CN212100459U - Manipulator and intelligent medicine taking device with sucker structure - Google Patents
Manipulator and intelligent medicine taking device with sucker structure Download PDFInfo
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- CN212100459U CN212100459U CN201922230281.0U CN201922230281U CN212100459U CN 212100459 U CN212100459 U CN 212100459U CN 201922230281 U CN201922230281 U CN 201922230281U CN 212100459 U CN212100459 U CN 212100459U
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- sucking disc
- air feed
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Abstract
The utility model relates to a manipulator technical field, concretely relates to manipulator and intelligent device of getting it filled with sucker structure. A robot hand with a suction cup structure, comprising: the manipulator body is provided with a support arm component which can extend towards a product to be adsorbed; the sucking disc structure is located on the arm subassembly, including being used for adsorbing treat the sucking disc of absorption product and with the sucking disc passes through first air feed structure and the second air feed structure that the gas circuit is connected, first air feed structure is used for right the sucking disc is inside to be bled to form the negative pressure environment, second air feed structure be used for to provide the ordinary pressure gas in the sucking disc, just first air feed structure with second air feed structure is not opened simultaneously. The utility model provides a sucking disc with treat that the absorption product easily breaks away from, get the higher manipulator and the intelligent device of getting it filled that have sucker structure of putting efficiency.
Description
Technical Field
The utility model relates to a manipulator technical field, concretely relates to manipulator and intelligent device of getting it filled with sucker structure.
Background
At present, the diagnosis rate of large hospitals is very high, the medicine discharge of the existing intelligent pharmacy can meet the requirement of quick and accurate medicine discharge, but the medicine discharge amount is large, the medicine in the pharmacy can be quickly consumed, and if the medicine supplement is not timely, the condition that patients queue up and wait still can be brought. The intelligent pharmacy supplies medicine by means of a mechanical arm, the medicine box is adsorbed to a preset position through negative pressure generated in the sucking disc, when the medicine box needs to be placed, the negative pressure environment needs to be destroyed, and the purpose of releasing the medicine box is achieved by directly closing a vacuum device connected with the sucking disc by means of general adoption. However, since the surface of the medicine box is smooth and the weight is light, when the vacuum device is disconnected from the suction cup, the medicine box cannot be separated from the suction cup immediately, thereby affecting the medicine supplementing efficiency.
SUMMERY OF THE UTILITY MODEL
Therefore, the to-be-solved technical problem of the utility model lies in overcoming the sucking disc of the manipulator among the prior art and waiting to adsorb the product and be difficult for breaking away from, the influence is got and is put the defect of efficiency to provide a sucking disc and wait to adsorb the product and easily break away from, get the higher manipulator and the intelligent device of getting it filled that have sucker structure of efficiency.
In order to solve the technical problem, the utility model provides a manipulator with sucker structure, include:
the manipulator body is provided with a support arm component which can extend towards a product to be adsorbed;
the sucking disc structure is located on the arm subassembly, including being used for adsorbing treat the sucking disc of absorption product and with the sucking disc passes through first air feed structure and the second air feed structure that the gas circuit is connected, first air feed structure is used for right the sucking disc is inside to be bled to form the negative pressure environment, second air feed structure be used for to provide the ordinary pressure gas in the sucking disc, just first air feed structure with second air feed structure is not opened simultaneously.
The manipulator with the sucker structure is characterized in that the first air supply structure and the second air supply structure are connected with the air path through a tee joint.
The manipulator with sucker structure, be provided with in the tee bend and be used for control first air feed structure with the switch that second air feed structure opened simultaneously.
The manipulator with the sucker structure is characterized in that the first air supply structure is an air cylinder or a vacuum pump, and the second air supply structure is a normal-pressure air storage tank.
The manipulator with the sucker structure is characterized in that the support arm assembly comprises a first support arm and a second support arm which are connected in a rotating mode, and rotating shafts of the first support arm and the second support arm are perpendicular to each other.
The manipulator with the sucker structure is characterized in that a rotating assembly is arranged at the end part of the first support arm, the rotating assembly rotates by taking the axis of the first support arm as a rotating shaft, and the sucker is arranged on the rotating assembly.
