CN212170481U - Control connecting rod structure - Google Patents
Control connecting rod structure Download PDFInfo
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- CN212170481U CN212170481U CN202020087568.2U CN202020087568U CN212170481U CN 212170481 U CN212170481 U CN 212170481U CN 202020087568 U CN202020087568 U CN 202020087568U CN 212170481 U CN212170481 U CN 212170481U
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Abstract
The utility model provides a control connecting rod structure, which is used for switching between the high position and the low position of a mother solution bag in a dispensing robot and comprises a base station, a mounting seat for placing the mother solution bag, an active connecting rod, a follow-up connecting rod and a motor for driving the active connecting rod to swing; the driving connecting rod and the follow-up connecting rod are positioned in the same plane, the driving connecting rod is rotatably arranged on the base station through a first shaft, the driving connecting rod is rotatably connected with the mounting seat through a second shaft, the follow-up connecting rod is rotatably arranged on the base station through a third shaft, and the follow-up connecting rod is rotatably connected with the mounting seat through a fourth shaft; the utility model discloses can realize the switching between the high, low level of mother liquor bag with rotatory mode, have compact structure, be convenient for control's advantage.
Description
Technical Field
The utility model relates to a control connecting rod structure.
Background
At present, the intravenous medicine allocation mode of the hospital is mainly manual operation of medical care personnel, and because the intravenous medicine requirements of departments of the hospital are large, the manual operation not only occupies a large amount of manpower and material resources of the hospital, but also increases the risks of damaging the health of nursing personnel and polluting liquid medicine. With the development of the robot technology, the intravenous drug dispensing robot gradually appears in the market, so that the prescription can be automatically obtained, the drug dispensing can be automatically carried out, and the risks are reduced to a great extent.
In the current dispensing robot, a fixed structure is mostly adopted for the treatment of the mother solution bag, namely, the long-time taking and placing position is the same as the puncture injection position, so that the dispensing robot occupies larger structural space and is not beneficial to the miniaturization of equipment. There are also applications that use a guide rail type structure, for example, chinese patent application 201810330252.9 discloses a mother liquor bag holding mechanism, including a linear transmission guide rail portion; the linear transmission guide rail part comprises a bottom plate, a first bearing seat and a second bearing seat which are connected to the bottom plate, a linear sliding rail and a ball screw which are connected between the first bearing seat and the second bearing seat, a sliding block which is connected to the linear sliding rail and the ball screw, and a driving assembly which is connected to the bottom plate and is used for driving the ball screw to rotate; a sensor for limiting the moving position of the sliding block is also arranged on the bottom plate; the clamping part is arranged on the linear transmission guide rail part; the clamping part comprises a poking rod frame connected to the sliding block, a clamping jaw structure connected to the poking rod frame, a slide connected to the second bearing seat, and a poking rod structure which is connected to the poking rod frame, attached to the inclined surface of the slide through an idler and can drive the clamping jaw structure to move.
Another example of the applicant's online application 201810029646.0 discloses an automated dispensing robot for vial vials comprising: the device comprises a base, a solvent bag device, a penicillin bottle device and an injector device, wherein the solvent bag device, the penicillin bottle device and the injector device are all arranged on the base; the injector device is positioned between the penicillin bottle device and the solvent bag device; the solvent bag device comprises a bag lifting mechanism and a solvent bag clamp, and the solvent bag clamp is arranged on the bag lifting mechanism; the bag lifting mechanism comprises a medicine bag high position and a medicine bag low position; the penicillin bottle device comprises a bottle lifting mechanism and at least one bottle clamping mechanism, wherein the bottle clamping mechanism is arranged on the bottle lifting mechanism; the bottle lifting mechanism comprises a medicine bottle high position and a medicine bottle low position; the injector device comprises a needle tube clamping mechanism and drives the injector to rotate in a vertical circumference; when the air pressure in the solvent bag is higher and needs to be adjusted, the solvent bag is positioned at the lower position of the medicine bag, and the injector punctures the medicine bag and sucks air; when the air pressure in the penicillin bottle is larger and needs to be adjusted, the penicillin bottle is positioned at the lower position of the medicine bottle, and the injector punctures the penicillin bottle and sucks air.
The main drawback of the guide rail type structure is that it is not beneficial to utilize the space structure and occupies a larger framework space.
Based on this, this application provides a manipulation link structure, realizes the switching between the mother liquor bag (bottle) high, low level with rotatory mode.
SUMMERY OF THE UTILITY MODEL
To prior art's defect, the utility model provides a control connecting rod structure can realize the switching between the high, low level of mother liquor bag with rotatory mode, has compact structure, the advantage of being convenient for control.
In order to achieve the above object, the utility model provides a control connecting rod structure for carry out the switching between the mother liquor bag height, the low level in dispensing the robot, include:
a base station;
the mounting seat is used for placing the mother liquid bag;
the driving connecting rod and the follow-up connecting rod are connected with the base station and the mounting seat; and
a motor for driving the driving connecting rod to swing;
the driving connecting rod is rotatably arranged on the base platform through a first shaft, the driving connecting rod is rotatably connected with the mounting seat through a second shaft, the follow-up connecting rod is rotatably arranged on the base platform through a third shaft, and the follow-up connecting rod is rotatably connected with the mounting seat through a fourth shaft;
the first shaft, the second shaft, the fourth shaft and the third shaft are sequentially connected and enclosed to form a quadrangle;
wherein, the motor is arranged on the base station and can drive the first shaft to rotate.
