A combined claw type high-precision injection and batching robotic arm

Abstract

The present invention discloses a combined claw-type high-precision injection and batching robotic arm, which includes a robotic arm mounting platform. A six-axis robotic arm is fixedly installed on the robotic arm mounting platform. A robotic claw support frame is installed on the six-axis robotic arm. A first robotic claw, a second robotic claw, and a third robotic claw for achieving high-precision batching are installed on the robotic claw support frame. The robotic claw support frame includes a first-level disk that can be embedded at the end of the six-axis robotic arm for installation positioning. A second-level disk that can be connected to the end of the six-axis robotic arm by screws is fixedly provided on the lower side of the first-level disk. A first column and a second column are fixedly connected to the lower end of the second-level disk. It breaks through the accuracy upper limit of 1 mg with a conventional and simple structure and general-purpose and universal accessories. Compared with the complex and expensive batching equipment on the market, it increases the universality of automated equipment at a lower cost, and benefits the mass market such as small manufacturers to a certain extent.

Description

Technical Field

[0001] The present invention relates to the field of batching robotic arms, and particularly to a combined claw type high-precision batching and dispensing robotic arm. Background Art

[0002] Currently, the automated drug dispensing equipment on the market basically uses the same working method. Before starting work, the amount of medicine is weighed. This process combines rough machining by a vibrator and fine machining by a servo, applies real-time data closed-loop of an electronic balance and a PLC, and uses multi-stage speed regulation and advance quantity prediction methods to achieve automatic medicine weighing. For different medicines and weighing requirements, the equipment uses an electronic balance and a combination of fast addition and fine addition to weigh the medicine. High-precision weighing is achieved by combining closed-loop control technology and advance quantity prediction control technology. Currently, the highest precision generally available on the market is 1 mg.

[0003] Based on the above background, the following areas for improvement are summarized:

[0004] (1) Such equipment is large in size, has weak configuration flexibility, cannot frequently change the ratio, and is basically developed for the direction of selling drug dispensing equipment.

[0005] (2) Different equipment is called for rough machining and fine machining. The material is weighed first and then injected. The process is complex, requires high equipment requirements, and the efficiency needs to be improved. The process can be further simplified.

[0006] (3) The precision is relatively low, limited to 1 mg by the electronic balance, making it difficult to meet the high-precision requirements and not suitable for the preparation of trace medicines. Conventional high-precision equipment is expensive and cannot be applied to many small manufacturers. Summary of the Invention

[0007] In order to overcome the defects in the above-mentioned prior art, the present invention provides a combined claw type high-precision batching and dispensing robotic arm, which breaks through the 1 mg precision upper limit with a conventional simple structure and general-purpose accessories. Compared with the complex and expensive batching equipment on the market, it increases the universality of automated equipment at a lower cost and benefits the mass market such as small manufacturers to a certain extent.

[0008] Technical Solution

[0009] A combined claw type high-precision batching and dispensing robotic arm includes a robotic arm installation platform, on which a six-axis robotic arm is fixedly installed. A robotic claw support frame is installed on the six-axis robotic arm, and a first robotic claw, a second robotic claw, and a third robotic claw for achieving high-precision batching are installed on the robotic claw support frame.

[0010] Further, the mechanical claw support frame includes a first-level disc that can be embedded in the end of the six-axis robotic arm for installation and positioning. A second-level disc that can be connected to the end of the six-axis robotic arm by screws is fixedly provided on the lower side of the first-level disc. A first upright column and a second upright column are fixedly connected to the lower end of the second-level disc. Three annularly arrayed short columns are fixedly connected to the lower ends of the first upright column and the second upright column. An extension long plate is fixedly connected to the short columns. A connecting plate for installing the mechanical claw is fixedly connected to the end of the extension long plate away from the short columns.

[0011] Further, the first mechanical claw includes a clamping main body fixedly provided on the connecting plate. A screwing rod penetrates through and is threadedly connected to the lower surface of the clamping main body. The lower end of the screwing rod is rotatably connected to a connecting block located inside the clamping main body. Two connecting plates are slidably sleeved on the lower end of the connecting block. The lower ends of the connecting plates are rotatably connected to clamping jaws hinged to the clamping main body.

[0012] Further, the second mechanical claw includes a connecting disc that can be connected to the feeding end. A discharge pipe is connected to the lower side of the connecting disc.