The manipulator with the sucker structure further comprises a connecting piece used for connecting the rotating assembly and the sucker.
The manipulator with the sucker structure comprises a connecting piece, wherein the connecting piece comprises a first end and a second end, the first end is connected with the rotating assembly, the second end is connected with the sucker, and an included angle between the first end and the second end is an acute angle.
The manipulator with the sucker structure is characterized in that the first air supply structure and the second air supply structure are both arranged on the first support arm.
Still provide an intelligence device of getting it filled, include the manipulator that has sucker structure, the manipulator is installed on the bracket component.
The utility model discloses technical scheme has following advantage:
1. when a product to be adsorbed needs to be taken, the manipulator with the sucker structure provided by the utility model only needs to connect the gas circuit between the first gas supply structure and the sucker and simultaneously keeps the gas circuit between the second gas supply structure and the sucker disconnected; when the product is waited to adsorb when needs release, then need break off the gas circuit between first air feed structure and the sucking disc, the gas circuit between intercommunication second air feed structure and the sucking disc, at this moment remaining gas can destroy the negative pressure environment in the sucking disc in the gas circuit between first air feed structure and the sucking disc, second air feed structure passes through the gas circuit and mends ordinary pressure gas in to the sucking disc simultaneously, make the inside and outside pressure of sucking disc reach the balance in very short time, thereby will wait to adsorb the product and release immediately, the efficiency of getting is improved.
2. The utility model provides a manipulator with sucker structure, first air feed structure and second air feed structure pass through the tee bend and are connected with the gas circuit. Under the prerequisite of guaranteeing that first air feed structure and second air feed structure are opened simultaneously like this, the occupation space of first air feed structure and second air feed structure has been reduced as far as possible, has reduced the volume of whole manipulator.
3. The utility model provides a manipulator with sucker structure, the setting of first arm end rotating assembly for the sucking disc can be according to the position of the concrete position accurate adjustment self of waiting to adsorb the product, adsorbs more accurate, firm.
4. The utility model provides a manipulator with sucker structure, the first end and the second end acutangulate setting of connecting piece more are favorable to the sucking disc accuracy to adsorb and treat the absorption product.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the technical solutions in the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic view of a manipulator with a suction cup structure provided in the present invention;
FIG. 2 is an enlarged view of the first arm and chuck structure shown in FIG. 1.
Description of reference numerals:
1. a first support arm; 2. a second support arm; 3. a fixing member; 4. a base; 5. a suction cup; 6. a first gas supply structure; 7. a second gas supply structure; 8. a tee joint; 9. a gas circuit; 10. a first branch; 11. a second branch circuit; 12. a rotating assembly; 13. a connecting member; 14. a driver; 15. a shelf body.
Detailed Description
The technical solution of the present invention will be described clearly and completely with reference to the accompanying drawings, and obviously, the described embodiments are some, but not all embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Furthermore, the technical features mentioned in the different embodiments of the invention described below can be combined with each other as long as they do not conflict with each other.
In one embodiment of the robot with a suction cup structure shown in fig. 1 and 2, the product to be adsorbed in this embodiment is a medicine box, and includes a robot body having a support arm assembly that can extend toward the product to be adsorbed and a suction cup structure provided on the support arm assembly. The support arm component comprises a first support arm 1 and a second support arm 2 which are connected in a rotating mode, and rotating shafts of the first support arm 1 and the second support arm 2 are perpendicular to each other. The second support arm 2 is mounted on the base 4 through a fixing part 3, and the fixing part 3 can rotate around the rotating shaft of the base 4, so as to drive the second support arm 2 to rotate along with the rotating shaft in the horizontal plane. Meanwhile, the second support arm 2 is connected with the fixing part 3 through a first rotating shaft, and the first rotating shaft is horizontally arranged, so that the second support arm 2 can rotate around the first rotating shaft in a vertical plane. The upper end level of second support arm 2 is provided with the second pivot, and first support arm 1 is connected with second support arm 2 through the second pivot, and can wind second pivot at vertical rotation of face. The sucker structure is including being used for adsorbing treat the sucking disc 5 of absorption product and with sucking disc 5 passes through first air feed structure 6 and the second air feed structure 7 that gas circuit 9 is connected, first air feed structure 6 with second air feed structure 7 is all installed the homonymy of first arm 1, first air feed structure 6 is used for right 5 inside bleeds of sucking disc to form the negative pressure environment, second air feed structure 7 be used for to provide the ordinary pressure gas in the sucking disc 5, just first air feed structure 6 with second air feed structure 7 is not opened simultaneously. When the first gas supply structure 6 is opened, the suction cup 5 is used for adsorbing the medicine box, and when the second gas supply structure 7 is opened, the suction cup 5 is used for releasing the medicine box to a specified position.
