork 311 and the second fork 321 partially overlap with each other. Thus, there is no gap between the first fork 311 and the second fork 321, and the liquid bag 400 is not easily dropped when the liquid bag 400 is gripped and transported.
Alternatively, when the first fork 311 and the second fork 321 extend from two sides of the fluid bag 400 to the lower side of the fluid bag 400, the first fork 311 and the second fork 321 are located on the same plane and partially intersect. The tines of the first prong 311 extend into the gaps between the tines of the second prong 321, and the tines of the second prong 321 extend into the gaps between the tines of the first prong 311. In this form, there is no gap between the first fork 311 and the second fork 321, and the liquid bag 400 does not easily fall off when the liquid bag 400 is gripped and transported.
Optionally, the gripping mechanism 300 further comprises a back plate 330, a first connecting plate 312, a second connecting plate 322 and a gripping driving device 340, wherein the back plate 330 is configured with a first track 331 and a second track 332 which are parallel to each other; a first connecting plate 312 slidably disposed on the first rail 331, the first connecting plate 312 being used to connect the first fork 311; a second connecting plate 322 slidably disposed on the second rail 332, wherein the second connecting plate 322 is used for connecting the second fork 321; and a gripping driving device 340 for driving the first connecting plate 312 and the second connecting plate 322 to move towards and away from each other.
The back plate 330 is used for connecting the first fork 311 and the second fork 321 through the first connecting plate 312 and the second connecting plate 322. The backplate 330 is configured with a first track 331 and a second track 332. The first rail 331 and the second rail 332 may be a sliding groove formed in the back plate 330, or may be a rail strip provided on the back plate 330, as long as the first connecting plate 312 and the second connecting plate 322 are fixed and the moving path of the first connecting plate 312 and the second connecting plate 322 is limited, and the form thereof is not particularly limited. The first connecting plate 312 slides along the first rail 331, thereby moving the first fork 311 in the X-axis direction. The second connecting plate 322 slides along the second rail 332, thereby moving the second fork 321 along the X-axis direction. When the first prong 311 and the second prong 321 move toward each other, the first prong 311 and the second prong 321 are closed. When the first prong 311 and the second prong 321 move in opposite directions, the first prong 311 and the second prong 321 separate.
Optionally, first link plate 312 is configured with a first drive runner 313, and second link plate 322 is configured with a second drive runner 323; the clamping driving device 340 comprises a driving motor 341 and a transmission rod 342, wherein the driving motor 341 and the output shaft are vertically arranged and are positioned between the first rail 331 and the second rail 332; the transmission rod 342 is disposed along the radial direction of the driving motor 341, the middle of the transmission rod is fixed to the output shaft of the driving motor 341, the first end of the transmission rod is slidably disposed on the first driving sliding groove 313, the second end of the transmission rod is slidably disposed on the second driving sliding groove 323, and when the driving motor 341 rotates, the transmission rod 342 drives the first connecting plate 312 and the second connecting plate 322 to move oppositely or reversely.
The driving motor 341 is fixed to the back plate 330, the output shaft extends downward, and the transmission rod 342 is fixed to the output shaft of the driving motor 341. When the driving motor 341 rotates bidirectionally, the transmission rod 342 swings bidirectionally. The first driving slide 313 is configured at the first connection plate 312 in the Y-axis direction, and specifically, the first connection plate 312 includes a horizontal portion and a vertically disposed connection portion, and the first driving slide 313 is configured at the horizontal portion of the first connection plate 312. That is, the first driving sliding slot 313 and the first end of the transmission rod 342 swing to form a plane on the same plane. When the first end of the transmission rod 342 swings, the included angle between the transmission rod 342 and the first driving chute 313 changes. The movement of the first link plate 312 in the Y-axis direction is limited by the first track 331 and thus can only move in the X-axis direction. The angle between the transmission rod 342 and the first transmission groove is different, and the distance between the first transmission groove and the output shaft of the driving motor 341 is different, and controls the movement of the first connection plate 312 in the X-axis direction, and further, controls the movement of the first fork 311 in the X-axis direction. Similarly, the second driving link 323 is formed on the second connecting plate 322 along the Y-axis direction, and the second driving link 323 and the plane formed by the second end of the transmission lever 342 swing are located on the same plane. When the transmission rod 342 rotates, the second connecting plate 322 moves in the X-axis direction. A first angle formed between the driving lever 342 and the first driving recess and a second angle formed between the driving lever 342 and the second driving recess are stagger angles, which are maintained to be equal, and thus, the movement of the first connection plate 312 and the second connection plate 322 is reversed and synchronized. With this arrangement, the first link plate 312 and the second link plate 322 perform a reverse synchronous motion using one motor, and further, the first fork 311 and the second fork 321 perform a reverse synchronous motion. The structure is firm, the reliable operation, convenience of customers uses.
