Medicine decocting pot handling mechanical hand

Abstract

The application discloses a decocting pot carrying mechanical hand, which comprises a shell and a hydraulic cylinder, a spliced plate is fixedly installed on the vertical end of the shell, a top plate is fixedly installed on the top of the spliced plate, a combined seat is arranged on the inner wall of the top plate, the hydraulic cylinder is fixedly installed on the outer wall of the shell, support blocks are fixedly installed on the inner wall of the shell, and movable seats are movably installed on the support blocks, two groups of clamping arms are hingedly connected to the two groups of support blocks through two groups of shaft poles, and rollers one and two are hingedly connected to the two ends of the clamping arms. In the application, the whole clamping process is realized through the cooperation of the rollers one and three, the limiting of the insertion plates one and two in the vertical direction is cooperated, the stability of the mechanical hand in clamping the decocting pot is ensured, the rollers one and three are always located at the position with the same center within the covering range of the inclined plate two, and the mechanical hand can adapt to the clamping of decocting pots with different sizes.

Description

Technical Field

[0001] This invention relates to the field of traditional Chinese medicine decoction processing technology, and in particular to a robotic arm for handling decoction pots. Background Technology

[0002] Traditional Chinese medicine decoctions are adapted to the TCM syndrome differentiation and treatment. In addition to being simple and easy to prepare, having a wide range of solvent sources, and being non-irritating and without side effects, they also have the advantages of liquid preparations, namely, rapid absorption and quick efficacy. The processing of traditional Chinese medicine decoctions involves placing the prepared Chinese medicinal herbs into a decoction pot for boiling, and the decoction pot is then transferred by a handling robot after boiling.

[0003] Existing decoction pot handling robots are mostly composed of a clamping unit and a connecting unit. The clamping unit clamps the decoction pot, and the clamping unit and the external moving components are assembled through the connecting unit.

[0004] Existing methods involve using a gripping unit on a robotic arm to hold the decoction pot, followed by an external moving component that transfers the pot to a designated location. However, existing gripping units often employ common jaws, where a gripping cylinder drives two sets of gripping arms to clamp the outer wall of the decoction pot. In practice, the gripping arms are designed to conform to the shape of the decoction pot, with both sets of arms exhibiting a specific arc shape. To prevent deformation of the decoction pot, the two sets of gripping arms often fail to provide sufficient constraint, resulting in poor vertical stability during movement. Therefore, there is an urgent need to develop a corresponding robotic arm for handling decoction pots to address these issues. Summary of the Invention

[0005] The purpose of this invention is to provide a robotic arm for handling decoction pots in order to solve the above-mentioned problems.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] A robotic arm for transporting a decoction pot includes a housing and a hydraulic cylinder. A panel is fixedly installed on the vertical end of the housing, and a top plate is fixedly installed on the top of the panel. A combination seat is inserted through the inner surface of the top plate. The hydraulic cylinder is fixedly installed on the outer surface of the housing. A support block is fixedly installed on the inner surface of the housing, and a movable seat is movably installed thereon. Two sets of support blocks are respectively hinged to two sets of clamping arms through two sets of shafts. Roller 1 and roller 2 are respectively hinged to both ends of the clamping arms. A first insert plate is provided below roller 1 to cooperate with the clamping arm. An elastic component is provided between the two sets of clamping arms to synchronize their relative positions. A front frame is inserted inside the movable seat. Roller 3 is hinged inside the front frame, and a second insert plate is fixedly installed at the bottom. A drive component for driving the movable seat is provided between the housing and the movable seat.

[0008] Preferably, the outer wall of the combined seat is slidably connected to the inner wall of the top plate, a bottom strip is fixedly installed on the outer wall of the top plate, the bottom strip is located below the combined seat, and a swing rod is hinged to the inner wall. The outer wall of the combined seat has a matching groove that matches the swing rod, and a fixing component for fixing the swing rod to the combined seat is provided between the swing rod and the combined seat.

[0009] Preferably, the fixing component includes a locking sleeve, which is screwed onto the outer wall of the rocker arm, and the top of the combination seat has a top groove that matches the locking sleeve, and the top groove is connected to the connecting groove.

[0010] Preferably, a light rod is fixedly installed on the side of the front frame away from the roller three, the outer wall of the light rod is slidably connected to the inner wall of the movable seat, and a return spring is fixedly installed between the inner wall of the movable seat and the light rod.

