CN209480461U - Double guide mechanism arm devices for dispensing machine - Google Patents
Double guide mechanism arm devices for dispensing machine Download PDFInfo
- Publication number
- CN209480461U CN209480461U CN201822131059.0U CN201822131059U CN209480461U CN 209480461 U CN209480461 U CN 209480461U CN 201822131059 U CN201822131059 U CN 201822131059U CN 209480461 U CN209480461 U CN 209480461U
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- China
- Prior art keywords
- driving assembly
- driving
- longitudinal
- wheel
- dispensing machine
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Abstract
The utility model relates to transmission machine fields, disclose a kind of double guide mechanism arm devices for dispensing machine, upper rail and lower guideway including being fixed on dispensing machine shell, driving assembly is respectively arranged on upper rail and lower guideway, the driving assembly being mounted on upper rail is upper driving assembly, the driving assembly being mounted on lower guideway is lower driving assembly, tooth form synchronous belt, the longitudinal moving device of driving assembly and lower driving assembly in connection, connecting plate, the obliquity sensor for further including controller and being arranged on longitudinal moving device, the controller respectively with upper driving assembly, lower driving assembly and obliquity sensor electrical connection.By profile, as guide rail, tooth form synchronous belt is arranged, this drive mechanism can manufacture longer automatic pharmacy, while reduce manufacturing cost in the utility model on guide rail；It is provided with obliquity sensor, detects the inclination angle of longitudinal moving device at any time, controller control adjustment keeps manipulator movement smooth, accurate.
Description
Technical field
The utility model relates to transmission machine fields, and in particular to a kind of double guide mechanism arm devices for dispensing machine.
Background technique
Various big hospital now, pharmacy generally use various automatic dispensaries, by dispensing machine realize drug transfer with
And transmission, in existing dispensing machine, mostly use elevator to adjust the position of manipulator in the vertical direction in dispensing machine, with
Position with dosing tank corresponding to dispensing machine generally realizes transverse shifting in transverse direction using screw rod transmission, however existing only
Vertical length of the automatic dispensary length due to being limited to screw rod, general length do not exceed 6 meters, and therefore, it is necessary to more than 6 meters length
Automatic dispensary when, using existing automatic dispensary, increase manufacturing cost.Screw rod transmission generally uses upper screw rod under
Screw rod, will appear manipulator and upper and lower screw rod after long-time use unavoidably, there are certain inclination angles, cause the drug speed of dispensing machine
Spend slack-off, the reduced service life of manipulator or even stuck.
Utility model content
The technical issues of the utility model solves be to provide it is a kind of it is at low cost, moving distance is long, manipulator verticality is good
Double guide rail Single Mechanical arm devices.
The technical scheme adopted by the utility model to solve the technical problem is as follows: double guide mechanism hands for dispensing machine fill
It sets, upper rail and lower guideway including being fixed on dispensing machine shell, is respectively arranged with driving group on the upper rail and lower guideway
Part, the driving assembly being mounted on upper rail are upper driving assembly, and the driving assembly being mounted on lower guideway is lower driving assembly,
The top surface of the upper rail and lower guideway is respectively arranged with tooth form synchronous belt, the longitudinal direction of driving assembly and lower driving assembly in connection
Mobile device；The driving component includes driving plate, and the side of the driving plate length direction is provided with driving device fixing seat,
Servo motor is installed in driving device fixing seat, main drive wheel, main drive wheel and tooth are connected in the drive shaft of servo motor
Shape synchronous belt engages, and contact roller, two contact rollers are respectively arranged with before and after main drive wheel in the driving device fixing seat
The tooth form synchronous belt of two sides on main drive wheel is pressed respectively, tooth form synchronous belt is made to be in tensioning state；Longitudinal shifting
The upper end of dynamic device is connect by connecting plate with upper driving assembly, and the lower end of longitudinal moving device is screwed in lower driving
In driving plate on component；It further include controller, the controller is electrically connected with upper driving assembly, lower driving assembly respectively.
Further, being provided with multiple the first scroll wheels that can be rolled on guide rail in the driving plate；The driving
The two sides of plate be provided with it is multiple can two side roll of guide rail rise position-limiting action the second scroll wheel.
