Ampoule bottle processing manipulator

Abstract

The invention belongs to the technical field of mechanical grippers, and discloses an ampoule bottle treatment manipulator which comprises a shell, an air cylinder is fixedly connected to the interior of the shell, and a rotating assembly is arranged in the shell. Through cooperation of a first moving assembly, a vibration assembly, balls and other structures, ampoule bottles which are distributed in a scattered mode can be conveniently arranged into a row, then the working efficiency is improved, a first tooth plate and a second tooth plate move oppositely under cooperation with a rotating assembly, the first moving assembly is driven to move, and through movement of the first moving assembly, the working efficiency is improved. According to the ampoule bottle clamping device, the ball is driven to make contact with ampoule bottles distributed in a scattered mode, then through cooperation between the first inclined block and the second inclined blocks, the ball rolls on bottle bodies of the ampoule bottles, the ampoule bottles are pushed to move in the preset direction, finally the ampoule bottles distributed in the scattered mode are pushed to form a row, and therefore follow-up clamping operation is facilitated; and the working efficiency is improved.

Description

[0001] This application is a divisional application of the application filed on September 6, 2023, with application number 202411247713.8 and invention name “A mechanical gripper for ampoule bottle processing”. Technical Field

[0002] The invention belongs to the technical field of mechanical grippers, in particular to an ampoule bottle processing mechanical arm. Background Art

[0003] An ampoule is a sealed container used to store and protect liquid medicines, usually made of glass or plastic. Its design features enable the ampoule to prevent external contamination and air from entering, thereby maintaining the stability and effectiveness of the medicine inside.

[0004] When in use, the existing ampoule bottle handling robot can generally only clamp a single or multiple neatly arranged ampoules. However, before the ampoules are filled with medicines, they may be scattered on the operating table. If a mechanical gripper is used for single grasping, it will take a lot of time and energy, thereby reducing the overall operation speed and efficiency. If multiple grasping is performed directly, the distances between several ampoules are different, which makes it difficult for the gripper to cut in and find the accurate clamping position, thereby reducing work efficiency. Therefore, an ampoule bottle handling robot is proposed to solve the above problems. Summary of the invention

[0005] In order to solve the problems raised in the above background technology, the present invention provides an ampoule bottle processing robot, which has the advantages of conveniently arranging scattered ampoules into a row, thereby facilitating clamping and improving work efficiency.

[0006] To achieve the above-mentioned object, the present invention provides the following technical solutions: an ampoule bottle processing robot, comprising a shell, a cylinder is fixedly connected to the inside of the shell, a rotating assembly is arranged inside the shell, a first tooth plate and a second tooth plate are movably connected to the inside of the shell, opposite ends of the first tooth plate and the second tooth plate are fixedly connected to a first moving assembly, and a vibration assembly, a third moving assembly and a clamping assembly are movably connected to the inside of the first moving assembly; Wherein, the vibration assembly comprises a limit plate, and the top end of the limit plate is fixedly connected with a first inclined block; The two limiting plates are fixedly connected to the limiting rod on one side opposite to the limiting plate, and the limiting rod is fixedly connected to the support plate at one end away from the limiting plate, and a plurality of balls are movably connected inside the support plate, and a group of second inclined blocks are arranged inside the shell in a mirror-like manner, and a second moving component and a vacuum adsorption component are arranged inside the shell; The rotating assembly comprises a cylindrical cam, wherein the inner ring of the cylindrical cam is provided with oblique grooves and vertical grooves at 180 degrees, and the outer surface of the cylindrical cam is fixedly connected with a gear; The second moving assembly comprises a limit block, a round block is movably connected to the top of the limit block, and a second protrusion is provided on the outer wall of the round block in an annular shape of 180 degrees.

[0007] Preferably, the arc of the inclined groove is one hundred and eighty degrees, the bottom of the inclined groove is connected to the top of the vertical groove, the bottom of the cylinder is fixedly connected to a moving rod located inside the cylindrical cam, and the outer wall of the moving rod is annularly provided with a first protrusion at an angle of one hundred and eighty degrees, and the first protrusion is movably engaged in the interior of the inclined groove in an initial state.

