CN118219304A - Grabbing and pressing disc structure of manipulator of automatic traditional Chinese medicine production line - Google Patents

Abstract

The invention discloses a pressure plate grabbing structure of a manipulator of a traditional Chinese medicine automation production line, which comprises an expansion lifting ring assembly and a distance measuring device, wherein the expansion lifting ring assembly is provided with two telescopic rod driving parts which are distributed in a straight line, each telescopic rod driving part is connected with one telescopic part and is fixed on a flange plate in a mode that the telescopic parts move in opposite directions, and the distance measuring device is used for measuring the distance between the pressure plate and the manipulator. Grab pressure disk structure and measure the distance of pressure quotation and rising and carrying the ring subassembly through range unit, can guarantee rising and carrying the ring subassembly and accurately snatch the carrying ring of pressure disk, can also make grab the firm pressure disk that snatchs of pressure disk structure to keep the stability of pressure disk when rapid movement, avoid the pressure disk to drop, can make the action of snatching the pressure disk action simpler.

Description

Grabbing and pressing disc structure of manipulator of automatic traditional Chinese medicine production line

Technical Field

The invention belongs to the field of automatic traditional Chinese medicine decoction, and particularly relates to a grabbing and pressing disc structure of a manipulator of an automatic traditional Chinese medicine production line.

Background

In the prior art, automation equipment is increasingly applied to the decocting process of traditional Chinese medicines, for example, a decocting device for decocting medicinal materials, a filling device for filling liquid medicine and a lifting and supporting device for lifting and supporting a pot in a decocting pot. The lengthy process flow of decocting the traditional Chinese medicine is split by a plurality of devices for executing specific processes, so that the efficiency of each process flow of decocting the traditional Chinese medicine and the number of simultaneous treatments are greatly improved. The traditional Chinese medicine decoction pieces and water are put into the decoction pot, and then the decoction pot is grabbed and carried by a mechanical arm, so that the steps of automatic decoction of traditional Chinese medicine, automatic medicine residue removal, automatic pouring of medicine liquid filling and the like are realized, the labor is saved, and the production efficiency is improved. In an automatic traditional Chinese medicine decoction system, a manipulator conveys medicine pots to circulate among various devices, so that various technological processes are connected.

After the Chinese medicinal decoction pieces are put into the inner pot of the decoction pot, a pressure plate structure is also required to be put into the inner pot, and then the pot cover is put on the decoction pot to cover the pot opening. In the prior art, a pressure plate is usually placed in a decocting pot manually, and then a pot cover is covered. Therefore, in such a process flow, the automatically operated mechanical equipment may pose a great threat to the personal safety of workers, and if the personnel are unfamiliar with the environment of the workshop, the situation that the operated equipment collides with the body often occurs. And the repeated action of workman for a long time, easily produce tired, the condition that leaks the pressure disk structure or leaks to put the pot lid easily appears, can produce adverse effect to follow-up automatic decocting process. The use of manual placement of the platen structure and the pot cover greatly reduces the efficiency and reliability of the automated drug-decocting process.

In view of this, the present invention has been made.

Disclosure of Invention

The invention aims to provide a pressure plate grabbing structure of a manipulator of a traditional Chinese medicine automatic production line, so that the pressure plate is grabbed quickly and reliably through the pressure plate grabbing structure, and the action of placing the pressure plate into an inner pot of a medicine decocting pot is completed, and therefore the efficiency and stability of an automatic medicine decocting process are improved.

In order to solve the technical problems, the invention adopts the basic conception of the technical scheme that:

The utility model provides a pressure disk structure is grabbed to traditional chinese medicine automation line manipulator, includes that lift ring subassembly and range unit rise, lift ring subassembly is equipped with two telescopic link drive division that become sharp and distribute, and every telescopic link drive division all is connected with a telescopic part and fixes on the flange board with the mode that telescopic part moved to opposite direction, and range unit is used for measuring the distance of pressure disk and manipulator.

Further, the telescopic part is connected with the lifting ring clamping jaw, and the lifting ring clamping jaw is driven by the telescopic part, and the relative positions of the two lifting ring clamping jaws are provided with a first position with smaller distance and a second position with larger distance.

Further comprises a base, the expansion lifting ring component is connected with the base and forms a two-layer structure with a space with the base,

The distance measuring device is a pressure bar component and penetrates through the base and the rising lifting ring component at the same time and is movably connected with the base and the rising lifting ring component, and the extending direction of the distance measuring device is perpendicular to the base and the rising lifting ring component.

Further, the flange plate is parallel to the base and spaced apart from the base,

The pressure head of the pressure bar assembly is arranged on one side opposite to the base relative to the plate surface of the flange plate.

Further, the pressure bar assembly comprises a pressure bar, a clamping sleeve sleeved at the middle of the pressure bar and a pressure head sleeved at one end of the pressure bar, the clamping sleeve is arranged between the base and the flange plate, the pressure bar is perpendicular to the plate surface of the flange plate, the clamping sleeve and the base are sequentially connected in series, and the clamping sleeve is fixedly connected with the pressure bar.

Further, a compressible spring is connected to the compression bar in a penetrating way, one end of the compressible spring contacts the base, and the other end of the compressible spring contacts the clamping sleeve.

Further, the mounting hole of the base is sleeved with a large sliding sleeve, and the compression bar penetrates into the large sliding sleeve.

Further, a detector support is arranged on the base, a sensor for sensing the upper part of the pressure rod is arranged on the detector support, and the pressure rod can be higher than the plane of the base when extending along the extending direction of the pressure rod, so that the detector is triggered to send signals.

Further, two symmetrical lifting ring components which are distributed on two sides of the lifting ring component are arranged on the base, the lifting ring components can reciprocate along the direction perpendicular to the plane of the base, the upper connecting strip and the lower pressing plate of the lifting ring components are flat plate components and are arranged in parallel, and the upper connecting strip and the lower pressing plate are distributed on two sides of the base.

Further, the lower pressing plate can move to a position far away from the base, and the lower pressing plate is matched with the lifting ring claw in the second position to finish grabbing the pressure plate.

By adopting the technical scheme, compared with the prior art, the invention has the following beneficial effects.

