WO2019140599A1

WO2019140599A1 - Automatic medicine feeding mechanism arm

Info

Publication number: WO2019140599A1
Application number: PCT/CN2018/073236
Authority: WO
Inventors: 罗鹏远; 罗虎; 周敏
Original assignee: 深圳市中瑞远博软件信息有限公司
Priority date: 2018-01-18
Filing date: 2018-01-18
Publication date: 2019-07-25
Also published as: CN109153512A

Abstract

An automatic medicine feeding mechanism arm (100), relating to the technical field of traditional Chinese medicine product production. The automatic medicine feeding mechanism arm (100) comprises a control unit, a gripper assembly (110), a tensioning drive mechanism (120) that drives the gripper assembly (110) to loosen or close, a turnover drive mechanism (130) that drives the gripper assembly (110) to vertically turn over, an extension and retraction drive mechanism (140) that drives the gripper assembly (110) to horizontally extend and retract, a lifting and descending drive mechanism (150) that drives the gripper assembly (110) to vertically lift and descend, and a weighing sensor (160) provided on the gripper assembly (110). The control unit is separately electrically connected to the tensioning drive mechanism (120), the turnover drive mechanism (130), the extension and retraction drive mechanism (140), the lifting and descending drive mechanism (150), and the weighing sensor (160). The automatic medicine feeding mechanism arm (100) can automatically complete accurate feeding of raw materials during production of traditional Chinese medicine products, thereby reducing production costs for traditional Chinese medicine companies, and ensuring the production quality of traditional Chinese medicine products.

Description

Automatic drug delivery robot

Technical field

The invention relates to the technical field of cavity docking, in particular to an automatic medicine dispensing arm.

Background technique

As is known to all, in the production process of traditional Chinese medicine enterprises, the raw material feeding methods of traditional Chinese medicine production workshops are all carried out by traditional manual operation methods. This has the following drawbacks: due to the complicated production process of traditional Chinese medicine products, the production process of traditional Chinese medicine products There will be steam at the feed port, and the production environment is rather harsh. Long-term manual operation will have an impact on manual safety, and manual operation will also lead to difficulty in improving production efficiency. At the same time, in the production process of traditional Chinese medicine products, the control of raw material ingredients is not very strict, allowing 5% error, so that the intangible loss of the use of precious herbs and uncommon herbs, in the long-term production to Chinese medicine companies Brought an incalculable loss of property.

Summary of the invention

The main object of the present invention is to provide an automatic medicine injection arm, which can automatically complete the accurate injection of raw materials in the production process of traditional Chinese medicine products, save the production cost for the Chinese medicine enterprises, and guarantee the production quality of the traditional Chinese medicine products.

In order to achieve the above object, the present invention provides an automatic medicine dispensing robot arm, comprising: a control unit, a gripping component, a tensioning driving mechanism for driving the gripping component to loosen or close, and driving the gripping a flip drive mechanism in which the hand assembly is vertically inverted, a telescopic drive mechanism that drives the gripper assembly to horizontally expand and contract, a lift drive mechanism that drives the gripper assembly to vertically lift, and a load cell disposed on the gripper assembly, The control unit is electrically connected to the tensioning drive mechanism, the inversion drive mechanism, the telescopic drive mechanism, the lift drive mechanism, and the load cell.

Optionally, the gripper assembly includes a first arcuate grip and a second arcuate grip that are disposed opposite each other, and the first arcuate grip and the second arcuate grip each include a plurality of vertically spaced apart Set the curved rod body.

Optionally, the tensioning drive mechanism comprises a first motor base and a tensioning drive motor mounted on the first motor base and two tight-fit gear assemblies, and the two tension-fit gear assemblies are oppositely disposed on a top side and a bottom side of the first motor base, each of the tensioning gear assemblies including a first gear integrally provided with one end of the first curved bent grip and the second curved bend a second gear integrally disposed at one end of the grip, the first gear meshingly coupled with the second gear, the tensioning drive motor cooperates with the two tensioning gear assemblies to achieve release of the gripper assembly or Close the operation.