[0008] Preferably, both sides of the gear are respectively meshed with the first tooth plate and the second tooth plate, the first moving component comprises an outer box, the top of the outer box is fixedly connected to two first round rods, when the first tooth plate and the second tooth plate move, the two outer boxes are driven to move toward each other by the first round rods, and the outer wall of the outer box is provided with a straight groove that cooperates with the limit rod.

[0009] Preferably, the bottom end of the limit block passes through the outer wall of the shell, and the outer surface of the limit block is movably sleeved with a first spring, the two ends of the first spring are respectively fixedly connected to the limit block and the shell, and the second protrusion is movably engaged with the inside of the vertical groove. The vacuum adsorption assembly includes a vacuum suction cup, a vacuum pump and a vacuum tube, and the bottom end of the limit block is movably engaged with the vacuum suction cup.

[0010] Preferably, a square groove is provided on the surface of the limit plate, the first inclined block is located inside the shell, the end of the first inclined block close to the second inclined block is inclined, a spring sheet is fixedly connected to one side of the limit plate, and the limit plate is elastically connected to the first moving component through the spring sheet.

[0011] Preferably, the limit rod passes through the outer wall of the first movable component and extends to the outside of the first movable component. A group of the second inclined blocks has five sections, and both ends of the second inclined blocks are inclined. After the two first movable components move toward each other, the inclined surface of the first inclined block is driven to abut against the inclined surface of one end of the second inclined block.

[0012] Preferably, the third movable component includes a third inclined block, and the opposite ends of the two third inclined blocks are both inclined. The third inclined block passes through the outer wall of the first movable component and extends to the outside of the first movable component. The third inclined block is located inside the square groove of the limiting plate.

[0013] Preferably, the opposite ends of the two third inclined blocks are hinged with a first connecting rod, the bottom end of the first connecting rod is hinged with a second connecting rod, the bottom end of the second connecting rod is fixedly connected with a fourth inclined block, and the bottom of the fourth inclined block is in the shape of an inclined surface.

[0014] Preferably, the clamping assembly includes a fifth inclined block, the side of the fifth inclined block close to the fourth inclined block is in the shape of an inclined surface, the inclined surface of the fifth inclined block abuts against the inclined surface of the fourth inclined block, and both ends of the fifth inclined block away from the fourth inclined block are fixedly connected with a second round rod, and the second round rod penetrates the outer wall of the first movable assembly and extends to the outside of the first movable assembly.

[0015] Preferably, a second spring is sleeved on the outer surface of the second round rod, and both ends of the second spring are respectively fixedly connected to the fifth inclined block and the first moving component. The end of the second round rod away from the fifth inclined block is fixedly connected to a clamping plate, and gaskets are fixedly connected on opposite sides of the two clamping plates, and the gaskets are made of rubber material.

[0016] Compared with the prior art, the present invention has the following beneficial effects: The present invention facilitates the arrangement of scattered ampoule bottles into a row through the cooperation between the first moving component, the vibration component and the ball bearing structures, thereby facilitating clamping and improving work efficiency. The first tooth plate and the second tooth plate move toward each other in cooperation with the rotating component, thereby driving the first moving component to move, and the first moving component moves to drive the ball bearings to contact the scattered ampoule bottles. Subsequently, through the cooperation between the first inclined block and a plurality of second inclined blocks, the support plate drives the ball bearings to vibrate under the action of an external force, thereby causing the ball bearings to roll on the body of the ampoule bottle and push the ampoule bottle to move in a predetermined direction, and finally pushing the scattered ampoule bottles to form a row, thereby facilitating subsequent clamping operations and improving work efficiency.

[0017] The present invention facilitates the fixing of the ampoule bottle by the cooperation between the rotating component, the second moving component and the vacuum adsorption component. The round block is squeezed downward by the moving rod, so that the round block drives the limit block and the vacuum suction cup at the bottom thereof to move downward. When the vacuum suction cup abuts against the bottle mouth of the ampoule bottle, the vacuum pump in the vacuum adsorption component sucks out the air in the vacuum suction cup through the vacuum pipe, so that several ampoules are adsorbed on the bottom of the vacuum suction cup, thereby achieving the effect of fixing the ampoule bottles.

