Mechanical gripper of dispensing robot

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 ...

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

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