CN114380039A - Penicillin bottle full-function liquid medicine blending and bottle clamping manipulator - Google Patents
Penicillin bottle full-function liquid medicine blending and bottle clamping manipulator Download PDFInfo
- Publication number
- CN114380039A CN114380039A CN202111573991.9A CN202111573991A CN114380039A CN 114380039 A CN114380039 A CN 114380039A CN 202111573991 A CN202111573991 A CN 202111573991A CN 114380039 A CN114380039 A CN 114380039A
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- Prior art keywords
- bottle
- penicillin
- penicillin bottle
- clamping
- grabbing
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Links
- 229930182555 Penicillin Natural products 0.000 title claims abstract description 222
- JGSARLDLIJGVTE-MBNYWOFBSA-N Penicillin G Chemical compound N([C@H]1[C@H]2SC([C@@H](N2C1=O)C(O)=O)(C)C)C(=O)CC1=CC=CC=C1 JGSARLDLIJGVTE-MBNYWOFBSA-N 0.000 title claims abstract description 222
- 229940049954 penicillin Drugs 0.000 title claims abstract description 222
- 239000003814 drug Substances 0.000 title claims abstract description 30
- 239000007788 liquid Substances 0.000 title claims abstract description 23
- 238000002156 mixing Methods 0.000 title claims abstract description 12
- 230000007246 mechanism Effects 0.000 claims abstract description 30
- 238000005086 pumping Methods 0.000 claims abstract 2
- 238000003825 pressing Methods 0.000 claims description 20
- 238000002347 injection Methods 0.000 claims description 2
- 239000007924 injection Substances 0.000 claims description 2
- 238000002360 preparation method Methods 0.000 abstract description 6
- 102000016943 Muramidase Human genes 0.000 description 8
- 108010014251 Muramidase Proteins 0.000 description 8
- 108010062010 N-Acetylmuramoyl-L-alanine Amidase Proteins 0.000 description 8
- 229960000274 lysozyme Drugs 0.000 description 8
- 235000010335 lysozyme Nutrition 0.000 description 8
- 239000004325 lysozyme Substances 0.000 description 8
- 229940079593 drug Drugs 0.000 description 5
- WQZGKKKJIJFFOK-GASJEMHNSA-N Glucose Natural products OC[C@H]1OC(O)[C@H](O)[C@@H](O)[C@@H]1O WQZGKKKJIJFFOK-GASJEMHNSA-N 0.000 description 4
- 239000008103 glucose Substances 0.000 description 4
- FAPWRFPIFSIZLT-UHFFFAOYSA-M Sodium chloride Chemical compound [Na+].[Cl-] FAPWRFPIFSIZLT-UHFFFAOYSA-M 0.000 description 2
- 238000004140 cleaning Methods 0.000 description 2
- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 210000004907 gland Anatomy 0.000 description 2
- 239000012452 mother liquor Substances 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004090 dissolution Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 208000010727 head pressing Diseases 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000001990 intravenous administration Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000002844 melting Methods 0.000 description 1
- 230000008018 melting Effects 0.000 description 1
- 239000011780 sodium chloride Substances 0.000 description 1
- 239000002904 solvent Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- 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
- B65G2201/0235—Containers
- B65G2201/0244—Bottles
Abstract
The invention provides a penicillin bottle full-function liquid medicine blending and bottle clamping robot hand which comprises a penicillin bottle lifting device, a penicillin bottle rotating and swinging device and a penicillin bottle grabbing robot hand, wherein the penicillin bottle lifting device is arranged on the penicillin bottle rotating and swinging device; the penicillin bottle lifting device controls the penicillin bottle grabbing robot hand to rotate, penicillin bottle grabbing fingers are arranged on the penicillin bottle grabbing robot hand and comprise penicillin bottle clamping fingers, and the penicillin bottle grabbing fingers are driven by a built-in mechanism to clamp the penicillin bottle so as to perform the actions of man-machine-friendly placing, positioning, injecting and liquid pumping; the penicillin bottle grabbing device further comprises a bottle clamping finger, wherein a positioning groove of the bottle clamping finger is aligned to a movable positioning block on the penicillin bottle grabbing finger and is directly inserted to the end. In order to improve the safety and the accuracy of the use of the medicine, reduce the error rate of manual operation and protect the occupational protection of medical care personnel, the invention designs the configuration manipulator of the intelligent penicillin bottle, which plays an important role in the medicine preparation.