[0013] Further, the third mechanical claw includes a fixed block fixedly connected to the connecting plate. A high-frequency solenoid valve and a storage bin are fixedly connected to the fixed block. A feeding pipe is connected to the upper end of the storage bin. A striker movement box is also fixedly connected to the fixed block. A filling spray head is connected to the lower end of the striker movement box. An internal space is provided inside the striker movement box. A stroke adjustment rod is threadedly connected to the upper side of the internal space. A return spring is fixedly connected to the lower end of the stroke adjustment rod. A discharge hole is provided inside the filling spray head. The discharge hole communicates with a feeding hole provided at the bottom of the storage bin. The lower end of the return spring is fixedly connected to a sealing striker that penetrates through the bottom wall of the internal space and extends into the discharge hole. The sealing striker is slidably connected to the discharge hole. The upper end of the sealing striker is fixedly connected to a sealing slide plate slidably connected to the lower side of the internal space. An air channel provided inside the fixed block communicates with the lower side of the sealing slide plate.

[0014] Further, there are no singularities within the operating range of the six-axis robotic arm.

[0015] Further, the storage bin is equipped with a pressure sensor that can reflect the real-time material pressure.

[0016] Further, the liquid material pressure in the storage bin should be controllable and stable, and will not flow out naturally when the liquid component enters the gap between the sealing striker and the discharge hole.

[0017] The advantages of the present invention compared with the prior art are as follows:

[0018] 1. Break through the accuracy limit of 1 mg with a conventional and simple structure and general-purpose accessories. Compared with the complex and expensive dosing equipment on the market, increase the universality of automated equipment at a lower cost, and benefit the mass market such as small manufacturers to a certain extent; 2. The three mechanical claws have different processing accuracies. The first two are for rough processing to quickly approach the target value, and the third is for fine dosing adjustment. The third mechanical claw only requires high-precision processing of the dosing nozzle to achieve a dosing accuracy of up to 0.05 mg, easily breaking through the current market's highest accuracy limit of 1 mg. Moreover, the overall structure is simple and the cost is low;

[0019] 3. Fix the three dosing devices with different processing effects through the mechanical claw support frame, and then use the robotic arm to rotate and switch to improve efficiency and simplify the process; control the three dosing methods with the robotic arm, the workstation is smaller and more flexible, reducing the space requirements of the automated dispensing equipment. Brief Description of the Drawings

[0020] Figure 1 is the overall schematic diagram of a combined claw type high-precision dosing and dispensing robotic arm of the present invention;

[0021] Figure 2 is the structural schematic diagram of the mechanical claw support frame;

[0022] Figure 3 is the installation effect schematic diagram of the mechanical claw support frame;

[0023] Figure 4 is the cross-sectional view of the first mechanical claw;

[0024] Figure 5 is the structural schematic diagram of the third mechanical claw;

[0025] Figure 6 is the structural schematic diagram of the third mechanical claw at different angles;

[0026] Figure 7 is the internal structural schematic diagram of the third mechanical claw.

[0027] Reference Signs

[0028] Six-axis robotic arm 1, robotic arm mounting platform 2, first mechanical claw 3, clamping body 31, screwing rod 32, clamping jaw 33, connecting plate 34, connecting block 35, third mechanical claw 4,, high-frequency solenoid valve 41, striker motion box 42, dosing nozzle 43, storage bin 44, feed pipe 45, fixing block 46, air passage 401, feed hole 402, discharge hole 403, sealing striker 404, sealing slide 405, return spring 406, stroke adjustment rod 407, internal space 408, second mechanical claw 5, connecting disc 51, discharge pipe 52, mechanical claw support frame 6, first-level disc 61, second-level disc 62, first column 63, second column 64, short column 65, extended long plate 66, connecting plate 67. Detailed implementation mode

[0029] To better illustrate and elaborate the content of the present invention, the following will be described in conjunction with the accompanying drawings and implementation examples:

[0030] There is Figures 1-7 As shown, the present invention discloses a combined claw type high-precision injection and batching robotic arm, including a robotic arm mounting platform 2, on which a six-axis robotic arm 1 is fixedly installed. A robotic claw support frame 6 is installed on the six-axis robotic arm 1, and a first robotic claw 3, a second robotic claw 5, and a third robotic claw 4 for realizing high-precision batching are installed on the robotic claw support frame 6.