1. The pressure plate grabbing structure is characterized in that the pressure plate grabbing structure is formed into a base with two layers and an expanding lifting ring assembly, a matched structure is formed between the lifting ring and the pressure plate surface structure of the pressure plate, the pressure rod assembly can be better distributed on the base and the expanding lifting ring assembly through the layered structure with the interval distance, a component which enables the pressure rod assembly to recover to the original position can be arranged in the interval between the two layers, the pressure plate can be pressed by the pressure rod in a propping mode, a certain force is applied to the pressure plate, the pressure plate grabbing structure can be enabled to be firmly grabbing, the pressure plate stability is kept when the pressure plate moves fast, the pressure plate is prevented from falling off, and the action of the pressure plate grabbing action is simpler.

2. The automatic pressing device has the advantages that the purpose of accurately grabbing the pressing disc through the manipulator and rapidly completing the placement of the pressing disc into the inner pot of the medicine decocting pot is achieved, manual operation is replaced, the problems that a simple repeated labor worker is easy to fatigue and error are solved, the speed of placing the pressing disc into the medicine decocting pot is improved, the stability of the action of placing the pressing disc into the medicine decocting pot is ensured, and the next process step can be smoothly performed.

The following describes the embodiments of the present invention in further detail with reference to the accompanying drawings.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention. It is evident that the drawings in the following description are only examples, from which other drawings can be obtained by a person skilled in the art without the inventive effort. In the drawings:

FIG. 1 is a schematic diagram of a manipulator for an automated production line of Chinese medicine in the present invention;

FIG. 2 is a schematic diagram of a manipulator of another automated production line for traditional Chinese medicine according to the present invention;

FIG. 3 is a schematic diagram of a manipulator of another automated production line for traditional Chinese medicine according to the present invention;

FIG. 4 is a state diagram of a manipulator grabbing pressure plate of an automatic traditional Chinese medicine production line in the invention;

FIG. 5 is a schematic view of a platen according to the present invention;

FIG. 6 is a schematic diagram of a frying pan according to the present invention;

FIG. 7 is a schematic diagram of a manipulator structure of another automated Chinese medicine production line according to the present invention.

Wherein: 100. a lid structure; 200. a pressure plate grabbing structure; 300. a first connection base; 400. a first link; 500. a second link; 600. a second connecting seat; 700. a third connecting seat; 800. a pressure plate; 900. a decoction pot; 110. a substrate; 111. a slot hole; 112. a tube penetrating through hole; 113. a first counterbore; 114. a threaded hole; 120. an opening and closing assembly; 121. a jaw drive; 122. a clamping jaw; 130. a jaw extension; 131. a clip part; 132. an extension; 133. a jaw groove; 140. a suction cup; 141. a spring telescoping rod; 142. a suction disc head; 210. a base; 211. a mounting hole; 212. a second counterbore; 213. a base through hole; 220. a bail assembly; 221. a connecting strip is arranged; 222. a lower pressing plate; 223. a small guide rod; 224. a small sliding sleeve; 230. a lifting assembly; 231. a fixing member; 232. a movable member; 240. a compression bar assembly; 241. a large sliding sleeve; 242. a clamping sleeve; 243. a compression bar; 244. a pressure head; 245. a detector support; 246. a detector mounting hole; 250. an expansion lifting ring assembly; 251. a flange plate; 252. a connecting rod; 253; lifting ring clamping jaws; 254. a telescopic rod driving part; 255. a telescopic part; 801. a lifting ring; 802. a bail link; 803. a disc pressing surface; 910. a pot cover; 911. a lid grip; 920. an inner pot; 930. an outer pot.

It should be noted that these drawings and the written description are not intended to limit the scope of the inventive concept in any way, but to illustrate the inventive concept to those skilled in the art by referring to the specific embodiments.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions in the embodiments will be clearly and completely described with reference to the accompanying drawings in the embodiments of the present invention, and the following embodiments are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

In the description of the present invention, it should be noted that the azimuth or positional relationship indicated by the terms "left", "right", "inner", "outer", etc. are based on the azimuth or positional relationship shown in the drawings, and are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or element referred to must have a specific azimuth, be constructed and operated in a specific azimuth, and thus should not be construed as limiting the present invention.

In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "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.

Example 1

As shown in fig. 1 to 6, in the present invention, the pot assembly robot includes a pot cover grabbing structure 100 and a pressing plate grabbing structure 200. The lid structure 100 and the platen structure 200 are connected back-to-back by a second link 500. The lid grasping structure 100 is used to grasp a lid of a drug-decocting pot. The grasping platen structure 200 is used to grasp a platen 800 within a drug-decocting pot.

Further, a first link 400 is also vertically connected to the middle position of the second link 500, and the first link 400 is a straight bar, the cross section of which is unchanged and the same as that of the second link 500. At this time, the first link 400 is fixedly connected to the robot arm having a plurality of movable joints, and the head and tail turning actions of the second link 500 can be completed by controlling one joint of the robot arm to rotate around the central axis thereof, thereby achieving the purpose of controlling the pressure plate grabbing structure 200 or the pressure plate grabbing structure 100 to face the decocting pot to be processed.

As shown in fig. 3, the pressure plate structure 200 includes an expansion bail assembly 250 and a distance measuring device. The expansion bail assembly 250 is provided with telescoping rod driving portions 254, each telescoping rod driving portion 254 being connected to one telescoping portion 255. The two telescopic rod driving units 254 are linearly arranged, and are fixed to the flange plate 251 so that the telescopic units 255 move in opposite directions.

In the grip platen structure 200, a distance measuring device is used to measure the vertical distance between the platen 800 and the robot.

In this embodiment, grab pressure disk structure 200 is provided with and rises and carry ring subassembly 250 and range unit, and the distance between the relative pressure quotation 803 of lift ring subassembly 250 rises through measuring device survey, can guarantee to rise and carry ring subassembly 250 and accurately snatch the bail of pressure disk 800, can also make grab pressure disk structure 200 firm snatch pressure disk 800 to keep the stability of pressure disk 800 when fast motion, avoid pressure disk 800 to drop, can make the action of snatch pressure disk 800 action simpler.

As an implementation of the present embodiment, the distance measuring device may be provided electronically or mechanically.

