CN217345542U - Medicine dissolving machine grabbing mechanical claw - Google Patents
Medicine dissolving machine grabbing mechanical claw Download PDFInfo
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- CN217345542U CN217345542U CN202221442703.6U CN202221442703U CN217345542U CN 217345542 U CN217345542 U CN 217345542U CN 202221442703 U CN202221442703 U CN 202221442703U CN 217345542 U CN217345542 U CN 217345542U
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Abstract
The utility model discloses a dissolve medicine machine and snatch gripper belongs to automatic medicine machine accessory technical field that dissolves, including cylinder claw head, one-level moving mechanism, one-level actuating mechanism, fixed connection frame, second grade moving mechanism and second grade actuating mechanism, cylinder claw head is connected with the one end transmission of one-level moving mechanism, and moving mechanism's the other end is connected with the transmission of one-level actuating mechanism, and the one-level actuating mechanism is fixed to be set up on fixed connection frame, fixed connection frame and second grade moving mechanism sliding connection, and second grade moving mechanism is connected with second grade actuating mechanism coaxial drive. When the cylinder claw head is used, the secondary driving mechanism drives the secondary moving mechanism to coaxially rotate, so that the secondary moving mechanism freely deflects by an angle, the secondary moving mechanism can move in a certain taper, and the moving space of the cylinder claw head is combined, so that the moving range of the cylinder claw head can be effectively widened compared with the prior art. The problem of among the prior art because the mechanical arm degree of freedom is not enough among the existing equipment and leads to operating range to be narrow is solved.
Description
Technical Field
The utility model relates to an automatic dissolve medicine machine accessory technical field, concretely relates to dissolve medicine machine and snatch gripper.
Background
Although the prior art (Chinese invention) CN202210267267.1 is a miniature mechanical arm and a medicine dissolving machine which use automatic equipment to realize medicine dispensing, the problem that the degree of freedom of the mechanical arm is not enough to narrow the working range still exists in the equipment. Therefore, the medicine dissolving machine grabbing mechanical claw is improved on the basis of the prior art, and the medicine dissolving machine grabbing mechanical claw is provided to solve the problem.
SUMMERY OF THE UTILITY MODEL
Therefore, the utility model provides a medicine dissolving machine snatchs gripper to solve among the prior art because the arm degree of freedom is not enough in the existing equipment and lead to the narrow problem of working range.
In order to achieve the above object, the present invention provides the following technical solutions:
the utility model discloses a medicine dissolving machine snatchs gripper, including cylinder claw head, one-level moving mechanism, one-level actuating mechanism, fixed connection frame, second grade moving mechanism and second grade actuating mechanism, the cylinder claw head is connected with the one end transmission of one-level moving mechanism, moving mechanism's the other end is connected with the one-level actuating mechanism transmission, one-level actuating mechanism is fixed to be set up in one side of fixed connection frame, fixed connection frame's opposite side and second grade moving mechanism sliding connection, second grade moving mechanism is connected with second grade actuating mechanism coaxial drive.
Further, the cylinder claw head includes pivot, cylinder, connecting rod and claw head, one-level moving mechanism is articulated with the one end of pivot, the other end of pivot links to each other with the cylinder, the piston rod of cylinder is articulated with the claw head, the claw head is articulated to be set up on the cylinder.
Furthermore, the one-level moving mechanism comprises a one-level fixed rack, a transverse arc slide rail, a cross slide block and a longitudinal arc slide rail, the rotating shaft is slidably inserted on the cross slide block, the cross slide block is simultaneously slidably arranged on the transverse arc slide rail and the longitudinal arc slide rail, and the transverse arc slide rail and the longitudinal arc slide rail are orthogonally arranged on the one-level fixed rack.
Further, the fixed frame of one-level includes ten bytes, cross frame body, articulated seat and one-level step motor, the one end and the cross section of pivot are articulated, the activity of ten bytes sets up on articulated seat, articulated seat is installed on cross frame body, the cross frame body is fixed to be set up at one-level actuating mechanism, horizontal circular arc slide rail and vertical circular arc slide rail all are connected with one-level actuating mechanism transmission.
