CN211687301U

CN211687301U - Transfer manipulator

Info

Publication number: CN211687301U
Application number: CN201922498527.2U
Authority: CN
Inventors: 胡远远; 黄书文; 姜卫国; 李可; 张生科; 乔自艳
Original assignee: Zhejiang Yinxinborong Electronic Technology Co ltd
Current assignee: Ningbo Yinzhikang Technology Co ltd
Priority date: 2019-12-31
Filing date: 2019-12-31
Publication date: 2020-10-16
Anticipated expiration: 2029-12-31

Abstract

The utility model discloses a transferring manipulator, which comprises a bracket; a lifting unit arranged on the bracket; a rotating unit arranged on the lifting unit so that the lifting unit can drive the rotating unit to ascend or descend; and the clamping unit is arranged on the rotating unit, so that the rotating unit can drive the clamping unit to rotate around the first rotating shaft, the lifting direction of the lifting unit for driving the rotating unit to lift is not parallel to the first rotating shaft, and the clamping unit is arranged to clamp the medicine bottle. Thereby accomplish getting of medicine bottle on the medicine frame through this transportation manipulator and put, alleviate dispensing personnel's use intensity on the one hand, on the other hand improves the efficiency of allotment.

Description

Transfer manipulator

Technical Field

The utility model relates to a mechanical equipment, concretely relates to transport manipulator.

Background

When preparing the traditional Chinese medicine, a preparation person needs to accurately prepare the medicine according to the prescription of a doctor, and the medicine is weighed according to the prescription in the formula one by one. However, when dispensing personnel dispenses at present, the dispensing personnel is required to take down the medicine bottles placed on the medicine rack to dispense and place the medicine bottles after dispensing back on the medicine rack, on one hand, the dispensing personnel is tired due to the fact that the medicine bottles need to be continuously taken down from the medicine rack or placed back on the medicine rack, labor intensity is high, on the other hand, the dispensing efficiency is low due to the fact that the dispensing personnel need to take out the medicine bottles and place back the medicine bottles.

SUMMERY OF THE UTILITY MODEL

In order to solve traditional chinese medicine dispensing in-process, the allotment process relies on the dispensing personnel completely, leads to dispensing personnel high in labor strength, and allots the problem of inefficiency, according to the utility model discloses an aspect provides the transportation manipulator.

The transfer manipulator comprises a bracket; a lifting unit arranged on the bracket; a rotating unit arranged on the lifting unit so that the lifting unit can drive the rotating unit to ascend or descend; and the clamping unit is arranged on the rotating unit, so that the rotating unit can drive the clamping unit to rotate around the first rotating shaft, the lifting direction of the lifting unit for driving the rotating unit to lift is not parallel to the first rotating shaft, and the clamping unit is arranged to clamp the medicine bottle. Therefore, when dispensing the traditional Chinese medicine, a dispensing person can use the transfer manipulator to drive the clamping unit to rotate around the first rotating shaft through the rotating unit so as to move the clamping unit to the upper part of the medicine bottle to be clamped on the medicine rack; then, the lifting unit drives the rotating unit and the clamping unit to move to the position where the medicine bottle to be clamped is located; then, clamping the medicine bottle to be clamped by the clamping unit; then, the lifting unit drives the rotating unit and the clamping unit which clamps the medicine bottle to ascend so as to separate the medicine bottle from the medicine rack; the clamping unit and the medicine bottle are driven to rotate around the first rotating shaft through the rotating unit, so that the clamping unit rotates to the position where the dispensing personnel is located, the rotating angle of the rotating unit can be preset, and the opening and closing of the rotating unit can be controlled through a switch of the rotating unit, and the rotating direction of the rotating unit is controlled to control the rotating angle of the rotating unit; at the moment, the medicine bottle can be loosened through the clamping unit so that a dispensing person can obtain the medicine bottle for dispensing, if the height of the medicine bottle is a certain distance away from the operating height of the dispensing person, the lifting unit can drive the rotating unit and the clamping unit clamping the medicine bottle to move until the medicine bottle clamped on the clamping unit moves to the operating height of the dispensing person, and then the medicine bottle is loosened through the clamping unit; next, the dispensing personnel can place the used medicine bottle on the clamping unit so that the clamping unit clamps the used medicine bottle; then the lifting unit drives the rotating unit and the clamping unit which clamps the medicine bottle to ascend; then the rotating unit drives the clamping unit to rotate around the first rotating shaft, so that the clamping unit clamping the used medicine bottle moves to the upper part of the medicine rack; then, the medicine bottle clamped by the clamping unit is driven to move to the medicine rack through the lifting unit, and then the medicine bottle is loosened through the clamping unit so as to be placed back to the medicine rack, or the medicine bottle is loosened directly through the clamping unit so as to be placed on the medicine rack; thereby accomplish getting of medicine bottle on the medicine frame through this transportation manipulator and put, alleviate dispensing personnel's use intensity on the one hand, on the other hand improves the efficiency of allotment.

In some embodiments, the transfer robot further comprises a moving unit; the clamping unit is arranged on the rotating unit through the moving unit, so that the rotating unit can drive the moving unit and the clamping unit to rotate around the first rotating shaft together; the moving unit is arranged to drive the clamping unit to reciprocate, and the moving direction of the moving unit driving the clamping unit is not parallel to the first rotating shaft. From this, when the lift unit drives rotation unit, the centre gripping unit motion that mobile unit and centre gripping have the medicine bottle, when the medicine bottle moves to the height of medicine frame or dispensing personnel's operation height, when the medicine bottle was apart from certain distance in the horizontal direction with medicine frame or dispensing personnel's operating position, can drive the clamping unit through the mobile unit and drive the position that the medicine bottle moved to the medicine frame together or dispensing personnel's operating position, in order to reduce artificial intervention, alleviate dispensing personnel's working strength, improve the allotment efficiency.