[0011] Preferably, a connecting strip is fixedly installed on the inner surface of the bottom of the outer casing, and a slider that is fixedly connected to the movable seat is slidably connected to the inner surface of the connecting strip. The slider has a T-shaped cross-section.

[0012] Preferably, a bottom sleeve is fixedly installed at the bottom of the clamping arm, and a fixing block that is fixedly connected to the insert plate is engaged with the inner surface wall of the bottom sleeve. A torsion spring is fixedly installed between the outer surface wall of the arc-shaped end of the fixing block and the inner surface wall of the bottom sleeve.

[0013] Preferably, the drive assembly includes a track fixedly connected to the inner wall of the housing, a push block slidably connected to the inner wall of the track, the outer wall of the push block being fixedly connected to the output end of the hydraulic cylinder, a second inclined side cooperating with the push block being provided at the bottom of the movable seat, and a first inclined side slidably cooperating with the second roller being provided on both sides of the movable seat.

[0014] Preferably, the elastic component includes side blocks, two sets of side blocks are respectively engaged and connected to the front sides of two sets of clamping arms, and a connecting spring is fixedly installed between the opposite surfaces of the two sets of side blocks.

[0015] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0016] 1. In this application, the outer moving component moves the robotic arm to the outside of the decoction pot and positions it between the two sets of gripping arms and the front frame. Then, the hydraulic cylinder pushes the push block, which slides along the track and engages with the second inclined side, causing the moving seat to move the front frame to one side of the decoction pot via the return spring until the third roller abuts against the outer wall of the decoction pot, and the second insert plate engages with the bottom step of the decoction pot. During this process, as the second inclined side of the moving seat slides into the two sets of rollers, the distance between the two sets of rollers gradually increases, and the two sets of gripping arms move along the two sets of axes respectively. The rod rotates around the axis, causing the two sets of rollers to synchronously abut against the outside of the decoction pot. The insert plates below the two sets of rollers also engage with the bottom step of the decoction pot, thus completing the clamping of the decoction pot. The entire clamping process is achieved through the cooperation of rollers one and three. With the vertical limiting of insert plates one and two, the stability of the robotic arm in clamping the decoction pot is ensured. At the same time, rollers one and three are always located at the same center within the coverage area of ​​the inclined plate two, allowing the robotic arm to adapt to clamping decoction pots of different sizes.

[0017] 2. In this application, the flange on the external moving component is fixedly connected to the combination seat by fasteners. The combination seat is inserted into the top plate, and the flip rod is flipped to engage with the mating groove on the combination seat. The bottom of the rotating locking sleeve is pressed tightly against the top of the top groove. The swing rod is fixed to the combination seat by friction. The engagement of the locking sleeve with the top groove restricts the horizontal position of the swing rod, thereby realizing the connection between the robot and the moving unit. Subsequently, only the operation of the swing rod and the locking sleeve needs to be completed to separate the top plate from the combination seat and the moving unit, which replaces the traditional method of directly connecting the top plate and the moving unit through the flange, ensuring the convenience of robot assembly and disassembly. Attached Figure Description

[0018] Figure 1 A schematic diagram of the overall structure provided according to an embodiment of the present invention is shown;

[0019] Figure 2 A schematic diagram of a pendulum structure provided according to an embodiment of the present invention is shown;

[0020] Figure 3 A schematic diagram of a connecting spring structure provided according to an embodiment of the present invention is shown;

[0021] Figure 4 A schematic diagram of a torsion spring structure provided according to an embodiment of the present invention is shown;

[0022] Figure 5 A schematic diagram of a light rod structure provided according to an embodiment of the present invention is shown;

[0023] Figure 6 A schematic diagram of the structure of a conventional decoction pot according to an embodiment of the present invention is shown.

