Mechanical gripper of dispensing robot

A technology of dispensing robots and robotic grippers, which is applied in the field of robotic grippers, can solve the problem of not having a kind of robotic grippers, and achieve the effect of grasping force control, reliable grasping, and avoiding breakage

Active Publication Date: 2012-11-21
深圳市博为医疗机器人有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Some of the traditional mechanical grippers have self-adaptive function, which can realize the grabbing of medicine bottles of various sizes; The grasping force is controlled to avoid breaking the glass medicine bottle during the grasping process (too large force) or unstable grasping (too small force); however, there is no mechanical gripper that can have the above four functions at the same time

Method used

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Embodiment Construction

[0035] In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the associated drawings. Preferred embodiments of the invention are shown in the accompanying drawings. However, the present invention can be embodied in many different forms and is not limited to the embodiments described herein. On the contrary, these embodiments are provided to make the understanding of the disclosure of the present invention more thorough and comprehensive.

[0036] It should be noted that when an element is referred to as being “fixed” to another element, it can be directly on the other element or there can also be an intervening element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and similar expressions are used herein for purposes ...

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Abstract

The invention relates to a mechanical gripper of a dispensing robot. The mechanical gripper of the dispensing robot comprises a rack, a double-threaded screw, a left finger and a right finger, a motor, an encoder and a gripper controller, wherein the double-threaded screw is rotatably arranged on the rack, and the two ends of the double-threaded screw are respectively provided with threaded parts; the rotating directions of the threaded parts are opposite, and the left finger and the right finger are respectively matched with the two threaded parts of the double-threaded screw; the double-threaded screw rotates to drive the left finger and the right finger to move closely or oppositely, and the rotating shaft of the motor drives the double-threaded screw to rotate; the encoder is used for detecting the rotating position of the rotating shaft of the motor, and the gripper controller is connected with the motor and the encoder, and is used for controlling the rotation of the motor and processing signals fed back by the encoder; and the left finger and the right finger are provided with wedge-shaped grooves, and the wedge-shaped groove of the left finger is corresponding to the wedge-shaped groove of the right finger, so that a drug bottle is clamped in a clamping space formed by the wedge-shaped groove of the left finger and the wedge-shaped groove of the right finger. The mechanical gripper has the functions of size measurement, self-adaptability, self-centering and controllable gripping force.

Description

【Technical field】 [0001] The invention relates to a clamping mechanism, in particular to a mechanical claw of a medicine dispensing robot. 【Background technique】 [0002] At present, in the dispensing robot, it is necessary to grab ampoules, vials, syringes, infusion bags, etc. with mechanical claws, and operate between each dispensing station. Due to various specifications and complex types of medicine bottles and medicines, It is required to operate the manipulator with the following functions: [0003] (1) Self-adaptive function, the mechanical gripper can adapt to various sizes of medicine bottles, so that it can reliably grasp both large medicine bottles and small medicine bottles. [0004] (2) Automatic centering function, even if there is a large error in the placement of the medicine bottle, it can automatically center the medicine bottle when the medicine bottle is grasped, so that no matter whether the medicine bottle is large or small, after grabbing, the other ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J15/08
Inventor 何玉成胡颖张楠张朋张建伟张俊
Owner 深圳市博为医疗机器人有限公司
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