Optionally, the inversion driving mechanism includes a reverse driving motor, a bevel gear transmission structure, and a grip rotating shaft, and the inverting driving motor drives an end of the grip rotating shaft through the bevel gear transmission structure, the grip shaft The tensioning drive mechanism and the gripper assembly are mounted at the other end to implement a vertical flipping operation of the gripper assembly.

Optionally, the telescopic drive mechanism includes a second motor base and a telescopic drive motor, a helical gear and a rack mounted on the second motor base, the rack is horizontally disposed, and the telescopic drive motor passes through The helical gear drive connects the rack, and one end of the rack is movably connected to one end of the grip shaft through a U-connector, so that the telescopic drive motor drives the rack level through the helical gear Reciprocating to achieve the telescopic operation of the gripper assembly.

Optionally, the lifting drive mechanism includes a third motor seat and a lifting drive motor mounted on the third motor base, and a ball screw with a self-locking assembly, the ball screw is vertically disposed, and the lifting The drive motor is driven to connect the telescopic drive mechanism through the ball screw to achieve a lifting operation of the grip assembly.

Optionally, the automatic dosing robot further includes a rotating base that drives the gripper assembly to rotate horizontally, the rotating base being drivingly coupled to the control unit.

Optionally, the rotating base comprises a base body and a rotary drive motor, a belt synchronous wheel and a base rotating shaft mounted on the base body, and the rotary drive motor is drivingly connected to the base shaft through the belt synchronous wheel The lifting drive mechanism operates with a horizontal rotation of the gripper assembly.

The automatic medicine dispensing robot provided by the invention comprises a control unit, a gripping component, a tensioning drive mechanism for driving the gripper assembly to loosen or close, a flip drive mechanism for driving the gripper assembly to vertically flip, and a horizontally telescopic driving gripper assembly. The telescopic drive mechanism, the lifting drive mechanism for driving the gripper assembly to vertically lift, and the load cell disposed on the gripper assembly. In this way, in the production process of the traditional Chinese medicine product, the material container can be automatically grasped by the gripping component of the automatic medicine dispensing arm, and the weight of the raw material in the material container can be known through the weighing sensor to realize the accurate quantification of the raw material of the traditional Chinese medicine. Delivery. It can be seen that the automatic drug delivery robot arm can automatically complete the accurate injection of raw materials in the production process of traditional Chinese medicine products, save the production cost for the Chinese medicine enterprises, and guarantee the production quality of the traditional Chinese medicine products.

DRAWINGS

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the description of the prior art will be briefly described below. Obviously, the drawings in the following description are only It is a certain embodiment of the present invention, and other drawings can be obtained from those skilled in the art without any inventive labor.

FIG. 1 is a schematic view showing the overall structure of an automatic medicine dispensing robot according to an embodiment of the present invention.

2 is a partial structural schematic view of the automatic medicine dispensing robot shown in FIG. 1.

3 is a schematic view showing the working state of the automatic medicine dispensing robot shown in FIG. 1.

Detailed ways

The specific embodiments of the present invention are further described below in conjunction with the accompanying drawings. It is to be noted that the description of the embodiments is intended to facilitate the understanding of the invention, but is not intended to limit the invention. Further, the technical features involved in the various embodiments of the present invention described below may be combined with each other as long as they do not constitute a conflict with each other.

As shown in FIG. 1 and FIG. 2, an embodiment of the present invention provides an automatic medication robot 100 that includes a control unit (not shown), a grip assembly 110, a drive grip assembly 110, or The closed tensioning drive mechanism 120, the inverting drive mechanism 130 for driving the gripper assembly 110 to vertically flip, the telescopic drive mechanism 140 for driving the gripper assembly 110 to horizontally expand and contract, the lifting and lowering drive mechanism 150 for driving the gripper assembly 110 to vertically lift, and the lifting drive mechanism 150 for setting the gripper assembly 110 The load cell 160 on the hand assembly 110 is electrically connected to the tension drive mechanism 120, the reverse drive mechanism 130, the telescopic drive mechanism 140, the lift drive mechanism 150, and the load cell 160, respectively.