Further, the fixed connection frame comprises a sliding rail, a hinged frame and a sliding groove, the first-level driving mechanism is fixedly arranged on one side of the sliding rail, the sliding groove is formed in the other side of the sliding rail, the sliding rail is orthogonally arranged with the hinged frame, and the hinged frame is hinged to the second-level moving mechanism.
Furthermore, the second-stage moving mechanism comprises a rotary table, two moving cylinders, a sensor assembly and two displacement sliding blocks, wherein the two displacement sliding blocks are arranged in the sliding groove to slide, the two displacement sliding blocks are hinged to the two moving cylinders, the two moving cylinders are fixedly arranged on the rotary table, the sensor assembly is arranged at the end part of each moving cylinder, and the sensor assembly is hinged to the hinge frame.
Furthermore, the sensor assembly comprises an angle sensor, an apron and a shaft tube, the apron is arranged at the end part of the movable cylinder, the shaft tube is fixedly arranged at one side of the apron, and the angle sensor is arranged at the other side of the apron.
Furthermore, second grade actuating mechanism includes second grade step motor and mount, the carousel is articulated with second grade step motor, be provided with the mount on the second grade step motor.
The utility model has the advantages of as follows:
the utility model discloses add on the basis of the prior art again and establish second grade moving mechanism and second grade actuating mechanism for cylinder claw head not only can move about wantonly on original hemisphere face, simultaneously on this basis, can also make the cylinder claw head in the conical surface activity of articulated frame and carousel formation, the home range of cylinder claw head has been widened from this greatly, thereby make cylinder claw head can carry out more actions, solved among the prior art because the arm degree of freedom is not enough in the primary equipment and lead to the narrow problem of working range.
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 description of the embodiments or the prior art will be briefly described below. It should be apparent that the drawings in the following description are merely exemplary, and that other embodiments can be derived from the drawings provided by those of ordinary skill in the art without inventive effort.
The structure, ratio, size and the like shown in the present specification are only used for matching with the content disclosed in the specification, so as to be known and read by people familiar with the technology, and are not used for limiting the limit conditions which can be implemented by the present invention, so that the present invention has no technical essential significance, and any structure modification, ratio relationship change or size adjustment should still fall within the scope which can be covered by the technical content disclosed by the present invention without affecting the efficacy and the achievable purpose of the present invention.
Fig. 1 is a perspective view of a grabbing mechanical claw of a medicine dissolving machine provided by the utility model;
fig. 2 is a perspective view of a sensor assembly of a grabbing gripper of the medicine dissolving machine provided by the utility model;
FIG. 3 is a perspective view of a second-stage moving mechanism of a grabbing gripper of the medicine dissolving machine provided by the utility model;
fig. 4 is a perspective view of a fixed connecting frame of a grabbing mechanical claw of the medicine dissolving machine provided by the utility model;
fig. 5 is a perspective view of a first-stage fixed frame of a grabbing gripper of the medicine dissolving machine provided by the utility model;
fig. 6 is a perspective view of a primary moving mechanism of the gripping gripper of the medicine dissolving machine provided by the utility model;
fig. 7 is a perspective view of a cylinder claw head of a grabbing mechanical claw of the medicine dissolving machine provided by the utility model;
in the figure: 1, a cylinder claw head; 11 a rotating shaft; 12 cylinders; 13 connecting rods; 14 claw heads; 2, a first-stage moving mechanism; 21 a first-stage fixed frame; 211 ten bytes; 212 cross frame body; 213 hinged seat; 214 a one-stage stepper motor; 22 transverse arc slide rails; 23 cross slide blocks; 24 longitudinal arc slide rails; 3, a first-stage driving mechanism; 4, fixing the connecting frame; 41 a slide rail; 42 a hinged frame; 43 chute; 5, a secondary moving mechanism; a 51-turn disc; 52 a movable cylinder; 53 a sensor assembly; 531 an angle sensor; 532 cover plate; 533 an axle tube; 54 displacement slide block; 6 two-stage driving mechanism.
Detailed Description
The present invention is described in terms of specific embodiments, and other advantages and benefits of the present invention will become apparent to those skilled in the art from the following disclosure. 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.