Alternatively, the carrying mechanism 100 may place a plurality of fluid bags 400 in the width direction; the gripping device further comprises a fixed support 350, a lifting driving device, a translation track 510 and a translation driving device 520, wherein the fixed support 350 is provided with a vertically arranged lifting track, and the clamping mechanism 300 is slidably connected to the lifting track; the lifting driving device is used for driving the clamping mechanism 300 to move up and down; the translation rail 510 is arranged along the width direction of the bearing mechanism 100, and the fixed bracket 350 is connected to the translation rail 510 in a sliding manner; and a translation driving device 520 for driving the bracket to move along the translation track 510.
The fixed bracket 350 is used for setting a lifting track, and the clamping mechanism 300 is slidably connected to the lifting track. The gripping mechanism 300 moves up and down by the lifting driving device, thereby completing gripping of the fluid bag 400. The fixed bracket 350 is connected to the translation rail 510, so that the gripping mechanism 300 is driven by the translation driving device 520 to move along the Y-axis direction. The carrying mechanism 100 can place a plurality of fluid bags 400 in the Y-axis direction, so that different fluid bags 400 can be located right under the first fork 311 and the second fork 321 by the movement of the fixing bracket 350 on the translation track 510, thereby facilitating the clamping mechanism 300 to clamp the fluid bags 400. This configuration increases the storage capacity of the support mechanism 100 for the fluid bag 400, and facilitates the use of the grasping device.
Optionally, the gripping device further comprises a travel rail 610, a travel beam 620 and a travel driving device 630, wherein the travel rail 610 is arranged along the length direction of the carrying mechanism 100; a traveling beam 620 slidably connected to the traveling rail 610, the translation rail 510 being provided to the traveling beam 620; a travel driving means 630 for driving the travel beam 620 to move along the travel rail 610; the carrying mechanism 100 is provided with a plurality of trays 110 along the length direction of the carrying mechanism 100, and the traveling drive device 630 drives the traveling beam 620 to move along the traveling rail 610 so that the gripping mechanism 300 is positioned above different trays 110.
The travel rail 610 is disposed along the length direction of the carriage 100, that is, along the X-axis direction. The integral support frame may be provided with the travel rail 610 at the support frame, or may be implemented depending on the specific structure of the location of the grasping device, such as the travel rail 610 at the top wall of the space or attached to other devices. The traveling rail 610 is not particularly limited in form as long as it carries the traveling beam 620 and restricts the moving path of the beam 620. The travel beam 620 is slidably coupled to the travel rail 610 and moves along the X-axis by the travel driving means 630. The movement of the traveling beam 620 in the X-axis direction allows the gripping mechanism 300 to be located above the different fluid bag 400 placement spaces, thereby gripping the selected fluid bag 400. By providing the traveling rail 610 and the traveling beam 620, the gripping mechanism 300 can move three-dimensionally in a three-dimensional space, thereby improving the gripping range of the gripping mechanism 300. In this case, the carrying mechanism 100 is provided with a plurality of trays 110 in the X-axis direction, and the gripping mechanism 300 can be positioned above different trays 110 by the traveling beam 620 and the traveling drive device 630. In this way, the storage capacity of the support means 100 is increased, as is the operational capacity of the gripping device.
Optionally, the bearing mechanism 100 includes a tray 110 and a partition 120, wherein the bottom of the tray 110 is provided with a plurality of avoiding holes 111; the partition 120 divides the tray 110 into a plurality of rows of fluid bag 400 placement spaces along the length of the support mechanism 100.
The partition 120 is disposed along the Y-axis direction so as to divide the tray 110 into a plurality of rows of the fluid bag 400 placement spaces in the X-axis direction. In each fluid bag 400 placement space, a plurality of fluid bags 400 may be placed in the Y-axis direction. The partition 120 partitions the tray 110, and the fluid bags are placed neatly on the tray 110, which is beneficial for the jacking mechanism 200 and the clamping mechanism 300 to work together to clamp the selected fluid bag 400.
