CN213651149U - Feedback type straight hose micro-motion pickup mechanism and automatic material distributing robot - Google Patents

Abstract

The utility model discloses a feedback type straight hose micro-motion picking mechanism and an automatic material distributing robot, wherein the feedback type straight hose micro-motion picking mechanism comprises a feedback component, a material taking component and a micro-motion opening and closing control component; the material taking assembly comprises an absorber, a clamping sheet, a mounting seat and a top mounting plate; the feedback assembly is sleeved outside the mounting seat and comprises a guide limiting support column, a pressure spring, a positioning trigger ring, a spacer bush and a bottom touch plate; the micro-motion opening and closing control assembly comprises a rotary driving part, a rotary disc and a conjugate cam assembly, the conjugate cam assembly comprises a cam I and a cam II which are positioned in parallel from bottom to top at intervals, and right-angled parts of the cam II and the cam I which are completely the same in shape and size are correspondingly and reversely mounted to form a conjugate structure. The utility model discloses to the flexible material of batch minor diameter column or tubulose to bundle form, can realize that automatic adjustment picks up to move down and realize that automatic root-by-root picks up under the prerequisite of distance to follow-up packing or assembly operation to single flexible material.

Description

Feedback type straight hose micro-motion pickup mechanism and automatic material distributing robot

Technical Field

The utility model relates to a pick up mechanism and automatic branch material robot specifically is a reaction type straight hose fine motion that is applicable to the minor diameter column or the tubulose flexible material that have big length-diameter ratio such as blood transfusion hose like the blood sampling needle, USB data line, pencil electric wire and carries out single pickup and divides material robot automatically, belongs to the automated manufacturing technical field.

Background

With the continuous progress of science and technology, high-efficiency batch automatic production is realized for the production and manufacture of small-diameter cylindrical or tubular flexible materials with large length-diameter ratio, such as blood transfusion hoses, USB data lines, wire harnesses and electric wires of venous blood collection needles, and the batch small-diameter cylindrical or tubular flexible material finished products or products containing the small-diameter cylindrical or tubular flexible material finished products produced by an automatic production line are generally gathered into a bundle shape, that is, the small-diameter cylindrical or tubular flexible materials with the same length, the same direction and a large number are gathered into the bundle shape by a conveyer belt. The flexible material with the circular section and the small diameter in the shape of a column or a tube is close to a straight column or a straight hose in a natural state without the action of external force or restriction, and can be bent and deformed to a certain degree and present a non-linear state after being subjected to the external force or the restriction. Taking a blood transfusion tube of a venous blood taking needle as an example, when the blood transfusion tube is picked up from the middle position of the blood transfusion tube, two ends of the blood transfusion tube naturally sag under the action of gravity and present non-linear characters. Because the batch of small-diameter columnar or tubular flexible material finished products gathered into a bundle-shaped form or the products containing the small-diameter columnar or tubular flexible material finished products conveyed by the conveyor belt often need to be subjected to subsequent assembly procedures or packaging procedures, and the position and the posture of each small-diameter columnar or tubular flexible material are difficult to determine due to the characteristics of the small-diameter columnar or tubular flexible materials, meanwhile, when the small-diameter columnar or tubular flexible materials are taken and sorted, the stacking height of the flexible materials is difficult to accurately determine, so that the movement distance of the picking mechanism during downward moving for taking the materials is difficult to accurately determine for realizing accurate picking, therefore, the automatic material distribution treatment of the bundle-shaped batch of small-diameter columnar or tubular flexible materials is very difficult, and the automatic picking of single small-diameter columnar or tubular flexible material is difficult to realize, often still relies heavily on manual operations. Taking a blood transfusion hose of a vein blood taking needle as an example, the manual operation mode is still adopted in a large amount in the material distribution process before the vein blood taking needle is automatically sterilized and packaged one by one at home and abroad at present, namely, the vein blood taking needle is manually sorted and fed one by one, the manual operation mode has low production efficiency and high production cost, and the visual fatigue of operators is easy to generate by the monotonous sorting and feeding work, so that the labor intensity is higher, and further the human error is easy to cause.

Disclosure of Invention

To the problem that above-mentioned prior art exists, the utility model provides a mechanism and automatic branch material robot are picked up to straight hose fine motion of feedback formula, to automatic production line output, carry the batch minor diameter column or the tubulose flexible material of bundle form that comes through the conveyer belt, can realize that automatic adjustment picks up to move down and realize that automatic root is by root picks up under the prerequisite of distance to follow-up packing or assembly operation to single flexible material.

