CN115991388B - Pneumatic execution unit for medical delivery robot - Google Patents
Pneumatic execution unit for medical delivery robot Download PDFInfo
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- CN115991388B CN115991388B CN202310292852.1A CN202310292852A CN115991388B CN 115991388 B CN115991388 B CN 115991388B CN 202310292852 A CN202310292852 A CN 202310292852A CN 115991388 B CN115991388 B CN 115991388B
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- 230000005540 biological transmission Effects 0.000 claims abstract description 8
- 238000001125 extrusion Methods 0.000 claims description 14
- 230000007306 turnover Effects 0.000 claims description 13
- 239000000463 material Substances 0.000 claims description 6
- 238000012423 maintenance Methods 0.000 abstract description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 6
- 229910052742 iron Inorganic materials 0.000 description 3
- 238000007726 management method Methods 0.000 description 3
- 230000008602 contraction Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 210000003781 tooth socket Anatomy 0.000 description 1
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Abstract
The invention relates to the technical field of medical delivery robot accessories, in particular to a pneumatic execution unit for a medical delivery robot. According to the pneumatic execution unit for the medical delivery robot, the pneumatic execution unit is used as power to control the execution unit, so that the overall weight of the execution unit can be greatly reduced, and the control is more convenient; the horizontal guide pipe communicated with the electric gas transmission pump is adopted to assemble and guide the robot body, so that the translation guidance quality of the robot body can be improved, the pneumatic execution unit can be powered, an externally hung energy supply line is not needed, and the space utilization rate is greatly improved; by adopting the pneumatic control mode, the whole weight can be reduced, and the later maintenance can be facilitated.
Description
Technical Field
The invention relates to the technical field of medical delivery robot accessories, in particular to a pneumatic execution unit for a medical delivery robot.
Background
The dispensing robot is an intelligent robot for a dispensing system. The medical delivery robot is a robot device for delivering medical auxiliary materials. For convenient medical auxiliary material management and accomodate, need to put medical auxiliary material on the management goods shelves, because the overall structure of management goods shelves is bigger, relies on the manual work to get completely and puts and can greatly increased the operation degree of difficulty, the security is also lower, adopts medical delivery robot can solve the problem that the manual work got and put the in-process and produce, greatly promotes delivery efficiency. The current medical delivery robot needs to control the operation of an execution unit through a motor and a hydraulic support rod, so that a large number of pipelines are needed to be hung, a large amount of space is occupied, the volume and the quality of the robot can be increased, and the application range is very limited.
Disclosure of Invention
The invention aims to solve the technical problems that: in order to solve the problems in the prior art, an improved pneumatic execution unit for a medical delivery robot is provided, and the problems that the current medical delivery robot needs to control the operation of the execution unit through a motor and a hydraulic support rod, a large amount of pipelines are needed to be hung externally, a large amount of space is occupied, the volume and the quality of the robot can be increased, and the application range is very limited are solved.
The technical scheme adopted for solving the technical problems is as follows: the utility model provides a pneumatic execution unit for medical delivery robot, includes body frame, driving motor, is used for the robot body, electronic gas transmission pump and the automatically controlled pneumatic valve of delivery medical assistance material, body frame in the top surface on be equipped with the horizontal stand pipe that is linked together with electronic gas transmission pump through the side stand, horizontal stand pipe transversely runs through inside the robot body and the robot body sliding assembly, the inside movable assembly of robot body is equipped with the worm gear subassembly by driving motor control, the activity is equipped with the first actuating arm by first pneumatic regulation vaulting pole control on the both sides wall of robot body, the activity is equipped with the second actuating arm by second pneumatic regulation vaulting pole control on the inboard outer wall of first actuating arm, the inside fixed mounting of second actuating arm has the third pneumatic regulation vaulting pole that is used for adjusting length, automatically controlled pneumatic valve fixed mounting is inside the robot body.
The robot is characterized in that an inner guide through hole for assembling the transverse guide pipe is formed in the robot body, a lower transmission groove for accommodating the worm and gear assembly is formed in the inner bottom surface of the inner guide through hole, and a bottom strip-shaped tooth groove meshed with the worm and gear assembly is formed in the lower surface of the transverse guide pipe.