The above technical scheme of the utility model, adopt two connecting rods articulated mode respectively, form four bar linkage of type, wherein relatively fixed and form the frame between primary shaft and the third axle, initiative connecting rod, follow-up connecting rod form the side link, and relatively fixed and form the connecting rod between secondary shaft and the fourth axle, and then according to four bar linkage's of hinge rotating characteristic, realize the switching of mount pad (secondary shaft, fourth axle all fix on the mount pad) position.
Furthermore, the motor directly drives the driving connecting rod to rotate, so that the position of the mounting seat can be switched, the synchronous rotation of the follow-up connecting rod can keep the mounting seat to have good stability in the movement process, the mounting seat cannot shake in a stop state, and the mother liquid bag can be conveniently taken and placed and punctured and sucked.
According to another embodiment of the present invention, the driving connecting rod and the follower connecting rod are parallel to each other to form a parallel double crank structure.
According to the utility model discloses a another kind of embodiment sets up collineation from top to bottom between primary shaft and the fourth shaft, sets up collineation from top to bottom between secondary shaft and the fourth shaft, and wherein at the swing in-process of initiative connecting rod, follow-up connecting rod, the gesture of mount pad can not change, can keep the mother liquor bag to have unique gesture throughout to the use of mother liquor bag is convenient for.
According to the utility model discloses a another kind of embodiment is equipped with spacing piece, lower spacing piece on the base station, goes up spacing piece and establishes respectively in the upper and lower both sides of initiative connecting rod and follow-up connecting rod with spacing piece down to carry on spacingly to the position of initiative connecting rod respectively, realize the control of mother liquor bag height level.
The upper limiting part and the lower limiting part can be further provided with clamping grooves matched with the driving connecting rod and the follow-up connecting rod in shape, so that the mounting base can be more accurately limited through the driving connecting rod and the follow-up connecting rod.
According to the utility model discloses a another kind of embodiment, the tip that the secondary shaft was kept away from to the initiative connecting rod is equipped with the balancing weight to reduce the load of motor, offset the whole (including the mother liquor bag) most gravity of mount pad.
According to another embodiment of the present invention, the motor is a servo motor.
According to another embodiment of the present invention, a sensor for detecting high and low positions, such as an encoder or a position switch, is further provided to detect and feed back the swing position information of the first shaft (active link) to the motor for position control.
According to the utility model discloses a another kind of embodiment still is equipped with respectively with primary shaft, secondary shaft, third axle, fourth axle complex rolling bearing to make the rotation process more steady.
The utility model discloses possess following beneficial effect:
the utility model discloses a control the switching that the connecting rod structure realized mother liquor bag with rotatory mode between high, the low level, the rotation of motor drive initiative connecting rod can realize the switching of mount pad position, and based on the stationarity of four link mechanism motion processes of hinge, what can avoid the mount pad probably to appear rocking, the mother liquor bag of being convenient for keeps its stable gesture.
In addition, when being in high-order mother liquor bag atress at the puncture in-process, the stability of mother liquor bag (mount pad) is good, compares in guide rail structure, is difficult for producing the slip phenomenon, increases the stability of puncture, the operation of being convenient for.
The present invention will be described in further detail with reference to the accompanying drawings.
Drawings
Fig. 1 is an overall schematic view of the operation link structure of the present invention, which shows the mother liquor bag in a low position;
FIG. 2 is a schematic perspective view of FIG. 1;
fig. 3 is an overall schematic view of the operation link structure of the present invention, which shows the mother liquor bag in a state of puncturing and sucking high position;
fig. 4 is a perspective view of fig. 3.
Detailed Description
A control connecting rod structure is used for switching between high and low positions of a mother liquor bag in a dispensing robot and comprises a base platform 1, a mounting seat 2, a driving connecting rod 3, a follow-up connecting rod 4 and a motor 5, wherein the mother liquor bag is fixed on the mounting seat 2 through a clamping hand.
The driving connecting rod 3 and the follow-up connecting rod 4 are positioned in the same plane, referring to fig. 1, the driving connecting rod 3 is rotatably arranged on the base platform 1 through a first shaft 6, the driving connecting rod 3 is rotatably connected with the mounting base 2 through a second shaft 7, the follow-up connecting rod 4 is rotatably arranged on the base platform 1 through a third shaft 8, and the follow-up connecting rod 4 is rotatably connected with the mounting base 2 through a fourth shaft 9;
the first shaft 6, the second shaft 7, the fourth shaft 9 and the third shaft 8 are sequentially connected and enclosed to form a quadrangle, the motor 5 is arranged on the base platform 1 and used for driving the first shaft 6 to rotate, the driving connecting rod 3 is further driven to rotate, and finally the mounting seat 2 (mother liquor bag) is switched between a high position and a low position.