Description
Technical Field
The invention relates to the field of manufacturing of high-end equipment, in particular to a dispensing device.
Background
At present, hospitals in the world only use a small number of robots to prepare medicines, most hospital medical care personnel carry out intravenous medicine preparation in an empty environment, hold a medicine dissolving device on one hand, hold a solvent bottle on the other hand, and suck penicillin bottles repeatedly, so that the labor intensity is high, the preparation efficiency is low, the medicine preparation is easy to cross-infect, and the preparation accuracy is difficult to control.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a penicillin bottle full-function liquid medicine blending and bottle clamping robot hand which comprises a penicillin bottle lifting device, a penicillin bottle rotating and swinging device and a penicillin bottle grabbing robot hand; the penicillin bottle lifting device controls the penicillin bottle rotating and swinging device to lift up and down, the penicillin bottle rotating and swinging device controls the penicillin bottle grabbing robot hand to rotate, penicillin bottle grabbing fingers are arranged on the penicillin bottle grabbing robot hand and comprise penicillin bottle clamping fingers, and the penicillin bottle grabbing fingers are driven by a built-in mechanism to clamp the penicillin bottle, so that the penicillin bottle is put in a proper position and is filled in a fixed position and liquid is pumped out; the penicillin bottle grabbing device further comprises a bottle clamping finger, wherein a positioning groove of the bottle clamping finger is aligned to a movable positioning block on the penicillin bottle grabbing finger and is directly inserted to the end.
As a further improvement of the invention, the penicillin bottle clamping machine further comprises a penicillin bottle clamping machine hand seat plate, an in-pot bottle push rod, an in-pot bottle push spring and an in-pot bottle push spring pressing plate; the cap bottle boosting rod is through the cap bottle boosting spring and the cap bottle boosting spring clamp plate pre-compression on the penicillin bottle clamp machine hand seat board, the cap bottle boosting spring clamp plate is fixed on the penicillin bottle clamp machine hand seat board, the cap bottle boosting rod end is supported at the penicillin bottle head cylinder face, when snatching the penicillin bottle, the penicillin bottle head cylinder face will be the cap bottle boosting rod top compression back to an certain position, when the cap bottle, open the penicillin bottle and press from both sides the bottle and point, through the cap bottle boosting spring's effect down, the cap bottle boosting rod breaks away from the penicillin bottle and presses from the penicillin bottle hand, thereby ensure to lose the chinese cloison bottle completely.
As a further improvement, the penicillin bottle clamping mechanism further comprises a penicillin bottle clamping module positioning seat, a penicillin bottle clamping module positioning pin, a penicillin bottle clamping module, a penicillin bottle clamping finger connecting rod mechanism and a penicillin bottle clamping finger guide sliding rail; the locating seat of the penicillin bottle clamping module and the penicillin bottle finger guide slide rail are arranged on the penicillin bottle clamping robot seat plate, the locating pin of the penicillin bottle clamping module is arranged on the penicillin bottle clamping module locating seat, the fixed end of the penicillin bottle clamping module is fixed at the locating pin of the penicillin bottle clamping module through a clamp spring, the movable end of the penicillin bottle clamping module is connected to a bottle clamping finger connecting rod mechanism through a pin shaft, connecting rods on two sides of the bottle clamping finger connecting rod mechanism are respectively connected to two fingers of a penicillin bottle clamping finger through pin shafts, and the penicillin bottle clamping finger is arranged on a slide block of the bottle clamping finger guide slide rail; when the penicillin bottle gripping mechanism works, the movable end of the penicillin bottle gripping module pushes the two side connecting rods on the penicillin bottle gripping finger connecting rod mechanism, and the two side connecting rods on the penicillin bottle gripping finger connecting rod mechanism drive the two penicillin bottle gripping fingers arranged on the sliding blocks of the penicillin bottle gripping finger guiding sliding rails to perform parallel opening and closing movement, so that a penicillin bottle is gripped and placed.