In some embodiments, the moving unit includes a first rack and pinion structure provided on the rotating unit; the first driving device and the first guide rail sliding block structure are arranged on the first gear rack structure; the first rack of the first gear-rack structure is arranged on the rotating unit, the first guide rail of the first guide rail sliding block structure is arranged on the first rack, the first guide rail and the first rack are arranged in parallel, the first driving device is arranged on the first gear of the first gear-rack structure, the first sliding block of the first guide rail sliding block structure is arranged on the first driving device, and the clamping unit is arranged on the first sliding block, so that the first driving device can drive the first gear to rotate, and the first sliding block and the clamping unit are driven to move back and forth along the first guide rail. Therefore, the gear can be driven to rotate through the first driving device to drive the first sliding block and the clamping unit to reciprocate along the first guide rail, and the precision control of the reciprocating movement of the clamping unit is realized.

In some embodiments, the transfer robot further comprises a control module, the first drive device being electrically connected to the control module; and the first rack is provided with a first moving limit position sensor and a second moving limit position sensor which are electrically connected with the control module and used for detecting the moving limit position of the first gear or the first sliding block. Thus, the control module may determine a region where the grip unit moves according to signals fed back from the first movement limit position sensor and the second movement limit position sensor, thereby controlling the first driving device to start and stop.

In some embodiments, at least two sets of the clamping units and the moving units are provided, each set of the clamping units is separately provided on the rotating unit through one set of the moving units, and each set of the moving units and the clamping units are uniformly distributed on the inner circumference of a plane perpendicular to the first rotating shaft. Therefore, when the transfer manipulator is used, the medicine bottles on the medicine rack are clamped by one group of clamping units, and the clamped medicine bottles can be placed at the position of a dispensing person or on a dispensing table for dispensing traditional Chinese medicines by the other group of clamping units; when only setting up a set of centre gripping unit, the centre gripping unit need rotate 360 at least altogether and just can accomplish getting of medicine bottle and put, and sets up the centre gripping unit of at least two sets of above equipartitions, and the centre gripping unit need rotate 180 at most and can accomplish getting of medicine bottle and put, and the efficiency greatly increased is got to getting of medicine bottle to increase this transport manipulator's transportation efficiency.

In some embodiments, the gripping unit comprises a second drive device provided on the moving unit; the moving mechanisms are arranged on the second driving device and are provided with two groups, each group of moving mechanisms is independently provided with a clamping part, and the two clamping parts are arranged oppositely; so that the second driving device can drive the moving mechanism to drive the clamping parts to move in opposite directions or move in opposite directions, and the medicine bottle is clamped or loosened through the clamping parts; the direction in which the moving mechanism drives the clamping part to move is not parallel to the direction in which the moving unit drives the clamping unit to move and the first rotating shaft. Thereby, can drive the clamping part through two sets of moving mechanism of second drive arrangement drive and remove to can the centre gripping medicine bottle when making two clamping parts remove in opposite directions, when two clamping parts remove mutually in opposite directions, can loosen the medicine bottle.

In some embodiments, the movement mechanism comprises a second rack and pinion structure provided on the second drive device; the second guide rail sliding block structure is independently arranged on the second gear rack structure; wherein, the second gear of second gear rack tooth structure is established on second drive arrangement, the second rack of two sets of second gear rack tooth structure sets up relatively, the second slider of second guide rail slider structure is established alone on the second rack, the clamping part is established alone on the second slider, the second guide rail of second guide rail slider structure is established on second drive arrangement, and second guide rail and second rack parallel arrangement, so that second drive arrangement can drive the second gear and rotate, drive the second rack, second slider and clamping part are along second guide rail reciprocating motion. Therefore, the second gear can be driven by the second driving device to rotate, for example, the second gear rotates forwards to drive one group of the second racks, the second sliding blocks and the clamping parts to move towards each other together with the other group of the second racks, the second sliding blocks and the clamping parts so as to clamp the medicine bottles through the two clamping parts, and when the second gear rotates backwards, one group of the second racks, the second sliding blocks and the clamping parts are driven to move back and forth together with the other group of the second racks, the second sliding blocks and the clamping parts so as to loosen the medicine bottles; and the accurate control of the moving position of the clamping part can be realized.

In some embodiments, the clamping portion includes a first base provided on the second slider; the guide post is arranged on the first base and is arranged along the vertical direction, and the first base is provided with a containing cavity for containing the guide post; the compression spring and the chuck are sleeved on the guide pillar; the upper end of the compression spring is abutted against the top wall of the accommodating cavity, the lower end of the compression spring is abutted against the upper side of the clamping head, and the lower side of the clamping head is abutted against the bottom wall of the accommodating cavity. Therefore, when the clamping unit places the clamped medicine bottles on the medicine rack or the dispensing table, the medicine bottles placed on the medicine rack or the dispensing table can be buffered through the compression springs, and the medicine bottles are prevented from being damaged due to the fact that the medicine bottles are placed on the medicine rack or the dispensing table and land hard.

In some embodiments, the lifting unit comprises a third drive device provided on the support; a feed screw nut mechanism provided on the third driving device; the third guide rail sliding block structure is arranged on the screw rod nut mechanism; the first screw rod of the screw rod nut mechanism is arranged on the third driving device, the first screw rod is arranged along the vertical direction, the third sliding block of the third guide rail sliding block structure is arranged on the first nut of the screw rod nut mechanism, the rotating unit is arranged on the third sliding block, the third guide rail of the third guide rail sliding block structure is arranged on the support and is arranged along the vertical direction, and therefore the third driving device can drive the first nut, the third sliding block and the rotating unit to move back and forth along the first screw rod by driving the first screw rod to rotate. Therefore, the first screw rod can be driven to rotate by the third driving device, and the first nut, the third sliding block, the rotating unit, the moving unit and the clamping unit are driven to reciprocate in the vertical direction.