As shown in fig. 1-7, the utility model discloses a medicine dissolving machine snatchs gripper, including cylinder claw 1, one-level moving mechanism 2, one-level actuating mechanism 3, fixed connection frame 4, second grade moving mechanism 5 and second grade actuating mechanism 6, cylinder claw 1 is connected with the one end transmission of one-level moving mechanism 2, can drive cylinder claw 1 through one-level moving mechanism 2 and move about in the hemisphere space. The other end of the movable mechanism 2 is in transmission connection with the first-stage driving mechanism 3, the first-stage driving mechanism 3 is fixedly arranged on one side of the fixed connecting frame 4, the other side of the fixed connecting frame 4 is in sliding connection with the second-stage movable mechanism 5, and the second-stage movable mechanism 5 is in coaxial transmission connection with the second-stage driving mechanism 6. The second-stage driving mechanism 6 can drive the second-stage moving mechanism 5 to rotate coaxially, so that the second-stage moving mechanism 5 can deflect freely by an angle, the second-stage moving mechanism 5 can move in a certain taper degree, and the moving range of the cylinder claw head 1 can be effectively widened by combining the moving space of the cylinder claw head 1 in comparison with the prior art.
According to the utility model provides a specific embodiment, cylinder claw 1 includes pivot 11, cylinder 12, connecting rod 13 and claw 14, and one-level moving mechanism 2 is articulated with the one end of pivot 11, and the piston rod of cylinder 12 is articulated with claw 14, and claw 14 articulates the setting on cylinder 12. As shown in fig. 7, the cylinder 12 makes a telescopic motion, and the connecting rod 13 drives the claw head 14 to open and close, thereby achieving a technical effect of clamping a target, and the other end of the rotating shaft 11 is fixedly connected with the cylinder 12, thereby driving the cylinder 12 to rotate arbitrarily, thereby adjusting an angle of the clamped target.
According to the utility model provides a specific embodiment, one-level moving mechanism 2 includes one-level fixed frame 21, horizontal circular arc slide rail 22, cross slider 23 and vertical circular arc slide rail 24, pivot 11 slides and inserts and establish on cross slider 23, cross slider 23 slides simultaneously and sets up on horizontal circular arc slide rail 22 and vertical circular arc slide rail 24, as shown in fig. 5 and fig. 6, horizontal circular arc slide rail 22 and vertical circular arc slide rail 24 quadrature are arranged in one-level fixed frame 21, and horizontal circular arc slide rail 22 and vertical circular arc slide rail 24 are by the motor of difference with the belt drive mode, make it rotate, the intersect of horizontal circular arc slide rail 22 and vertical circular arc slide rail 24 can be on the hemisphere face that horizontal circular arc slide rail 22 and vertical circular arc slide rail 24 formed wantonly from this, because pivot 11 slides and inserts on cross slider 23, make cylinder claw 1 remove wantonly from this.
According to a specific embodiment provided by the utility model, the fixed frame 21 of one-level includes ten bytes 211, cross frame body 212, articulated seat 213 and one-level step motor 214, and the one end of pivot 11 is articulated with cross section 211, and like fig. 5, the activity of cross section 211 sets up on articulated seat 213, and articulated seat 213 is installed on cross frame body 212, ten bytes 211 are articulated with pivot 11 to in order to transmit the moment of torsion. The cross frame body 212 is fixedly arranged on the first-stage driving mechanism 3, the transverse arc slide rail 22 and the longitudinal arc slide rail 24 are in transmission connection with the first-stage driving mechanism 3, two servo motors are arranged on the first-stage driving mechanism 3, and the two servo motors drive the transverse arc slide rail 22 and the longitudinal arc slide rail 24 to rotate in a belt transmission mode, so that the position of the cross sliding block 23 can be moved randomly. The first-stage stepping motor 214 drives the hinge base 213 to rotate, and the hinge base 213 drives the cylinder 12 to rotate through the cross joint 211, thereby achieving the purpose of rotating the claw head 14.
According to the utility model provides a specific embodiment, fixed connection frame 4 includes slide rail 41, articulated frame 42 and spout 43, and one-level actuating mechanism 3 is fixed to be established in one side of slide rail 41, and the opposite side of slide rail 41 sets up spout 43, and as shown in fig. 4, slide rail 41 arranges with articulated frame 42 quadrature, and articulated frame 42 is articulated to be set up on second grade moving mechanism 5, and second grade moving mechanism 5 can drive slide rail 41 beat angle from this.