[0031] Furthermore, the robotic claw support frame 6 includes a first-level disk 61 that can be embedded in the end of the six-axis robotic arm 1 for installation positioning. A second-level disk 62 that can be connected to the end of the six-axis robotic arm 1 by screws is fixedly provided on the lower side of the first-level disk 61. A first column 63 and a second column 64 are fixedly connected to the lower end of the second-level disk 62. Three annularly arrayed short columns 65 are fixedly connected to the lower ends of the first column 63 and the second column 64. An extension long plate 66 is fixedly connected to the short columns 65, and a connecting plate 67 for installing the robotic claw is fixedly connected to the end of the extension long plate 66 away from the short columns 65.

[0032] Furthermore, the first robotic claw 3 includes a clamping main body 31 fixedly provided on the connecting plate 67. A screwing rod 32 penetrates and is threadedly connected to the lower surface of the clamping main body 31. The lower end of the screwing rod 32 is rotatably connected to a connecting block 35 located inside the clamping main body 31. Two connecting plates 34 are slidably sleeved on the lower end of the connecting block 35, and the lower ends of the connecting plates 34 are rotatably connected to a clamping claw 33 hinged to the clamping main body 31.

[0033] Furthermore, the second robotic claw 5 includes a connecting disk 51 that can be connected to the feeding end, and a discharge pipe 52 is connected to the lower side of the connecting disk 51.

[0034] Further, the third robotic claw 4 includes a fixed block 46 fixedly connected to the connecting plate 67. A high-frequency solenoid valve 41 and a storage bin 44 are fixedly connected to the fixed block 46. The upper end of the storage bin 44 is connected to a feed pipe 45. A striker movement box 42 is also fixedly connected to the fixed block 46. The lower end of the striker movement box 42 is connected to a filling nozzle 43. An internal space 408 is provided inside the striker movement box 42. A stroke adjustment rod 407 is threadedly connected to the upper side of the internal space 408. A return spring 406 is fixedly connected to the lower end of the stroke adjustment rod 407. A discharge hole 403 is provided inside the filling nozzle 43. The discharge hole 403 communicates with a feed hole 402 provided at the bottom of the storage bin 44. The lower end of the return spring 406 is fixedly connected to a sealing striker 404 that penetrates the bottom wall of the internal space 408 and extends into the discharge hole 403. The sealing striker 404 is slidably connected to the discharge hole 403. The upper end of the sealing striker 404 is fixedly connected to a sealing slide plate 405 that is slidably connected to the lower side of the internal space 408. The lower side of the sealing slide plate 405 communicates with an air passage 401 provided inside the fixed block 46.

[0035] Further, there are no singularities within the operating range of the six-axis robotic arm 1.

[0036] Further, the storage bin 44 is equipped with a pressure sensor to reflect the real-time material pressure.

[0037] Further, the liquid material pressure in the storage bin 44 should be controllable and stable, and it will not flow out naturally when the liquid component enters the gap between the sealing striker 404 and the discharge hole 403, so as to ensure a certain weight of single injection.

[0038] Specifically, during operation, the motor rotates the screw rod 32, and then the screw rod 32 will move up and down and drive the gripper 33 to rotate through the connecting plate 34, thereby realizing the grasping or releasing action of the gripper 33.

[0039] Regarding the power connection structure between the motor and the screw rod 32, the simplest transmission structure can be adopted. There are many choices and will not be elaborated here.

[0040] Thus, the first robotic claw 3 can grasp the material pipe through the gripper 33 and realize the tilting operation of the material pipe through the six-axis robotic arm 1 until it is initially close to the target material quantity, achieving the first step of rough adjustment for the liquid material.

[0041] Then, connect the feeding end through the connecting disk 51 and realize further injection through the discharge pipe 52 to achieve further fine adjustment of the material quantity.