In order to achieve the purpose, the feedback type straight hose micro-motion picking mechanism comprises a feedback assembly, a material taking assembly and a micro-motion opening and closing control assembly;

the material taking assembly comprises an absorber, a clamping sheet, a mounting seat and a top mounting plate; the adsorber is a hollow tubular structure comprising an axial through hole positioned at an axis position, the top end of the adsorber is fixedly arranged on the mounting seat, the top end of the adsorber is hermetically connected with a negative pressure suction pipe through a negative pressure sensor, the lower part of the adsorber is provided with clamping sheet mounting notches symmetrically arranged along the radial direction, the clamping sheet mounting notches penetrate through the adsorber along the radial direction, the bottom end of the adsorber is provided with a U-shaped groove with a downward opening in a position perpendicular to the radial direction of the clamping sheet mounting notches, and the depth dimension and the width dimension of the U-shaped groove are in clearance fit with the outer diameter dimension of a single small-diameter columnar or tubular flexible material; the clamping piece is symmetrically arranged into two pieces relative to the central axis of the absorber, the thickness dimension of the clamping piece is matched with the width dimension of the mounting notch of the clamping piece, the clamping piece comprises an upper hinge part and a lower clamping part, the inner side edge of the upper hinge part is a straight edge structure parallel to the absorber, the lower clamping part is obliquely arranged towards the inner side direction to form a claw-shaped structure, the position of the clamping piece corresponding to the mounting notch of the clamping piece is hinged and mounted on the mounting seat through the upper hinge part, a conjugate cam mounting space is formed between the inner side edge of the upper hinge part and the outer surface of the absorber, the lower clamping part of the clamping piece penetrates into the mounting notch of the clamping piece, and the height dimension from the bottom end of the clamping piece to the bottom plane of the mounting seat is larger than the; the mounting seat is fixedly mounted on the bottom plane of the top mounting plate through a support column I of which the central axis is parallel to the absorber, and a proximity switch vertically and downwardly extending is further arranged on the bottom plane of the top mounting plate;

the feedback assembly is sleeved outside the mounting seat and comprises a guide limiting support column, a pressure spring, a positioning trigger ring, a spacer bush and a bottom touch plate; the central axis is parallel to a guide limit support column of the absorber, is arranged in a sliding fit mode and penetrates through the top mounting plate, a limit boss is arranged at the top end of the guide limit support column, the bottom end of the guide limit support column is fixedly connected with the positioning trigger ring, the positioning trigger ring is coaxially arranged with the absorber, and the height size from the top plane of the positioning trigger ring to the bottom plane of the top mounting plate is larger than the height size from the proximity switch to the bottom plane of the top mounting plate; the pressure spring is sleeved on the guide limiting support column, and two ends of the pressure spring respectively abut against the top plane of the positioning trigger ring and the bottom plane of the top mounting plate; the positioning trigger ring and the bottom touch plate are fixedly connected through a spacer sleeve, the geometric center of the bottom touch plate and the axis of the positioning trigger ring are coaxially arranged, an adsorber through hole allowing an adsorber to pass through is formed in the geometric center of the bottom touch plate, and a clamping piece through groove allowing a clamping piece to pass through and penetrating through the adsorber through hole is further formed in the position, corresponding to the clamping piece mounting notch, of the bottom touch plate;

the micro-motion opening and closing control assembly comprises a rotary driving part, a rotary disc and a conjugate cam assembly; the rotary driving component is fixedly arranged on the top mounting plate, and a power output shaft of the rotary driving component penetrating through the top mounting plate is coaxially arranged with the absorber; the rotary table is coaxially and fixedly connected with a power output shaft of the rotary driving part; the conjugate cam assembly sleeved on the absorber is arranged in a conjugate cam mounting space of the material taking assembly, the conjugate cam assembly is coaxially and fixedly connected with the rotary table through a supporting column II of which the central axis is parallel to the absorber, the conjugate cam assembly comprises a cam I and a cam II which are positioned in parallel from bottom to top at intervals, the wheel surface of the cam I comprises two right-angle parts which are arranged in a crossed and opposite mode and two circular arc transition parts which are connected between the two right-angle parts, the two circular arc transition parts are respectively arranged corresponding to straight edge structures of an upper hinge part of the two clamping sheets, the distances between the parallel right-angle edges of the two right-angle parts are d1 and d2, d1 is smaller than d2, when the polar diameter R of the circular arc transition part rotates from a tangent point corresponding to the d2 size to a tangent point corresponding to the d1 size, the size of the polar diameter R is increased in a linear mode, and, the right-angle parts of the cam II and the cam I are correspondingly and reversely mounted to form a conjugate structure.

As a further improvement of the present invention, the mounting base is a bilaterally symmetric U-shaped structure relative to the adsorber, the U-shaped structure includes a bottom beam and two upwardly extending convex portions at two ends of the bottom beam, the mounting base of the U-shaped structure is provided with two clamping piece mounting grooves symmetrically arranged along the center plane position of the front and back direction, and the clamping piece mounting grooves penetrate the convex portions of the U-shaped structure along the left and right direction, the clamping pieces are clamped into the clamping piece mounting grooves and the hinged mounting centers of the clamping pieces are located at the middle positions of the straight edge structures of the hinged portions on the clamping pieces, and the straight edge structures of the hinged portions on the clamping pieces are divided into an upper part and a lower part by the bottom beam of the U-shaped structure; the cam I is arranged below the bottom cross beam of the mounting seat of the U-shaped structure and corresponds to the lower part of the straight-edge structure of the hinged part on the clamping piece.

As the utility model discloses a further improvement scheme, the notch position of U-shaped recess still is equipped with the direction inclined plane structure that the symmetry set up, and direction inclined plane structure and the whole Y-arrangement groove structure that is of U-shaped recess.