In the present embodiment, as shown in FIG. 1 , the gripper assembly 110 includes a first curved bent grip 111 and a second curved curved grip 112 , which are oppositely disposed, and the first curved curved grip 111 and the second curved bend The grips 120 each include a plurality of arcuate rods spaced apart in the vertical direction to facilitate the grasping of the material container provided by the cylindrical structure by such a structure.

As shown in FIG. 1, the tensioning drive mechanism 120 includes a first motor base 121 and a tensioning drive motor 122 mounted on the first motor base 121 and two tight-fit gear assemblies 123. The two tight-fit gear assemblies 123 are opposite. Provided on the top side and the bottom side of the first motor base 121, each of the tight fitting gear assemblies 123 includes a first gear integrally provided with one end of the first curved bending grip 111 and a second curved bending grip 112 The second gear is integrally disposed at one end, the first gear is meshed with the second gear, and the tensioning drive motor 122 cooperates with the two tight-fit gear assemblies 123 to realize the loosening or closing operation of the grip assembly 110. Specifically, the tensioning drive motor 122 can employ a 42 series stepping motor to drive the gripper assembly 110 by driving the four gears of the two tight-fitting gear assemblies 123 clockwise or counterclockwise so that the gripper assembly 110 A loose or closed action is formed between the curved curved grip 111 and the second curved curved grip 112.

As shown in FIG. 1 and FIG. 2, the inversion driving mechanism 130 includes an inversion driving motor 131, a bevel gear transmission structure 132, and a grip rotating shaft 133. The inverting driving motor 131 drives one end of the gripping shaft 133 through the bevel gear transmission structure 132, and grasps The other end of the hand shaft 133 is provided with a tensioning drive mechanism 120 and a gripper assembly 110 to implement a vertical flipping operation of the gripper assembly 110. Specifically, the inversion drive motor 131 can employ a 57 series stepping motor, and the first motor base 121 of the tensioning drive mechanism 120 is fixedly coupled to the other end of the gripper shaft 133. One bevel gear of the bevel gear transmission structure 132 is coupled to the motor shaft of the inversion drive motor 131, and the other bevel gear is coupled to the gripper shaft 133. When the inversion driving motor 131 rotates, the gripping shaft 133 can be rotated by the cooperation of the two bevel gears of the bevel gear transmission structure 132, so that the first motor base 121 is perpendicular to the gripper assembly 110 on the first motor base 121. Flip operation.

As shown in FIG. 1 and FIG. 2, the telescopic drive mechanism 140 includes a second motor base 141, a telescopic drive motor 142 mounted on the second motor base 141, a helical gear 143 and a rack 144. The rack 144 is horizontally disposed and stretched. The driving motor 142 drives the connecting rack 144 through the helical gear 143. One end of the rack 144 is movably connected to one end of the grip rotating shaft 133 through the U-shaped connector 10, so that the telescopic driving motor 142 drives the rack 144 horizontally and reciprocally through the helical gear 143. The movement, in turn, achieves the telescopic operation of the gripper assembly 111. Specifically, the telescopic drive motor 142 adopts a 57 series stepping motor, the motor shaft of which is connected to the helical gear 143, and the helical gear 143 is meshed with the rack 144. When the telescopic drive motor 142 rotates the helical gear 143 counterclockwise or clockwise, The rack 144 is horizontally reciprocated, so that the grip rotating shaft 133 is telescopically moved by the rack 144, thereby realizing the telescopic operation of the gripper assembly 111.