Optionally, the jacking mechanism 200 includes a top plate 210, a bottom plate 220 and a jacking driving device 230, wherein the top plate 210 is provided with a plurality of rows of ejector pins 211 extending upward from an upper surface; a bottom plate 220 positioned below the top plate 210; and the jacking driving device 230 is fixed on the bottom plate 220 and is in driving connection with the top plate 210, and is used for driving the top plate 210 to move up and down.
A plurality of rows of ejector pins 211 extend from the upper surface of the top plate 210. The bottom plate 220 is used for fixing the jacking driving device 230, and the jacking driving device 230 is fixed on the bottom plate 220, is connected to the top plate 210 in a driving manner, and is used for driving the top plate 210 to move up and down. When the top plate 210 moves up and down, the plurality of rows of ejector pins 211 pass through the avoiding hole 111 to lift the fluid bag 400 up or fall back below the avoiding hole 111 to load the fluid bag 400 on the supporting mechanism 100.
Optionally, the jacking mechanism 200 further includes a guide hole 212 and a guide post 240, wherein the guide hole 212 is vertically perforated on the top plate 210; and guide posts 240 extending upward from the base plate 220 into the guide holes 212.
The guide post 240 is configured on the bottom plate 220 and is located in the guide hole 212. In the process of the up-and-down movement of the top plate 210, the guide post 240 guides and limits the movement of the top plate 210, and further, defines the movement path of the thimble 211. Guide post 240 is provided to ensure that the movement of spike 211 when lifting up fluid bag 400 remains vertical, thereby facilitating alignment of spike 211 with clearance hole 111.
Optionally, the number of the guide posts 240 is plural.
The guide posts 240 can better limit the movement of the top plate 210, so that the top plate 210 moves up and down more stably and reliably.
Optionally, the gripping device further includes a jacking mechanism moving rail 710 and a jacking mechanism moving driving device 720, wherein the jacking mechanism moving rail 710 is arranged along the length direction of the bearing mechanism 100, and the bottom plate 220 of the jacking mechanism 200 is slidably connected to the jacking mechanism moving rail; the jacking mechanism moving driving device 720 is used for driving the bottom plate 220 of the jacking mechanism 200 to slide along the jacking mechanism moving track 710.
The lift mechanism moving rail 710 is disposed along the length direction of the carriage 100, that is, along the X-axis direction. The whole support can be arranged, the jacking mechanism moving rail 710 is located on the support, the jacking mechanism moving rail 710 can also be arranged by means of a specific mechanism at the position of the grabbing device, for example, the jacking mechanism moving rail 710 is arranged on the ground in the space where the grabbing device is located or attached to other devices, the jacking mechanism moving rail 710 can be fixed by sliding the jacking mechanism 200 and limits the moving path of the jacking mechanism 200, and the form of the jacking mechanism moving rail 710 is not limited specifically. A lifting mechanism moving rail 710 is provided, and when a different fluid bag 400 is gripped, the lifting mechanism moves to below the selected fluid bag 400. Specifically, the jacking mechanism 200 and the gripping mechanism 300 move synchronously in the X-axis direction. This arrangement allows more trays 110 to be expanded for the carrying mechanism 100, which improves the storage and handling capacity of the fluid bag 400 gripping device for the fluid bag 400.
The above description and drawings sufficiently illustrate embodiments of the disclosure to enable those skilled in the art to practice them. Other embodiments may include structural and other changes. The examples merely typify possible variations. Individual components and functions are optional unless explicitly required, and the sequence of operations may vary. Portions and features of some embodiments may be included in or substituted for those of others. The embodiments of the present disclosure are not limited to the structures that have been described above and shown in the drawings, and various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.
Claims (10)
1. A gripping device for fluid bags, comprising:
the bearing mechanism is used for bearing the liquid bag, and a plurality of rows of avoidance holes which penetrate through the bearing mechanism up and down are formed in the surface of the bearing mechanism, which is in contact with the liquid bag;
the jacking mechanism is arranged below the bearing mechanism, one surface of the jacking mechanism, which is opposite to the bearing mechanism, is provided with a plurality of rows of thimbles, and the thimbles can move upwards to penetrate through the plurality of rows of avoidance holes to jack up the liquid bag so as to enable the liquid bag to be separated from the contact with the bearing mechanism;
the clamping mechanism comprises a fork-shaped portion capable of moving horizontally, a plurality of avoiding grooves are formed in the fork-shaped portion, the fork-shaped portion avoids the plurality of ejector pins horizontally extending into the lower portion of the liquid bag, and the liquid bag is enabled to move upwards to be separated from the contact of the jacking mechanism.