As a further improvement of the invention, the bottle clamping finger is designed with an anti-leakage mechanism to completely wrap the penicillin bottle clamping finger and the movable groove in which the penicillin bottle clamping finger is located.
As a further improvement of the invention, a plurality of groups of independent motors are arranged on the penicillin bottle grabbing robot hand to drive each grabbing finger of penicillin bottle grabbing fingers.
As a further improvement, two rows of penicillin bottle grabbing fingers are arranged on the penicillin bottle grabbing robot hand and independently move, after one row of penicillin bottles are grabbed, the penicillin bottle lifting device controls the penicillin bottle grabbing robot hand to ascend to a certain height, the penicillin bottle rotating and swinging device controls the penicillin bottle grabbing robot hand to rotate 180 degrees, and the other row of penicillin bottle grabbing fingers are in a vertically downward state to complete grabbing of the other row of penicillin bottles.
As a further improvement of the invention, the bottle clamping finger comprises a bottle clamping finger pressing pin and a bottle clamping finger pressing pin return spring, and the bottle clamping finger is clamped automatically by the bottle clamping finger pressing pin and is buckled under the action of the bottle clamping finger pressing pin return spring.
The invention has the beneficial effects that:
in order to improve the safety and the accuracy of the use of the medicine, reduce the error rate of manual operation and protect the occupational protection of medical care personnel, the invention designs the configuration manipulator of the intelligent penicillin bottle, which plays an important role in the medicine preparation.
Drawings
FIG. 1: the invention discloses a structural schematic diagram of a penicillin bottle full-function liquid medicine blending bottle clamping robot hand;
FIG. 2: FIG. 1 is a perspective view from another angle;
FIG. 3: the inner structure of the penicillin bottle grabbing robot hand is schematic;
FIG. 4: FIG. 3 is a top view;
FIG. 5: the exploded view of fig. 3;
FIG. 6: FIG. 3 is an exploded view from another angle;
FIG. 7 is a schematic structural diagram of a vial gripping robot;
FIG. 8: FIG. 7 is a partially enlarged view;
FIG. 9: mounting bottle clamping finger heads A13-511 in perspective view;
FIG. 10: the exploded view of fig. 9.
The names of the components in the figure are as follows:
a penicillin bottle lifting device A13-300;
a penicillin bottle rotary swing device A13-400;
a penicillin bottle grabbing manipulator A13-500;
grasping fingers A13-510 of the penicillin bottle;
a penicillin bottle clamping robot seat board A13-501;
positioning seats A13-502 of the penicillin bottle clamping module;
positioning pins A13-503 of a penicillin bottle clamping module;
a penicillin bottle clamping module A13-504;
a bottle clamping finger link mechanism A13-505;
a vial clamping finger A13-506;
bottle clamping finger guide slide rails A13-507;
pin bottle boost bars a 13-508;
pin bottle boost springs A13-509;
pin boosting spring press plate A13-510;
bottle clamping fingers A13-511;
the finger head main body A13-511-01 of the bottle clamping;
a bottle clamping finger head gland A13-511-02;
pressing the pin shaft gland A13-511-03 by the bottle clamping fingers;
the finger pressing pin A13-511-04 of the bottle clamping;
the finger of the bottle gripper presses the pin return spring A13-511-05.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
Penicillin bottle full-function liquid medicine blending bottle clamping robot hand: comprises a penicillin bottle lifting device A13-300, a penicillin bottle rotating and swinging device A13-400, a penicillin bottle grabbing robot hand A13-500, a penicillin bottle grabbing finger A13-510, a penicillin bottle clamping robot seat plate A13-501, a penicillin bottle clamping module positioning seat A13-502, a penicillin bottle clamping module positioning pin A13-503, a penicillin bottle clamping module A13-504, a bottle clamping finger link mechanism A13-505, a penicillin bottle clamping finger A13-506, a bottle clamping finger guide slide rail A13-507, a pin bottle push-aid rod A13-508, a pin bottle push-aid spring A13-3985, a pin bottle push-aid pressure plate A38-510, a pin clamping head A13-511, a pin clamping head body A13-511-01, a pin clamping head cover A13-511-02, a pin clamping head pressing cover A2-03, a finger pressing cover A2-03, a finger pressing cover A, A bottle clamping finger pressing pin A13-511-04 and a bottle clamping finger pressing pin return spring A13-511-05.