If the distance measuring device is electronic, it can detect the distance by laser. Then the grasping platen structure 200 need only be provided with an expansion bail assembly 250 and then a perpendicular to laser range finder is provided in the expansion bail assembly 250. The grabbing process of the grabbing disc structure 200 is as follows: emitting a beam or a sequence of short pulse laser beams to the target by the distance measuring device, receiving the laser beams reflected by the pressure plate by the photoelectric element, measuring the time from the emission to the receiving of the laser beams by the timer, and calculating the distance from the distance measuring device to the pressure plate; when the distance between the equal-expansion lifting ring assembly 250 and the pressure plate accords with the set distance, the equal-expansion lifting ring assembly 250 performs the action of grabbing the pressure plate.

If the distance measuring device is mechanical, as shown in fig. 1 and 3, the pressure grasping plate structure 200 further includes a base 210, and the lifting ring assembly 250 is connected to the base 210 and forms a double-layer structure with a space therebetween. The expansion lifting ring assembly 250 is disposed in the middle of the plane of the base 210 and symmetrically distributed with respect to the symmetry plane of the base 210. The base 210 is used for connecting and fixing functional components, and the expansion lifting ring component 250 is connected with the base 210 through a connecting rod 252 and is spaced a certain distance.

At this time, the distance measuring device is the pressure bar assembly 240, and the contact between the pressure bar assembly 240 and the pressure plate 800 triggers the lifting ring assembly 250 to perform the action of grabbing the pressure plate. The plunger assembly 240 is simultaneously threaded through and movably coupled to both the base 210 and the bail assembly 250. Each individual strut 243 in strut assembly 240 extends in a direction perpendicular to base 210 and bail assembly 250.

When gripping the platen 800, the ram 244 of the ram assembly 240 first contacts the platen 800. After being pressed by the platen 800, the pressing head of the pressing rod assembly 240 is relatively close to the base 210, and the other end of the pressing rod assembly 240 passes through the base 210 and protrudes out of the surface thereof. When the plunger 243 is higher than the surface of the base 210 by a certain height, the plunger 243 triggers a detector provided on the base 210. The relative distance of the platen to the grasping platen structure 200 can be controlled by the plunger assembly 240 using a detector.

As an embodiment of the present invention, a bail latch 253 is further provided on the telescopic portion 255, and the bail latch 253 is directly connected to a suspended end portion of the telescopic portion 255.

When the telescopic part 255 is in a retracted state with respect to the telescopic rod driving part 254, the relative position between the two bail claws 253 has a first position where the distance is small. When the telescopic part 255 is in an extended state with respect to the telescopic rod driving part 254, the relative position between the two bail claws 253 has a second position where the distance is large.

In this embodiment, the plunger assembly 240 is utilized to take over the ranging function of the grasping platen structure 200. The electronic distance measuring device is replaced by a mechanical device, so that the grabbing and pressing disc structure 200 can directly execute grabbing actions after contacting the pressing disc 800, the process of calculating the distance is omitted, and the actions of grabbing the pressing disc 800 are smoother. The pressure head 244 of the pressure bar assembly 240 uniformly presses against the platen face 803 to better ensure the stability of the grasping platen 800.

In one embodiment of the invention, the bail assembly 250 has a flange plate 251 parallel to the base 210. The flange plate 251 has a symmetrical shape having four protrusions and a connection portion connecting the protrusions together. The connecting parts are vertical to the four protruding parts at the same time to form an I-shaped structure. A circular through hole is formed in the center of symmetry of the flange plate 251, and the flange plate 251 is connected to the base 210 through four connection bars 252. The four connection bars 252 are respectively distributed on the four protrusions of the flange plate 251 and are symmetrical with respect to the center of the flange plate 251.

Further, a compression bar assembly 240 is also coupled to the base 210 and the flange plate 251. The ram 244 of the plunger assembly 240 is disposed on the opposite side of the base 210 from the face of the flange plate 251.

Two telescopic rod driving portions 254 are fixed to the connection portion of the flange plate 251, and each telescopic rod driving portion 254 is connected to one telescopic portion 255. The telescopic part 255 is movably connected to the telescopic rod driving part 254 and moves in a linear direction. The two telescopic rod driving parts 254 are arranged in a straight line along the extending direction of the connecting part and the two telescopic parts 255 movably connected thereto are arranged in opposite directions.

Each telescopic part 255 is also connected and fixed with a bail latch 253. As shown in fig. 3, the bail latch 253 has an arcuate outer edge that appears as an arc. The arc outer edge is also provided with a concave small edge which is also arc-shaped and has the same diameter as the arc outer edge, and the small edge is parallel to the arc outer edge.

In this embodiment, the flange plate 251 of the expansion lift ring assembly 250 is disposed parallel to the base 210, so that the expansion lift ring assembly 250 and the base 210 form a double-layer structure. The compression bar assembly 240 is then movably connected to the flange plate 251 and the base 210, and the telescopic part 255 is controlled to switch the telescopic state by using the position state of the compression bar assembly 240 on the flange plate 251. The actions of the components are related, so that the function of controlling the grabbing platen 800 by a simple mechanical component is achieved, electronic devices are reduced, and the reliability of the grabbing platen structure 20 is improved.

Example two

As shown in fig. 3, the structure is further optimized on the basis of the above embodiment. The flange plate 251 is disposed parallel to and spaced apart from the base 210. Wherein the ram 244 of the plunger assembly 240 is disposed on the opposite side of the plate surface from the base 210 with respect to the flange plate 251.

Further, the pressure bar assembly 240 includes a pressure bar 243, a clamping sleeve 242 sleeved in the middle of the pressure bar 243, and a pressure head 244 sleeved at one end of the pressure bar 243. The detent sleeve 242 is disposed between the base 210 and the flange plate 251 so that the plunger assembly 240 is prevented from sliding off the flange plate 251 and the base 210.

The pressing rod 243 is ensured to be perpendicular to the plate surface of the flange plate 251, and is serially connected with the flange plate 251, the clamping sleeve 242 and the base 210 in sequence. Then, the clamping sleeve 242 is fixedly connected with the compression rod 243, so that the clamping sleeve 242 is prevented from moving relative to the compression rod 243.