According to a specific embodiment provided by the utility model, second grade moving mechanism 5 includes carousel 51, the activity cylinder 52, sensor subassembly 53 and displacement slider 54, as shown in fig. 3, it slides to be provided with two displacement sliders 54 in the spout 43, two displacement sliders 54 are articulated with two activity cylinders 52, two activity cylinders 52 receive numerical control hydraulic power unit and control respectively, and two activity cylinders 52 symmetry are fixed to be set up on carousel 51, displacement slider 54 articulates the piston rod that sets up on activity cylinder 52, and displacement slider 54 slides and imbeds in the spout 43, stretch out different length through control activity cylinder 52 piston rod from this, can adjust the beat angle of slide rail 41. The ends of the two movable cylinders 52 are provided with sensor assemblies 53, the sensor assemblies 53 are hinged with the hinge frame 42, and the sensor assemblies 53 are used for detecting the deflection angle of the slide rail 41.
According to the utility model provides a specific embodiment, sensor assembly 53 includes angle sensor 531, apron 532 and central siphon 533, and the tip of two activity cylinders 52 is provided with apron 532, and one side of apron 532 is fixed and is provided with central siphon 533, and the activity sets up on articulated frame 42 in the central siphon 533, and the opposite side of apron 532 is provided with angle sensor 531, and angle sensor 531 is used for detecting the deflection angle of articulated frame 42, because articulated frame 42 is in the coplanar with slide rail 41, consequently also can reachs the angle of slide rail 41.
According to the utility model provides a specific embodiment, second grade actuating mechanism 6 includes second grade step motor and mount, and carousel 51 is articulated with second grade step motor, is provided with the mount on the second grade step motor, can fix second grade step motor in the optional position through the mount, improves equipment fixing's flexibility from this.
The embodiment of the utility model provides a use as follows:
the utility model discloses a medicine dissolving machine grabbing mechanical claw, which has the specific working process that a primary stepping motor 214 drives a rotating shaft 11 to rotate through a cross joint 211 and then drives an air cylinder claw head 1 to rotate, and then the rotating shaft 11 is inserted into the cross slide block 23, because the cross slide block 23 slides on the longitudinal circular arc slide rail 24 and the transverse circular arc slide rail 22 simultaneously, therefore, the primary driving mechanism 3 drives the longitudinal arc slide rail 24 and the transverse arc slide rail 22 to rotate respectively, the cylinder claw head 1 can move on the semi-arc surface at will, meanwhile, the second-stage driving mechanism 6 drives the turntable 51 to rotate, the pair of movable cylinders 52 arranged on the turntable 51 can drive the slide rail 41 to swing at any angle, therefore, the fixed connecting frame 4 drives the cross frame body 212 to move on a certain taper, the moving range of the cylinder claw head 1 is enlarged, and the problem that the working range is narrow due to the fact that the degree of freedom of a mechanical arm in original equipment is insufficient in the prior art is solved.
Although the invention has been described in detail with respect to the general description and the specific embodiments, it will be apparent to those skilled in the art that modifications and improvements can be made based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of this invention without departing from the spirit thereof.
Claims (8)
1. The utility model provides a medicine dissolving machine snatchs gripper, its characterized in that, includes cylinder claw head (1), one-level moving mechanism (2), one-level actuating mechanism (3), fixed connection frame (4), second grade moving mechanism (5) and second grade actuating mechanism (6), cylinder claw head (1) is connected with the one end transmission of one-level moving mechanism (2), the other end and the one-level actuating mechanism (3) transmission of moving mechanism (2) are connected, one-level actuating mechanism (3) are fixed to be set up in one side of fixed connection frame (4), the opposite side and the second grade moving mechanism (5) sliding connection of fixed connection frame (4), second grade moving mechanism (5) are connected with second grade actuating mechanism (6) coaxial drive.
2. The medicine dissolving machine grabbing gripper according to claim 1, wherein the cylinder gripper head (1) comprises a rotating shaft (11), a cylinder (12), a connecting rod (13) and a gripper head (14), the primary moving mechanism (2) is hinged to one end of the rotating shaft (11), the other end of the rotating shaft (11) is connected to the cylinder (12), a piston rod of the cylinder (12) is hinged to the gripper head (14), and the gripper head (14) is hinged to the cylinder (12).