As shown in FIG. 1 and FIG. 2, the lifting drive mechanism 150 includes a third motor base 151 and an elevation drive motor 152 mounted on the third motor base 151 and a ball screw 153 with a self-locking assembly. The ball screw 153 is vertical. It is provided that the lift drive motor 152 is driven to connect the telescopic drive mechanism 140 by the ball screw 153 to realize the lifting operation of the gripper assembly 110. Specifically, the lift drive motor 152 adopts a 57 series stepping motor, and the motor shaft drives the second motor base 142 connected to the telescopic drive mechanism 140 through the ball screw 153, and the grip assembly 110, the tension drive mechanism 120, and the reverse drive The mechanism 130 and the telescopic drive mechanism 140 are directly or indirectly mounted on the second motor base 141, that is, the component mechanisms form a horizontal whole through the second motor base 141, and are lifted and lowered as the second motor base 141 moves up and down. The lifting operation of the gripper assembly 110. By the structural arrangement of the ball screw 153 with the self-locking assembly, it is ensured that the second motor base 141 runs smoothly during the lifting process.

In addition, as shown in FIGS. 1 and 2, the automatic dosing robot 110 further includes a rotating base 170 that drives the gripper assembly 110 to rotate horizontally, and the rotating base 170 is drivingly coupled to the control unit. Specifically, the rotating base 170 includes a base body 171, a rotary drive motor 172 mounted on the base body 171, a belt synchronous wheel (not shown), and a base rotating shaft (not shown). The rotary drive motor 172 passes through the belt synchronous wheel and The base shaft drive is coupled to the lift drive mechanism for horizontal rotation of the gripper assembly 110. The rotary drive motor 172 can adopt a 57 series stepping motor, the motor shaft of which is connected to the small synchronous wheel in the belt synchronous wheel, and the large synchronous wheel in the belt synchronous wheel is connected to the base rotating shaft, and the base rotating shaft and the third motor base 151 The bottom disc is connected. In this way, the small synchronous wheel is driven by the rotary driving motor 172, and the large synchronous wheel is driven by the timing belt. The large synchronous wheel drives the base shaft, and the bottom rotating shaft of the third motor base 151 is driven by the base rotating shaft, so that the entire mechanical arm is driven to the horizontal 360. The rotation is rotated to achieve a horizontal rotation operation of the gripper assembly 110.

The working process of the automatic medicine dispensing robot 100 can be specifically as follows:

Positive sequence: gripper component open—horizontal extension—vertical drop—gripper assembly closes (grab the material container 2, as shown in Figure 3)—vertical ascent—base rotation—the gripper shaft is flipping, achieving one dose process.

Reverse order: gripper shaft reset - base reverse half - vertical drop - gripper assembly open (put down material container 2) - vertical rise - base continues to reverse half (reset), continue the next dosing action.

In this way, the above actions are repeated in a round-trip manner until all the materials are dispensed, and the action ends.

When the gripper assembly 110 grabs the material container 2, the load cell 160 feeds back an electrical signal, which is collected by the control unit, and the internal processing determines whether the measured material weight meets the requirements. The control unit accumulates each measured weight. When the final actual measured weight is less than the planned weight, the weight value is fed back to the manager for replenishment. When the final actual measured weight is greater than the planned weight, the control unit will not send a feeding action instruction to the automatic dosing robot 100, but will feedback to the manager for weight reduction action, and finally ensure that the planned weight and the actual weight are consistent in production.