As shown in fig. 2, the chassis 210 has a flat plate shape and a rectangular shape with a circular arc-shaped wide side. The base 210 is provided with a mounting hole 211, a second counter bore 212 and a base through hole 213. Four mounting holes 211 are centrally symmetrically distributed on the base 210.

Preferably, the large sliding sleeve 241 is sleeved in the mounting hole 211 of the base 210, and the compression rod 243 is penetrated into the large sliding sleeve 241.

At this time, the compression bar assembly 240 mainly includes a large sliding sleeve 241, a clamping sleeve 242, a compression bar 243 and a compression head 244. Wherein, big sliding sleeve 241 is fixed at the mounting hole 211 of the base 210 and penetrates into the mounting hole 211. The compression rod 243 slidably fits within the large sliding sleeve 241. Through holes are formed in the flange plate 251 at positions corresponding to the four mounting holes 211 of the base 210, so that the pressing rod 243 can be smoothly slid in the through holes.

Initially, the end of the compression rod 243 located above is flush with the large sliding sleeve 241, and after being pressed, the compression rod 243 protrudes upward from the large sliding sleeve 241. The lower end of the pressing rod 243 is sleeved with a pressing head 244. The ram 244 is made of a soft material. Preferably, the material is rubber.

In this embodiment, the base 210 and the expansion bail assembly 250 in the pressure plate grabbing structure 200 are configured in a double-layer structure, and the distance between the two-layer structure is matched with the distance between the bail of the pressure plate 800 and the pressure plate surface 803. Then, through the two-layer structure with the interval distance and the pressure bar assembly 240, the connection point of the pressure bar assembly 240 can be better distributed on the base 210 and the expansion lifting ring assembly 250, and the pressure plate grabbing structure 200 can stably grab the pressure plate 800.

Example III

As shown in fig. 3, the structure is further optimized on the basis of the above embodiment. In order to provide a means for restoring the plunger assembly 240 to its original position within the space between the two layers of the grasping platen structure 200, it is ensured that the plunger 243 presses against the platen face 803 and exerts a certain force on the platen 800, a compressible spring is disposed through the plunger 243, and one end of the compressible spring contacts the base 210 and the other end contacts the detent sleeve 242.

The locking sleeve 242 is provided at the middle part of the pressing rod 243 and is fixed to the pressing rod 243. The clamping sleeve 242 is disposed in the interval between the flange plate 251 and the base 210, and the diameter of the through hole of the pressing rod 243 penetrating through the flange plate 251 is smaller than the outer diameter of the clamping sleeve 242, so that the clamping sleeve 242 can be prevented from passing through the flange plate 251.

This arrangement of the spring between the retaining sleeve 242 and the base 210 ensures that the plunger assembly 240 will always return to its original position when it is passed through the base 210 and the bail assembly 250 and reciprocated in a direction perpendicular to the plane of the base 210.

Further, a detector holder 245 is provided on the upper plane of the base 210. A detector bracket 245 is disposed at each mounting hole 211 in the base plate. The detector support 245 has two perpendicular straight sides, one of which is fixed to the base 210 and the other of which protrudes vertically from the base 210. Wherein, a detector mounting hole 246 is opened on the vertical straight edge for fixing the sensor of the detecting compression bar 243.

Thus, the base 210 is provided with a detector bracket 245, the detector bracket 245 is provided with a sensor for sensing the upper part of the pressing rod 243, and the pressing rod 243 can be higher than the plane of the base 210 when extending along the extending direction of the pressing rod 243, so as to trigger the detector to send a signal.

In this embodiment, when gripping the platen 800, the ram 244 of the ram assembly 240 first contacts the platen 800. After being pressed by the platen 800, the pressing head of the pressing rod assembly 240 is relatively close to the base 210, and the other end of the pressing rod assembly 240 passes through the base 210 and protrudes out of the surface thereof. When the pressure bar 243 is higher than the surface of the base 210 by a certain height, the pressure bar 243 triggers the detector, so that the detector can control the relative distance between the platen and the grabbing platen structure 200 through the pressure bar assembly 240. And providing a compressible spring on the plunger assembly 200 also ensures that when the platen 800 is lowered, the ram 244 of the plunger assembly 200 will always return to the original position when not in contact with the platen. Therefore, the function of controlling the grabbing platen structure 200 to grab the platen at a specific position is completed through a simple mechanical component, the electronic device is reduced, the cost is saved, and the difficulty in debugging the electronic distance measuring device is also reduced.

Example IV

As shown in fig. 3, the structure is further optimized on the basis of the above embodiment. Also provided in the grab platen structure 200 are a bail assembly 220 and a lift assembly 230. Two symmetrical pressure lifting ring assemblies 220 are arranged on the base 210 and are distributed on two sides of the rising lifting ring assembly 250. The bail assembly 220 is reciprocally movable in a direction perpendicular to the plane of the base 210.

As shown in fig. 3, in the stripper ring assembly 220, the upper connecting bar 221 and the lower pressing plate 222 are both flat plate members, the upper connecting bar 221 and the lower pressing plate 222 are parallel, and two small guide rods 223 are connected in parallel with each other. The upper link 221 and the lower pressure plate 222 are different in width and thickness but identical in length. The upper connecting bar 221 and the lower pressing plate 222 are connected together by two small guide rods 223. Two small guide rods 223 are provided at both ends of the upper connecting bar 221 in the length direction and are vertically connected with the plate surface of the upper connecting bar 221.

The two small guide rods 223 are arranged in parallel, and the length of the small guide rods 223 is the same as the distance between the upper link 221 and the lower pressure plate 222. The base 210 has a flat plate shape and is rectangular with a circular arc-shaped wide side. The base 210 is provided with a mounting hole 211, a second counter bore 212 and a base through hole 213. Four mounting holes 211 are centrally symmetrically distributed on the base 210. The second counter bore 212 is used to secure the lifting assembly 230 and is distributed at the broadside on the base 210. The base through hole 213 is used for penetrating an air pipe or a power line, etc.