3. The medicine dissolving machine grabbing gripper according to claim 2, wherein the primary moving mechanism (2) comprises a primary fixed frame (21), a transverse arc slide rail (22), a cross slide block (23) and a longitudinal arc slide rail (24), the rotating shaft (11) is slidably inserted into the cross slide block (23), the cross slide block (23) is slidably disposed on the transverse arc slide rail (22) and the longitudinal arc slide rail (24) at the same time, and the transverse arc slide rail (22) and the longitudinal arc slide rail (24) are orthogonally disposed on the primary fixed frame (21).
4. The medicine dissolving machine grabbing mechanical claw according to claim 3, wherein the primary fixed frame (21) comprises a cross joint (211), a cross frame body (212), an articulated seat (213) and a primary stepping motor (214), one end of the rotating shaft (11) is articulated with the cross joint (211), the cross joint (211) is movably arranged on the articulated seat (213), the articulated seat (213) is installed on the cross frame body (212), the cross frame body (212) is fixedly arranged on the primary driving mechanism (3), and the transverse arc slide rail (22) and the longitudinal arc slide rail (24) are in transmission connection with the primary driving mechanism (3).
5. The grasping mechanical claw for the medicine dissolving machine according to claim 3, wherein the fixed connecting frame (4) comprises a sliding rail (41), a hinged frame (42) and a sliding groove (43), the primary driving mechanism (3) is fixedly arranged on one side of the sliding rail (41), the sliding groove (43) is arranged on the other side of the sliding rail (41), the sliding rail (41) and the hinged frame (42) are orthogonally arranged, and the hinged frame (42) is hinged to the secondary moving mechanism (5).
6. The grasping mechanical gripper of the medicine dissolving machine according to claim 5, wherein the second-stage moving mechanism (5) comprises a rotating disk (51), moving cylinders (52), sensor assemblies (53) and displacement sliders (54), two displacement sliders (54) are arranged in the sliding groove (43) to slide, the two displacement sliders (54) are hinged to the two moving cylinders (52), the two moving cylinders (52) are fixedly arranged on the rotating disk (51), the sensor assemblies (53) are arranged at the end portions of the two moving cylinders (52), and the sensor assemblies (53) are hinged to the hinge frame (42).
7. The grasping gripper of the medicine dissolving machine according to claim 6, wherein the sensor assembly (53) comprises an angle sensor (531), a cover plate (532) and a shaft tube (533), the end portions of the two movable cylinders (52) are provided with the cover plate (532), one side of the cover plate (532) is fixedly provided with the shaft tube (533), and the other side of the cover plate (532) is provided with the angle sensor (531).
8. The grasping mechanical gripper of the medicine dissolving machine according to claim 7, wherein the secondary driving mechanism (6) comprises a secondary stepping motor and a fixing frame, the rotating disc (51) is hinged with the secondary stepping motor, and the fixing frame is arranged on the secondary stepping motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221442703.6U CN217345542U (en) | 2022-06-08 | 2022-06-08 | Medicine dissolving machine grabbing mechanical claw |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221442703.6U CN217345542U (en) | 2022-06-08 | 2022-06-08 | Medicine dissolving machine grabbing mechanical claw |
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| Publication Number | Publication Date |
|---|---|
| CN217345542U true CN217345542U (en) | 2022-09-02 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202221442703.6U Active CN217345542U (en) | 2022-06-08 | 2022-06-08 | Medicine dissolving machine grabbing mechanical claw |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116749227A (en) * | 2023-08-22 | 2023-09-15 | 山东省科学院海洋仪器仪表研究所 | Mechanical arm suitable for underwater operation and fine adjustment device thereof |
-
2022
- 2022-06-08 CN CN202221442703.6U patent/CN217345542U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116749227A (en) * | 2023-08-22 | 2023-09-15 | 山东省科学院海洋仪器仪表研究所 | Mechanical arm suitable for underwater operation and fine adjustment device thereof |
| CN116749227B (en) * | 2023-08-22 | 2023-11-03 | 山东省科学院海洋仪器仪表研究所 | Mechanical arm suitable for underwater operation and fine adjustment device thereof |
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