The automatic medicine dispensing robot provided by the embodiment of the invention comprises a control unit, a gripping component, a tensioning driving mechanism for driving the gripping component to loosen or close, a turning driving mechanism for driving the gripping component to rotate, and a driving gripper component to horizontally expand and contract The telescopic drive mechanism, the lifting drive mechanism for driving the gripper assembly to vertically lift, and the load cell disposed on the gripper assembly. In this way, in the production process of the traditional Chinese medicine product, the material container can be automatically grasped by the gripping component of the automatic medicine dispensing arm, and the weight of the raw material in the material container can be known through the weighing sensor to realize the accurate quantification of the raw material of the traditional Chinese medicine. Delivery. It can be seen that the automatic drug delivery robot arm can automatically complete the accurate injection of raw materials in the production process of traditional Chinese medicine products, save the production cost for the Chinese medicine enterprises, and guarantee the production quality of the traditional Chinese medicine products.

The embodiments of the present invention have been described in detail above with reference to the drawings, but the invention is not limited to the described embodiments. It will be apparent to those skilled in the art that various changes, modifications, substitutions and variations of the embodiments are possible without departing from the spirit and scope of the invention.

Claims

An automatic medicine dispensing robot, characterized in that the automatic medicine dispensing arm comprises a control unit, a gripping component, a tensioning driving mechanism for driving the gripping component to loosen or close, and driving the gripping component to vertically flip a flip drive mechanism, a telescopic drive mechanism for driving the gripper assembly to horizontally expand and contract, a lift drive mechanism for driving the gripper assembly to vertically lift, and a load cell disposed on the gripper assembly, the control unit respectively The tensioning drive mechanism, the inversion drive mechanism, the telescopic drive mechanism, the lift drive mechanism, and the load cell are electrically connected.
The automatic medicine dispensing robot according to claim 1, wherein the gripper assembly comprises a first arcuate grip and a second arcuate grip, and the first arcuate grip and the second The curved bends each include a plurality of arcuate rods spaced apart in a vertical direction.
The automatic dosing robot according to claim 2, wherein the tensioning drive mechanism comprises a first motor base and a tensioning drive motor and two tight fit gear assemblies mounted on the first motor base The two tensioning gear assemblies are disposed opposite to the top side and the bottom side of the first motor base, and each of the tensioning gear assemblies includes an integral end of the first curved bending a first gear and a second gear integrally provided with one end of the second curved bending catch, the first gear is meshed with the second gear, and the tensioning drive motor cooperates with the two tensioning fits The gear assembly effects a loosening or closing operation of the gripper assembly.
The automatic medication dispensing robot according to claim 1, wherein the inversion drive mechanism comprises a reverse drive motor, a bevel gear transmission structure and a gripper shaft, and the inversion drive motor drives the connection through the bevel gear transmission structure One end of the grip shaft is disposed, and the other end of the grip shaft is provided with the tension driving mechanism and the grip assembly to realize a vertical turning operation of the grip assembly.
The automatic medicine dispensing robot according to claim 4, wherein the telescopic drive mechanism comprises a second motor base and a telescopic drive motor, a helical gear and a rack mounted on the second motor base, The rack is horizontally disposed, the telescopic drive motor is driven to connect the rack by the helical gear, and one end of the rack is movably connected to one end of the grip shaft through a U-shaped connector, so that the telescopic drive The motor drives the rack to reciprocate horizontally through the helical gear to achieve a telescopic operation of the grip assembly.
The automatic dosing robot according to claim 1, wherein the lifting drive mechanism comprises a third motor base and an elevation drive motor mounted on the third motor base and a ball screw with a self-locking assembly The ball screw is vertically disposed, and the lifting drive motor is driven to connect the telescopic drive mechanism by the ball screw to realize the lifting operation of the grip assembly.
The automatic dosing robot according to any one of claims 1 to 6, wherein the automatic dosing robot further comprises a rotating base for driving the gripper assembly to rotate horizontally, the rotating base and the control unit driving connection.
The automatic medicine dispensing robot according to claim 7, wherein the rotating base comprises a base body and a rotary drive motor, a belt synchronous wheel and a base rotating shaft mounted on the base body, and the rotary drive motor passes The belt synchronous wheel and the base rotating shaft drively connect the lifting drive mechanism to perform horizontal rotation of the gripper assembly.