The robot is characterized in that an upper telescopic chamber with a magnetic control elastic extrusion device is arranged on the inner top surface of the inner guide through hole, a lateral air guide opening of an inner elastic assembly unidirectional check sheet is arranged on the outer side surface of the transverse guide pipe, and an inner air guide runner for communicating the upper telescopic chamber with the air inlet end of the electric control air valve is arranged inside the robot body.
The robot comprises a robot body, wherein the outer walls of two sides of the robot body are symmetrically provided with lateral storage grooves, a first pneumatic adjusting stay bar is movably assembled at the upper end inside the lateral storage grooves through a first lateral assembly shaft, a first executing arm is movably assembled at the lower end inside the lateral storage grooves through a second lateral assembly shaft, and the telescopic top end of the first pneumatic adjusting stay bar is movably assembled with the first executing arm through a first control connecting rod.
The second actuating arm is movably mounted on one side of the first actuating arm through an outer connecting seat, the second pneumatic adjusting support rod assembly end is movably assembled on the second actuating arm through a third lateral assembly shaft, and the telescopic top end of the second pneumatic adjusting support rod is movably assembled with the second actuating arm through a second control connecting rod.
The first actuating arm comprises a turnover assembly section, a telescopic adjustment section and a third pneumatic adjustment support rod, wherein the turnover assembly section is provided with a second lateral assembly shaft on the side wall, the telescopic adjustment section is connected with the turnover assembly section in a sliding mode through a guide pipe, and the third pneumatic adjustment support rod is fixedly arranged inside the turnover assembly section.
The electric control air valve is respectively communicated with the first pneumatic adjusting stay bar, the second pneumatic adjusting stay bar and the third pneumatic adjusting stay bar through the outer air guide pipe.
And extrusion springs for controlling elastic reset are arranged in the first pneumatic adjusting stay bar, the second pneumatic adjusting stay bar and the third pneumatic adjusting stay bar.
Lateral control ports of the magnetic control exhaust valve installed inside are formed in the outer side walls of the first pneumatic adjusting supporting rod, the second pneumatic adjusting supporting rod and the third pneumatic adjusting supporting rod, and top air guide holes of the built-in filter screen are formed in the side walls of the connecting ends of the first pneumatic adjusting supporting rod, the second pneumatic adjusting supporting rod and the third pneumatic adjusting supporting rod.
The top end of the second actuating arm is elastically provided with a turnover clamping arm.
The beneficial effects of the invention are as follows:
(1) According to the pneumatic execution unit for the medical delivery robot, the pneumatic execution unit is used as power to control the execution unit, so that the overall weight of the execution unit can be greatly reduced, and the control is more convenient;
(2) The horizontal guide pipe communicated with the electric gas transmission pump is adopted to assemble and guide the robot body, so that the translation guidance quality of the robot body can be improved, the pneumatic execution unit can be powered, an externally hung energy supply line is not needed, and the space utilization rate is greatly improved;
(3) The first execution arms controlled by the first pneumatic adjusting stay bars are arranged in the lateral storage grooves on the outer walls of the two sides of the robot body, so that the space occupation of the whole robot execution unit can be greatly improved, the storage is convenient, and the application range is wider;
(4) The magnetic control elastic extrusion device can control the robot body to be fixedly communicated with the transverse guide pipe, so that the electric air delivery pump is conveniently communicated with the air inlet end of the electric control air valve, and the electric control air valve is matched to control the pneumatic adjusting stay bars at different positions, so that the operation is more convenient and firm;
(5) By adopting the pneumatic control mode, the whole weight can be reduced, and the later maintenance can be facilitated.
Drawings
The invention will be further described with reference to the drawings and examples.
Fig. 1 is a schematic structural view of the present invention.
Fig. 2 is a side cross-sectional view of the present invention.
Fig. 3 is a schematic view of the internal structure of the first pneumatic adjusting stay according to the present invention.
Detailed Description
The invention will now be described in further detail with reference to the accompanying drawings. The drawings are simplified schematic representations which merely illustrate the basic structure of the invention and therefore show only the structures which are relevant to the invention.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "connected," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
The pneumatic execution unit for the medical dispensing robot shown in fig. 1, 2 and 3 comprises a main frame body 1, a driving motor 2, a robot body 3 for dispensing medical auxiliary materials, an electric air delivery pump 4 and an electric control air valve 5, wherein a transverse guide pipe 6 communicated with an air outlet of the electric air delivery pump 4 is assembled on the inner top surface of the main frame body 1 through a lateral bracket, the transverse guide pipe 6 transversely penetrates through the inside of the robot body 3 and is slidably assembled with the robot body 3, a worm gear component 7 controlled by the driving motor 2 is movably assembled in the inside of the robot body 3, a first execution arm 9 controlled by a first pneumatic adjustment supporting rod 8 is movably assembled on two side walls of the robot body 3, a second execution arm 11 controlled by a second pneumatic adjustment supporting rod 10 is movably assembled on the inner side outer wall of the first execution arm 9, a third pneumatic adjustment supporting rod 12 for adjusting the length is fixedly assembled in the inside of the second execution arm 11, and the electric control air valve 5 is fixedly installed in the inside of the robot body 3.