The small guide rods 223 of the bail assembly 220 are threaded onto the base 210 and are movable in a direction perpendicular to the base 210. As shown in fig. 3, the upper link 221 is located on the upper side of the base 210, and the lower pressure plate 222 is located under the base 210. The lifting assembly 230 is positioned between the two small guide rods 223, the fixed part 231 of the lifting assembly is connected with the base 210, and the movable part 232 of the lifting assembly is connected with the lower pressing plate 222.

Two circular arc edges on the base 210 are respectively provided with a lifting ring assembly 220, and the two lifting ring assemblies 220 are symmetrical with respect to the center of the base 210. The upper connecting bar 221 and the lower pressing plate 222 of the stripper ring assembly 220 are both plate members and are disposed parallel to each other, and the upper connecting bar 221 and the lower pressing plate 222 are disposed at both sides of the base 210.

Preferably, a small sliding sleeve 224 is further arranged between the small guide rod 223 and the base 210, the small sliding sleeve 224 is fixed on the base 210, and the small guide rod 223 is movably connected in the small sliding sleeve 224 in a penetrating way.

As shown in fig. 3, the elevation assembly 230 includes a fixed member 231 and a movable member 232 driven by the fixed member 231 to be movable in a straight line. The movable member 232 is penetrated into the fixed member 231. The fixing part 231 is connected with the bottom plate, the movable part 232 is connected with the lifting-ring assembly 220, and the lifting-ring assembly 220 can move along the direction perpendicular to the plane of the base 210 under the driving of the movable part 232.

As shown in fig. 1 and 3, the lower platen 222 may be stopped at a high position, which is closer to the base 210, or at a low position, which is farther from the base 210, by the driving of the elevating assembly 230. Further, the lower platen 222 is movable to a position further from the base 210 and cooperates with the bail latch 253 in the second position to complete the grasping of the platen 800.

While grabbing the platen 800: first, the lower platen 222 is moved to the high position and the bail latch 253 is moved to the first position, the ram 244 of the grasping platen structure 200 is abutted against the platen face 803 of the platen 800; then, pressing against the platen surface 803 to bring the lower platen 222 into contact with the bail 801; finally, the lower pressure plate 222 is driven to move to the low position and the bail claw 253 is driven to move to the second position, and the bail 801 is grasped by the cooperation of the lower pressure plate 222 and the bail claw 253, so that the bail 801 is clamped at the small edge of the bail claw 253.

In this embodiment, by disposing one pressing lifting ring assembly 220 on two sides of the lifting ring assembly 250, the lifting ring of the pressing plate 800 can be clamped by two members, so that the lifting ring of the pressing plate 800 is not easy to fall off from the lifting ring claw 253 of the lifting ring assembly 250 when the lifting ring assembly 250 performs the expanding action. The stability of the action of grabbing the platen 800 by the grabbing platen structure 200 is improved, so that the manipulator is more reliable when being used for actual production.

Example five

The structure is further optimized on the basis of the above embodiments.

As shown in fig. 5 and 6, the medicine decocting pot 900 includes a pressing plate 800, an outer pot 930, an inner pot 920, and a pot cover 910. The inner pot 920 is a barrel-shaped container, and a plurality of water passing holes are arranged on the side wall of the inner pot. The outer pan 930 has a cavity that accommodates the inner pan 920. A detachable cover 910 is also provided on the upper side of the decoction pot 900, the cover 910 covering the upper openings of the inner pot 920 and the outer pot 930. The upper surface of the pot cover 910 is a circular plane, and a pot cover grip 911 is further provided at the center of the upper surface thereof to facilitate gripping of the pot cover 910.

After the medicine materials are put into the inner pot 920, a pressing plate 800 is also required to be placed for use in the process flow of decocting the traditional Chinese medicines. The platen 800 includes a platen face 803, an alternative and a plurality of bail links 802. The pressing plate 803 is made of a thin plate with a diameter smaller than that of the inner pot 920, and water holes are uniformly distributed on the plane of the pressing plate. The bail 801 is circular and is made of solid thin rods that are bent around. The lifting ring connecting rod 802 connects the lifting ring 801 with the pressure plate 803, so that the center of the lifting ring 801 is vertically above the center of the pressure plate 803. Further, bail link 802 is made of solid thin rod, and may also be provided with bends.

As shown in fig. 5, six bail links 802 uniformly distributed on the circumference are connected between the bail 801 and the platen face 803. Each bail link 802 is provided with a right angle bend.

As shown in fig. 1, a mating grip platen structure 200 is provided for the platen 800 described above. The grab platen structure 200 generally includes a base 210, a bail assembly 220, a lift assembly 230, a plunger assembly 240, and an expansion bail assembly 250. The expansion lifting ring assembly 250 is disposed in the middle of the plane of the base 210 and symmetrically distributed with respect to the symmetry plane of the base 210. The base 210 is used for connecting and fixing functional components, and the expansion lifting ring component 250 is connected with the base 210 through a connecting rod 252 and is spaced a certain distance.

The expansion ring assembly 250 has a flange plate 251 parallel to the bottom plate, the flange plate 251 has a symmetrical shape, and has four protrusions, and the connection portions connecting the protrusions together are perpendicular to the four protrusions at the same time, forming an "I" shaped structure. A circular through hole is formed in the center of symmetry of the flange plate 251, and the flange plate 251 is connected to the base 210 through four connection bars 252. The four connection bars 252 are respectively distributed on the four protrusions of the flange plate 251 and are symmetrical with respect to the center of the flange plate 251.

Two telescopic rod driving portions 254 are fixed to the connection portion of the flange plate 251, and each telescopic rod driving portion 254 is connected to one telescopic portion 255. The telescopic part 255 is movably connected to the telescopic rod driving part 254 and moves in a linear direction. The two telescopic rod driving parts 254 are arranged in a straight line along the extending direction of the connecting part and the two telescopic parts 255 movably connected thereto are arranged in opposite directions.

Each telescopic part 255 is also connected and fixed with a bail latch 253. As shown in fig. 3, the bail latch 253 has an arcuate outer edge that appears as an arc. The arc outer edge is also provided with a concave small edge which is also arc-shaped and has the same diameter as the arc outer edge, and the small edge is parallel to the arc outer edge. The two telescopic rod driving parts 254 simultaneously push out the telescopic parts 255 or simultaneously pull back the telescopic parts 255, and the two bail claws 253 are driven by the telescopic parts 255 to have different distances, namely a first position with smaller diameter and a second position with larger diameter.