In order to reduce the occupied space of the first air supply structure 6 and the second air supply structure 7, the first air supply structure 6 and the second air supply structure 7 are connected with the air path 9 through a tee joint 8, and a plurality of air pipes can be arranged in the air path 9 to be communicated with different positions of the suckers 5. Two ends of the air path 9 are respectively connected with an opening of the tee joint 8 and an inlet of the sucker 5, and the other two openings of the tee joint 8 are respectively connected with an air cylinder serving as the first air supply structure 6 and a normal pressure air storage tank serving as the second air supply structure 7 through a first branch 10 and a second branch 11. And a switch for controlling the first gas supply structure 6 and the second gas supply structure 7 not to be opened at the same time is arranged in the tee joint 8. When the first air supply structure 6 works, the switch is communicated with the first branch 10 and the air passage 9, air is pumped into the sucker 5, so that pressure difference exists between the inside and the outside of the sucker 5 to form a negative pressure environment, and the communication between the second branch 11 and the air passage 9 is blocked; when the second air supply structure 7 works, the switch is communicated with the second branch 11 and the air path 9 to supply normal pressure air to the sucker 5, and the communication between the first branch 10 and the air path 9 is blocked.
In order to precisely adjust the position of the suction cup 5, a turntable as a rotating component 12 is arranged at the end of the first support arm 1, the rotating component 12 is driven by a driving motor to rotate by taking the axis of the first support arm 1 as a rotating shaft, and the suction cup 5 is arranged on the rotating component 12 and rotates along with the rotating component. Because the air channel 9 is connected to the sucker 5, in order to prevent the air channel 9 from being distorted and damaged in the rotating process, the rotating assembly 12 can only rotate within a certain range, and the position of the sucker 5 can be finely adjusted after the first support arm 1 and the second support arm 2 rotate to proper positions.
In order to minimize the angle of rotation of the first arm 1 and the second arm 2, a coupling member 13 is provided between the swivel assembly 12 and the suction cup 5. The connecting piece 13 include with the first end that rotating assembly 12 is connected and with the second end that sucking disc 5 is connected, first end and second end pass through the screw to be fixed respectively on rotating assembly 12 and sucking disc 5, just first end with the contained angle of second end is the acute angle.
The intelligent medicine taking device comprises the mechanical arm with the sucker structure, wherein the mechanical arm is arranged on a support assembly. The stand assembly includes a driver 14 for powering rotation of the fixing member 3, the first arm 1 and the second arm 2, and a stand body 15 for mounting the driver 14, the stand body 15 being fixed to one side of the base 4.
When a medicine box needs to be taken, the positions of the first support arm 1 and the second support arm 2 are firstly adjusted to enable the suction cup 5 to be close to the medicine box to be sucked, and then the rotary component 12 is rotated to enable the suction surface of the suction cup 5 to be opposite to one surface of the medicine box. The gas circuit between intercommunication cylinder and the sucking disc 5 for the cylinder carries out the evacuation to 5 insides of sucking disc, thereby forms the pressure differential inside and outside sucking disc 5, produces the adsorption affinity, has inhaled the medicine box. Readjust the position of first support arm 1 and second support arm 2 again and reach predetermined parking position, the gas circuit between disconnection cylinder and sucking disc 5 communicates the gas circuit between ordinary pressure gas holder and the sucking disc 5, and the inside and outside pressure differential of sucking disc 5 reduces gradually this moment, until reaching the balance for the inside adsorption affinity of sucking disc 5 disappears in the twinkling of an eye, and the medicine box can be released fast, guarantees to get and puts efficiency.