[0042] The last step is the fine adjustment operation of the material quantity. First, the air channel 401 is opened through the high-frequency solenoid valve 41 for inflation operation. Then, the gas enters the lower side of the sealing slide plate 405 and lifts the sealing slide plate 405 and the material sealing punch 404. At this time, the return spring 406 is compressed. While the material sealing punch 404 moves upward, the gap in the discharge hole 403 increases. Then, the liquid material enters the gap between the material sealing punch 404 and the discharge hole 403 through the feed hole 402. Then, the inflation of the air channel 401 stops. At this time, the return spring 406 will push the sealing slide plate 405 downward under the action of elastic force. Then, the material sealing punch 404 moves downward and pushes the liquid material in the discharge hole 403 out, realizing the fine injection of the last step;

[0043] When the stroke adjustment lever 407 rotates, the stroke adjustment lever 407 will move up and down. Then, the initial deformation amount of the spring will change. Then, under the same air pressure, the strokes of the sealing slide plate 405 and the material sealing punch 404 will change, thus realizing the adjustment of the injection quantity.

[0044] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the technical solutions of the present invention have been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A combined claw-type high-precision injection and batching robotic arm, characterized in that: it includes a robotic arm mounting platform (2), on which a six-axis robotic arm (1) is fixedly installed, a robotic claw support frame (6) is installed on the six-axis robotic arm (1), and a first robotic claw (3), a second robotic claw (5), and a third robotic claw (4) for achieving high-precision batching are installed on the robotic claw support frame (6); the first robotic claw (3) includes a clamping main body (31) fixedly arranged on the robotic claw support frame (6), a screwing rod (32) penetrates through and is threadedly connected to the lower surface of the clamping main body (31), the lower end of the screwing rod (32) is rotatably connected to a connecting block (35) located inside the clamping main body (31), two connecting plates (34) are slidably sleeved on the lower end of the connecting block (35), and the lower end of the connecting plate (34) is rotatably connected to a claw (33) hinged to the clamping main body (31); the second robotic claw (5) includes a connecting disc (51) capable of being connected to the feeding end, and a discharge pipe (52) is connected to the lower side of the connecting disc (51); the third robotic claw (4) includes a fixed block (46) fixedly connected to the robotic claw support frame (6), a high-frequency solenoid valve (41) and a storage bin (44) are fixedly connected to the fixed block (46), a feeding pipe (45) is connected to the upper end of the storage bin (44), a striker movement box (42) is also fixedly connected to the fixed block (46), a injection nozzle (43) is connected to the lower end of the striker movement box (42), an internal space (408) is arranged inside the striker movement box (42), a stroke adjustment rod (407) is threadedly connected to the upper side of the internal space (408), a return spring (406) is fixedly connected to the lower end of the stroke adjustment rod (407), a discharge hole (403) is arranged inside the injection nozzle (43), the discharge hole (403) communicates with a feeding hole (402) arranged at the bottom of the storage bin (44), the lower end of the return spring (406) is fixedly connected to a sealing striker (404) that penetrates the bottom wall of the internal space (408) and extends into the discharge hole (403), the sealing striker (404) is slidably connected to the discharge hole (403), the upper end of the sealing striker (404) is fixedly connected to a sealing slide piece (405) slidably connected to the lower side of the internal space (408), and the lower side of the sealing slide piece (405) communicates with an air channel (401) arranged inside the fixed block (46).

2. A combined claw-type high-precision injection and batching robotic arm according to claim 1, characterized in that: The mechanical claw support frame (6) includes a first-level disc (61) that can be embedded at the end of the six-axis robotic arm (1) to achieve installation and positioning. A second-level disc (62) that can be connected to the end of the six-axis robotic arm (1) by screws is fixedly provided on the lower side of the first-level disc (61). A first upright column (63) and a second upright column (64) are fixedly connected to the lower end of the second-level disc (62). Three annularly arrayed short columns (65) are fixedly connected to the lower ends of the first upright column (63) and the second upright column (64). An extension long plate (66) is fixedly connected to the short columns (65). A connecting plate (67) for installing the mechanical claw is fixedly connected to one end of the extension long plate (66) away from the short columns (65).

3. The combined claw type high-precision injection and batching robotic arm according to claim 2, characterized in that: There are no singularities within the control range of the six-axis robotic arm (1).

4. The combined claw type high-precision injection and batching robotic arm according to claim 3, characterized in that: The storage bin (44) is equipped with a pressure sensor to reflect the real-time material pressure.

5. The combined claw type high-precision injection and batching robotic arm according to claim 4, characterized in that: The liquid material pressure in the storage bin (44) is controllable and stable, and will not flow out naturally when the liquid component enters the gap between the sealing material punch (404) and the discharge hole (403).

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