Further, the longitudinal movement component includes two support rods, the both ends of the support rod are equipped with synchronization
The synchronous pulley of belt wheel fixing seat, two support rod one end is connected by support rod connecting plate；In the synchronous pulley fixing seat
It is provided with synchronous pulley, the synchronous pulley at same support rod both ends passes through synchronous band connection；Sliding rail is installed on the support rod,
It is provided with the sliding block being used cooperatively with sliding rail in sliding rail, manipulator mounting plate is connected on sliding block, is also set on manipulator mounting plate
It is equipped with the synchronous belt fixed block being fixed on synchronous belt on manipulator mounting plate, manipulator is enable to indulge under the action of synchronous belt
To movement；Synchronous pulley fixing seat on two support rods far from support rod connecting plate is mounted in the lower driving plate for driving component,
The synchronous pulley in two synchronous pulley fixing seats on two support rods far from support rod connecting plate passes through longitudinal driven wheel, connects
Bar connects realization with shaft coupling and rotates synchronously；It further include the servo longitudinal motor being mounted in lower driving assembly in driving plate, institute
It states and is provided with longitudinal driving wheel in the drive shaft of servo longitudinal motor, longitudinal driving wheel and longitudinal driven wheel are connected by synchronous belt
It connects.
Further, being additionally provided with obliquity sensor on the longitudinal moving device；The obliquity sensor and control
Device electrical connection.
Further, the upper rail, lower guideway and support rod are profile.
Further, first scroll wheel and the second scroll wheel are encapsulated bearing.
The beneficial effects of the utility model are: the utility model passes through profile as guide rail, it is same that tooth form is set on guide rail
Band is walked, the main drive wheel in driving assembly is engaged with tooth form synchronous belt, realize driving assembly transverse shifting on guide rail, profile
Cost is much lower relative to the cost of screw rod, and profile can accomplish 10 meters, using this configuration reduces when automatic pharmacy
Manufacturing cost；Obliquity sensor is provided on longitudinal moving device, when longitudinal moving device run-off the straight, obliquity sensor
Controller is sent a signal to, controller gives servo motor adjustment signal, and longitudinal moving device is made to hang down after servo motor adjusts
Directly in guide rail, manipulator is mobile smooth, mobile accurate.
Detailed description of the invention
Fig. 1 is double guide mechanism arm device structural schematic diagrams for dispensing machine；
Fig. 2 is longitudinal moving device structural schematic diagram；
Fig. 3 is the portion A enlarged drawing；
Fig. 4 is the portion B enlarged drawing；
Fig. 5 is the portion C enlarged drawing.
In the figure, it is marked as 5, manipulator；11, upper rail；12, lower guideway；15, connecting plate；16, obliquity sensor；21, it drives
Movable plate；22, driving device fixing seat；23, servo motor；24, main drive wheel；25, contact roller；26, the first scroll wheel；27,
Two scroll wheels；31, synchronous pulley fixing seat；32, support rod connecting plate；311, synchronous pulley；341, sliding rail；342, sliding block；35,
Synchronous belt fixed block；36, manipulator mounting plate；391, shaft coupling；392, connecting rod；393, servo longitudinal motor；394, Zong Xiangzhu
Driving wheel；395, longitudinal driven wheel.
Specific embodiment
The present invention will be further described below with reference to the accompanying drawings and specific embodiments.
As shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4 and Fig. 5, double guide mechanism arm devices for dispensing machine include fixing
In being respectively arranged with driving assembly on the upper rail 11 and lower guideway 12 of dispensing machine shell, the upper rail 11 and lower guideway 12,
The driving assembly being mounted on upper rail 11 is upper driving assembly, and the driving assembly being mounted on lower guideway 12 is lower driving group
The top surface of part, the upper rail 11 and lower guideway 12 is respectively arranged with tooth form synchronous belt, the toothed surface direction guiding rail of tooth form synchronous belt
Face, the longitudinal moving device of driving assembly and lower driving assembly in connection pass through that upper driving assembly is synchronous with lower driving assembly to be driven
Dynamic longitudinal moving device；As shown in figure 3, the driving component includes driving plate 21, the side of 21 length direction of driving plate
It is provided with driving device fixing seat 22, servo motor 23, the drive shaft of servo motor 23 are installed in driving device fixing seat 22
On be connected with main drive wheel 24, main drive wheel 24 is engaged with tooth form synchronous belt, in main driving in the driving device fixing seat 22
The front and back of wheel 24 is respectively arranged with contact roller 25, and two contact rollers 25 respectively bring the toothed synchronous of two sides on main drive wheel 24 into
Row pressure holding, makes tooth form synchronous belt be in tensioning state, main drive wheel 24 is engaged with toothed belt wheel, the driving of servo motor 23
Under, driving assembly transverse shifting on guide rail；The upper end of the longitudinal moving device is connected by connecting plate 15 and upper driving assembly
It connects, the connecting plate 15 is connect by screw with upper driving assembly, and the lower end of longitudinal moving device is screwed in lower drive
In driving plate 21 on dynamic component；It further include controller, the controller is electrically connected with upper driving assembly, lower driving assembly respectively
It connects, the controller is PLC.Longitudinal moving device is connect with upper driving assembly, lower driving assembly respectively in upper and lower ends, is passed through
Servo motor 23 drives longitudinal moving device mobile, and servo motor 23 can control speed, and position precision is very accurate, when vertical
Angle is formed by 0-3 degree to mobile device and Z axis, can pass through watching on the servo motor and lower guideway on upper rail
Motor is taken to be finely adjusted, controller control travels preceding servo motor and first suspends driving, travel posterior servo motor to
Preceding driving keeps longitudinal moving device vertical with upper rail 11, lower guideway 12；Upper rail 11, lower guideway 12 are profile, in practice
The guide rail done using profile can accomplish 10 meters, and screw rod is merely able to accomplish 6 meters as guide rail, and the cost of profile is far below silk
Therefore the cost of bar can both produce longer automatic dispensary using the guide rail that profile makes while also reduce manufacture
Cost, in longitudinal moving device run-off the straight, can be finely adjusted using servo motor as driving, and ensure that mobile essence
Degree.
On the basis of the above, as shown in figure 3, being provided with multiple the first rollings that can be rolled on guide rail in the driving plate 21
Driving wheel 26；4 the first scroll wheels 26 are respectively arranged in driving plate 21, so that the sliding friction between driving plate 3 and guide rail changes
For the rolling friction between the first scroll wheel 26 and guide rail, needed due to the driving force that rolling friction needs less than sliding friction
Driving force can save electricity, while noise is small.The two sides of the driving plate 21 are respectively set 2 can be in two side roll of guide rail
The second scroll wheel 27 of position-limiting action is played, the setting of the second scroll wheel 27 can prevent driving plate 21 inclined during horizontal movement
It leaves the right or normal track, ensure that driving assembly moves along a straight line.First scroll wheel 26 and the second scroll wheel 27 are encapsulated bearing；Due to
Encapsulated bearing is soft structures, and soft structures have certain elasticity, so that the first scroll wheel 8 and the installation of the second scroll wheel 9 are more square
Just, while soft structures have the advantages that noise is small.