As an alternative embodiment, the first gas supply structure 6 and the second gas supply structure 7 may be connected to the suction cup 5 by different gas paths, forming a parallel arrangement.
As an alternative embodiment, the first gas supply structure 6 is a vacuum pump.
As an alternative embodiment, the support arm assembly may also be a telescopic cylinder or a hydraulic cylinder, the suction cup structure being provided on a piston rod of the telescopic cylinder or the hydraulic cylinder.
It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications can be made without departing from the scope of the invention.
Claims (10)
1. The utility model provides a manipulator with sucker structure which characterized in that includes:
the manipulator body is provided with a support arm component which can extend towards a product to be adsorbed;
the sucking disc structure is located on the arm subassembly, including being used for adsorbing treat sucking disc (5) of adsorbed product and with sucking disc (5) are through first air feed structure (6) and second air feed structure (7) that gas circuit (9) are connected, first air feed structure (6) are used for right sucking disc (5) inside is bled to form the negative pressure environment, second air feed structure (7) be used for to provide the ordinary pressure gas in sucking disc (5), just first air feed structure (6) with second air feed structure (7) are opened simultaneously.
2. Manipulator with suction cup structure according to claim 1, wherein the first gas supply structure (6) and the second gas supply structure (7) are connected to the gas circuit (9) by a tee joint (8).
3. The manipulator with suction cup structure according to claim 2, characterized in that a switch is provided in the tee joint (8) for controlling the first gas supply structure (6) and the second gas supply structure (7) not to be opened at the same time.
4. A robot arm with chuck structure according to any of claims 1 to 3, wherein said first gas supply structure (6) is a cylinder or a vacuum pump, and said second gas supply structure (7) is a normal pressure gas storage tank.
5. Manipulator with suction cup structure according to any of claims 1-3, characterized in that the arm assembly comprises a first arm (1) and a second arm (2) pivotally connected, the axes of rotation of the first arm (1) and the second arm (2) being arranged perpendicular to each other.
6. The robot with suction cup structure according to claim 5, wherein a rotating unit (12) is provided at the end of the first arm (1), the rotating unit (12) rotates around the axis of the first arm (1), and the suction cup (5) is mounted on the rotating unit (12).
7. Robot arm with suction cup structure according to claim 6, characterized in that it further comprises a connection (13) for connecting the rotating assembly (12) and the suction cup (5).
8. The robot with chuck structure according to claim 7, wherein the connecting member (13) comprises a first end connected to the rotating member (12) and a second end connected to the chuck (5), and the angle between the first end and the second end is an acute angle.
9. Robot arm with suction cup structure according to claim 5, characterized in that the first gas supply structure (6) and the second gas supply structure (7) are both mounted on the first arm (1).
10. An intelligent medicine taking device, which is characterized by comprising the manipulator with the sucker structure, which is arranged on a bracket assembly, according to any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922230281.0U CN212100459U (en) | 2019-12-11 | 2019-12-11 | Manipulator and intelligent medicine taking device with sucker structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922230281.0U CN212100459U (en) | 2019-12-11 | 2019-12-11 | Manipulator and intelligent medicine taking device with sucker structure |
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| Publication Number | Publication Date |
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| CN212100459U true CN212100459U (en) | 2020-12-08 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201922230281.0U Active CN212100459U (en) | 2019-12-11 | 2019-12-11 | Manipulator and intelligent medicine taking device with sucker structure |
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| CN (1) | CN212100459U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111038896A (en) * | 2019-12-11 | 2020-04-21 | 上海擅韬信息技术有限公司 | Manipulator and intelligent medicine taking device with sucker structure |
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- 2019-12-11 CN CN201922230281.0U patent/CN212100459U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111038896A (en) * | 2019-12-11 | 2020-04-21 | 上海擅韬信息技术有限公司 | Manipulator and intelligent medicine taking device with sucker structure |
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