In some embodiments, the rotation unit comprises a fourth drive device provided on the lifting unit; and a gear pair structure arranged on the fourth driving device; the third gear of the gear pair structure is arranged on the fourth driving device, and the fourth gear of the gear pair structure is arranged on the moving unit, so that the fourth driving device can drive the third gear to drive the fourth gear, the moving unit and the clamping unit to rotate around the first rotating shaft together. Therefore, the fourth driving device can drive the third gear to rotate, and the fourth gear, the moving unit and the clamping unit are driven to rotate around the first rotating shaft together.

Drawings

Fig. 1 is a schematic structural view of a transfer robot according to an embodiment of the present invention;

fig. 2 is a schematic structural view of a disassembled state of the transfer robot shown in fig. 1;

FIG. 3 is a schematic structural view of the moving unit shown in FIG. 2 driving the clamping unit to move to a retracted state;

FIG. 4 is a schematic structural view of the moving unit shown in FIG. 3 driving the clamping unit to move to an extended state;

fig. 5 is a schematic structural view illustrating a disassembled state of the moving unit and the clamping unit shown in fig. 3;

FIG. 6 is a schematic structural view illustrating a disassembled state of the clamping unit shown in FIG. 5;

FIG. 7 is a schematic view of the clamping unit shown in FIG. 6 in a further disassembled state;

FIG. 8 is a schematic structural view of the rotating unit shown in FIG. 2;

FIG. 9 is a schematic cross-sectional view of the rotating unit shown in FIG. 8;

FIG. 10 is a schematic structural view of the lifting unit shown in FIG. 2;

FIG. 11 is a structural view illustrating a first use state of the transfer robot shown in FIG. 1;

FIG. 12 is a structural view illustrating a second use state of the transfer robot shown in FIG. 1;

fig. 13 is a structural view illustrating a third use state of the transfer robot shown in fig. 1.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings.

Fig. 1 to 13 schematically show a transfer robot according to an embodiment of the present invention.

As shown in fig. 1, 2, 11 to 13, the transfer robot includes a support 100, a lifting unit 20, a rotating unit 30, and a clamping unit 50; wherein, the lifting unit 20 is arranged on the bracket 100; the rotating unit 30 is arranged on the lifting unit 20, and the lifting unit 20 is arranged to drive the rotating unit 30 to ascend or descend; the clamping unit 50 is arranged on the rotating unit 30, the rotating unit 30 is arranged to drive the clamping unit 50 to rotate around the first rotating shaft 300, and the lifting unit 20 drives the rotating unit 30 to lift in a direction not parallel to the first rotating shaft 300; the clamping unit 50 is provided to be able to clamp the medicine bottle 60.

When a dispensing person uses the transfer manipulator to dispense a traditional Chinese medicine, the rotating unit 30 can drive the clamping unit 50 to rotate around the first rotating shaft 300 (as shown in fig. 11, the rotating unit rotates around the direction B), so that the clamping unit 50 moves to the upper part of the medicine bottle 60 to be clamped on the medicine rack 61; then, the lifting unit 20 drives the rotating unit 30 and the clamping unit 50 to move in the vertical direction (in the direction a as shown in fig. 11) to the position where the medicine bottle 60 to be clamped is located (as shown in fig. 11); next, the medicine bottle 60 to be gripped is gripped by the gripping unit 50; then, the lifting unit 20 lifts the rotating unit 30 and the holding unit 50 holding the medicine bottle 60 to separate the medicine bottle 60 from the medicine rack 61 (as shown in fig. 12); then, the rotation unit 30 drives the clamping unit 50 and the medicine bottle 60 to rotate around the first rotation shaft 300 together, so that the clamping unit 50 rotates to the position where the dispensing personnel or the dispensing table 62 is located (as shown in fig. 13), the rotation angle of the rotation unit 30 can be preset, and the rotation unit 30 can be controlled to be turned on and off by controlling a switch of the rotation unit 30 and the rotation direction of the rotation unit 30 to control the rotation angle of the rotation unit 30; at this time, the medicine bottle 60 may be released by the gripping unit 50 so that a dispenser takes the medicine bottle 60 for dispensing, or places the medicine bottle 60 on the dispensing table 62; if the height of the medicine bottle 60 is a certain distance from the operation height of the dispensing personnel, the lifting unit 20 can drive the rotating unit 30 and the clamping unit 50 clamping the medicine bottle 60 to move along the vertical direction until the medicine bottle 60 clamped on the clamping unit 50 moves to the operation height of the dispensing personnel or the height of the table top of the dispensing table 62, and then the medicine bottle 60 is loosened through the clamping unit 50; next, the dispensing person may put the used medicine bottle 60 on the gripping unit 50 so that the gripping unit 50 grips the used medicine bottle 60; then the lifting unit 20 drives the rotating unit 30 and the clamping unit 50 clamping the medicine bottle 60 to rise; then the rotating unit 30 drives the clamping unit 50 to rotate around the first rotating shaft 300, so that the clamping unit 50 clamping the used medicine bottle 60 moves to the upper part of the medicine rack 61; then, the lifting unit 20 drives the medicine bottles 60 clamped by the clamping unit 50 to move to the medicine rack 61, and then the clamping unit 50 releases the medicine bottles 60 to replace the medicine bottles 60 to the medicine rack 61, or directly releases the medicine bottles 60 by the clamping unit 50 to place the medicine bottles 60 on the medicine rack 61; thereby accomplish the getting of medicine bottle 60 on medicine frame 61 through this transportation manipulator and put, alleviate dispensing personnel's use intensity on the one hand, on the other hand improves the efficiency of allotment.

Preferably, as shown in fig. 2, a direction a in which the lifting unit 20 lifts the rotating unit 30 is parallel to a direction of the first rotating shaft 300, so as to prevent the clamping unit 50 from colliding with the lifting unit 20 or the bracket 100 when the rotating unit 30 moves the clamping unit 50.