As the utility model discloses a further improvement scheme, when the holding piece opened state and clamping state, the lower clamping part of holding piece all was in and is located the intraoral state of holding piece mounting groove.

As a further improvement of the utility model, the right angle part position of cam I and cam II passes through II fixed connection of support column.

An automatic small-diameter columnar or tubular flexible material distribution robot comprises a distribution and pickup mechanical arm and a sorting platform, wherein the sorting platform comprises a positioning and mounting tray; the feedback type straight hose micro-motion picking mechanism is arranged on a tail manipulator of the material-distributing picking mechanical arm, the material-distributing picking mechanical arm at least comprises an X coordinate driving mechanism moving along the left-right direction and a Z coordinate driving mechanism moving along the vertical up-down direction, or the material-distributing picking mechanical arm at least comprises a Y coordinate driving mechanism moving along the front-back direction and a Z coordinate driving mechanism moving along the vertical up-down direction.

As a further improvement of the utility model, a flexible guardrail is arranged on the tray.

Compared with the prior art, aiming at batch small-diameter cylindrical or tubular flexible materials in bundle-shaped forms produced by an automatic production line, the feedback type straight hose micro-motion pickup mechanism is provided with the feedback assembly, so that when the feedback type straight hose micro-motion pickup mechanism moves downwards along the vertical direction to be close to a small-diameter cylindrical or tubular flexible material pile, the positioning trigger ring can be driven by the bottom contact plate to move upwards to trigger the proximity switch, and then the downward movement of the feedback type straight hose micro-motion pickup mechanism is controlled, so that accurate pickup is realized; the material taking assembly comprises an absorber which is used for absorbing through negative pressure, and the bottom end of the absorber is provided with a U-shaped groove which is provided with a downward opening and has the depth dimension and the width dimension which are in clearance fit with the outer diameter dimension of a single small-diameter columnar or tubular flexible material, so that the single small-diameter columnar or tubular flexible material is easily absorbed and clamped in the U-shaped groove at the bottom end of the absorber, and single pickup is realized; the top end of the absorber is hermetically connected with the negative pressure suction pipe through the negative pressure sensor, so that whether the absorber successfully picks up a single piece can be judged through the vacuum degree value fed back by the negative pressure sensor, and the success rate of picking up the single piece is further ensured; because still be equipped with the clamping piece on getting the material subassembly, and the fine motion control assembly that opens and shuts includes the conjugation cam subassembly of steerable 90 rotations, consequently after the adsorber successfully singly picks up, can realize the fine motion centre gripping action of clamping piece in minimum within range through the control of conjugation cam subassembly to the clamping piece, and then can realize leaning on the centre gripping to the single minor diameter column or the tubulose flexible material of being picked up, prevent the accident of the single minor diameter column or the tubulose flexible material of being picked up from droing, further guarantee the success rate of singly picking up, so that follow-up packs or assembles the operation to single flexible material.

Drawings

FIG. 1 is a schematic diagram of a three-dimensional structure of a feedback type straight hose micro-motion pick-up mechanism;

FIG. 2 is a schematic three-dimensional structure of the bottom view of FIG. 1;

FIG. 3 is an exploded view of FIG. 1;

FIG. 4 is a schematic diagram of a three-dimensional structure of a feedback assembly of a feedback type straight hose micro-motion pick-up mechanism;

FIG. 5 is a schematic diagram of a three-dimensional structure of a reclaiming assembly of a feedback type straight hose micro-motion picking mechanism;

FIG. 6 is an exploded view of FIG. 5;

FIG. 7 is a schematic view of an adsorber of a feedback straight hose micro-motion pick-up mechanism;

FIG. 8 is an enlarged partial view of FIG. 7;

FIG. 9 is a side view of an adsorber of the feedback straight hose micro-motion pick-up mechanism;

FIG. 10 is a sectional view A-A of FIG. 9;

FIG. 11 is a schematic diagram of a three-dimensional structure of a micro-motion opening and closing control component of a feedback type straight hose micro-motion pick-up mechanism;

FIG. 12 is a schematic structural diagram of the profile of a cam I of a feedback type straight hose micro-motion pick-up mechanism;

FIG. 13 is a schematic diagram of a three-dimensional structure of an automatic material distributing robot for picking up a blood transfusion hose of a vein blood taking needle;

FIG. 14 is a schematic view of the bottom plane of the bottom contact plate contacting the stack of transfusion hoses;

FIG. 15 is a schematic view of the proximity switch controlling the pick-up robot arm to stop the downward movement;

FIG. 16 is a schematic view of the configuration of the clamping piece in an unclamped state when a single transfusion tube is inserted into the U-shaped recess at the bottom end of the adsorber;

fig. 17 is a bottom view of fig. 16;

FIG. 18 is an enlarged partial view of FIG. 16 taken from the direction P;

FIG. 19 is a schematic view showing the clamping state of the clamping pieces when a single transfusion hose is inserted into the U-shaped groove at the bottom end of the adsorber;

FIG. 20 is a bottom view of FIG. 19;

fig. 21 is a partial enlarged view of the Q direction of fig. 19.