On the basis of the above, as shown in Fig. 2, the longitudinal movement component include two support rods, the two of the support rod
End is equipped with synchronous pulley fixing seat 31, and the synchronous pulley 311 of two support rod one end is connected by support rod connecting plate 32, can
To further increase the stability of longitudinal moving device, and conveniently it is connect with upper driving assembly；The synchronous pulley fixing seat
Synchronous pulley 311 is provided in 31, synchronous pulley 311 passes through axis connection in synchronous pulley fixing seat 31, same support rod two
The synchronous pulley 311 at end passes through synchronous band connection；As shown in figure 4, being equipped with sliding rail 341 on the support rod, set in sliding rail 341
It is equipped with the sliding block 342 being used cooperatively with sliding rail 341, the shape of sliding block is " several " font, and manipulator installation is connected on sliding block 342
Plate 36 is additionally provided with the synchronous belt fixed block 35 being fixed on synchronous belt on manipulator mounting plate 36 on manipulator mounting plate 36,
Manipulator 5 is set to vertically move under the action of synchronous belt, synchronous belt is placed on manipulator mounting plate 36, and synchronous belt is fixed
Synchronous belt is fixed on manipulator mounting plate 36 by block 35, as long as synchronized belt wheel 311 rotates, manipulator mounting plate 36 can
To move up and down；Synchronous pulley fixing seat 31 on two support rods far from support rod connecting plate 32 is mounted on the lower drive for driving component
The synchronous pulley 311 in two synchronous pulley fixing seats 31 on movable plate 21, on two support rods far from support rod connecting plate 32
It is connected by longitudinal driven wheel 395, connecting rod 392 and shaft coupling 391 and realizes synchronous rotation；It further include being mounted in lower driving assembly
Servo longitudinal motor 393 in driving plate 21 is provided with longitudinal driving wheel 394 in the drive shaft of the servo longitudinal motor 393,
Longitudinal driving wheel 394, by synchronous band connection, in order to fix connecting rod 392, is provided with longitudinal driven wheel 395 on connecting rod 392
Connecting rod fixing seat, the connecting rod fixing seat are fixed by screws in the driving plate of lower driving assembly.
On the basis of the above, obliquity sensor 16 is additionally provided on the longitudinal moving device；The obliquity sensor 16
It is electrically connected with the controller.When obliquity sensor 16 detects that longitudinal moving device run-off the straight angle in O-3 degree, is sent out to PLC
The number of delivering letters, the servo motor in PLC control in driving assembly, the servo motor in lower driving assembly carry out longitudinal movement component
Adjustment is respectively perpendicular longitudinal movement component with upper rail 11, lower guideway 11；When obliquity sensor 16 detects entire mobile dress
When setting run-off the straight angle greater than 3 degree, obliquity sensor 16 sends signal to PLC, the servo electricity in PLC control in driving assembly
Servo motor in machine, lower driving assembly is adjusted longitudinal movement component, the servo after the completion of adjustment, in upper driving assembly
Servo motor in motor and lower driving assembly drive simultaneously longitudinal movement component be returned to upper rail, the origin on lower guideway into
Row correction.
Particular embodiments described above has carried out into one the purpose of this utility model, technical scheme and beneficial effects
Step is described in detail, it should be understood that being not limited to this foregoing is merely specific embodiment of the utility model
Utility model, within the spirit and principle of the utility model, any modification, equivalent substitution, improvement and etc. done should all wrap
Containing being within the protection scope of the utility model.
Claims (6)
1. being used for double guide mechanism arm devices of dispensing machine, it is characterised in that: the upper rail including being fixed on dispensing machine shell
(11) and lower guideway (12) it, is respectively arranged with driving assembly on the upper rail (11) and lower guideway (12), is mounted on upper rail
(11) driving assembly on is upper driving assembly, and the driving assembly being mounted on lower guideway (12) is lower driving assembly, it is described on
The top surface of guide rail (11) and lower guideway (12) is respectively arranged with tooth form synchronous belt, and driving assembly and lower driving assembly is vertical in connection
To mobile device；The driving component includes driving plate (21), and the side of driving plate (21) length direction is provided with driving
Device fixing seat (22) is equipped with servo motor (23) in driving device fixing seat (22), in the drive shaft of servo motor (23)
It is connected with main drive wheel (24), main drive wheel (24) is engaged with tooth form synchronous belt, in master on the driving device fixing seat (22)
It is respectively arranged with before and after driving wheel (24) contact roller (25), two contact rollers (25) are respectively to two sides on main drive wheel (24)
Tooth form synchronous belt is pressed, and tooth form synchronous belt is made to be in tensioning state；The upper end of the longitudinal moving device passes through connecting plate
(15) it is connect with upper driving assembly, the lower end of longitudinal moving device is screwed in the driving plate (21) on lower driving assembly
On；It further include controller, the controller is electrically connected with upper driving assembly, lower driving assembly respectively.
2. being used for double guide mechanism arm devices of dispensing machine as described in claim 1, it is characterised in that: the driving plate (21)
On be provided with multiple the first scroll wheels (26) that can be rolled on guide rail；The two sides of the driving plate (21) be provided with it is multiple can
The second scroll wheel (27) of position-limiting action is played in two side roll of guide rail.
