A pharmaceutical packaging delivery transfer robot arm

Abstract

The invention relates to the field of manipulators, in particular to a medicine packaging delivery transfer manipulator, including a base, a rotating structure, an oil brushing structure, a fixing structure, a pulling structure and a moving structure; The robotic arm can grip and transfer the medicine on one conveyor belt to another conveyor belt smoothly, so as to facilitate the transportation and transfer of medicines, and the rotating structure can also synchronously drive the oil brushing structure to carry out drug delivery and transfer. Work, through the work of the oil brushing structure, the transmission components inside the rotating structure can be brushed with oil, so that the rotation accuracy can be improved, and the situation of the rotating structure being stuck after long-term use can be avoided. Setting up a fixed structure can not only realize the quick connection and fixation of the robot arm and the base, but also make the fixing more stable, so as to avoid the shaking of the robot arm during work.

Description

technical field [0001] The invention relates to the field of manipulators, in particular to a medicine packaging delivery and transfer manipulator. Background technique [0002] The robotic arm refers to a complex system with high precision, multiple input and multiple output, high nonlinearity, and strong coupling. Because of its unique operational flexibility, it has been widely used in industrial assembly, safety explosion-proof and other fields. The manipulator is a complex system with uncertainties such as parameter perturbation, external disturbance and unmodeled dynamics. Therefore, there are uncertainties in the modeling model of the manipulator. For different tasks, it is necessary to plan the motion trajectory of the joint space of the manipulator, so as to cascade to form the end pose. Generally, in the packaging of pharmaceuticals, it is necessary to transfer the pharmaceuticals from one conveyor belt to another for transfer packaging. At present, most workshop...

AI Technical Summary

Problems solved by technology

[0003] After the long-term use of the pharmaceutical packaging transfer robot arm in the workshop, due to the heavy weight of the robot arm itself, the chassis and the fixed seat are prone to damage to the transmission components after long-term rotation. Therefore, frequent oil injection is generally required, which is time-consuming and laborious. It is inconvenient to inject oil, and direct oil injection will cause waste of lubricating oil, and the arm body is generally fixed to the base by bolts, which is extremely inconvenient to install and disassemble. When it is necessary to temporarily transfer the mechanical arm, it is necessary to use lifting equipment , time-consuming and labor-intensive, and difficult to operate

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