Preferably, two rows of penicillin bottle grabbing fingers A13-510 are arranged on the penicillin bottle grabbing robot hand A13-500, the penicillin bottle grabbing fingers A13-510 can be driven by a built-in mechanism to enable the penicillin bottle grabbing fingers A13-510 to clamp and place penicillin bottles, and the two rows of penicillin bottle grabbing fingers A13-510 move independently; the penicillin bottle grabbing robot A13-500 moves to a position corresponding to a pre-grabbed penicillin bottle through the penicillin bottle lifting device A13-300 and the penicillin bottle rotating and swinging device A13-400, a penicillin bottle grabbing finger A13-510 is vertically downward when grabbing the penicillin bottle and is controlled to be in an opening state through an internal mechanism, then the penicillin bottle lifting device A13-300 controls the penicillin bottle grabbing finger A13-510 to descend to the position corresponding to the grabbing penicillin bottle, the penicillin bottle grabbing finger A13-510 controls the penicillin bottle grabbing finger A13-510 to clamp the penicillin bottle through the driving of the internal mechanism, a row of penicillin bottle grabbing can be completed, then the penicillin bottle lifting device A13-300 controls the penicillin bottle grabbing robot A13-500 to ascend to a certain height, the penicillin bottle rotating and swinging device A13-400 controls the penicillin bottle grabbing robot A13-500 to rotate 180 degrees, and the another row of penicillin bottle grabbing fingers A13-510 are in a vertically downward state, and the grabbing of the another row of penicillin bottles can be completed by repeating the actions.
The penicillin bottle clamping robot hand is provided with a plurality of groups of independent motor-driven bottle clamping fingers, and penicillin bottles at corresponding positions can be clamped and discarded as required. Due to the requirements of industry, uncontrollable factors and the like, penicillin bottles at different positions sometimes need to be left on a robot arm, and the penicillin bottles which do not need to be left can be selectively discarded by bottle clamping fingers driven by independent motors.
The locating seat A13-502 of the penicillin bottle clamping module and the positioning pin A13-507 of the penicillin bottle clamping finger guide sliding rail A are arranged on the penicillin bottle clamping robot seat plate A13-501 through screws, the positioning pin A13-503 of the penicillin bottle clamping module is arranged on the locating seat A13-502 of the penicillin bottle clamping module through screws, the fixed end of the penicillin bottle clamping module A13-504 is fixed at the positioning pin A13-503 of the penicillin bottle clamping module through a snap spring, the movable end of the penicillin bottle clamping module A13-504 is connected to the bottle clamping finger link mechanism A13-505 through a pin shaft, two connecting rods on the bottle clamping finger link mechanism A13-505 are respectively connected to two fingers of the penicillin bottle clamping finger A13-506 through pin shafts, and the penicillin bottle clamping finger A13-506 is arranged on a sliding block of the bottle clamping finger guide sliding rail A13-507 through a screw; when the penicillin bottle gripping device works, the movable end of the module pushes two side connecting rods on a bottle clamping finger link mechanism A13-505, the two side connecting rods on the bottle clamping finger link mechanism A13-505 drive two penicillin bottle clamping fingers A13-506 arranged on sliding blocks of a bottle clamping finger guide sliding rail A13-507 to perform parallel opening and closing movement, so that the penicillin bottle gripping and placing purpose is achieved, and when penicillin bottles of different specifications are gripped, the center points of the penicillin bottle heads can be kept consistent, so that when a needle of the penicillin bottle melting device penetrates through penicillin bottles of different specifications, the center point of the penicillin bottle does not need to be searched again, and the purpose of rapidly configuring penicillin medicines is achieved.