[0024] Legend:

[0025] 1. Outer shell; 2. Hydraulic cylinder; 3. Panel; 4. Top plate; 5. Combination seat; 6. Bottom strip; 7. Clamping arm; 8. Insert plate one; 9. Roller one; 10. Top groove; 11. Connecting groove; 12. Swing rod; 13. Locking sleeve; 14. Support block; 15. Roller two; 16. Connecting spring; 17. Bevel one; 18. Moving seat; 19. Bevel two; 20. Track; 21. Push block; 22. Front frame; 23. Roller three; 24. Insert plate two; 25. Bottom sleeve; 26. Fixing block; 27. Torsion spring; 28. Return spring; 29. ​​Connecting strip; 30. Smooth rod. Detailed Implementation

[0026] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0027] Please see Figure 1-6 The present invention provides a technical solution:

[0028] The decoction pot handling robot includes a housing 1 and a hydraulic cylinder 2. A panel 3 is fixedly installed on the vertical end of the housing 1, and a top plate 4 is fixedly installed on the top of the panel 3. A combination seat 5 is provided through the inner surface of the top plate 4. The hydraulic cylinder 2 is fixedly installed on the outer surface of the housing 1. A support block 14 is fixedly installed on the inner surface of the housing 1, and a movable seat 18 is movably installed. Two sets of support blocks 14 are respectively hinged to two sets of clamping arms 7 through two sets of shafts. Rollers 1 and 2 are respectively hinged to the two ends of the clamping arms 7. A first plate 9 and a second plate 15 are provided below the first plate 9, which are movably engaged with the clamping arms 7. An elastic component is provided between the two sets of clamping arms 7 to synchronize the relative positions of the two sets of clamping arms 7. A front frame 22 is provided inside the movable seat 18. Rollers 3 and 23 are hinged inside the front frame 22, and a second plate 24 is fixedly installed at the bottom. A drive component for driving the movable seat 18 is provided between the housing 1 and the movable seat 18.

[0029] The outer moving component moves the robotic arm to the outside of the decoction pot, positioning it between the two sets of gripping arms 7 and the front frame 22. Then, the hydraulic cylinder 2 pushes the push block 21, which slides along the track 20 while engaging with the second inclined side 19. This causes the moving seat 18 to move the front frame 22 to one side of the decoction pot via the return spring 28, until the third roller 23 abuts against the outer wall of the decoction pot, and the second insert plate 24 engages with the bottom step of the decoction pot. During this process, as the first inclined side 17 of the moving seat 18 slides into contact with the two sets of second rollers 15, the distance between the two sets of second rollers 15 gradually increases, and the two sets of gripping arms 7... The two sets of shafts rotate around their respective axes, causing the two sets of rollers 19 and roller 323 to synchronously abut against the outside of the decoction pot. The insert plates 8 below the two sets of rollers 19 are also attached to the bottom step of the decoction pot, thus completing the clamping of the decoction pot. The entire clamping process is achieved through the cooperation of rollers 19 and roller 323. With the vertical limiting of insert plates 18 and 24, the stability of the robot arm in clamping the decoction pot is ensured. At the same time, rollers 19 and roller 323 are always located at the same center within the coverage area of ​​the inclined side 17, allowing the robot arm to adapt to the clamping of decoction pots of different sizes.

[0030] Specifically, such as Figure 1 and Figure 2 As shown, the outer wall of the combination seat 5 is slidably connected to the inner wall of the top plate 4. A bottom strip 6 is fixedly installed on the outer wall of the top plate 4. The bottom strip 6 is located below the combination seat 5, and a swing rod 12 is hinged to the inner wall. A matching groove 11 is opened on the outer wall of the combination seat 5 to match the swing rod 12. A fixing component for fixing the swing rod 12 and the combination seat 5 is provided between the swing rod 12 and the combination seat 5.

[0031] The fixing component includes a locking sleeve 13, which is screwed into the outer wall of the rocker arm 12. The top of the combination seat 5 is provided with a top groove 10 that matches the locking sleeve 13, and the top groove 10 is connected to the connecting groove 11.

[0032] The flange on the external moving component is fixedly connected to the combination seat 5 by fasteners. The combination seat 5 is inserted into the top plate 4. The swing arm 12 is flipped so that it engages with the mating groove 11 on the combination seat 5. The bottom of the rotating locking sleeve 13 is pressed tightly against the top of the top groove 10. The swing arm 12 is fixed to the combination seat 5 by friction. The engagement of the locking sleeve 13 and the top groove 10 restricts the horizontal position of the swing arm 12, thereby realizing the connection between the robot and the moving unit. Subsequently, only the operation of the swing arm 12 and the locking sleeve 13 needs to be completed to separate the top plate 4 from the combination seat 5 and the moving unit. This replaces the traditional method of directly connecting the top plate 4 and the moving unit through the flange, ensuring the convenience of robot assembly and disassembly.