2. The grasping device according to claim 1, wherein the fork comprises:
a first fork;
and the first fork part and the second fork part can move oppositely to extend into the lower part of the liquid bag from two sides of the liquid bag so as to clamp the liquid bag together.
3. The grasping apparatus according to claim 2, wherein the grasping mechanism further comprises:
the back plate is provided with a first rail and a second rail along the length direction of the bearing mechanism;
the first connecting plate is arranged on the first rail in a sliding mode and used for connecting the first fork-shaped part;
the second connecting plate is arranged on the second track in a sliding mode and used for connecting the second fork-shaped part;
and the clamping driving device is used for driving the first connecting plate and the second connecting plate to move oppositely and reversely.
4. The grasping apparatus according to claim 3,
the first connecting plate is configured with a first drive chute and the second connecting plate is configured with a second drive chute;
the gripping drive device includes:
the output shaft of the driving motor is vertically arranged and is positioned between the first track and the second track;
the transmission rod is arranged along the radial direction of the driving motor, the middle of the transmission rod is fixed on an output shaft of the driving motor, the first end of the transmission rod is arranged in the first driving sliding groove in a sliding mode, and the second end of the transmission rod is arranged in the second driving sliding groove in a sliding mode; when the driving motor rotates, the transmission rod drives the first connecting plate and the second connecting plate to move oppositely or reversely.
5. The grasping apparatus according to claim 3,
the bearing mechanism can place a plurality of liquid bags along the width direction;
the grasping apparatus further includes:
the clamping mechanism is arranged on the fixed support and is connected with the lifting rail in a sliding mode;
the lifting driving device is used for driving the clamping mechanism to move up and down;
the translation track is arranged along the width direction of the bearing mechanism, and the fixed bracket is connected to the translation track in a sliding manner;
and the translation driving device is used for driving the driving bracket to move along the translation track.
6. The grasping apparatus according to any one of claims 1 to 5, wherein the bearing mechanism includes:
the bottom of the tray is provided with a plurality of avoidance holes;
the clapboard divides the tray into a plurality of rows of liquid bag placing spaces along the length direction of the bearing mechanism.
7. The grasping apparatus according to claim 6, wherein the grasping apparatus further comprises:
the traveling track is arranged along the length direction of the bearing mechanism;
the traveling beam is connected with the traveling rail in a sliding mode, and the translation rail is arranged on the traveling beam;
the traveling driving device is used for driving the traveling beam to move along the traveling track;
the carrying mechanism is provided with a plurality of trays along the length direction of the carrying mechanism, and the travelling driving device drives the travelling beam to move along the travelling track so that the clamping mechanism is positioned above different trays.
8. The grasping apparatus according to claim 7, wherein the jacking mechanism includes:
the top plate is provided with a plurality of rows of thimbles extending upwards from the upper surface;
a bottom plate located below the top plate;
and the jacking driving device is fixed on the bottom plate, is in driving connection with the top plate and is used for driving the top plate to move up and down.
9. The grasping apparatus according to claim 8, wherein the jacking mechanism further includes:
the guide hole penetrates through the top plate up and down;
and the guide post extends upwards from the bottom plate to the guide hole.
10. The grasping apparatus according to claim 1, further comprising:
the jacking mechanism moving track is arranged along the length direction of the bearing mechanism, and a bottom plate of the jacking mechanism is connected with the jacking moving track in a sliding manner;
and the jacking mechanism moving driving device is used for driving the bottom plate of the jacking mechanism to slide along the jacking mechanism moving track.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210041247.2A CN114348642A (en) | 2022-01-14 | 2022-01-14 | Gripping device for liquid bags |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210041247.2A CN114348642A (en) | 2022-01-14 | 2022-01-14 | Gripping device for liquid bags |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114348642A true CN114348642A (en) | 2022-04-15 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210041247.2A Pending CN114348642A (en) | 2022-01-14 | 2022-01-14 | Gripping device for liquid bags |
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| Country | Link |
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| CN (1) | CN114348642A (en) |
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| CN115108208A (en) * | 2022-06-14 | 2022-09-27 | 青岛海尔生物医疗科技有限公司 | Sorting storage warehouse for blood station |
| CN115108215A (en) * | 2022-06-14 | 2022-09-27 | 青岛海尔生物医疗科技有限公司 | Automatic blood storage warehouse |
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