Further, as shown in fig. 1 and 2, the transfer robot further includes a moving unit 40; the clamping unit 50 is arranged on the rotating unit 30 through the moving unit 40, and the rotating unit 30 is arranged to drive the moving unit 40 and the clamping unit 50 to rotate around the first rotating shaft 300 together; the moving unit 40 is configured to drive the clamping unit 50 to move back and forth along the direction C, and the moving direction of the moving unit 40 driving the clamping unit 50 to move is not parallel to the first rotating shaft 300. Therefore, when the lifting unit 20 drives the rotating unit 30, the moving unit 40 and the clamping unit 50 clamping the medicine bottle 60 to move until the medicine bottle 60 moves to the height of the medicine rack 61 or the operating height of a dispensing person, and when the medicine bottle 60 is horizontally separated from the medicine rack 61 or the operating position of the dispensing person by a certain distance, the moving unit 40 can drive the clamping unit 50 to drive the medicine bottle 60 to move to the position of the medicine rack 61 or the operating position of the dispensing person together, so that manual intervention is reduced, the working strength of the dispensing person is reduced, and the dispensing efficiency is improved.

Preferably, as shown in fig. 2, the direction C in which the moving unit 40 moves the clamping unit 50 is perpendicular to the direction of the first rotating shaft 300, so as to prevent the clamping unit 50 from colliding with the lifting unit 20 or the bracket 100 when the moving unit 40 moves the clamping unit 50.

Further, as shown in fig. 1, 2 and 11 to 13, the gripping units 50 and the moving units 40 are provided in at least two sets, each set of gripping units 50 is separately provided on the rotating unit 30 by one set of moving units 40, and each set of moving units 40 and gripping units 50 are uniformly distributed on the inner circumference of the plane perpendicular to the first rotating shaft 300. Thus, when the transfer manipulator is used, the clamped medicine bottles 60 on the medicine rack 61 can be clamped by one group of clamping units 50, and simultaneously the clamped medicine bottles 60 can be placed at the position of a dispensing personnel or on a dispensing table 62 for dispensing traditional Chinese medicines by the other group of clamping units 50; when only one group of clamping units 50 is arranged, the clamping units 50 can complete the taking and placing of the medicine bottles 60 at least by rotating 360 degrees, at least two groups of clamping units 50 are uniformly distributed, and the clamping units 50 can complete the taking and placing of the medicine bottles 60 at most by rotating 180 degrees. Taking the example of providing two sets of clamping units 50 and the moving unit 40, the included angle between the two sets of clamping units 50 is 180 °, when one set of clamping units 50 places the clamped medicine bottles 60 on the medicine rack 61, the other set of clamping units 50 places the clamped medicine bottles 60 on the dispensing personnel or the dispensing table 62; or when the medicine bottle 60 after one of them group of clamping unit 50 centre gripping dispensing personnel used, the medicine bottle 60 on another group of clamping unit 50 centre gripping medicine frame 61 to the efficiency greatly increased is got and is put to medicine bottle 60, thereby increase the transportation efficiency of this transportation manipulator, and along with the increase of the group number of the clamping unit 50 and the mobile unit 40 that set up, the contained angle between the adjacent clamping unit 50 is less, clamping unit 50 rotates the contained angle between the adjacent clamping unit 50 and can accomplish getting of medicine bottle 60 promptly.

In the present embodiment, the moving unit 40 is implemented as shown in fig. 3 to 5, the moving unit 40 includes a first rack and pinion structure 42, a first driving device 41 and a first rail slider structure 43; wherein, the first rack and pinion structure 42 includes a first gear 421 and a first rack 422 which are engaged with each other, and the first rack 422 is disposed on the rotating unit 30; the first rail-slider structure 43 comprises a first rail 431 and a first slider 432 which are matched with each other, the first rail 431 is connected with the first rack 422, and the two are arranged in parallel; the first driving device 41 adopts a motor, and the first gear 421 is coaxially connected with a transmission shaft of the motor; the first slider 432 is connected to a base as a motor of the first driving device 41; the clamping unit 50 is provided on the first slider 432; so that the first driving device 41 can drive the first gear 421 to rotate, and the first sliding block 432 and the clamping unit 50 are driven to reciprocate along the first guide rail 431. Thus, the gear may be driven to rotate by the first driving device 41, and the first slider 432 and the clamping unit 50 may be driven to reciprocate along the first guide rail 431, thereby achieving precise control of the reciprocating movement of the clamping unit 50.

Further, as shown with continued reference to fig. 3 to 5, the transfer robot further includes a control module, and the first driving device 41 is electrically connected to the control module; the first rack 422 is provided with a first moving limit position sensor 44 and a second moving limit position sensor 45 which are electrically connected with the control module and used for detecting the moving limit position of the first gear 421 or the first sliding block 432, and the base of the motor serving as the first driving device 41 is provided with a telescopic position detection sheet 55 for detecting the first moving limit position sensor 44 and the second moving limit position sensor 45. Specifically, the first movement limit position sensor 44 and the second movement limit position sensor 45 are respectively disposed at two ends of the first rack 422, and are configured to generate a signal to be sent to the control module according to the detection of the telescopic position detection piece 55. Thus, the control module may determine the area where the clamping unit 50 moves according to the signals fed back by the first movement limit position sensor 44 and the second movement limit position sensor 45, thereby controlling the first driving device 41 to start and stop.

Preferably, as shown in fig. 3 to 5, the first rack gear 422 is provided on the rotating unit 30 through the second base 46. Specifically, the first rack 422 and the first rail 431 are mounted on the second base 46, and the first movement limit position sensor 44 and the second movement limit position sensor 45 may also be mounted on the second base 46, so that the moving unit 40 is mounted on the rotating unit 30. Specifically, the control module may adopt a PLC, as shown in fig. 3 and 4, the control module may adopt a main control board 48, and the main control board 48 is mounted on the second base 46 through a mounting seat 47.