In the figure: 1. the device comprises a feedback component, 1-1, a guide limit supporting column, 1-2, a pressure spring, 1-3, a positioning trigger ring, 1-4, a spacer sleeve, 1-5, a bottom touch plate, 2, a material taking component, 2-1, an absorber, 2-1a, an axial through hole, 2-1b, a clamping piece mounting notch, 2-1c, a guide inclined plane structure, 2-1d, a U-shaped groove, 2-2, a negative pressure suction pipe, 2-3, a clamping piece, 2-4, a supporting column I, 2-5, a top mounting plate, 2-6, a mounting seat, 2-7, a proximity switch, 3, a micro-motion opening and closing control component, 3-1, a cam I, 3-2, a cam II, 3-3, a turntable, 3-4, a supporting column II, 3-5 and a rotation driving component, 4. sorting platform, 4-1, tray, 4-2, flexible guardrail, 5, blood transfusion hose.

Detailed Description

The present invention will be further explained with reference to the accompanying drawings.

As shown in fig. 1, 2 and 3, the feedback type straight hose micro-motion picking mechanism comprises a feedback assembly 1, a material taking assembly 2 and a micro-motion opening and closing control assembly 3.

As shown in fig. 5 and 6, the material taking assembly 2 comprises an absorber 2-1, a clamping piece 2-3, a mounting seat 2-6 and a top mounting plate 2-5; as shown in figures 9 and 10, the adsorber 2-1 is a hollow tubular structure comprising an axial through hole 2-1a located at an axial center position, the top end of the adsorber 2-1 is fixedly installed on the installation seat 2-6, and the top end of the adsorber 2-1 is hermetically connected with the negative pressure suction pipe 2-2 through a negative pressure sensor, as shown in figures 7, 9 and 10, the lower part of the adsorber 2-1 is provided with clamping piece installation notches 2-1b symmetrically arranged along a radial direction, and the clamping piece installation notches 2-1b are arranged to penetrate through the adsorber 2-1 along the radial direction, as shown in figures 7 and 8, the bottom end of the adsorber 2-1 is provided with a U-shaped groove 2-1d arranged with a downward opening at a position perpendicular to the radial direction of the clamping piece installation notch 2-1b, and the depth and width of the U-shaped groove 2-1d are both equal to the outer diameter of a single small-diameter columnar or tubular flexible material The sizes are in clearance fit; the clamping sheets 2-3 are symmetrically arranged into two pieces relative to the central axis of the absorber 2-1, the thickness of the clamping sheets 2-3 is matched with the width of the mounting notch 2-1b of the clamping sheets, each clamping sheet 2-3 comprises an upper hinging part and a lower clamping part, the inner side edge of the upper hinging part facing the absorber 2-1 is of a straight edge structure parallel to the absorber 2-1, the lower clamping part is obliquely arranged in the inner side direction to form a claw-shaped structure, the clamping sheets 2-3 are hinged and mounted on the mounting seat 2-6 through the upper hinging parts corresponding to the mounting notches 2-1b of the clamping sheets, a conjugate cam mounting space is formed between the inner side edge of the upper hinging part and the outer surface of the absorber 2-1, the lower clamping part of the clamping sheets 2-3 penetrates into the mounting notches 2-1b of the clamping sheets, and the height between the bottom ends of the clamping sheets 2-3 and the bottom plane of the mounting seat The height between the bottom end of the accessory 2-1 and the bottom plane of the mounting seat 2-6 is measured; the mounting base 2-6 is fixedly arranged on the bottom plane of the top mounting plate 2-5 through a support column I2-4 with a central axis parallel to the absorber 2-1, and a proximity switch 2-7 vertically extending downwards is further arranged on the bottom plane of the top mounting plate 2-5.

As shown in fig. 4, the feedback assembly 1 is sleeved outside the mounting base 2-6 and comprises a guiding and limiting support column 1-1, a pressure spring 1-2, a positioning trigger ring 1-3, a spacer bush 1-4 and a bottom touch plate 1-5; the central axis is parallel to a guide limit support column 1-1 of the absorber 2-1, is arranged through the top mounting plate 2-5 in a sliding fit mode, a limit boss is arranged at the top end of the guide limit support column 1-1, the bottom end of the guide limit support column 1-1 is fixedly connected with a positioning trigger ring 1-3, the positioning trigger ring 1-3 is coaxially arranged with the absorber 2-1, and the height size from the top plane of the positioning trigger ring 1-3 to the bottom plane of the top mounting plate 2-5 is larger than the height size from the proximity switch 2-7 to the bottom plane of the top mounting plate 2-5; the pressure spring 1-2 is sleeved on the guide limiting support column 1-1, two ends of the pressure spring 1-2 respectively abut against a top plane of the positioning trigger ring 1-3 and a bottom plane of the top mounting plate 2-5, and the pressure spring 1-2 can be compressed and approaches to the switch 2-7 when the positioning trigger ring 1-3 moves upwards; the positioning trigger ring 1-3 is fixedly connected with the bottom contact plate 1-5 through a spacer sleeve 1-4, the geometric center of the bottom contact plate 1-5 is coaxially arranged with the axis of the positioning trigger ring 1-3, an absorber through hole allowing the absorber 2-1 to pass through is arranged at the geometric center of the bottom contact plate 1-5, a clamping plate through groove allowing the clamping plate 2-3 to pass through and communicated with the absorber through hole is also arranged at the position, corresponding to the clamping plate mounting notch 2-1b, on the bottom contact plate 1-5, and when the positioning trigger ring 1-3 moves upwards, the bottom contact plate 1-5 can be synchronously driven to move upwards, so that the absorber 2-1 and the clamping plate 2-3 penetrate through the absorber through hole and the clamping plate through groove.