The center points of the vial heads of the penicillin bottles can be kept consistent, and the description is as follows: the bottles with different sizes and specifications only have the clamp which moves in parallel and relatively to ensure that the center is unchanged, and the centers of the swing arm type clamps are inconsistent when the swing arm type clamps the bottles with different sizes and specifications.
The pin bottle push aid lever a13-508 is pre-compressed by the pin bottle push aid spring a13-509 and the pin bottle push aid spring clamp a13-510 in a corresponding position of the penicillin bottle clamp bottle robot seat plate a13-501, the pin bottle push aid spring clamp a13-510 is fixed to the pin bottle clamp bottle robot seat plate a13-501 by screws, the pin bottle push aid lever a13-508 is positioned to correspond to the pin bottle head cylinder, when the penicillin bottle is grasped, the pin bottle head cylinder presses the pin discharge aid lever a13-508 back into a certain position, when the pin bottle is opened, the pin bottle clamp bottle finger a13-506 is opened, and the pin bottle push aid spring a13-509 is used to assist the pin bottle push aid lever a13-508 in releasing the pin bottle clamp bottle finger a13-506, thereby ensuring that the penicillin bottle is completely discarded.
The background of the bottle unloading booster bar A13-508 is designed: when preparing a penicillin bottle for encapsulating a medicament, a liquid medicine of lysozyme (mother liquor) needs to be injected into the penicillin bottle for dissolving, and most of the liquid medicine of the lysozyme (mother liquor) mainly comprises sodium chloride lysozyme and glucose lysozyme; because the penicillin medicine is packaged in the sealed penicillin bottle, after the lysozyme medicine is injected into the penicillin bottle, the pressure in the penicillin bottle is increased, and when the injection needle head is pulled out, the problem of leakage is avoided; when penicillin medicines are dissolved by glucose lysozyme liquid, the viscosity of the glucose lysozyme liquid is high after water is volatilized, if the glucose lysozyme liquid overflows from a part where penicillin bottle clamping fingers A13-506 clamp a penicillin bottle and the penicillin medicines are insoluble medicines, the penicillin bottle clamping fingers A13-506 clamp the penicillin bottle for a long time to wait for dissolution, after the water of the overflowing liquid is volatilized, when the penicillin bottle clamping fingers A13-506 are opened to discard the penicillin bottle, the possibility that the penicillin bottle is adhered to the penicillin bottle clamping fingers A13-506 possibly occurs, and at the moment, when the penicillin bottle clamping fingers A13-506 clamp the next penicillin bottle, the clamping fault occurs; the design of the pin and bottle aid lever a13-508 mechanism effectively solves this problem.
The detachable bottle clamping finger scheme is characterized in that: can dismantle the type press from both sides bottle finger through designing the constant head tank, mechanism such as elastic pin buckle can realize can breaking away from the finger at any time and wash, change press from both sides bottle finger and dismantle purpose such as installation fast, press from both sides bottle finger design simultaneously and have antiseep mechanism, wrap up completely pressing from both sides bottle finger movable groove, can effectively prevent that the overflow from leaking liquid and splashing into inner structure.
The working principle is as follows: when the bottle clamping finger A13-511 is installed, a worker only needs to directly insert the positioning groove of the bottle clamping finger A13-511 into the movable positioning block on the bottle clamping finger to be prepared, and the bottle clamping finger A13-511 is automatically clamped by the bottle clamping finger pressing pin A13-511-04 which is buckled under the action of the bottle clamping finger pressing pin return spring A13-511-05; when the bottle clamping fingers A13-511 need to be detached for cleaning, a worker only needs to hold the bottle clamping fingers A13-511 by hands, simultaneously holds the bottle clamping fingers A13-511-04 by the pressing pins A, and can take down the bottle clamping fingers A13-511 for cleaning by pulling outwards.