In other embodiments, unlike the present embodiment, the first rack and pinion structure 42 of the moving unit 40 in the present embodiment is replaced by a screw nut structure, a base of a motor as the first driving device 41 is provided on the rotating unit 30, and a transmission shaft thereof is coaxially connected to a screw of the screw nut structure, the first guide rail 431 is provided on the rotating unit 30 instead of the screw nut structure, and the first slider 432 is provided on a nut instead of the base of the motor. Thus, the screw rod can be driven to rotate by the first driving device 41, and the nut, the first slider 432 and the clamping unit 50 are driven to move back and forth along the screw rod (not shown in the figure).

In some embodiments, unlike the present embodiment, the moving unit 40 in the present embodiment does not include the first rack and pinion structure 42, and the first driving device 41 may be a cylinder or an oil cylinder, a cylinder body of the cylinder or the oil cylinder and the first guide rail 431 are provided on the rotating unit 30, the first slider 432 is connected to a piston rod of the cylinder or the oil cylinder instead of the cylinder body of the cylinder or the oil cylinder, and the piston rod of the cylinder or the oil cylinder is arranged in parallel to the first guide rail 431. Therefore, the first slider 432 can be driven by an oil cylinder or an air cylinder to drive the clamping unit 50 to reciprocate along the first guide rail 431, but when the air cylinder is adopted, the precision of the moving distance of the first slider 432 is not high (not shown in the figure).

In the present embodiment, the clamp unit 50 is implemented as shown in fig. 5 and 6, and the clamp unit 50 includes a second driving device 51, a moving mechanism, and a clamp portion 54; wherein the second drive device 51 is provided on the mobile unit 40; two groups of moving mechanisms are arranged and are arranged on the second driving device 51; two clamping parts 54 are arranged, each clamping part 54 is independently connected to one group of moving mechanisms, and the two clamping parts 54 are oppositely arranged; the second driving device 51 is configured to drive the moving mechanism to drive the clamping portions 54 to move towards each other (direction D shown in fig. 5) so as to clamp the medicine bottle by the two clamping portions 54, and to drive the moving mechanism to drive the clamping portions 54 to move in the opposite direction so as to loosen the medicine bottle; the direction C in which the moving unit 40 moves the clamping unit 50 is not parallel to the direction D in which the moving mechanism moves the clamping portion 54 and the first rotating shaft 300. Therefore, the two sets of moving mechanisms can be driven by the second driving device 51 to drive the clamping portions 54 to move, so that the two clamping portions 54 can clamp the medicine bottle when moving in opposite directions, and the two clamping portions 54 can loosen the medicine bottle when moving in opposite directions.

Preferably, as shown in fig. 2, the direction D of the moving mechanism moving the clamping portion 54 is perpendicular to the direction C of the moving unit 40 moving the clamping unit 50, and the direction D of the moving mechanism moving the clamping portion 54 is perpendicular to the first rotating shaft 300, so as to avoid the clamping portion 54 from colliding with the rotating unit 30, the lifting unit 20 or the bracket 100 when the moving mechanism moves.

In other embodiments, the clamping unit 50 may also be implemented to include two sets of the rotating device and the clamping portion 54, wherein the rotating device is disposed on the moving unit 40, the clamping portion 54 is disposed on the rotating device, and the two sets of the clamping portions 54 are disposed opposite to each other. When the medicine bottle needs to be clamped, the clamping parts 54 are driven to rotate by the rotating equipment, so that the distance between the two clamping parts 54 is reduced; when it is desired to release the vial, the rotational device is used to rotate the gripping portions 54 such that the distance between the gripping portions 54 is increased. Specifically, the rotating equipment can select the rotating motor or the turning cylinder (convenient to control), the rotating shafts of the two groups of rotating motors or the two groups of turning cylinders are arranged in parallel, and the rotating directions of the two groups of rotating motors or the two groups of turning cylinders are opposite during working (not shown in the figure).

In the present embodiment, a specific implementation of the moving mechanism is shown in fig. 6, and the moving mechanism includes a second gear rack structure 52 and a second rail slider structure 53; the second guide rail slider structure 53 includes a second guide rail 531 and a second slider 532 which are mutually matched, the second guide rail 531 is arranged on the moving unit 40, specifically, the second guide rail 531 is mounted on the first slider 432, the first driving device 41 is arranged on the first slider 432 through a third base 49, specifically, a base which is a motor of the first driving device 41 is mounted on the third base 49, and the third base 49 is mounted on the first slider 432; the second gear rack structure 52 comprises a second gear 521 and a second rack 522 which are meshed with each other, each second rack 522 is individually mounted on a second sliding block 532, and the second rack 522 is arranged in parallel with the second sliding block 532; each grip 54 is mounted individually on the second slider 532 or on the second rack 522; the second driving device 51 employs a motor, and a base as the motor of the second driving device 51 is mounted on the moving unit 40, specifically, on the first slider 432; the second gear 521 is coaxially connected with a transmission shaft of a motor as the second driving device 51; two sets of second driving devices 51 may be provided, and the second driving devices 51 are configured to drive the second gear 521 to rotate, so as to drive the second rack 522, the second slider 532 and the clamping portion 54 to reciprocate along the second guide rail 531. Thus, the second gear 521 can be driven to rotate by the second driving device 51, for example, the second gear 521 rotates forward to drive one set of the second racks 522, the second slider 532 and the clamping portion 54 to move toward each other together with the other set of the second racks 522, the second slider 532 and the clamping portion 54 so as to clamp the medicine bottle by the two clamping portions 54, and when the second gear 521 rotates backward, one set of the second racks 522, the second slider 532 and the clamping portion 54 are driven to move away from each other together with the other set of the second racks 522, the second slider 532 and the clamping portion 54 so as to release the medicine bottle; and precise control of the moving position of the gripping portion 54 can be achieved. When the medicine bottle needs to be clamped, one of the motors can drive the second gear 521 of one of the groups of second gear rack structures 52 to rotate, so as to drive the second rack 522 of the group of second gear rack structures 52 to move, and further drive the second slider 532 connected to the second rack 522 of the group of second gear rack structures 52 and the clamping part 54 to move together along the second guide rail 531, and the other motor does not drive or drive the second gear 521 of the other group of second gear rack structures 52 to rotate, and adjusts the rotating direction of the second driving device 51, so as to drive the second rack 522, the second slider 532 and the clamping part 54 of the group to move towards the clamping part 54 connected to the other group of second slider 532 or the second rack 522; when the medicine bottle needs to be loosened, the realization mode is similar to the mode of clamping the medicine bottle, but the rotating directions of the two groups of motors are changed, or the rotating direction of one group of motors is changed, and the other group of motors stops rotating; so that the moving distance of the gripping portion 54 can be precisely controlled.