The driving motor 2, the robot body 3, the electric air delivery pump 4 and the electric control air valve 5 are all in the prior art.
For matching with the transverse adjustment, an inner guide through hole 13 for assembling the transverse guide pipe 6 is formed in the robot body 3, a lower transmission groove for accommodating the worm gear component 7 is formed in the inner bottom surface of the inner guide through hole 13, and a bottom bar-shaped tooth groove 14 meshed with the worm gear component 7 is formed in the lower surface of the transverse guide pipe 6.
The worm wheel and worm assembly 7 is composed of a worm connected with the driving shaft of the driving motor 2 and a worm wheel for connecting the bottom bar-shaped tooth socket 14 and the worm in a transmission way.
The worm gear assembly 7 is of the prior art.
In order to match with magnetic control expansion and contraction, the transverse guide tube 6 is controlled to be communicated with the inner air guide flow passage 17, an upper telescopic chamber with the magnetic control elastic extrusion device 15 assembled inside is arranged on the inner top surface of the inner guide through hole 13, a lateral air guide opening with the inner elastic assembly one-way check sheet 16 is arranged on the outer side surface of the transverse guide tube 6, and the inner air guide flow passage 17 used for communicating the upper telescopic chamber with the air inlet end of the electric control air valve 5 is arranged inside the robot body 3.
The magnetic control elastic extrusion device 15 comprises an internal adjusting block which is inserted into the upper telescopic chamber in a sliding manner, a necking frame which is fixed at the opening position of the upper telescopic chamber, an iron spring which is arranged between the internal adjusting block and the necking frame, an electromagnet which is arranged at the connecting end position of one side of the iron spring, and an extrusion air guide nozzle which is fixed at the end of the internal adjusting block close to the necking frame, wherein the electromagnet controls the contraction of the iron spring through electrifying, so that the extrusion air guide nozzle is controlled to extend out of the necking frame, then the extrusion air guide nozzle is inserted into the side air guide opening, the unidirectional check piece 16 is controlled to inwards overturn, and the side air guide opening is opened, so that the transverse guide pipe 6 is controlled to be communicated with the upper telescopic chamber, and then the internal air guide channel is communicated.
For convenient positioning, an infrared positioning module in the prior art can be installed at the position of the lateral air guide opening in the main frame body 1, and when the robot body 3 reaches the position of the infrared positioning module, the infrared positioning module controls the driving motor 2 to be closed, and then the electromagnet is started.
In order to cooperate the side direction assembly, conveniently overturn and control, the lateral direction is accomodate recess 18 has been seted up to the symmetry on the outer wall of robot body 3 both sides, and first pneumatic adjusting stay bar 8 is through first side direction assembly axle movable assembly at the inside upper end of lateral direction accomodate recess 18, and first actuating arm 9 is through the inside lower extreme of second side direction assembly axle movable assembly at lateral direction accomodate recess 18, and the flexible top of first pneumatic adjusting stay bar 8 is through first control connecting rod and first actuating arm 9 movable assembly.
In order to match the movable assembly and adjustment, the second actuating arm 11 is movably mounted on one side of the first actuating arm 9 through an outer connecting seat, the assembly end of the second pneumatic adjusting support rod 10 is movably assembled on the second actuating arm 11 through a third lateral assembly shaft, and the telescopic top end of the second pneumatic adjusting support rod 10 is movably assembled with the second actuating arm 11 through a second control connecting rod.
In order to facilitate the adjustment of the length of the first actuator arm 9, the first actuator arm 9 includes a turnover assembly section 91 having a second lateral assembly shaft mounted on a side wall thereof and a telescopic adjustment section 93 slidably connected to the turnover assembly section 91 through a guide tube 92, and the third pneumatic adjustment stay 12 is fixedly mounted inside the turnover assembly section 91.