The foregoing is a more detailed description of the invention in connection with specific preferred embodiments and it is not intended that the invention be limited to these specific details. For those skilled in the art to which the invention pertains, several simple deductions or substitutions can be made without departing from the spirit of the invention, and all shall be considered as belonging to the protection scope of the invention.
Claims (7)
1. The utility model provides a xiLin bottle full function liquid medicine allotment presss from both sides bottle machine hand which characterized in that: comprises a penicillin bottle lifting device (A13-300), a penicillin bottle rotating and swinging device (A13-400) and a penicillin bottle grabbing robot arm (A13-500); the penicillin bottle lifting device (A13-300) controls the penicillin bottle rotating and swinging device (A13-400) to lift up and down, the penicillin bottle rotating and swinging device (A13-400) controls the penicillin bottle grabbing robot hand (A13-500) to rotate, a penicillin bottle grabbing finger (A13-510) is arranged on the penicillin bottle grabbing robot hand (A13-500), the penicillin bottle grabbing finger (A13-510) comprises a penicillin bottle clamping finger (A13-506), and the penicillin bottle grabbing finger (A13-510) drives the penicillin bottle to clamp and release the penicillin bottle through a built-in mechanism and perform positioning injection and liquid pumping actions; the automatic penicillin bottle grabbing device also comprises bottle grabbing fingers (A13-511), wherein the positioning grooves of the bottle grabbing fingers (A13-511) are aligned with the movable positioning blocks on the penicillin bottle grabbing fingers (A13-510) and are directly inserted to the ends.
2. The penicillin bottle full-function liquid medicine blending and bottle clamping robot hand as claimed in claim 1, wherein: further comprising a penicillin bottle clamping robot seat board (A13-501), an in-pot push-aid rod (A13-508), an in-pot push-aid spring (A13-509) and an in-pot push-aid spring press board (A13-510); the pin bottle push aid rod (A13-508) is pre-compressed on the pin bottle clamp bottle machine hand seat plate (A13-501) by the pin bottle push aid spring (A13-509) and the pin bottle push aid spring pressure plate (A13-510) in such a way that the pin bottle push aid spring pressure plate (A13-510) is fixed on the pin bottle clamp bottle machine hand seat plate (A13-501) and the pin bottle push aid rod (A13-508) ends against the pin bottle head cylinder which presses the pin bottle push aid rod (A13-508) back into a certain position when the pin bottle is grasped and releases the pin bottle clamp bottle hand finger (A13-506) when the pin bottle is opened and the pin bottle push aid spring (A13-509) acts in such a way that the pin bottle push aid rod (A13-508) releases the pin bottle clamp finger (A13-506) and thus ensures that the pin bottle is completely discarded.
3. The penicillin bottle full-function liquid medicine blending and bottle clamping robot hand as claimed in claim 2, wherein: the penicillin bottle clamping module positioning seat (A13-502), a penicillin bottle clamping module positioning pin (A13-503), a penicillin bottle clamping module (A13-504), a penicillin bottle clamping finger link mechanism (A13-505) and a penicillin bottle clamping finger guide sliding rail (A13-507); a penicillin bottle clamping module positioning seat (A13-502), the vial clamping finger guide slide rail (A13-507) is arranged on a vial clamping robot seat plate (A13-501), vial clamping module positioning pins (A13-503) are arranged on vial clamping module positioning seats (A13-502), fixed ends of vial clamping modules (A13-504) are fixed at vial clamping module positioning pins (A13-503) through snap springs, movable ends of vial clamping modules (A13-504) are connected to vial clamping finger link mechanisms (A13-505) through pin shafts, connecting rods on two sides of the vial clamping finger link mechanisms (A13-505) are respectively connected to two fingers of vial clamping fingers (A13-506) through pin shafts, and vial clamping fingers (A13-506) are arranged on slide blocks of the vial clamping finger guide slide rail (A13-507); when the penicillin bottle clamping mechanism works, the movable end of the penicillin bottle clamping module (A13-504) pushes two side connecting rods on the penicillin bottle clamping finger link mechanism (A13-505), and the two side connecting rods on the penicillin bottle clamping finger link mechanism (A13-505) drive two penicillin bottle clamping fingers (A13-506) arranged on sliding blocks of the penicillin bottle clamping finger guide sliding rails (A13-507) to move in parallel in an opening and closing mode, so that a penicillin bottle is grabbed and placed.