Two bail assemblies 220 are connected to the base 210 and symmetrically distributed on both sides of the bail assembly 250. The elevating assembly 230 includes a fixed member 231 and a movable member 232 driven by the fixed member 231 to be movable in a straight line. The movable member 232 is penetrated into the fixed member 231. The fixing part 231 is connected with the bottom plate, the movable part 232 is connected with the lifting-ring assembly 220, and the lifting-ring assembly 220 can move along the direction perpendicular to the plane of the base 210 under the driving of the movable part 232.

The upper connecting bar 221 and the lower pressing plate 222 in the lifting ring assembly 220 are flat plate members, the plate surfaces of the upper connecting bar 221 and the lower pressing plate 222 are arranged in parallel, and two small guide rods 223 are connected in parallel at intervals between the upper connecting bar 221 and the lower pressing plate 222. The upper link 221 and the lower pressure plate 222 are different in width and thickness but identical in length. The upper connecting bar 221 and the lower pressing plate 222 are connected together by two small guide rods 223. Two small guide rods 223 are provided at both ends of the upper connecting bar 221 in the length direction and are vertically connected with the plate surface of the upper connecting bar 221. The two small guide rods 223 are arranged in parallel, and the length of the small guide rods 223 is the same as the distance between the upper link 221 and the lower pressure plate 222.

The base 210 has a flat plate shape and is rectangular with a circular arc-shaped wide side. The base 210 is provided with a mounting hole 211, a second counter bore 212 and a base through hole 213. Four mounting holes 211 are centrally symmetrically distributed on the base 210. The second counter bore 212 is used to secure the lifting assembly 230 and is distributed at the broadside on the base 210. The base through hole 213 is used for penetrating an air pipe or a power line, etc.

The small guide rods 223 of the bail assembly 220 are threaded onto the base 210 and are movable in a direction perpendicular to the base 210. As shown in fig. 3, the upper link 221 is located on the upper side of the base 210, and the lower pressure plate 222 is located under the base 210. The lifting assembly 230 is positioned between the two small guide rods 223, the fixed part 231 of the lifting assembly is connected with the base 210, and the movable part 232 of the lifting assembly is connected with the lower pressing plate 222. Two circular arc edges on the base 210 are respectively provided with a lifting ring assembly 220, and the two lifting ring assemblies 220 are symmetrical with respect to the center of the base 210.

Further, a small sliding sleeve 224 is further arranged between the small guide rod 223 and the base 210, the small sliding sleeve 224 is fixed on the base 210, and the small guide rod 223 is movably connected in the small sliding sleeve 224 in a penetrating way.

The lower platen 222 may be driven by the elevating unit 230 to stay at a high position closer to the base 210 or at a low position farther from the base 210. As shown in fig. 4, when the platen 800 is grasped: first, the lower platen 222 is moved to the high position and the bail latch 253 is moved to the first position, the ram 244 of the grasping platen structure 200 is abutted against the platen face 803 of the platen 800; then, pressing against the platen surface 803 to bring the lower platen 222 into contact with the bail 801; finally, the lower pressure plate 222 is driven to move to the low position and the bail claw 253 is driven to move to the second position, and the bail 801 is grasped by the cooperation of the lower pressure plate 222 and the bail claw 253, so that the bail 801 is clamped at the small edge of the bail claw 253.

The plunger assembly 240 basically includes a large slide bushing 241, a detent bushing 242, a plunger 243 and a ram 244. Wherein, big sliding sleeve 241 is fixed at the mounting hole 211 of the base 210 and penetrates into the mounting hole 211. The compression rod 243 slidably fits within the large sliding sleeve 241. Through holes are formed in the flange plate 251 at positions corresponding to the four mounting holes 211 of the base 210, so that the pressing rod 243 can be smoothly slid in the through holes.

Initially, the end of the compression rod 243 located above is flush with the large sliding sleeve 241, and after being pressed, the compression rod 243 protrudes upward from the large sliding sleeve 241. The lower end of the pressing rod 243 is sleeved with a pressing head 244. The ram 244 is made of a soft material. Preferably, the material is rubber.

A clamping sleeve 242 is also fixed to the middle of the compression bar 243. The clamping sleeve 242 is disposed in the interval between the flange plate 251 and the base 210, and the diameter of the through hole of the pressing rod 243 penetrating through the flange plate 251 is smaller than the outer diameter of the clamping sleeve 242, so that the clamping sleeve 242 can be prevented from passing through the flange plate 251. A compressible spring may also be disposed through the compression rod 243 and between the detent sleeve 242 and the base 210. The plunger assembly 240 extends through the base 210 and the bail assembly 250 and is reciprocally movable in a direction perpendicular to the plane of the base 210.

A detector holder 245 is also provided on the upper plane of the base 210. A detector bracket 245 is disposed at each mounting hole 211 in the base plate. The detector support 245 has two perpendicular straight sides, one of which is fixed to the base 210 and the other of which protrudes vertically from the base 210. Wherein, a detector mounting hole 246 is opened on the vertical straight edge for fixing the sensor of the detecting compression bar 243.

In this embodiment, the purpose of accurately grabbing the platen 800 by the manipulator through the platen grabbing structure 200 is achieved, the purpose of placing the platen 800 into the inner pot of the drug-decocting pot is rapidly completed, manual operation is replaced, the problem that simple and repeated labor workers are prone to fatigue and error is solved, the speed of placing the platen 800 into the drug-decocting pot is improved, the stability of repeatedly executing the action of placing the platen 800 into the drug-decocting pot is ensured, and the next process step can be smoothly performed.

Example six

As shown in fig. 1 and 2, the structure is further optimized on the basis of the above-described embodiment. A lid grasping structure 100 is also provided on the robot. The lid structure 100 and the platen structure 200 are connected back-to-back by a second link 500. Therefore, the action of grabbing the pot cover and grabbing the pressing disc can be simultaneously carried out on the medicine decocting pot through one manipulator, the steps of switching and loading and unloading the robots among different manipulators are reduced, and the efficiency of the process of disassembling and assembling the medicine decocting pot is greatly improved.

As shown in fig. 1, the second link 500 is a straight bar, which is rectangular or circular in cross section. The cross section of the second link 500 is the same at any position in the length direction. The first link 400 is also vertically connected to the middle of the second link 500, and the first link 400 is a straight bar, the cross section of which is unchanged and the same as that of the second link 500.

As shown in fig. 1 and 2, the other end surface of the first link 400 is connected to the first connection holder 300. The first connecting seat 300 has a flat plate structure, and a plane of the first connecting seat is rectangular. The second connection base 600 is connected to the other surface of the first connection base 300 opposite to the first connection rod 400, and the third connection base 700 is connected to the other surface of the second connection base 600 opposite to the first connection base 300. The third connection base 700 is directly connected with the mechanical arm. The front and back planes of the second connecting seat 600 are respectively provided with fixing holes for fixing the first connecting seat 300 and the third connecting seat 700, so that fasteners for fixing the first connecting seat 300 and the third connecting seat 700 can be conveniently assembled and disassembled.

Further, as shown in fig. 2, the lid grasping structure 100 basically includes a base plate 110, an opening and closing assembly 120, a jaw extension 130 and a suction cup 140. The base plate 110 is provided with a slot 111, a through pipe 112, a first countersunk hole 113 and a threaded hole 114. The substrate 110 may be a circular flat plate, and may be made of metal or a polymer material.

As shown in fig. 2, the slot 111 is an elongated through hole penetrating the substrate 110 for mounting the suction cup 140. The substrate 110 is provided with a plurality of evenly distributed slots 111, and the length direction of the slots 111 is radial along the radial direction of the plane of the substrate 110.

Preferably, as shown in fig. 2, the centers of six identical slots 111 may constitute the vertices of a regular hexagon.

As shown in fig. 2, the through-tube via 112 is a circular hole penetrating through the substrate 110, and can be used for penetrating a gas tube or a signal line. The first countersink 113 is a structure in which a large-diameter circular hole concentric with a small-diameter circular hole penetrating the plate wall does not penetrate the plate wall and a groove is formed on one side of the plate wall.

As shown in fig. 2, the substrate 110 is provided with four first counter sunk holes 113 arranged in a square shape and centered on the center of the square shape of the substrate 110. The base plate 110 is connected and fixed to the second link 500 through the first countersunk hole 113.

Screw holes 114 are provided in pairs on the base plate 110 for fixing the opening and closing member 120. Two screw holes 114 arranged in pairs are distributed between two adjacent slots 111 and their connection lines are perpendicular to the radial direction of the base plate 110.

The opening and closing assembly 120 includes a jaw drive 121 and two jaws 122 driven by the jaw drive 121. The jaw driver 121 is of a cube-shaped construction, with a connecting slot on one side. The cross section of the connecting groove is T-shaped. The clamping jaw 122 is in a strip structure, and one end of the clamping jaw is a connector and is used for being connected with the connecting groove. The other end of the jaw 122 protrudes from the surface of the jaw driver 121, exposing the connecting finger having a rectangular cross section.

As shown in fig. 1, the connecting grooves may be provided along a curved line or along a straight line. The two jaws 122 are slidable in the connecting groove and are driven by the jaw driver 121 to a first position in which they are close to each other or a second position in which they are far from each other. As shown in fig. 2, the two jaws 122 slide in linear connecting grooves and can stay in either the first or second position. Jaw drive 121 may be connected to a gas line or power cord so that compressed gas may enter jaw drive 121 to do work to drive jaw 122 to move or power may enter jaw drive 121 to do work to drive jaw 122 to move.

The jaw extension 130 is connected with the connection fingers of the jaw 122 for adjusting the mounting form of the opening and closing assembly 120 on the base plate 110, so that the base plate 110 can fix the opening and closing assembly 120 more conveniently, the number of parts of the pot cover grabbing structure 100 can be reduced, and the reliability of the pot cover grabbing structure 100 can be improved. The opening and closing assembly 120 is attached to the base plate 110 by its side perpendicular to the mounting surface of the clamping jaw 122, and as shown in fig. 2, the connecting groove is parallel to the plane of the base plate 110.

As shown in fig. 2, jaw extension 130 has clip portion 131 and extension 132 attached together. The extension portion 132 is used for connecting with the clamping jaw 122 of the clamping assembly, and a certain space is formed between the clamping portion 131 and the base plate 110. The clamping portion 131 is used for clamping the pot cover grip 911, the two clamping jaw extension members 130 are respectively connected with one clamping jaw 122, and when the clamping jaw 122 is in the first position, the two clamping jaw extension members 130 can clamp the pot cover grip 911.

As shown in fig. 2, the clamping portion 131 is a section of straight column with a rectangular cross section, the extending portion 132 is a section of straight column with a rectangular cross section, the clamping portion 131 is perpendicularly connected with the extending portion 132, the two straight columns jointly form two parallel side surfaces, and two inner connecting surfaces and two outer connecting surfaces which are mutually perpendicular are formed. The extending part 132 end of one side is provided with a clamping groove matched with the connecting finger, and the clamping part 131 end of the same side is provided with a clamping jaw groove 133. In both jaw extensions 130 of the same snap assembly, the snap groove and jaw groove 133 are provided on opposite sides of the two members.

Further, the jaw groove 133 is a curved surface of a circular arc shape.

As shown in fig. 1 and 2, the suction cup 140 has a spring telescoping rod 141 and a suction cup head 142. The spring telescopic rod 141 is disposed at the slot 111 perpendicular to the base plate 110, and has one end penetrating into the slot 111 and the other end connected to the suction disc head 142. The suction head 142 is pressed, and the spring expansion rod 141 is movable in a direction perpendicular to the normal line of the base plate 110 at the slot hole 111. The suction disc head 142 is released and the spring rod returns to its original position under the action of the spring force.

In this embodiment, the position of the suction cup 140 is adjusted along the length direction of the slot 111, so as to adapt to various pot covers 910 with different sizes, and ensure that the suction cup 140 firmly sucks the surface of the pot cover 910.

In another embodiment of the invention, as shown in fig. 7. To increase the grip of the jaw extension 130 on the lid grip 911 when gripping the lid, the original opening and closing assembly is replaced with a larger sized opening and closing assembly 120. At this time, only four suction cups 140 are assembled in the six slots 111 on the substrate 110, and two mounting holes of the suction cups 140 are left out for avoiding the opening and closing assembly 120, so as to increase the contact area between the opening and closing assembly 120 and the substrate 110.

As shown in fig. 7, the jaws 122 of the opening and closing assembly 120 are hidden within the surface of the jaw driver 121. The jaw driver 121 has a rectangular parallelepiped shape in its outer shape, and its largest one outer surface is abutted against the base plate 110 and fixed to the base plate 110. The jaw driver 121 has a length similar to the diameter of the base plate 110.

The other surface of the jaw driver 121, which is parallel to the surface contacting the substrate 110, is provided with a guide groove. The guide groove is recessed toward the inside of the jaw driver 121, and is provided to extend in a straight line along the length direction of the jaw driver 121.

Meanwhile, the clamping jaw 122 has a strip-shaped structure, and the cross section shape of the clamping jaw is the same as that of the guide groove. The two clamping jaws 122 are movably arranged in the guide groove and can slide along the extending direction of the guide groove. The two jaws 122 are movable by the jaw drive 121 to a first position in which they are close to each other or to a second position in which they are distant from each other.

Specifically, jaw 122 has at least one surface protruding from the surface of jaw driver 121 where the channel is located, and which is in conforming engagement with jaw extension 130. In this way, the two jaw extensions 130 are able to move toward or away from each other under the drive of the two jaws 122.

As shown in fig. 7, jaw extension 130 generally exhibits a flat plate structure that includes a clip portion 131 and an extension portion 132. The extension 132 is wider than the clip 131 for connection with the jaw 122 of the snap assembly. The clip 131 overhangs the jaw driver 121 for gripping the pot lid grip 911. Two jaw extensions 130 are each connected to one jaw 122, and when the jaws 122 are in the first position, the two jaw extensions 130 can grip the lid grip 911.

Further, the height of the gap between the clip 131 and the plane of the base plate 110 is equal to the thickness of the jaw driver 121. On the two clip portions 131, a jaw recess 133 is provided on each of their mutually facing sides.

The foregoing description is only illustrative of the preferred embodiment of the present invention, and is not to be construed as limiting the invention, but is to be construed as limiting the invention to any and all simple modifications, equivalent variations and adaptations of the embodiments described above, which are within the scope of the invention, may be made by those skilled in the art without departing from the scope of the invention.

Claims (10)

1. The utility model provides a pressure disk structure is grabbed to traditional chinese medicine automation line manipulator, its characterized in that includes rising and carrying ring subassembly (250) and rangefinder, rising and carrying ring subassembly (250) are equipped with two telescopic link drive division (254) that become sharp and distribute, and every telescopic link drive division (254) are connected with a telescopic division (255) and are fixed on flange board (251) with the mode that telescopic division (255) moved to opposite direction, and rangefinder is used for measuring the distance of pressure disk and manipulator.

2. The grabbing and pressing plate structure of a manipulator of an automatic traditional Chinese medicine production line according to claim 1, wherein,

The telescopic parts (255) are connected with the bail claws (253), and the relative positions of the two bail claws (253) are provided with a first position with smaller distance and a second position with larger distance under the driving of the telescopic parts (255).

3. The grabbing and pressing plate structure of a manipulator of an automatic traditional Chinese medicine production line according to claim 2, wherein,

The device also comprises a base (210), the expansion lifting ring component (250) is connected with the base (210) and forms a two-layer structure with a space with the base,

The distance measuring device is a pressure bar component (240) and is simultaneously penetrated through the base (210) and the rising lifting ring component (250) and movably connected with the base, and the extending direction of the distance measuring device is perpendicular to the base (210) and the rising lifting ring component (250).

4. The structure of a gripper for a robot arm of an automated Chinese medicine production line according to claim 3, wherein the flange plate (251) is parallel to and spaced apart from the base (210),

The ram (244) of the ram assembly (240) is disposed on an opposite side of the base (210) from the face of the flange plate (251).

5. The grabbing and pressing plate structure of a manipulator of an automatic traditional Chinese medicine production line according to claim 4, wherein,

The pressure bar assembly (240) comprises a pressure bar (243), a clamping sleeve (242) sleeved at the middle of the pressure bar (243) and a pressure head (244) sleeved at one end of the pressure bar (243), the clamping sleeve (242) is arranged between the base (210) and the flange plate (251), the pressure bar (243) is perpendicular to the plate surface of the flange plate (251), the clamping sleeve (242) and the base (210) are sequentially connected in series, and the clamping sleeve (242) is fixedly connected with the pressure bar (243).

6. The structure of claim 5, wherein the compression rod (243) is further connected with a compressible spring in a penetrating manner, one end of the compressible spring contacts the base (210) and the other end contacts the clamping sleeve (242).

7. The structure of a grabbing and pressing plate of a manipulator of an automatic production line of traditional Chinese medicine according to claim 5 or 6, wherein the installation hole (211) of the base (210) is sleeved with a large sliding sleeve (241), and the pressing rod (243) penetrates into the large sliding sleeve (241).

8. The structure of claim 7, wherein a detector bracket (245) is provided on the base (210), the detector bracket (245) is provided with a sensor for sensing the pressure lever (243), and the pressure lever (243) can be higher than the plane of the base (210) when extending in the extending direction, so as to trigger the detector to send a signal.

9. The grabbing and pressing plate structure of a manipulator of an automatic traditional Chinese medicine production line according to any one of the claims 3-8, wherein,

The base (210) is provided with two symmetrical lifting ring components (220) which are distributed on two sides of the lifting ring component (250), the lifting ring components (220) can reciprocate along the direction perpendicular to the plane of the base (210), an upper connecting strip (221) and a lower pressing plate (222) of the lifting ring components (220) are flat plate components and are arranged in parallel, and the upper connecting strip (221) and the lower pressing plate (222) are distributed on two sides of the base (210).

10. The platen grabbing structure of a robot arm for an automated Chinese medicine production line according to claim 9, wherein the lower platen (222) is movable to a position far from the base (210) and is engaged with the bail claw (253) in the second position to grab the platen (800).