As shown in fig. 11, the micro-motion opening and closing control assembly 3 comprises a rotary driving component 3-5, a rotary disc 3-3 and a conjugate cam assembly; the rotary driving component 3-5 is fixedly arranged on the top mounting plate 2-5, and a power output shaft of the rotary driving component 3-5 penetrating through the top mounting plate 2-5 is coaxially arranged with the absorber 2-1, and the rotary driving component 3-5 can be in a servo motor structure, a hydraulic motor structure or a pneumatic motor structure or other rotary driving structures; the rotary table 3-3 is coaxially and fixedly connected with a power output shaft of the rotary driving part 3-5; the conjugate cam component sleeved on the absorber 2-1 is arranged in the conjugate cam mounting space of the material taking component 2, the conjugate cam component is coaxially and fixedly connected with the rotary disc 3-3 through a support column II 3-4 with a central axis parallel to the absorber 2-1, the conjugate cam component comprises a cam I3-1 and a cam II 3-2 which are positioned in parallel from bottom to top at intervals, as shown in figure 12, the wheel surface of the cam I3-1 comprises two right-angle parts which are arranged in a crossed and opposite mode and two circular arc transition parts which are connected between the two right-angle parts, the two circular arc transition parts are respectively arranged corresponding to the straight edge structures of the upper hinge parts of the two clamping sheets 2-3, the distances between the parallel right-angle edges of the two right-angle parts are d1 and d2 respectively, and d1 is smaller than d2, when the pole diameter R of the circular arc transition part rotates clockwise from a tangent point A corresponding to the size of d2 to a tangent point B, the size of the pole diameter R is linearly increased, the shape and the size of the cam II 3-2 are completely the same as those of the cam I3-1, and the right-angled parts of the cam II 3-2 and the cam I3-1 are correspondingly and reversely installed to form a conjugate structure.

The working process of the utility model is described by taking the blood transfusion hose 5 of the venous blood taking needle as an example as follows:

when the feedback type straight hose micro-motion pickup mechanism is arranged on the tail manipulator of a pickup mechanical arm to pick up batch blood transfusion hoses 5 piled in a bundle shape one by one, firstly connecting a negative pressure suction pipe 2-2 with a negative pressure air source, and respectively and electrically connecting a negative pressure sensor, a proximity switch 2-7 and a rotary driving part 3-5 with a controller of a centralized electric control device of the pickup mechanical arm, so that the motion of the pickup mechanical arm can be controlled to carry out pickup one by one through the feedback type straight hose micro-motion pickup mechanism; the picking mechanical arm at least comprises an X coordinate driving mechanism moving along a horizontal coordinate in the left-right direction and a Z coordinate driving mechanism moving along a coordinate in the vertical up-down direction, or the distributing picking mechanical arm at least comprises a Y coordinate driving mechanism moving along a horizontal coordinate in the front-back direction and a Z coordinate driving mechanism moving along a coordinate in the vertical up-down direction;

as shown in fig. 13, the sorting platform 4 comprises a tray 4-1 which is positioned and installed, a flexible guardrail 4-2 is arranged on the tray 4-1, the batch transfusion hoses 5 which are piled up and bundled are placed in the flexible guardrails 4-2 of the tray 4-1 by a batch transfusion hose stacking manipulator, and the transfusion hoses 5 are piled up on the tray 4-1 in a stacking manner;

in the initial state, as shown in fig. 16 and 18, the large diameter end of the arc transition part of the cam i 3-1 and the small diameter end of the cam ii 3-2 respectively abut against the straight edge structure of the upper hinge part of the clamping pieces 2-3, and the lower clamping parts of the two clamping pieces 2-3 are in an open state under the supporting action of the conjugate cam assemblies with small upper parts and large lower parts; the whole of the bottom touch plate 1-5 and the positioning trigger ring 1-3 is in a natural suspension state under the limiting action of a limiting boss of the guiding limiting support column 1-1, and the absorber 2-1 is in a state of being positioned above the bottom touch plate 1-5;

firstly, feedback braking, namely controlling the action of a picking mechanical arm to enable the feedback type straight hose micro-motion picking mechanism to be positioned right above a tray 4-1, and then controlling the action of the picking mechanical arm to enable the feedback type straight hose micro-motion picking mechanism to move downwards to be close to the tray 4-1 along the vertical direction, as shown in figure 14, when the bottom plane of a bottom contact plate 1-5 contacts a transfusion hose 5 pile, the pile reaction force forces the bottom contact plate 1-5 to drive a positioning trigger ring 1-3 to move upwards to compress a pressure spring 1-2, the distance D between the positioning trigger ring 1-3 and a proximity switch 2-7 to be continuously reduced, as shown in figure 15, an absorber 2-1 and a clamping piece 2-3 penetrate out of an absorber through hole and a clamping piece through groove of the bottom contact plate 1-5 and are immersed in the transfusion hose 5 pile, and a flexible guardrail 4-2 is extruded to be bent outwards to deform for yielding, until the positioning trigger ring 1-3 enters the detection range of the proximity switch 2-7, the proximity switch 2-7 controls the picking mechanical arm to stop moving downwards;