In order to cooperate with the air guide control, the electric control air valve 5 is respectively communicated with the first pneumatic adjusting stay bar 8, the second pneumatic adjusting stay bar 10 and the third pneumatic adjusting stay bar 12 through an outer air guide pipe 19.
The electric control air valve 5 is used for connecting the lateral connecting pipe of outside air duct 19 and is 6, and the outside air duct of first pneumatic regulation vaulting pole 8 is connected to both sides, and the outside air duct of second pneumatic regulation vaulting pole 10 is connected to both sides, and the outside air duct symmetry that the third pneumatic regulation vaulting pole 12 is connected to both sides sets up in electric control air valve 5 both sides, and the first pneumatic regulation vaulting pole 8, the second pneumatic regulation vaulting pole 10 of both sides, third pneumatic regulation vaulting pole 12 adoption respectively synchronous control's mode go on.
In order to cooperate with elastic reset, the control adjusting stay bars are convenient to stretch, and the first pneumatic adjusting stay bar 8, the second pneumatic adjusting stay bar 10 and the third pneumatic adjusting stay bar 12 are internally provided with extrusion springs 20 for controlling the elastic reset.
In order to cooperatively control the elastic reset and the internal air discharge and suction, lateral control ports for internally installing a magnetic control exhaust valve 21 are formed in the outer side walls of the first pneumatic adjusting stay bar 8, the second pneumatic adjusting stay bar 10 and the third pneumatic adjusting stay bar 12, and top air guide holes for internally arranging filter screens are formed in the side walls of the connecting ends of the first pneumatic adjusting stay bar 8, the second pneumatic adjusting stay bar 10 and the third pneumatic adjusting stay bar 12, which are positioned on the extrusion springs 20.
To promote top clamping stability, the top end of the second actuator arm 11 is resiliently fitted with a flip-over clamping arm 22.
The turnover type clamping arm 22 is connected with the top end of the second actuating arm 11 through a connecting seat through a rotating shaft, and then a torsion spring is arranged at the connecting end of the rotating shaft to control elastic reset.
According to the pneumatic execution unit for the medical delivery robot, the pneumatic execution unit is used as power to control the execution unit, so that the overall weight of the execution unit can be greatly reduced, and the control is more convenient; the transverse guide tube 6 communicated with the electric air delivery pump 4 is adopted to assemble and guide the robot body 3, so that the translation guidance quality of the robot body 3 can be improved, the pneumatic execution unit can be powered, an externally hung energy supply line is not needed, and the space utilization rate is greatly improved; the first execution arms 9 controlled by the first pneumatic adjusting stay bars 8 are arranged in the lateral storage grooves 18 on the outer walls of the two sides of the robot body 3, so that the space occupation of the whole robot execution unit can be greatly improved, the storage is convenient, and the application range is wider; the magnetic control elastic extrusion device 15 can control the robot body 3 to be fixedly communicated with the transverse guide tube 6, so that the electric air delivery pump 4 is conveniently communicated with the air inlet end of the electric control air valve 5, and the electric control air valve 5 is matched to control the pneumatic adjusting stay bars at different positions, so that the operation is more convenient and firm; by adopting the pneumatic control mode, the whole weight can be reduced, and the later maintenance can be facilitated.
With the above-described preferred embodiments according to the present invention as an illustration, the above-described descriptions can be used by persons skilled in the relevant art to make various changes and modifications without departing from the scope of the technical idea of the present invention. The technical scope of the present invention is not limited to the description, but must be determined according to the scope of claims.
Claims (7)
1. The utility model provides a pneumatic execution unit for medical delivery robot, includes main frame body (1), driving motor (2), is used for the delivery medical auxiliary material robot body (3), electronic air delivery pump (4) and automatically controlled pneumatic valve (5), characterized by: the automatic control device is characterized in that a transverse guide pipe (6) communicated with an air outlet of an electric air delivery pump (4) is arranged on the inner top surface of the main frame body (1) through a lateral support, the transverse guide pipe (6) transversely penetrates through the inside of the robot body (3) and is slidably assembled with the robot body (3), a worm and gear component (7) controlled by a driving motor (2) is movably arranged in the robot body (3), a first executing arm (9) controlled by a first pneumatic adjusting supporting rod (8) is movably arranged on two side walls of the robot body (3), a second executing arm (11) controlled by a second pneumatic adjusting supporting rod (10) is movably arranged on the outer wall of the inner side of the first executing arm (9), a third pneumatic adjusting supporting rod (12) used for adjusting the length is fixedly arranged in the second executing arm (11), and the electronic control air valve (5) is fixedly arranged in the robot body (3);
an inner guide through hole (13) for assembling the transverse guide pipe (6) is formed in the robot body (3), a lower transmission groove for accommodating the worm gear component (7) is formed in the inner bottom surface of the inner guide through hole (13), and a bottom strip-shaped tooth groove (14) meshed with the worm gear component (7) is formed in the lower surface of the transverse guide pipe (6);
an upper telescopic chamber with a magnetic control elastic extrusion device (15) is arranged on the inner top surface of the inner guide through hole (13), a lateral air guide opening with an inner elastic assembly one-way check sheet (16) is arranged on the outer side surface of the transverse guide pipe (6), and an inner air guide channel (17) for communicating the upper telescopic chamber with the air inlet end of the electric control air valve (5) is arranged in the robot body (3);
the electric control air valve (5) is respectively communicated with the first pneumatic adjusting stay bar (8), the second pneumatic adjusting stay bar (10) and the third pneumatic adjusting stay bar (12) through an outer air duct (19).
2. A pneumatic execution unit for a medical dispensing robot according to claim 1, characterized in that: lateral storage grooves (18) are symmetrically formed in the outer walls of two sides of the robot body (3), the first pneumatic adjusting support rod (8) is movably assembled at the upper end inside the lateral storage grooves (18) through a first lateral assembly shaft, the first executing arm (9) is movably assembled at the lower end inside the lateral storage grooves (18) through a second lateral assembly shaft, and the telescopic top end of the first pneumatic adjusting support rod (8) is movably assembled with the first executing arm (9) through a first control connecting rod.
3. A pneumatic execution unit for a medical dispensing robot according to claim 2, characterized in that: the second actuating arm (11) is movably mounted on one side of the first actuating arm (9) through an outer connecting seat, the assembly end of the second pneumatic adjusting support rod (10) is movably assembled on the second actuating arm (11) through a third lateral assembly shaft, and the telescopic top end of the second pneumatic adjusting support rod (10) is movably assembled with the second actuating arm (11) through a second control connecting rod.
4. A pneumatic actuator for a medical dispensing robot as claimed in claim 3, wherein: the first actuating arm (9) comprises a turnover assembly section (91) with a second lateral assembly shaft mounted on the side wall and a telescopic adjustment section (93) connected with the turnover assembly section (91) in a sliding mode through a guide pipe (92), and the third pneumatic adjustment stay bar (12) is fixedly mounted inside the turnover assembly section (91).
5. A pneumatic execution unit for a medical dispensing robot according to claim 1, characterized in that: the first pneumatic adjusting stay bar (8), the second pneumatic adjusting stay bar (10) and the third pneumatic adjusting stay bar (12) are internally provided with extrusion springs (20) for controlling elastic reset.
6. A pneumatic execution unit for a medical dispensing robot according to claim 1, characterized in that: lateral control ports for internally mounted magnetic control exhaust valves (21) are formed in the outer side walls of the first pneumatic adjusting stay bar (8), the second pneumatic adjusting stay bar (10) and the third pneumatic adjusting stay bar (12), and top air guide holes for built-in filter screens are formed in the side walls of the connecting ends of the first pneumatic adjusting stay bar (8), the second pneumatic adjusting stay bar (10) and the third pneumatic adjusting stay bar (12) located on the extrusion springs (20).
7. A pneumatic execution unit for a medical dispensing robot according to claim 1, characterized in that: the top end of the second actuating arm (11) is elastically provided with a turnover clamping arm (22).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310292852.1A CN115991388B (en) | 2023-03-24 | 2023-03-24 | Pneumatic execution unit for medical delivery robot |
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| CN202310292852.1A CN115991388B (en) | 2023-03-24 | 2023-03-24 | Pneumatic execution unit for medical delivery robot |
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| CN115991388A CN115991388A (en) | 2023-04-21 |
| CN115991388B true CN115991388B (en) | 2023-05-16 |
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Families Citing this family (1)
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| CN116986320B (en) * | 2023-09-27 | 2023-12-01 | 江苏环亚医用科技集团股份有限公司 | Air conveying pipe with lifting pneumatic conveying device |
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