[0018] The present invention improves the fixing effect of the ampoule bottle and prevents it from shaking or sliding when moving through the cooperation between the third moving component and the clamping component and other structures. The fourth inclined block moves downward under the action of external force and squeezes the two fifth inclined blocks to move toward each other, thereby driving the two clamping plates to move through the second round rod. By setting a gasket, the gasket abuts against the outer wall of the ampoule bottle and causes friction with the outer wall to generate resistance, thereby making the ampoule bottle better fixed during the clamping process, thereby reducing the occurrence of sliding or shaking of the ampoule bottle during the movement of the mechanical gripper. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a schematic diagram of the front cross-section structure of the present invention; Figure 3 It is a schematic diagram of the positional relationship among the rotating assembly, the first tooth plate, the second tooth plate and the first moving assembly of the present invention; Figure 4 for Figure 2 Enlarged view of point A in the middle; Figure 5 for Figure 2 Enlarged view of point B in the middle; Figure 6 It is a schematic diagram of a partial side section structure of the rotating assembly of the present invention; Figure 7 It is a schematic diagram of the side section structure of the present invention; Figure 8 for Figure 7 Enlarged view of point C in the middle; Fig. 9 It is a schematic diagram of the top cross-sectional structure of the present invention; Fig.10 for Fig. 9 Enlarged view of point D in the middle; Fig.11 This is an exploded view of the first moving component of the present invention.

[0020] In the figure: 1, housing; 2, cylinder; 3, rotating assembly; 301, cylindrical cam; 302, inclined groove; 303, vertical groove; 304, gear; 305, moving rod; 306, first protrusion; 4, first tooth plate; 5, second tooth plate; 6, first moving assembly; 601, outer box; 602, first round rod; 603, straight notch; 7, vibration assembly; 701, limit plate; 702, first inclined block; 703, spring; 8, limit rod; 9, support plate; 10, ball; 11 , second inclined block; 12, second moving assembly; 1201, limit block; 1202, round block; 1203, second protrusion; 1204, first spring; 13, vacuum adsorption assembly; 14, third moving assembly; 1401, third inclined block; 1402, first connecting rod; 1403, second connecting rod; 1404, fourth inclined block; 15, clamping assembly; 1501, fifth inclined block; 1502, second round rod; 1503, clamping plate; 1504, gasket; 1505, second spring. DETAILED DESCRIPTION

[0021] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0022] like Figures 1 to 11 As shown, the present invention provides an ampoule bottle processing robot, comprising a shell 1, a cylinder 2 is fixedly connected inside the shell 1, a rotating assembly 3 is arranged inside the shell 1, a first tooth plate 4 and a second tooth plate 5 are movably connected inside the shell 1, the first tooth plate 4 and the second tooth plate 5 are fixedly connected at opposite ends thereof to a first moving assembly 6, and a vibration assembly 7, a third moving assembly 14 and a clamping assembly 15 are movably connected inside the first moving assembly 6; The vibration assembly 7 includes a limit plate 701, and a first inclined block 702 is fixedly connected to the top of the limit plate 701; The two limiting plates 701 are fixedly connected to the limiting rod 8 on one side opposite to the limiting plate 701, and the end of the limiting rod 8 away from the limiting plate 701 is fixedly connected to the support plate 9, and a plurality of balls 10 are movably connected inside the support plate 9. A group of second inclined blocks 11 are arranged in a mirror image inside the housing 1, and a second moving component 12 and a vacuum adsorption component 13 are arranged inside the housing 1; The rotating assembly 3 comprises a cylindrical cam 301, wherein an inner ring of the cylindrical cam 301 is provided with an inclined groove 302 and a vertical groove 303 at an angle of 180 degrees, and a gear 304 is fixedly connected to the outer surface of the cylindrical cam 301; The second moving assembly 12 comprises a limit block 1201 , the top of which is movably connected with a round block 1202 , and the outer wall of the round block 1202 is provided with a second protrusion 1203 in a 180-degree circular shape.