step two, judging the adsorption state, wherein in a normal situation, the single blood transfusion hose 5 is easily clamped into the U-shaped groove 2-1d at the bottom end of the adsorber 2-1 under the action of negative pressure adsorption, and the feedback vacuum degree of the negative pressure sensor is higher; if the feedback vacuum degree of the negative pressure sensor is lower, the fact that a single blood transfusion hose 5 is not clamped in the U-shaped groove 2-1d is indicated, the controller can control the action of the picking mechanical arm to enable the feedback type straight hose micro-motion picking mechanism to rise firstly and then repeat the step one, and the controller can also control the action of the picking mechanical arm to enable the feedback type straight hose micro-motion picking mechanism to perform micro-motion translation action until the feedback vacuum degree of the negative pressure sensor is higher;

step three, clamping operation, when the feedback vacuum degree of the negative pressure sensor is higher, as shown in fig. 17, the controller controls the rotary driving part 3-5 to act to enable the rotary disc 3-3 to rotate 90 degrees along the axis of the rotary disc 3-3, as shown in fig. 19 and fig. 20, the small end of the pole diameter of the arc transition part of the cam I3-1 and the large end of the pole diameter of the cam II 3-2 respectively abut against the straight edge structure of the upper hinge part of the clamping sheet 2-3, the lower clamping parts of the two clamping sheets 2-3 are in a clamping state under the supporting action of the conjugate cam component with a large upper part and a small lower part, and the height dimension between the bottom end of the clamping sheet 2-3 and the bottom plane of the mounting seat 2-6 is slightly larger than that between the bottom end of the absorber 2-1 and the bottom plane of the mounting seat 2-6, so that the lower clamping parts of the two clamping sheets 2-3 can be stably abutted against a single The upper part is in a lifting and clamping shape, and the single blood transfusion hose 5 can be prevented from falling off accidentally;

after the clamping operation is finished, the controller can control the action of the picking mechanical arm to enable the feedback type straight hose micro-motion picking mechanism to lift and then move horizontally, and the separation and picking of the single blood transfusion hose 5 are realized.

In order to reduce the length dimension of the feedback type straight hose micro-motion pickup mechanism along the axial direction of the absorber 2-1 and further realize the reduction of the space volume, as a further improvement scheme of the utility model, as shown in figure 5, the mounting seat 2-6 is a bilateral symmetry U-shaped structure relative to the absorber 2-1, the U-shaped structure comprises a bottom beam and two upwards extending convex parts positioned at two ends of the bottom beam, two clamping piece mounting grooves which are arranged bilaterally symmetrically are arranged at the middle facet position of the mounting seat 2-6 of the U-shaped structure along the front and back direction, the clamping piece mounting grooves penetrate through the convex parts of the U-shaped structure along the left and right direction, the clamping pieces 2-3 are clamped into the clamping piece mounting grooves, and the hinged mounting centers of the clamping pieces 2-3 are positioned at the middle position of the straight edge structure on the hinged part 2-3, the straight edge structure of the hinged part on the clamping piece 2-3 is divided into an upper part and a lower part by a bottom cross beam of a U-shaped structure; as shown in figure 2, the cam II 3-2 is arranged above the bottom cross beam of the mounting base 2-6 of the U-shaped structure and corresponds to the upper part of the straight edge structure of the upper hinge part of the clamping sheet 2-3, the cam I3-1 is arranged below the bottom cross beam of the mounting base 2-6 of the U-shaped structure and corresponds to the lower part of the straight edge structure of the upper hinge part of the clamping sheet 2-3, namely, the conjugated cam component is clamped and sleeved on the mounting base 2-6 of the U-shaped structure, and the length dimension of the feedback type straight hose micro-motion pickup mechanism along the axial direction of the absorber 2-1 is reduced.

When the adsorber 2-1 is submerged in the material pile of the blood transfusion hose 5, in order to facilitate the single blood transfusion hose 5 to smoothly enter the U-shaped groove 2-1d, as a further improvement of the utility model, as shown in fig. 8, the notch position of the U-shaped groove 2-1d is further provided with symmetrically arranged guide inclined plane structures 2-1c, and the guide inclined plane structures 2-1c and the U-shaped groove 2-1d are integrally in a Y-shaped groove structure.

In order to guarantee the negative pressure adsorption effect, as the utility model discloses a further improvement scheme, when holding piece 2-3 opens state and clamping state, the lower clamping part of holding piece 2-3 all is in the state that is located holding piece installation notch 2-1b, promptly, holding piece 2-3 is in the shutoff holding piece installation notch 2-1b state that is located holding piece installation notch 2-1b all the time.

As a further improvement of the present invention, in order to facilitate installation and prevent movement interference, the right-angled portions of the cams I3-1 and II 3-2 are fixedly connected by support posts II 3-4 as shown in FIG. 11.