In order to save energy consumption, as shown in fig. 5 and 6, on the basis of the moving mechanism, the second racks 522 of the two sets of second gear rack structures 52 are arranged oppositely, at this time, only one set of motor is needed to be arranged, and the motor drives the second gear 521 to rotate and drive the two sets of second racks 522 to move back and forth, and the further second gear 521 may also be arranged in only one set. At this time, the second gear 521 can be driven by the second driving device 51 to rotate, for example, the second gear 521 rotates forward to drive one set of the second racks 522, the second slider 532 and the clamping portion 54 to move toward each other together with the other set of the second racks 522, the second slider 532 and the clamping portion 54 so as to clamp the medicine bottle by the two clamping portions 54, and when the second gear 521 rotates backward, one set of the second racks 522, the second slider 532 and the clamping portion 54 is driven to move away from each other together with the other set of the second racks 522, the second slider 532 and the clamping portion 54 so as to release the medicine bottle.

Specifically, in order to facilitate the installation of the moving mechanism, as shown in fig. 6, the moving mechanism is installed on the first slider 432 or on the base as the motor of the second driving device 51 through the fourth base 58, and specifically, the second guide rail 531 is installed on the fourth base 58.

In another embodiment of the moving mechanism, the moving mechanism may also only adopt a guide rail and slider structure, the guide rail and slider structure includes a guide rail and a slider which are matched with each other, in this case, the second driving device 51 only adopts an air cylinder or an oil cylinder, a piston rod of the air cylinder is connected with the slider, the piston rod is arranged in parallel with the guide rail, the guide rail is installed on the moving unit 40, and the clamping portion 54 is installed on the slider. However, when the air cylinder is used, the accuracy of the moving distance of the clamping portion 54 is not high (not shown in the figure).

In another embodiment of the moving mechanism, the difference from the moving mechanism of the present embodiment is: the second gear rack structure 52 in the moving mechanism can also be replaced by a screw-nut structure, the screw-nut structure comprises a screw rod and a nut which are mutually matched, the second driving device 51 is coaxially connected with the screw rod, and the nut is connected with the second sliding block 532; so that the moving distance of the gripping portion 54 (not shown in the drawings) can be precisely controlled.

In this embodiment, in order to facilitate the clamping unit 50 to determine the position of the medicine bottle so as to avoid the clamping unit 50 from being unable to smoothly clamp the medicine bottle due to the clamping unit 50 colliding with the medicine bottle, as shown in fig. 5 and 6, the transfer robot further includes a control module, and a distance sensor 56 for detecting the medicine bottle is further disposed on the moving unit 40 or the clamping unit 50, and the first driving device 41, the second driving device 51 and the distance sensor 56 are all electrically connected to the control module. The distance sensor 56 sends a medicine bottle detection signal to the control module according to the detected medicine bottle generation signal, and the control module generates a stop movement signal and a clamping signal according to the medicine bottle detection signal, wherein the stop movement signal is output to the first driving device 41, the first driving device 41 is controlled to stop driving the clamping unit 50 to move, the clamping signal is output to the second driving device 51, and the second driving device 51 is controlled to drive the moving mechanism to drive the two clamping portions 54 to move relatively so as to clamp the medicine bottle.

Further, in order to facilitate the precise control of the moving position of the clamping portion 54, so as to avoid the problem that the clamping portion 54 may cause the loose of the medicine bottle clamped between the two clamping portions 54 due to the inaccurate moving position, or cause the indentation formed on the surface of the medicine bottle by the clamping portion 54 due to the distance between the two clamping portions 54 being smaller than the outer diameter of the medicine bottle, so that the medicine bottle may be seriously damaged, as shown in fig. 7, two sets of clamping detection sensors 57 for detecting the second slider 532, the second rack 522 or the clamping portion 54 are further disposed on the first slider 432, the second guide rail 531 or the fourth base 58, both sets of clamping detection sensors 57 are connected to the control module and configured to generate a signal to be sent to the control module according to the detected signal sent by the clamping detection sensors 57, the control module may control the second driving device 51 to stop driving according to the signal sent by the clamping detection sensors 57, at this time, the two sets of gripping portions 54 grip the vial.

In the present embodiment, specifically, as shown in fig. 6 and 7, the clamping portion 54 includes a first base 541, a guide post 543, a compression spring 544, and a collet 545; the first base 541 is disposed on the moving mechanism, and specifically, the first base 541 is connected to the second slider 532; an accommodating cavity 542 for accommodating the guide post 543 is integrally formed or machined on the first base 541, the guide post 543 is connected on the first base 541 and located in the accommodating cavity 542, and the guide post 543 is arranged along a vertical direction; compression spring 544 and chuck 545 are fitted around the guide post 543, and the upper end of compression spring 544 abuts against the top wall of accommodating chamber 542, the lower end abuts against the upper side of chuck 545, and the lower side of chuck 545 abuts against the bottom wall of accommodating chamber 542. Thus, when the clamping unit 50 places the clamped medicine bottles on the medicine rack or the dispensing table, the compression springs 544 can provide a buffering effect for the medicine bottles placed on the medicine rack or the dispensing table, so as to prevent the medicine bottles from being damaged due to the hard landing of the medicine bottles placed on the medicine rack or the dispensing table.