[0023] The above scheme is adopted: the first tooth plate 4 and the second tooth plate 5 move toward each other in cooperation with the rotating component 3, thereby driving the first moving component 6 to move, and the first moving component 6 moves to drive the ball 10 to contact the scattered ampoule bottles, and then through the cooperation between the first inclined block 702 and a plurality of second inclined blocks 11, the support plate 9 drives the ball 10 to vibrate under the action of external force, thereby causing the ball 10 to roll on the bottle body of the ampoule bottle and push the ampoule bottle to move in a predetermined direction, and finally push the scattered ampoule bottles to form a row, thereby facilitating subsequent clamping operations and improving work efficiency.

[0024] like Figures 1 to 3 , Figures 6 to 8 As shown, the arc of the inclined groove 302 is one hundred and eighty degrees, and the bottom of the inclined groove 302 is connected to the top of the vertical groove 303. The bottom of the cylinder 2 is fixedly connected to a moving rod 305 located inside the cylindrical cam 301, and the outer wall of the moving rod 305 is annularly provided with a first protrusion 306 at an angle of one hundred and eighty degrees. The first protrusion 306 is movably engaged in the interior of the inclined groove 302 in the initial state, and the two sides of the gear 304 are respectively engaged with the first tooth plate 4 and the second tooth plate 5. The first moving component 6 includes an outer box 601, and the top of the outer box 601 is fixedly connected to two first round rods 602. When the first tooth plate 4 and the second tooth plate 5 move, the two outer boxes 601 are driven to move toward each other through the first round rods 602, and the outer wall of the outer box 601 is provided with a straight slot 603 that cooperates with the limit rod 8.

[0025] The above scheme is adopted: through the design of the straight slot 603, its function is that when the limit rod 8 drives the support plate 9 to move toward the spring piece 703, the design of the straight slot 603 can limit the moving distance of the limit rod 8, thereby controlling the vibration amplitude of the support plate 9 and the ball 10, preventing the support plate 9 from vibrating excessively and causing unnecessary damage to the ampoule bottle.

[0026] like Figures 6 to 8 As shown, the bottom end of the limit block 1201 passes through the outer wall of the shell 1, and the outer surface of the limit block 1201 is movably sleeved with a first spring 1204, and the two ends of the first spring 1204 are respectively fixedly connected to the limit block 1201 and the shell 1, and the second protrusion 1203 is movably engaged with the inside of the vertical groove 303. The vacuum adsorption assembly 13 includes a vacuum suction cup, a vacuum pump and a vacuum tube, and the bottom end of the limit block 1201 is movably engaged with the vacuum suction cup.

[0027] The above scheme is adopted: through the design of the vacuum adsorption component 13, its function is that when the vacuum pump is started, the air inside the vacuum suction cup will be continuously extracted through the vacuum tube, causing the air pressure inside the vacuum suction cup to drop rapidly, thereby forming a low-pressure environment close to vacuum. At the same time, the atmospheric pressure outside the ampoule bottle remains unchanged. Since the air pressure inside the vacuum suction cup is much lower than the external atmospheric pressure, a significant pressure difference will be generated. Subsequently, under the action of this pressure difference, the external atmospheric pressure will press the ampoule bottle tightly against the surface of the vacuum suction cup, thereby forming a firm adsorption. When the ampoule bottle is transported to the predetermined location, at this time, the vacuum pump will send air into the vacuum suction cup, thereby increasing the air pressure inside the suction cup, eliminating the pressure difference, and then releasing the bottle mouth of the ampoule bottle from the adsorption of the bottom of the vacuum suction cup. The above all belong to the prior art.

[0028] like Figure 3 to Figure 4 , Figures 9 to 11 As shown, a square groove is provided on the surface of the limiting plate 701, the first inclined block 702 is located inside the shell 1, and one end of the first inclined block 702 close to the second inclined block 11 is in the shape of an inclined surface. A spring piece 703 is fixedly connected to one side of the limiting plate 701, and the limiting plate 701 is elastically connected to the first movable component 6 through the spring piece 703. The limiting rod 8 passes through the outer wall of the first movable component 6 and extends to the outside of the first movable component 6. The number of a group of second inclined blocks 11 is five, and both ends of the second inclined blocks 11 are in the shape of an inclined surface. After the two first movable components 6 move toward each other, the inclined surface of the first inclined block 702 is driven to abut against the inclined surface of one end of the second inclined block 11.