4. The penicillin bottle full-function liquid medicine blending and bottle clamping robot hand as claimed in claim 1, wherein: the bottle clamping fingers (A13-511) are designed with an anti-leakage mechanism to completely wrap the penicillin bottle clamping fingers (A13-506) and the movable groove in which the penicillin bottle clamping fingers are located.
5. The penicillin bottle full-function liquid medicine blending and bottle clamping robot hand as claimed in claim 1, wherein: each grabbing finger of a plurality of groups of independent motor-driven grabbing fingers (A13-510) of the penicillin bottle grabbing robot hand (A13-500) is arranged on the penicillin bottle grabbing robot hand.
6. The penicillin bottle full-function liquid medicine blending and bottle clamping robot hand as claimed in claim 1, wherein: two rows of penicillin bottle grabbing fingers (A13-510) are arranged on the penicillin bottle grabbing robot hand (A13-500), the two rows of penicillin bottle grabbing fingers (A13-510) move independently, after one row of penicillin bottles are grabbed, the penicillin bottle lifting device (A13-300) controls the penicillin bottle grabbing robot hand (A13-500) to ascend to a certain height, the penicillin bottle rotating and swinging device (A13-400) controls the penicillin bottle grabbing robot hand (A13-500) to rotate 180 degrees, the other row of penicillin bottle grabbing fingers (A13-510) are in a vertically downward state, and grabbing of the other row of penicillin bottles is completed.
7. The penicillin bottle full-function liquid medicine blending and bottle clamping robot hand as claimed in claim 1, wherein: the bottle clamping finger (A13-511) comprises a bottle clamping finger pressing pin (A13-511-04) and a bottle clamping finger pressing pin return spring (A13-511-05), and the bottle clamping finger pressing pin (A13-511-04) is buckled on the bottle clamping finger pressing pin (A13-511-05) and automatically clamps the bottle clamping finger (A13-511) under the action of the bottle clamping finger pressing pin return spring (A13-511-05).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111573991.9A CN114380039A (en) | 2021-12-21 | 2021-12-21 | Penicillin bottle full-function liquid medicine blending and bottle clamping manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111573991.9A CN114380039A (en) | 2021-12-21 | 2021-12-21 | Penicillin bottle full-function liquid medicine blending and bottle clamping manipulator |
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| Publication Number | Publication Date |
|---|---|
| CN114380039A true CN114380039A (en) | 2022-04-22 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111573991.9A Pending CN114380039A (en) | 2021-12-21 | 2021-12-21 | Penicillin bottle full-function liquid medicine blending and bottle clamping manipulator |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114452213A (en) * | 2021-12-21 | 2022-05-10 | 深圳市澳奇医疗机器人有限公司 | XiLin bottle encapsulation medicine full-intelligent allotment robot |
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| CN213264559U (en) * | 2020-09-02 | 2021-05-25 | 湖北润烨新能源有限公司 | Cylindrical lithium battery cell clamping device |
| CN213549031U (en) * | 2020-11-03 | 2021-06-29 | 山西医科大学第二医院 | Experimental mouse clamping device |
| CN214285907U (en) * | 2020-11-25 | 2021-09-28 | 四川杰仕德科技有限公司 | XiLin bottle clamping device |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114452213A (en) * | 2021-12-21 | 2022-05-10 | 深圳市澳奇医疗机器人有限公司 | XiLin bottle encapsulation medicine full-intelligent allotment robot |
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