Wherein, the driving connecting rod 3 and the following connecting rod 4 are parallel to each other; in this example, a parallel double-crank structure is formed between the base 1, the driving connecting rod 3, the follower connecting rod 4, and the mounting base 2, specifically, a first shaft 6 and a third shaft 8 are relatively fixed to form a frame, the driving connecting rod 3 and the follower connecting rod 4 are formed as a link rod (crank), a second shaft 7 and a fourth shaft 9 are relatively fixed to form a connecting rod, and further, according to the rotation characteristic of the four-bar hinge mechanism, the position of the mounting base 2 (the second shaft 7 and the fourth shaft 9 are both fixed to the mounting base 2) is switched.
Further, referring to fig. 1 and 3, the first shaft 6 and the fourth shaft 9 are arranged to be collinear up and down, and the second shaft 7 and the fourth shaft 9 are arranged to be collinear up and down, so that the mother liquid bag can be kept to have unique postures at all positions, and the mother liquid bag can be used conveniently.
In order to accurately set the taking and placing low position and the puncturing and sucking high position of the mother liquor bag, a preferred structure is as follows: an upper limiting member 10 and a lower limiting member 11 are arranged on the base 1, and the upper limiting member 10 and the lower limiting member 11 are respectively arranged at the upper side and the lower side of the driving connecting rod 3 and the servo connecting rod 4 so as to respectively limit the position of the driving connecting rod 3.
Specifically, the driving connecting rod 3 and the follower connecting rod 4 are of long strip-shaped structures, and the upper limiting part 10 and the lower limiting part 11 can be further provided with clamping grooves matched with the shapes of the driving connecting rod 3 and the follower connecting rod 4, so that the mounting base 2 can be more accurately limited through the driving connecting rod 3 and the follower connecting rod 4.
Wherein, motor 5 selects to be servo motor 5, is equipped with respectively on mount pad 2 and detects initiative connecting rod 3 and be located high level, low level sensor to feed back to motor 5 and carry out the accurate control of position.
In this example, in order to reduce the load of the motor 5, a counterweight 12 is further provided on the driving link 3 at one side end of the second shaft 7 to offset most of the gravity of the entire mounting base 2 (including the mother liquor bag).
In this example, there are also rotational bearings respectively engaged with the first shaft 6, the second shaft 7, the third shaft 8, and the fourth shaft 9 to make the rotation process more stable.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the scope of the invention. Any person skilled in the art can make some modifications without departing from the scope of the invention, i.e. all equivalent modifications made according to the invention shall be covered by the scope of the invention.
Claims (9)
1. A manipulation link structure for switching between high and low positions of a mother solution bag in a dispensing robot, comprising:
a base station;
the mounting seat is used for placing the mother liquid bag;
the driving connecting rod and the follow-up connecting rod are used for connecting the base station and the mounting seat; and
the motor drives the driving connecting rod to swing;
the driving connecting rod and the follow-up connecting rod are located in the same plane, the driving connecting rod is rotatably arranged on the base platform through a first shaft, the driving connecting rod is rotatably connected with the mounting seat through a second shaft, the follow-up connecting rod is rotatably arranged on the base platform through a third shaft, and the follow-up connecting rod is rotatably connected with the mounting seat through a fourth shaft;
the first shaft, the second shaft, the fourth shaft and the third shaft are sequentially connected and enclosed to form a quadrangle;
the motor is arranged on the base platform and can drive the first shaft to rotate.
2. The operating link structure as claimed in claim 1, wherein the driving link and the follower link are parallel to each other.
3. The operating link structure according to claim 2, wherein the first shaft and the fourth shaft are disposed in line up and down, and the second shaft and the fourth shaft are disposed in line up and down.
4. The operating link structure according to claim 1, wherein the base is provided with an upper stopper and a lower stopper, and the upper stopper and the lower stopper are respectively provided on upper and lower sides of the driving link and the follower link.
5. The operating link structure according to claim 4, wherein a locking groove is formed in the upper and lower stoppers to match the shape of the driving link and the follower link.
6. The steering linkage as in claim 1, wherein an end of said active link remote from said second shaft is provided with a counterweight.
7. The steering link structure of claim 1 wherein said motor is a servo motor.
8. The operating link structure as claimed in claim 1, further comprising a sensor for detecting the high position and the low position.
9. The operating link structure according to claim 1, further comprising rotation bearings respectively engaged with the first shaft, the second shaft, the third shaft, and the fourth shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020087568.2U CN212170481U (en) | 2020-01-15 | 2020-01-15 | Control connecting rod structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020087568.2U CN212170481U (en) | 2020-01-15 | 2020-01-15 | Control connecting rod structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212170481U true CN212170481U (en) | 2020-12-18 |
Family
ID=73773796
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020087568.2U Active CN212170481U (en) | 2020-01-15 | 2020-01-15 | Control connecting rod structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN212170481U (en) |
-
2020
- 2020-01-15 CN CN202020087568.2U patent/CN212170481U/en active Active
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