[0033] Specifically, such as Figure 4 and Figure 5As shown, a guide rod 30 is fixedly installed on the side of the front frame 22 away from the roller 3 23. The outer wall of the guide rod 30 is slidably connected to the inner wall of the movable seat 18. A return spring 28 is fixedly installed between the inner wall of the movable seat 18 and the guide rod 30, which can assist the movable seat 18 to quickly return to its original position and at the same time provide corresponding flexibility for the roller 3 23. A connecting strip 29 is fixedly installed on the inner wall of the bottom of the outer shell 1. A slider fixedly connected to the movable seat 18 is slidably connected to the inner wall of the connecting strip 29. The slider has a T-shaped cross-section, which ensures the stable translation of the movable seat 18 while restricting its vertical position.

[0034] Specifically, such as Figure 2 and Figure 3 As shown, a base sleeve 25 is fixedly installed at the bottom of the clamping arm 7. A fixing block 26, which is fixedly connected to the insert plate 8, is engaged with the inner wall of the base sleeve 25. A torsion spring 27 is fixedly installed between the outer wall of the arc-shaped end of the fixing block 26 and the inner wall of the base sleeve 25. The insert plate 8 cooperates with the insert plate 24 to provide vertical support for the decoction pot. The torsion spring 27 and the fixing block 26 can provide axial movement characteristics for the insert plate 8, so that it can adapt to the outer curvature of the decoction pot of different sizes, so that the insert plate 8 can always be located on the bottom step of the decoction pot.

[0035] Specifically, such as Figure 1 and Figure 3 As shown, the drive assembly includes a track 20 fixedly connected to the inner wall of the outer casing 1. A push block 21 is slidably connected to the inner wall of the track 20. The outer wall of the push block 21 is fixedly connected to the output end of the hydraulic cylinder 2. The bottom of the movable seat 18 is provided with a second inclined edge 19 that cooperates with the push block 21. The two sides of the movable seat 18 are provided with a first inclined edge 17 that slidably cooperates with the second roller 15. The hydraulic cylinder 2 pushes the push block 21. While sliding along the track 20, the push block 21 cooperates with the second inclined edge 19, so that the movable seat 18 drives the front frame 22 to move to one side of the decoction pot through the return spring 28 until the third roller 23 abuts against the outer wall of the decoction pot, and the second insert plate 24 is engaged with the bottom step of the decoction pot. During this process, as the inclined side 17 of the movable seat 18 slides into contact with the two sets of rollers 15, the distance between the two sets of rollers 15 gradually increases. The two sets of clamping arms 7 rotate around the two sets of shafts, so that the two sets of rollers 9 and rollers 23 will synchronously abut against the outside of the decoction pot. The elastic component includes side blocks, and the two sets of side blocks are respectively engaged and connected to the front side of the two sets of clamping arms 7. A connecting spring 16 is fixedly installed between the opposite surfaces of the two sets of side blocks. The engaging side blocks can adapt to the swing of the clamping arms 7. When the push block 21 moves back, the connecting spring 16 provides traction force to the clamping arms 7 through its own elasticity. The rollers 15 and the inclined side 17 cooperate to push the movable seat 18 back to reset.

[0036] Working principle: The outer moving component moves the robotic arm to the outside of the decoction pot, positioning it between the two sets of gripping arms 7 and the front frame 22. Then, the hydraulic cylinder 2 pushes the push block 21. The push block 21 slides along the track 20 while engaging with the inclined side 19, causing the moving seat 18 to move the front frame 22 to one side of the decoction pot via the return spring 28, until the roller 23 abuts against the outer wall of the decoction pot, and the insert plate 24 engages with the bottom step of the decoction pot. During this process, as... The inclined side 17 of the movable seat 18 slides with the two sets of rollers 15, gradually increasing the distance between them. The two clamping arms 7 rotate around their respective shafts, causing the two sets of rollers 9 and 23 to simultaneously abut against the outside of the decoction pot. The insert plate 8 below the two sets of rollers 9 also engages with the bottom step of the decoction pot, thus clamping the pot. The entire clamping process is achieved through the cooperation of rollers 9 and 23, along with the insert plate... The vertical positioning of roller 8 and insert plate 24 ensures the stability of the robotic arm's gripping of the decoction pot. Meanwhile, rollers 9 and 3 remain concentric within the coverage area of ​​the inclined side 17, allowing the robotic arm to accommodate decoction pots of different sizes. The flange on the external moving component is fixedly connected to the combination seat 5 via fasteners. The combination seat 5 is then inserted into the top plate 4. The swing arm 12 is flipped to engage with the mating groove 11 on the combination seat 5. The bottom of the rotating locking sleeve 13 is pressed tightly against the top of the top groove 10, and friction is used to fix the swing arm 12 to the combination seat 5. The engagement of the locking sleeve 13 with the top groove 10 restricts the horizontal position of the swing arm 12, thus connecting the robotic arm to the moving unit. Subsequent operations only require the swing arm 12 and locking sleeve 13 to separate the top plate 4 from the combination seat 5 and the moving unit, replacing the traditional method of directly connecting the top plate 4 and the moving unit via a flange, ensuring convenient assembly and disassembly of the robotic arm.