[0029] The above scheme is adopted: both ends of the second inclined block 11 are inclined, and its function is that when the first inclined block 702 completes the operation and needs to be reset, the first inclined block 702 moves in the opposite direction, and then the plane of the first inclined block 702 abuts against the inclined surface on the other side of the second inclined block 11, so that the first inclined block 702 is squeezed and moves toward the spring piece 703, thereby preventing the first inclined block 702 from getting stuck when resetting, thereby ensuring the normal operation of the device.

[0030] like Figures 2 to 4 , Fig.11 As shown, the third movable component 14 includes a third inclined block 1401, and the opposite ends of the two third inclined blocks 1401 are both inclined. The third inclined blocks 1401 pass through the outer wall of the first movable component 6 and extend to the outside of the first movable component 6. The third inclined blocks 1401 are located inside the square groove of the limiting plate 701. The opposite ends of the two third inclined blocks 1401 are hinged with the first connecting rod 1402, and the bottom end of the first connecting rod 1402 is hinged with the second connecting rod 1403. The bottom end of the second connecting rod 1403 is fixedly connected to the fourth inclined block 1404, and the bottom of the fourth inclined block 1404 is inclined.

[0031] The above scheme is adopted: the fourth inclined block 1404 moves downward under the action of external force, and squeezes the two fifth inclined blocks 1501 to move toward each other, thereby driving the two clamping plates 1503 to move through the second round rod 1502, and by setting the gasket 1504, the gasket 1504 is abutted against the outer wall of the ampoule bottle, causing friction against the outer wall, thereby generating resistance, thereby making the ampoule bottle better fixed during the clamping process, thereby reducing the occurrence of sliding or shaking of the ampoule bottle during the movement of the mechanical gripper.

[0032] like Figures 2 to 4 , Fig.11 As shown, the clamping assembly 15 includes a fifth inclined block 1501, and the side of the fifth inclined block 1501 close to the fourth inclined block 1404 is in the shape of an inclined surface, and the inclined surface of the fifth inclined block 1501 abuts against the inclined surface of the fourth inclined block 1404, and both ends of the fifth inclined block 1501 away from the fourth inclined block 1404 are fixedly connected with the second round rod 1502, the second round rod 1502 penetrates the outer wall of the first movable assembly 6 and extends to the outside of the first movable assembly 6, and the outer surface of the second round rod 1502 is sleeved with a second spring 1505, and the two ends of the second spring 1505 are respectively fixedly connected to the fifth inclined block 1501 and the first movable assembly 6; the end of the second round rod 1502 away from the fifth inclined block 1501 is fixedly connected with a clamping plate 1503, and the opposite sides of the two clamping plates 1503 are fixedly connected with gaskets 1504, and the gasket 1504 is made of rubber material.

[0033] The above scheme is adopted: through the design of the second spring 1505, when it is in operation, after the clamping operation is completed, the vacuum adsorption component 13 releases the abutment against the third bevel 1401, and the fifth bevel 1501 is reset under the action of the elastic force of the second spring 1505, thereby driving the fourth bevel 1404 to move up, and then driving the third bevel 1401 to reset through the second connecting rod 1403 and the first connecting rod 1402, so as to facilitate the operator to use it next time. The gasket 1504 is made of rubber material, and its function is that since rubber has good elasticity and friction coefficient, the rubber material can provide sufficient friction, thereby ensuring that the ampoule bottle is not easy to slip during the process of being clamped by the gasket 1504, thereby enhancing the stability of clamping.

[0034] The working principle and use process of the present invention are as follows: by starting the cylinder 2, the moving rod 305 is driven downward, and the first protrusion 306 on its outside slides along the track of the inclined groove 302, and then the cylindrical cam 301 and the gear 304 on its outside are rotated through the cooperation of the first protrusion 306 and the inclined groove 302. When the gear 304 rotates, the first tooth plate 4 and the second tooth plate 5 are driven to move toward each other, thereby driving the two first moving components 6 to move toward each other, and when the first moving component 6 moves, the vibration component 7 inside it is driven to move in the same direction, so that the first inclined block 702 abuts against the inclined surface of the second inclined block 11, and the first inclined block 702 is squeezed by the second inclined block 11 to move in the direction of the spring piece 703; When the first inclined block 702 moves, it drives the limiting plate 701 to move in the same direction, and then the limiting plate 701 drives the support plate 9 and the balls 10 therein to move through the limiting rod 8. When the support plate 9 moves, it drives the balls 10 to contact the scattered ampoules. When the first inclined block 702 is released from the contact with the second inclined block 11, the limiting plate 701 drives the first inclined block 702 to reset under the action of the elastic force of the spring piece 703. When the first inclined block 702 is reset, it drives the balls 10 to roll on the body of the ampoule and push the ampoule to move in a predetermined direction. Then the first inclined block 702 abuts against another second inclined block 11, and this operation is repeated until the scattered ampoules are arranged in a row under the thrust of the two support plates 9 and the friction of several balls 10. When several ampoules are arranged in a row, the first protrusion 306 slides into the interior of the vertical groove 303. At the same time, the bottom end of the moving rod 305 abuts against the round block 1202 and squeezes the round block 1202 and the limit block 1201 to move downward. When the limit block 1201 moves downward, the vacuum suction cup in the vacuum adsorption assembly 13 moves downward, thereby abutting against the inclined surfaces of the two third inclined blocks 1401 and squeezing the two third inclined blocks 1401 to move in the opposite direction. When the third inclined block 1401 moves, the second connecting rod 1403 and the other connecting rods are driven by the first connecting rod 1402. The fourth inclined block 1404 at the bottom moves downward, so that the fourth inclined block 1404 abuts against the fifth inclined block 1501, and squeezes the fifth inclined block 1501 to move toward the clamping plate 1503, and then drives the two clamping plates 1503 to move toward each other through the second round rod 1502. When the vacuum adsorption component 13 abuts against the bottle mouth at the top of the ampoule bottle, the vacuum pump sucks out the air in the vacuum suction cup through the vacuum tube. When the negative pressure inside the vacuum suction cup reaches a predetermined level, the bottle mouth of the ampoule bottle is adsorbed on the bottom of the suction cup, thereby fixing the bottle mouths of several ampoules. When the mouth of the ampoule bottle is adsorbed on the bottom of the vacuum suction cup, the clamping plate 1503 drives the two gaskets 1504 to abut against the bottom of the outer wall of the ampoule bottle, and causes friction to the body of the ampoule bottle, thereby generating resistance, and further fixing the position of the ampoule bottle, so that the ampoule bottle is better fixed during the clamping process, preventing the ampoule bottle from shaking or slipping when moving.

[0035] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0036] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An ampoule handling robot, comprising a housing (1), characterized in that: The interior of the housing (1) is fixedly connected to a cylinder (2), the interior of the housing (1) is provided with a rotating assembly (3), the interior of the housing (1) is movably connected to a first tooth plate (4) and a second tooth plate (5), the first tooth plate (4) and the second tooth plate (5) are fixedly connected to opposite ends of each of the first tooth plate (4) and the second tooth plate (5), and the interior of the first movable assembly (6) is movably connected to a vibration assembly (7), a third movable assembly (14) and a clamping assembly (15); Wherein, the vibration component (7) comprises a limit plate (701), and a first inclined block (702) is fixedly connected to the top end of the limit plate (701); The two limiting plates (701) are fixedly connected to a limiting rod (8) on one side opposite to the limiting plate (701); one end of the limiting rod (8) away from the limiting plate (701) is fixedly connected to a support plate (9); a plurality of balls (10) are movably connected inside the support plate (9); a group of second inclined blocks (11) are arranged in a mirror-like manner inside the housing (1); and a second moving component (12) and a vacuum adsorption component (13) are arranged inside the housing (1); The rotating assembly (3) comprises a cylindrical cam (301), the inner ring of the cylindrical cam (301) is provided with an inclined groove (302) and a vertical groove (303) at an angle of 180 degrees, and the outer surface of the cylindrical cam (301) is fixedly connected to a gear (304); The second moving assembly (12) comprises a limit block (1201), the top of the limit block (1201) is movably connected to a round block (1202), and the outer wall of the round block (1202) is provided with a second protrusion (1203) in an annular shape at 180 degrees; The third moving assembly (14) comprises a third inclined block (1401), and opposite ends of the two third inclined blocks (1401) are both inclined, and the third inclined blocks (1401) penetrate the outer wall of the first moving assembly (6) and extend to the outside of the first moving assembly (6), and the third inclined blocks (1401) are located inside the square groove of the limiting plate (701); The two third inclined blocks (1401) are hinged at opposite ends with a first connecting rod (1402), the bottom end of the first connecting rod (1402) is hinged with a second connecting rod (1403), the bottom end of the second connecting rod (1403) is fixedly connected with a fourth inclined block (1404), and the bottom of the fourth inclined block (1404) is in the shape of an inclined surface.