In the present embodiment, the specific implementation of the lifting unit 20 is as shown in fig. 1, 2, 9 and 10, and the lifting unit 20 includes a third driving device, a lead screw-nut mechanism 22 and a third rail slider structure 23; the third driving device adopts a motor, and a base of the motor as the third driving device is arranged on the bracket 100; the feed screw nut mechanism 22 comprises a first feed screw 221 and a first nut 222 which are connected in a threaded manner, and the first feed screw 221 is coaxially connected with a transmission shaft of a motor serving as third driving equipment and is arranged along the vertical direction; the third rail-slider structure 23 includes a third rail 231 and a third slider 232 that are adapted to each other, the third rail 231 is mounted on the bracket 100 and is disposed along the vertical direction (e.g., disposed along the direction a in fig. 1 and 2), the third slider 232 is mounted on the first nut 222, and specifically, the first nut 222 is mounted on the third slider 232 through the nut bracket 2221; so that the third driving device can drive the first nut 222, the third slider 232 and the rotating unit 30 to reciprocate along the first lead screw 221 by driving the first lead screw 221 to rotate. Therefore, the first screw rod 221 can be driven to rotate by the third driving device, so that the first nut 222, the third slider 232, the rotating unit 30, the moving unit 40 and the clamping unit 50 are driven to reciprocate in the vertical direction together, and the accurate control of the height positions of the rotating unit 30, the moving unit 40 and the clamping unit 50 is realized.

Further, with continued reference to fig. 2, 8 and 10, the transfer robot further includes a control module, and the third driving device is electrically connected to the control module; as shown in fig. 2 and 8, an uppermost sensor 26 and a lowermost sensor 27, both electrically connected to the control module, for detecting the extreme positions of the movement of the third slider 232 are provided on the third slider 232, and an uppermost detecting piece 24 for detection by the uppermost sensor 26 and a lowermost detecting piece 25 for detection by the lowermost sensor 27 are provided on the third guide rail 231. Specifically, the control module controls the third driving device to stop driving according to the signal that the highest position sensor 26 detects the highest position detecting piece 24 or the lowest position sensor 27 detects the lowest position detecting piece 25, so as to prevent the third slider 232 from separating from the third guide rail 231 due to a large moving distance or prevent the third slider 232 from colliding with the third guide rail 231.

In another embodiment, unlike the present embodiment, the lifting unit 20 in the present embodiment does not include the lead screw-nut mechanism 22, and the third driving device may be an air cylinder or an oil cylinder, a piston rod of the air cylinder or the oil cylinder is connected to the third slider 232, the piston rod is arranged in parallel with the third guide rail 231, and the third guide rail 231 is mounted on the bracket 100 and is arranged in the vertical direction. However, when the air cylinder is used, the accuracy of the moving distance of the third slider 232 is not high (not shown in the drawings).

In the present embodiment, the specific implementation manner of the rotating unit 30 is as shown in fig. 8 and 9, and the rotating unit 30 includes a fourth driving device 31 and a gear pair structure 32; the fourth driving device 31 is disposed on the lifting unit 20, specifically, the fourth driving device 31 adopts a motor, and a base of the motor as the fourth driving device 31 is mounted on the third sliding block 232; the gear pair mechanism comprises a third gear 321 and a fourth gear 322 which are meshed with each other, the third gear 321 is coaxially connected with a transmission shaft of a motor serving as the fourth driving device 31, the fourth gear 322 is rotatably arranged on the lifting unit 20, and specifically, the fourth gear 322 is rotatably arranged on the third sliding block 232; the moving unit 40 is arranged on the fourth gear 322, and specifically, the second base 46 is mounted on the fourth gear 322; so that the fourth driving device 31 can drive the third gear 321 to rotate the fourth gear 322, the moving unit 40 and the clamping unit 50 together around the first rotating shaft 300. Therefore, the fourth driving device 31 can drive the third gear 321 to rotate, so as to drive the fourth gear 322, the moving unit 40 and the clamping unit 50 to rotate around the first rotating shaft 300.

Preferably, in order to facilitate the fourth gear 322 to rotate the second base 46, as shown in fig. 9, the rotating unit 30 further includes a rotating shaft 34, a bearing 36, a rotating ring 35 and a bearing cover 38; the rotating shaft 34 is vertically installed on the third sliding block 232, the bearing 36 is sleeved on the rotating shaft 34, the bearing 36 is installed on the rotating shaft 34 through the bearing end cover 38, the rotating ring 35 is sleeved on the bearing 36 and connected with the fourth gear 322 and the bearing 36, and the second base 46 is installed on the rotating ring 35. Thus, when the fourth gear 322 rotates, the turning ring 35 and the second base 46 can be rotated together around the turning shaft 34. Further, two sets of bearings 36 are provided, which are disposed at two ends of the rotating shaft 34, and a shaft ring 37 is disposed between the two bearings 36 to increase the rigidity of the rotating unit 30.

Preferably, as shown in fig. 8 and 9, the transfer robot further comprises a control module, and the fourth driving device 31 is electrically connected with the control module; the moving unit 40 is provided with a first rotating position sensor 28 and a second rotating position sensor 29 which are electrically connected with the control module and used for detecting the rotating position of the rotating unit 30, specifically, the first rotating position sensor 28 and the second rotating position sensor 29 are arranged on the third slider 232 and are uniformly distributed on the periphery of the rotating unit 30; the rotation unit 30 is provided with rotation detecting pieces 33 for detecting the first rotation position sensor 28 and the second rotation position sensor 29, and specifically, the rotation detecting pieces 33 are installed on a rotation ring 35, and when the rotation detecting pieces 33 are provided with a plurality of pieces, the rotation detecting pieces 33 are uniformly distributed on the outer periphery of the rotation ring 35. More specifically, the rotation detecting piece 33, the first rotation position sensor 28 and the second rotation position sensor 29 are arranged such that, when the rotation detecting piece 33 is detected by both the first rotation position sensor 28 and the second rotation position sensor 29, one of the grip units 50 faces the side where the medicine rack 61 is located, and the other grip unit 50 faces the side where the dispensing person or the dispensing table is located. Therefore, when the control module receives the signals of the first rotational position sensor 28 and the second rotational position sensor 29 detecting the rotation detection sheet 33, the control module controls the fourth driving device 31 to stop driving first, and after the clamping unit 50 finishes taking and placing the medicine bottle 60, the control module controls the fourth driving device 31 to drive the gear pair structure 32 to drive the moving unit 40 and the clamping unit 50 to rotate.