Aiming at other cylindrical flexible materials which are produced by an automatic production line and have round sections and length sizes far larger than the diameter of the sections, such as USB data lines, wire harnesses and electric wires in batches in a bundle-shaped form, the feedback type straight hose micro-motion pickup mechanism can drive a positioning trigger ring 1-3 to move upwards through a bottom touch plate 1-5 to trigger a proximity switch, so that the downward movement of the feedback type straight hose micro-motion pickup mechanism is controlled, and accurate pickup is realized; the adsorber 2-1 structure is provided with a U-shaped groove 2-1d which is provided with a downward opening and has the depth dimension and the width dimension which are in clearance fit with the outer diameter dimension of a single small-diameter columnar or tubular flexible material, so that the negative pressure adsorption pickup of the single material can be realized; whether the adsorber 2-1 successfully picks up a single piece can be judged through the vacuum degree value fed back by the negative pressure sensor, and the success rate of picking up a single piece is further ensured; the conjugated cam assembly controls the clamping pieces 2-3 to realize micro-motion clamping action of the clamping pieces 2-3 in a minimum range, so that single picked small-diameter columnar or tubular flexible material can be abutted and clamped, accidental falling of the picked single small-diameter columnar or tubular flexible material is prevented, the success rate of single picking is further ensured, and the follow-up packaging or assembling operation of the single flexible material is facilitated.

Claims (7)

1. A feedback type straight hose micro-motion pickup mechanism is characterized by comprising a feedback assembly (1), a material taking assembly (2) and a micro-motion opening and closing control assembly (3);

the material taking assembly (2) comprises an absorber (2-1), clamping pieces (2-3), a mounting seat (2-6) and a top mounting plate (2-5); the adsorber (2-1) is of a hollow tubular structure comprising an axial through hole (2-1a) located at the axis position, the top end of the adsorber (2-1) is fixedly installed on the installation seat (2-6), the top end of the adsorber (2-1) is hermetically connected with the negative pressure suction pipe (2-2) through a negative pressure sensor, the lower part of the adsorber (2-1) is provided with clamping piece installation notches (2-1b) symmetrically arranged along the radial direction, the clamping piece installation notches (2-1b) penetrate through the adsorber (2-1) along the radial direction, the bottom end of the adsorber (2-1) is provided with a U-shaped groove (2-1d) with a downward opening in the position perpendicular to the radial direction of the clamping piece installation notches (2-1b), and the depth dimension and the width dimension of the U-shaped groove (2-1d) are both equal to the outer diameter dimension of a single small-diameter columnar or tubular flexible material Clearance fit is carried out; the clamping sheets (2-3) are symmetrically arranged into two pieces relative to the central axis of the absorber (2-1), the thickness dimension of the clamping sheets (2-3) is matched with the width dimension of the clamping sheet mounting notch (2-1b), each clamping sheet (2-3) comprises an upper hinging part and a lower clamping part, the inner side edge of each upper hinging part is a straight edge structure parallel to the absorber (2-1), each lower clamping part is obliquely arranged towards the inner side direction to form a claw-shaped structure, the positions of the clamping sheets (2-3) corresponding to the clamping sheet mounting notches (2-1b) are hinged and mounted on the mounting seat (2-6) through the upper hinging parts, a conjugate cam mounting space is formed between the inner side edge of each upper hinging part and the outer surface of the absorber (2-1), and the lower clamping parts of the clamping sheets (2-3) penetrate into the clamping sheet mounting notches (2-1b), The height between the bottom end of the clamping piece (2-3) and the bottom plane of the mounting seat (2-6) is larger than the height between the bottom end of the absorber (2-1) and the bottom plane of the mounting seat (2-6); the mounting seat (2-6) is fixedly mounted on the bottom plane of the top mounting plate (2-5) through a support column I (2-4) with the central axis parallel to the absorber (2-1), and a proximity switch (2-7) vertically and downwardly extending is further arranged on the bottom plane of the top mounting plate (2-5);

the feedback assembly (1) is sleeved outside the mounting seat (2-6) and comprises a guiding and limiting support column (1-1), a pressure spring (1-2), a positioning trigger ring (1-3), a spacer bush (1-4) and a bottom touch plate (1-5); the central axis is parallel to a guide limit support column (1-1) of the absorber (2-1), is arranged in a sliding fit mode and penetrates through the top mounting plate (2-5), a limit boss is arranged at the top end of the guide limit support column (1-1), the bottom end of the guide limit support column (1-1) is fixedly connected with a positioning trigger ring (1-3), the positioning trigger ring (1-3) and the absorber (2-1) are coaxially arranged, and the height size from the top plane of the positioning trigger ring (1-3) to the bottom plane of the top mounting plate (2-5) is larger than the height size from the proximity switch (2-7) to the bottom plane of the top mounting plate (2-5); the pressure spring (1-2) is sleeved on the guide limiting support column (1-1), and two ends of the pressure spring (1-2) respectively abut against the top plane of the positioning trigger ring (1-3) and the bottom plane of the top mounting plate (2-5); the positioning trigger ring (1-3) is fixedly connected with the bottom contact plate (1-5) through a spacer sleeve (1-4), the geometric center of the bottom contact plate (1-5) is coaxially arranged with the axis of the positioning trigger ring (1-3), an adsorber through hole allowing the adsorber (2-1) to pass through is formed in the geometric center of the bottom contact plate (1-5), and a clamping plate through groove which allows the clamping plate (2-3) to pass through and is communicated with the adsorber through hole is formed in the position, corresponding to the clamping plate mounting notch (2-1b), on the bottom contact plate (1-5);