[0037] The above description of the embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A decocting pot handling robot comprising a housing (1) and a hydraulic cylinder (2), characterized in that, The shell (1) vertical end fixed mounting spliced board (3), the spliced board (3) top fixed mounting top plate (4), the top plate (4) inner wall is equipped with combination seat (5), the hydraulic cylinder (2) is fixedly installed on the outer wall of the shell (1), the inner wall of the shell (1) is fixedly installed with support block (14) while movably installed with moving seat (18), two groups of support block (14) are respectively hinged with two groups of clamping arms (7) through two groups of shaft poles, the both ends of the clamping arm (7) are respectively hinged with the roller one (9) and the roller two (15), the roller one (9) below is provided with the insert plate one (8) and the clamping arm (7) is movably connected, the elastic component for the position of the two groups of clamping arms (7) is arranged between the two groups of clamping arms (7), the inner part of the moving seat (18) is equipped with front frame (22), the inner part of the front frame (22) is hinged with the roller three (23) while the bottom is fixedly installed with the insert plate two (24), the outer wall of the combination seat (5) and the inner wall of the top plate (4) are slidably connected, the outer wall of the top plate (4) is fixedly installed with the bottom strip (6), the bottom strip (6) is located below the combination seat (5), and the inner wall is hinged with the swing rod (12), the outer wall of the combination seat (5) is provided with the combination groove (11) matched with the swing rod (12), the fixing assembly for fixing the swing rod (12) and the combination seat (5) is arranged between the swing rod (12) and the combination seat (5), the fixing assembly comprises locking sleeve (13), the locking sleeve (13) is screw connected with the outer wall of the swing rod (12), the top groove (10) matched with the locking sleeve (13) is formed in the top of the combination seat (5), and the top groove (10) is communicated with the combination groove (11).

2. The decocting pot handling robot of claim 1, wherein The front frame (22) is fixedly installed with the light pole (30) on the side away from the roller three (23), the outer wall of the light pole (30) and the inner wall of the moving seat (18) are slidably connected, and the reset spring (28) is fixedly installed between the inner wall of the moving seat (18) and the light pole (30).

3. The decocting pot handling robot of claim 2, wherein The inner wall of the bottom of the shell (1) is fixedly installed with the connecting strip (29), the inner wall of the connecting strip (29) is slidably connected with the sliding block fixedly connected with the moving seat (18), and the sliding block is in T-shaped structure.

4. The decocting pot handling robot of claim 3, wherein The bottom of the clamping arm (7) is fixedly installed with the bottom sleeve (25), the inner wall of the bottom sleeve (25) is clamped and connected with the fixed block (26) fixedly connected with the insert plate one (8), and the torsional spring (27) is fixedly installed between the outer wall of the arc-shaped end of the fixed block (26) and the inner wall of the bottom sleeve (25).

5. The decocting pot handling robot of claim 4, wherein The drive assembly comprises the track (20) fixedly connected with the inner wall of the shell (1), the push block (21) is slidably connected with the inner wall of the track (20), the outer wall of the push block (21) is fixedly connected with the output end of the hydraulic cylinder (2), the moving seat (18) is provided with the bevel edge two (19) matched with the push block (21), and the moving seat (18) is provided with the bevel edge one (17) slidably matched with the roller two (15).

6. The decocting pot handling robot of claim 5, wherein The elastic assembly comprises edge blocks, two groups of the edge blocks are clamped and connected on the front sides of two groups of the clamping arms (7), and connecting springs (16) are fixedly installed between opposite surfaces of the two groups of the edge blocks.

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