2. The ampoule handling robot according to claim 1, characterized in that: The arc of the inclined groove (302) is 180 degrees. The bottom of the inclined groove (302) is connected to the top of the vertical groove (303). The bottom of the cylinder (2) is fixedly connected to a moving rod (305) located inside the cylindrical cam (301). The outer wall of the moving rod (305) is provided with a first protrusion (306) in an annular shape of 180 degrees. The first protrusion (306) is movably engaged with the inside of the inclined groove (302) in an initial state.

3. The ampoule handling robot according to claim 1, characterized in that: The two sides of the gear (304) are respectively meshed with the first tooth plate (4) and the second tooth plate (5); the first moving assembly (6) comprises an outer box (601); the top of the outer box (601) is fixedly connected to two first round rods (602); when the first tooth plate (4) and the second tooth plate (5) move, the two outer boxes (601) are driven to move towards each other through the first round rods (602); and the outer wall of the outer box (601) is provided with a straight notch (603) that matches the limit rod (8).

4. The ampoule handling robot according to claim 1, characterized in that: The bottom end of the limit block (1201) passes through the outer wall of the housing (1); the outer surface of the limit block (1201) is movably sleeved with a first spring (1204); the two ends of the first spring (1204) are respectively fixedly connected to the limit block (1201) and the housing (1); the second protrusion (1203) is movably engaged with the inside of the vertical groove (303); the vacuum adsorption assembly (13) comprises a vacuum suction cup, a vacuum pump and a vacuum tube; the bottom end of the limit block (1201) is movably engaged with the vacuum suction cup.

5. The ampoule handling robot according to claim 1, characterized in that: A square groove is provided on the surface of the limiting plate (701); the first inclined block (702) is located inside the housing (1); one end of the first inclined block (702) close to the second inclined block (11) is in the shape of an inclined surface; a spring sheet (703) is fixedly connected to one side of the limiting plate (701); and the limiting plate (701) is elastically connected to the first moving component (6) via the spring sheet (703).

6. The ampoule handling robot according to claim 1, characterized in that: The limiting rod (8) passes through the outer wall of the first movable assembly (6) and extends to the outside of the first movable assembly (6). The number of the second inclined blocks (11) in a group is five. Both ends of the second inclined blocks (11) are inclined. After the two first movable assemblies (6) move toward each other, the inclined surface of the first inclined block (702) is driven to abut against the inclined surface of one end of the second inclined block (11).

7. The ampoule handling robot according to claim 1, characterized in that: The clamping assembly (15) comprises a fifth inclined block (1501), wherein a side of the fifth inclined block (1501) close to the fourth inclined block (1404) is in the shape of an inclined surface, the inclined surface of the fifth inclined block (1501) abuts against the inclined surface of the fourth inclined block (1404), and both ends of the fifth inclined block (1501) away from the fourth inclined block (1404) are fixedly connected to a second round rod (1502), and the second round rod (1502) passes through the outer wall of the first movable assembly (6) and extends to the outside of the first movable assembly (6).

8. The ampoule handling robot according to claim 7, characterized in that: A second spring (1505) is sleeved on the outer surface of the second round rod (1502), and two ends of the second spring (1505) are respectively fixedly connected to the fifth inclined block (1501) and the first moving component (6), and one end of the second round rod (1502) away from the fifth inclined block (1501) is fixedly connected to a clamping plate (1503), and opposite sides of the two clamping plates (1503) are fixedly connected to gaskets (1504), and the gaskets (1504) are made of rubber material.

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