the micro-motion opening and closing control assembly (3) comprises a rotary driving component (3-5), a rotary disc (3-3) and a conjugate cam assembly; the rotary driving component (3-5) is fixedly arranged on the top mounting plate (2-5), and a power output shaft of the rotary driving component (3-5) penetrating through the top mounting plate (2-5) is coaxially arranged with the absorber (2-1); the rotary table (3-3) is coaxially and fixedly connected with a power output shaft of the rotary driving part (3-5); the conjugate cam component sleeved on the absorber (2-1) is arranged in a conjugate cam mounting space of the material taking component (2), the conjugate cam component is parallel to a support column II (3-4) of the absorber (2-1) through a central axis and is coaxially and fixedly connected with the rotary disc (3-3), the conjugate cam component comprises a cam I (3-1) and a cam II (3-2) which are positioned in parallel from bottom to top at intervals, the wheel surface of the cam I (3-1) comprises two right-angle parts which are arranged in a crossed and opposite mode and two circular arc transition parts which are connected between the two right-angle parts, the two circular arc transition parts respectively correspond to the straight edge structures of the upper hinge parts of the two clamping sheets (2-3), the distances between the parallel edges of the two right-angle parts are d1 and d2 respectively, and d1 is smaller than d2, and the pole diameter R of the circular arc transition part rotates from the tangent point corresponding to the d2 to the tangent point corresponding to the d1 in The size of the pole diameter R is linearly increased, the shape and the size of the cam II (3-2) and the cam I (3-1) are completely the same, and the right-angle parts of the cam II (3-2) and the cam I (3-1) are correspondingly and reversely arranged to form a conjugate structure.

2. The feedback type straight hose micro-motion pickup mechanism according to claim 1, wherein the mounting seat (2-6) is in a bilateral symmetry U-shaped structure relative to the absorber (2-1), the U-shaped structure comprises a bottom beam and two upward extending convex parts positioned at two ends of the bottom beam, two clamping piece mounting grooves which are arranged bilaterally symmetrically are arranged at the mid-plane position of the mounting seat (2-6) of the U-shaped structure along the front-back direction, the clamping piece mounting grooves penetrate through the convex parts of the U-shaped structure along the left-right direction, the clamping pieces (2-3) are clamped and arranged in the clamping piece mounting grooves, the hinged installation center of the clamping piece (2-3) is positioned in the middle of the straight edge structure of the hinged part on the clamping piece (2-3), and the straight edge structure of the hinged part on the clamping piece (2-3) is divided into an upper part and a lower part by the bottom cross beam of the U-shaped structure; the cam II (3-2) is arranged above the bottom cross beam of the mounting seat (2-6) of the U-shaped structure and corresponds to the upper part of the straight edge structure of the upper hinge part of the clamping piece (2-3), and the cam I (3-1) is arranged below the bottom cross beam of the mounting seat (2-6) of the U-shaped structure and corresponds to the lower part of the straight edge structure of the upper hinge part of the clamping piece (2-3).

3. The feedback type straight hose micro-motion pickup mechanism according to claim 1 or 2, characterized in that the notch position of the U-shaped groove (2-1d) is further provided with symmetrically arranged guide slope structures (2-1c), and the guide slope structures (2-1c) and the U-shaped groove (2-1d) are integrally in a Y-shaped groove structure.

4. The feedback type straight hose micro-motion pick-up mechanism according to claim 1 or 2, characterized in that the lower clamping part of the clamping piece (2-3) is in a state of being located in the clamping piece mounting notch (2-1b) in both the open state and the clamping state of the clamping piece (2-3).

5. The feedback type straight hose micro-motion pick-up mechanism as claimed in claim 1 or 2, wherein the right-angle parts of the cam I (3-1) and the cam II (3-2) are fixedly connected through a support column II (3-4).

6. An automatic small-diameter columnar or tubular flexible material distribution robot comprises a distribution and pickup mechanical arm and a sorting platform (4), wherein the sorting platform (4) comprises a positioning and mounting tray (4-1); the feedback type straight hose micro-motion picking mechanism is characterized in that the feedback type straight hose micro-motion picking mechanism according to claim 1 is installed on a tail manipulator of a material distribution picking mechanical arm, and the material distribution picking mechanical arm at least comprises an X coordinate driving mechanism moving along a left-right direction coordinate and a Z coordinate driving mechanism moving along a vertical up-down direction coordinate, or the material distribution picking mechanical arm at least comprises a Y coordinate driving mechanism moving along a front-back direction coordinate and a Z coordinate driving mechanism moving along a vertical up-down direction coordinate.

7. The automatic small-diameter cylindrical or tubular flexible material distributing robot according to claim 6, characterized in that the flexible guardrail (4-2) is arranged on the tray (4-1).

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