What has been described above are only some embodiments of the invention. For those skilled in the art, without departing from the inventive concept, several modifications and improvements can be made, which are within the scope of the invention.

Claims

1. Transport manipulator, its characterized in that includes:

a support;

the lifting unit is arranged on the bracket;

the rotating unit is arranged on the lifting unit, so that the lifting unit can drive the rotating unit to ascend or descend;

and the clamping unit is arranged on the rotating unit, so that the rotating unit can drive the clamping unit to rotate around a first rotating shaft, the lifting unit drives the rotating unit to lift in a direction which is not parallel to the first rotating shaft, and the clamping unit is arranged to clamp the medicine bottle.

2. The transfer robot of claim 1, further comprising a moving unit;

the clamping unit is arranged on the rotating unit through the moving unit, so that the rotating unit can drive the moving unit and the clamping unit to rotate around the first rotating shaft together;

the moving unit is arranged to drive the clamping unit to reciprocate, and the moving direction of the moving unit driving the clamping unit is not parallel to the first rotating shaft.

3. Transfer robot according to claim 2, characterized in that the moving unit comprises:

a first rack and pinion structure provided on the rotating unit;

the first driving device and the first guide rail sliding block structure are arranged on the first gear rack structure; wherein the content of the first and second substances,

establish first rack of first rack and pinion structure on the rotation unit, establish first guide rail of first guide rail slider structure on the first rack, just first guide rail and first rack parallel arrangement, first drive arrangement establishes on the first gear of first rack and pinion structure, establish first slider of first guide rail slider structure on the first drive arrangement, the centre gripping unit is established on the first slider, so that first drive arrangement can drive first gear revolve, drives first slider and centre gripping unit and follows first guide rail reciprocating motion.

4. The transfer robot of claim 3, further comprising a control module, the first drive device being electrically connected to the control module;

and the first rack is provided with a first movement limit position sensor and a second movement limit position sensor which are electrically connected with the control module and used for detecting the movement limit position of the first gear or the first sliding block.

5. The transfer robot of any one of claims 2 to 4, wherein at least two sets of the gripping units and the moving units are provided, each set of the gripping units is provided on the rotating unit by one set of the moving units, and each set of the moving units and the gripping units are uniformly distributed on the inner circumference of a plane perpendicular to the first rotating shaft.

6. The transfer robot of any one of claims 2 to 4, wherein the gripping unit comprises:

a second driving device provided on the moving unit;

the moving mechanisms are arranged on the second driving device and are provided with two groups, each group of moving mechanisms is independently provided with a clamping part, and the two clamping parts are arranged oppositely;

so that the second driving device can drive the moving mechanism to drive the clamping parts to move towards or away from each other, and the medicine bottle is clamped or loosened through the clamping parts;

the moving mechanism drives the clamping part to move in a direction which is not parallel to the direction in which the moving unit drives the clamping unit to move and the first rotating shaft.

7. The transfer robot of claim 6, wherein the movement mechanism comprises:

a second rack and pinion structure provided on the second drive device;

the second guide rail sliding block structure is independently arranged on the second gear rack structure; wherein the content of the first and second substances,

establish the second gear of second gear rack tooth structure on the second drive device, the second rack of two sets of second gear rack tooth structure sets up relatively, the second slider of second guide rail slider structure is established alone on the second rack, the clamping part is established alone on the second slider, the second guide rail of second guide rail slider structure is established on the second drive device, just the second guide rail with second rack parallel arrangement, so that second drive device can drive the second gear rotates, drives second rack, second slider and clamping part are followed second guide rail reciprocating motion.

8. The transfer robot of claim 7, wherein the grip comprises:

the first base is arranged on the second sliding block;

the guide post is arranged on a first base and is arranged along the vertical direction, and the first base is provided with an accommodating cavity for accommodating the guide post;

the compression spring and the chuck are sleeved on the guide pillar;

the upper end of the compression spring is abutted against the top wall of the accommodating cavity, the lower end of the compression spring is abutted against the upper side of the chuck, and the lower side of the chuck is abutted against the bottom wall of the accommodating cavity.

9. Transfer robot according to any of claims 2-4, characterized in that the lifting unit comprises:

a third driving device provided on the stand;

a feed screw nut mechanism provided on the third driving device;

the third guide rail sliding block structure is arranged on the screw rod nut mechanism; wherein the content of the first and second substances,

the first lead screw of lead screw nut mechanism establishes on the third drive arrangement, just first lead screw sets up along vertical direction, the third slider of third guide rail slider structure establishes on the first nut of lead screw nut mechanism, the rotation unit establishes on the third slider, the third guide rail of third guide rail slider structure establishes on the support, and set up along vertical direction, so that the third drive arrangement can be through the drive first lead screw rotates and drives first nut, third slider and rotation unit are followed first lead screw reciprocating motion.

10. Transfer robot according to any of claims 2-4, characterized in that the turning unit comprises:

a fourth driving device provided on the lifting unit;

and a gear pair structure provided on the fourth driving device; wherein the content of the first and second substances,

and a third gear of the gear pair structure is arranged on the fourth driving device, and a fourth gear of the gear pair structure is arranged on the moving unit, so that the fourth driving device can drive the third gear to drive the fourth gear, the moving unit and the clamping unit to rotate together around the first rotating shaft.