3. being used for double guide mechanism arm devices of dispensing machine as described in claim 1, it is characterised in that: the longitudinal movement group
Part includes two support rods, and the both ends of the support rod are equipped with synchronous pulley fixing seat (31), two support rod one end it is same
Belt wheel (311) are walked to connect by support rod connecting plate (32)；Synchronous pulley is provided in the synchronous pulley fixing seat (31)
(311), the synchronous pulley (311) at same support rod both ends passes through synchronous band connection；Sliding rail is installed on the support rod
(341), the sliding block (342) being used cooperatively with sliding rail (341) is provided in sliding rail (341), sliding block is connected with manipulator on (342)
Mounting plate (36) is additionally provided with the synchronous belt being fixed on synchronous belt on manipulator mounting plate (36) on manipulator mounting plate (36)
Fixed block (35) vertically move manipulator (5) can under the action of synchronous belt；It is connected on two support rods far from support rod
The synchronous pulley fixing seat (31) of plate (32) is mounted in the lower driving plate (21) for driving component, far from support rod on two support rods
Synchronous pulley (311) in two synchronous pulley fixing seats (31) of connecting plate (32) passes through longitudinal driven wheel (395), connecting rod
(392) it realizes and rotates synchronously with shaft coupling (391) connection；It further include the longitudinal direction being mounted in lower driving assembly in driving plate (21)
Servo motor (393) is provided with longitudinal driving wheel (394), longitudinal driving wheel in the drive shaft of the servo longitudinal motor (393)
(394) pass through synchronous band connection with longitudinal driven wheel (395).
4. double guide mechanism arm devices as claimed in claim 1 or 3 for dispensing machine, it is characterised in that: longitudinal shifting
Obliquity sensor (16) are additionally provided on dynamic device；The obliquity sensor (16) is electrically connected with the controller.
5. as claimed in claim 3 be used for dispensing machine double guide mechanism arm devices, it is characterised in that: upper rail (11), under
Guide rail (12) and support rod are profile.
6. being used for double guide mechanism arm devices of dispensing machine as claimed in claim 2, it is characterised in that: first scroll wheel
(26) and the second scroll wheel (27) is encapsulated bearing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822131059.0U CN209480461U (en) | 2018-12-19 | 2018-12-19 | Double guide mechanism arm devices for dispensing machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822131059.0U CN209480461U (en) | 2018-12-19 | 2018-12-19 | Double guide mechanism arm devices for dispensing machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209480461U true CN209480461U (en) | 2019-10-11 |
Family
ID=68118499
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201822131059.0U Expired - Fee Related CN209480461U (en) | 2018-12-19 | 2018-12-19 | Double guide mechanism arm devices for dispensing machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209480461U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110950022A (en) * | 2019-12-16 | 2020-04-03 | 江苏慧宇诚智能装备研究院有限公司 | Automatic medicine supplementing turnover mechanism |
| CN111284987A (en) * | 2020-03-09 | 2020-06-16 | 广州进观智能设备有限公司 | Library book outlet device utilizing database |
| WO2023045398A1 (en) * | 2021-09-25 | 2023-03-30 | 浙江立镖机器人有限公司 | Goods loading and unloading apparatus fixed on goods shelf |
-
2018
- 2018-12-19 CN CN201822131059.0U patent/CN209480461U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110950022A (en) * | 2019-12-16 | 2020-04-03 | 江苏慧宇诚智能装备研究院有限公司 | Automatic medicine supplementing turnover mechanism |
| CN110950022B (en) * | 2019-12-16 | 2021-04-02 | 江苏慧宇诚智能装备研究院有限公司 | Automatic medicine supplementing turnover mechanism |
| CN111284987A (en) * | 2020-03-09 | 2020-06-16 | 广州进观智能设备有限公司 | Library book outlet device utilizing database |
| WO2023045398A1 (en) * | 2021-09-25 | 2023-03-30 | 浙江立镖机器人有限公司 | Goods loading and unloading apparatus fixed on goods shelf |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20191011 Termination date: 20201219 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |