Driving mechanism for shaking medicine bottle

Abstract

The invention relates to a driving mechanism for shaking a medicine bottle, and relates to the technical field of pharmaceutical equipment, the driving mechanism comprises a protective cover and further comprises a rotating disc, the rotating disc is arranged on the outer wall of the top end of the protective cover, the outer wall of the top end of the rotating disc is fixedly connected with a clamping jaw shell, and the outer wall of the clamping jaw shell is provided with a clamping jaw body; a medicine bottle seat is fixedly connected to the outer wall of the clamping jaw shell, and a penicillin bottle is arranged on the outer wall of the medicine bottle seat; the harmonic reducer is arranged on the outer wall of the bottom end of the protective cover; the magnetorheological damper is arranged at the bottom of the harmonic reducer through a locking mechanism; the double-rotor axial magnetic flux motor is arranged at the bottom of the harmonic reducer through a buffer mechanism; wherein the buffer mechanism comprises a connecting block; the device has the effects of ensuring the stability and the position precision during high-speed rotation of equipment and ensuring the reliability and the consistency of mixing of medicines in medicine bottles.

Description

Technical Field

[0001] The present application relates to the technical field of pharmaceutical equipment, and in particular to a driving mechanism for shaking medicine bottles. Background Art

[0002] At present, on the pharmaceutical production line, the mixing of drugs in syringe bottles and the extraction of drug liquid are important processes. During the drug liquid mixing stage, some existing technologies use a servo motor with a vacuum reducer to drive the turntable, and cooperate with a voice coil motor to drive the bottle tray to vibrate up and down, so as to achieve longitudinal shaking of the drug and ensure uniform mixing; after the shaking is completed, a robot is required to grab the syringe to extract the drug liquid. The precise positioning of the robot directly affects the extraction efficiency and drug quality.

[0003] The servo motor and hollow reducer drive the flange to drive the turntable. In actual operation, there is a certain gap in the gear transmission inside the reducer, which will cause power transmission delay and lead to untimely system response. During operation, the mechanical wear of the reducer and the inertia of the turntable during rotation can easily cause vibration and jitter, making it difficult to ensure long-term stable rotation. In addition, when the robot is required to accurately locate and extract the liquid medicine, due to the inertia of the mechanical structure and transmission delay, it is difficult to achieve fast and accurate instant stopping, which cannot meet the high-precision positioning requirements.

[0004] In view of the above-mentioned related technologies, a driving mechanism for shaking medicine bottles is proposed. Summary of the Invention

[0005] The purpose of this application is to provide a driving mechanism for shaking medicine bottles.

[0006] In a first aspect, the present application provides a driving mechanism for shaking a medicine bottle, which adopts the following technical solution: a driving mechanism for shaking a medicine bottle, comprising a protective cover, and further comprising: A turntable, the turntable being arranged on the top outer wall of the protective cover, the top outer wall of the turntable being fixedly connected to a clamping jaw housing, the outer wall of the clamping jaw housing being provided with a clamping jaw body, the outer wall of the clamping jaw housing being fixedly connected to a medicine bottle holder, and the outer wall of the medicine bottle holder being provided with a cillin bottle; A harmonic reducer, the harmonic reducer being arranged on the outer wall of the bottom end of the protective cover; A magnetorheological damper, which is arranged at the bottom of the harmonic reducer through a locking mechanism; A dual-rotor axial flux motor, which is arranged at the bottom of the harmonic reducer through a buffer mechanism; Wherein, the buffer mechanism comprises a connecting block, and the outer wall of the connecting block is slidably connected with a ring; The locking mechanism comprises a fixing block, and an inner wall of the fixing block is slidably connected to a sliding rod.

[0007] Preferably, the output shaft of the dual-rotor axial flux motor is fixedly connected with a protrusion, the inner wall of the connecting block is elastically connected with a moving block through a reset spring, the outer wall of the moving block is hinged with a splint through a hinge rod, the outer wall of the splint is fixedly connected with an elastic part A, the outer wall of the moving block is fixedly connected with a rubber pad, and the inner wall of the connecting block is provided with a groove.

[0008] Preferably, the protrusion contacts the outer wall of the splint, and the elastic member A is fixedly connected to the inner wall of the connecting block.

[0009] Preferably, the splint is slidably connected to the inner wall of the connecting block, the moving block is slidably connected to the inner wall of the connecting block, and the moving block is fixedly connected to the outer wall of the bottom end of the ring.

[0010] Preferably, one end of the return spring is fixedly connected to the outer wall of the moving block, the other end of the return spring is fixedly connected to the inner wall of the connecting block, the rubber pad contacts the inner wall of the groove, and the connecting block is fixedly connected to the input shaft of the magnetorheological damper.

[0011] Preferably, the inner wall of the fixed block is elastically connected to a trapezoidal block through an elastic member B, the outer wall of the bottom end of the trapezoidal block is fixedly connected to a partition, the outer wall of the bottom end of the partition is fixedly connected to a square block, the outer wall of the sliding rod is fixedly connected to an abutment block, the output shaft of the magnetorheological damper is fixedly connected to the rotating shaft A, the input shaft of the harmonic reducer is fixedly connected to the rotating shaft B, the outer walls of the rotating shaft A and the rotating shaft B are both provided with square grooves, the outer walls of the rotating shaft A and the rotating shaft B are both fixedly connected to a fixing plate, and the outer walls of the fixing plate are provided with an inclined groove.

[0012] Preferably, the fixed block contacts the outer walls of the rotating shaft A and the rotating shaft B, and the square block contacts the inner wall of the square groove.

[0013] Preferably, the partition is slidably connected to the inner wall of the fixed block, one end of the elastic member B is fixedly connected to the outer wall of the trapezoidal block, and the other end of the elastic member B is fixedly connected to the inner wall of the fixed block.

[0014] Preferably, one end of the sliding rod is fixedly connected to the outer wall of the abutment block, and the other end of the sliding rod is slidably connected to the outer wall of the trapezoidal block.

[0015] Preferably, the abutment block is engaged with the inclined groove, and the trapezoidal block is slidably connected to the inner wall of the fixed block.

[0016] In summary, this application includes at least one of the following beneficial technical effects: 1. This invention utilizes a dual-rotor axial flux motor and a magnetorheological damper. The dual-rotor axial flux motor utilizes the superposition effect of orthogonal magnetic fields to provide strong and stable power, reducing rotor inertia and achieving rapid response. The magnetorheological damper actively adjusts magnetic field strength based on backlash vibration, suppressing vibration and noise, improving equipment stability and extending service life. The harmonic reducer converts high-speed, low-torque into low-speed, high-torque, meeting the low-speed, heavy-load requirements of the turntable. These three components work together, along with an adaptive preloaded bearing system and an online dynamic balancing compensation algorithm, to ensure stability and positional accuracy during high-speed rotation, guaranteeing reliable and consistent drug mixing in vials. 2. The present invention provides a buffer mechanism. When the output shaft of the dual-rotor axial flux motor is connected to the input shaft of the magnetorheological damper, the bump contacts the clamping plate. When the output shaft rotates, the bump squeezes the clamping plate, which triggers the hinged rod to flip, causing the movable block to move. The elastic member A and the return spring provide a buffering effect, while the rubber pad and the groove provide a damping effect. This reduces the impact force of the bump on the clamping plate, reduces wear and noise during output shaft rotation, and improves service life. 3. The present invention provides a locking mechanism. When the output shaft of the magnetorheological damper is connected to the input shaft of the harmonic reducer, the locking mechanism can fix the two on the same axis. In addition, during the installation of the locking mechanism, the abutment block contacts the inner wall of the bevel groove, so that the rotating shaft A and the rotating shaft B can be better maintained on the same axis, avoiding the problem of axial deviation between the output shaft and the input shaft after long-term operation, which may affect the transmission accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of the overall structure of Example 1 of the present application; Figure 2 This is a schematic diagram of the exploded structure of the dual-rotor axial flux motor, magnetorheological damper, and harmonic reducer in Example 1 of the present application; Figure 3 This is a schematic diagram of the explosion structure of the dual-rotor axial flux motor and magnetorheological damper of Example 1 of the present application; Figure 4 This is a schematic cross-sectional structural diagram of the connection block of Example 1 of the present application; Figure 5 This is a schematic diagram of the cross-section of the connecting block, the moving block, and the groove structure of Example 1 of the present application; Figure 6 This is a schematic diagram of the exploded structure of the rotating shaft A, rotating shaft B, and fixed block in Example 2 of the present application; Figure 7 This is a schematic diagram of the exploded cross-sectional structure of the rotating shaft A, rotating shaft B, and fixed block of Example 2 of the present application; Figure 8This is a schematic cross-sectional view of the rotating shaft A, rotating shaft B, and fixed block of Example 2 of the present application; Explanation of the accompanying drawings: 1. Protective cover; 2. Buffer mechanism; 21. Protrusion; 22. Ring; 23. Connecting block; 24. Moving block; 25. Articulated rod; 26. Clamp; 27. Elastic part A; 28. Return spring; 29. ​​Rubber pad; 20. Groove; 3. Locking mechanism; 31. Fixed block; 32. Square block; 33. Partition; 34. Trapezoidal block; 35. Elastic part B; 36. Abutment block; 37. Slide rod; 38. Fixed plate; 39. Bevel groove; 4. Dual-rotor axial flux motor; 5. Magnetorheological damper; 51. Rotating shaft A; 6. Harmonic reducer; 61. Rotating shaft B; 7. Turntable; 8. Clamp housing; 9. Medicine bottle holder; 10. Clamp body; 11. Syringe bottle; 12. Square groove. DETAILED DESCRIPTION

[0018] The following is combined with Figure 1 -Attached Figure 8 , further details of this application are given.

[0019] Example 1: A driving mechanism for shaking a medicine bottle, referring to Figure 1-Figure 2 , including the protective cover 1, and further comprising: The turntable 7 is arranged on the top outer wall of the protective cover 1. The top outer wall of the turntable 7 is fixedly connected to the clamping jaw housing 8. The outer wall of the clamping jaw housing 8 is provided with a clamping jaw body 10. The outer wall of the clamping jaw housing 8 is fixedly connected to the medicine bottle seat 9. The outer wall of the medicine bottle seat 9 is provided with a cillin bottle 11; The harmonic reducer 6 is arranged on the outer wall of the bottom end of the protective cover 1; A magnetorheological damper 5 is provided at the bottom of the harmonic reducer 6 through a locking mechanism 3; A dual-rotor axial flux motor 4 is provided at the bottom of the harmonic reducer 6 via a buffer mechanism 2; The buffer mechanism 2 includes a connecting block 23, and a ring 22 is slidably connected to the outer wall of the connecting block 23; The locking mechanism 3 includes a fixed block 31 , and a sliding rod 37 is slidably connected to the inner wall of the fixed block 31 .

[0020] The above scheme is adopted: the dual-rotor axial flux motor 4, the magnetorheological damper 5, and the harmonic reducer 6 are all existing technologies. The dual-rotor axial flux motor 4 uses the superposition effect of orthogonal magnetic fields to greatly improve the torque output density and provide the turntable 7 with stronger and more stable power. The motor structure design can reduce the rotor inertia, making the motor respond faster and more flexible and accurate when frequently starting and stopping and adjusting the vibration frequency, meeting the strict requirements of different drug mixing processes on vibration parameters; the magnetorheological damper 5 can accurately control the tooth gap vibration energy conversion by quickly adjusting the magnetic field strength according to the real-time monitoring of the tooth gap vibration, thereby effectively realizing the active suppression of vibration and noise caused by the tooth gap problem, which not only improves the stability of the equipment operation, but also significantly extends the service life of the equipment and reduces maintenance costs; the harmonic reducer The speed reducer 6 can convert the high speed and low torque of the motor into low speed and high torque to meet the low speed and heavy load requirements of the turntable 7; in terms of maintaining the stability and position accuracy of the equipment during high-speed rotation, the adaptive preload bearing system and the online dynamic balancing compensation algorithm are combined. The adaptive preload bearing system can automatically adjust the preload force of the bearing according to the real-time load and speed changes during the operation of the equipment, ensuring that the bearing is always in the best working condition and effectively reducing the deflection caused by improper bearing preload; and the online dynamic balancing compensation algorithm monitors the operating status of the rotating shaft in real time, dynamically calculates and corrects the deflection of the rotating shaft, and can maintain extremely high position accuracy when the equipment rotates at high speed, ensuring the stable position of the syringe bottle 11 on the turntable 7, avoiding problems such as drug spillage or uneven mixing due to excessive shaking, and greatly improving the reliability and consistency of the drug mixing process.

[0021] Furthermore, the output shaft of the harmonic reducer 6 cooperates with the bottom of the turntable 7, which can drive the turntable 7 to rotate, and the syringe bottle 11 is clamped by the clamping claw body 10, so that it can be rotated; while the turntable 7 rotates, the voice coil motor inside the protective cover 1 drives the turntable 7 to vibrate up and down, thereby causing the medicine in the syringe bottle 11 to shake longitudinally, which is the existing technology.

[0022] Reference Figure 3-Figure 5 The output shaft of the dual-rotor axial flux motor 4 is fixedly connected with a protrusion 21, the inner wall of the connecting block 23 is elastically connected with the moving block 24 through a reset spring 28, the outer wall of the moving block 24 is hinged with a splint 26 through a hinge rod 25, the outer wall of the splint 26 is fixedly connected with an elastic part A27, the outer wall of the moving block 24 is fixedly connected with a rubber pad 29, and the inner wall of the connecting block 23 is provided with a groove 20.

[0023] The above scheme is adopted: the protrusions 21 are distributed at equal angles on the output shaft of the dual-rotor axial flux motor 4, and the inner wall of the connecting block 23 is provided with a keyway, the width of which is slightly larger than the width of the protrusion 21; the number of keyways is the same as that of protrusions 21, and a clamping plate 26 is provided on the inner wall of each group of keyways. Under the elastic force of the elastic member A27, the clamping plate 26 can move laterally in the inner wall of the connecting block 23 and can always contact the outer walls of both sides of the protrusion 21; the ring 22 can move laterally on the outer wall of the connecting block 23 and drive the movable block 24 fixed thereto to move synchronously; there are multiple groups of grooves 20, which are connected with the rubber The rubber pad 29 is adapted. When the output shaft of the dual-rotor axial flux motor 4 is connected to the input shaft of the magnetorheological damper 5, the output shaft of the dual-rotor axial flux motor 4 drives the input shaft of the magnetorheological damper 5 to rotate. The protrusion 21 will continuously contact the inner wall of the keyway of the connecting block 23, which will generate a certain rigid impact force. Through the setting of the buffer mechanism 2, the impact force of the protrusion 21 can be applied to the splint 26, and the splint 26 has a better buffering effect, thereby reducing the impact and wear of the protrusion 21 on the inner wall of the keyway, and also reducing the noise generated by collision during operation.

[0024] Reference Figure 3-Figure 5 The protrusion 21 contacts the outer wall of the splint 26, and the elastic part A27 is fixedly connected to the inner wall of the connecting block 23; the splint 26 is slidably connected to the inner wall of the connecting block 23, the moving block 24 is slidably connected to the inner wall of the connecting block 23, and the moving block 24 is fixedly connected to the outer wall of the bottom end of the ring 22; one end of the return spring 28 is fixedly connected to the outer wall of the moving block 24, and the other end of the return spring 28 is fixedly connected to the inner wall of the connecting block 23, the rubber pad 29 contacts the inner wall of the groove 20, and the connecting block 23 is fixedly connected to the input shaft of the magnetorheological damper 5.

[0025] The above scheme is adopted: under normal conditions, the return spring 28 keeps the moving block 24 in a certain position due to its own elastic force. At this time, the rubber pad 29 contacts the inner wall of a group of grooves 20, the ring 22 is in a fixed state, the hinged rod 25 and the corresponding splint 26 are also fixed, and the distance between the two groups of splints 26 in a group of keyways is smaller than the width of the protrusion 21; when it is necessary to connect the output shaft of the dual-rotor axial flux motor 4 with the input shaft of the magnetorheological damper 5, the ring 22 can be moved laterally to drive the moving block 24 to move synchronously, squeeze the return spring 28, and drive the hinged rod 25 to move. The hinged rod 25 will generate a thrust on the splint 26, so that the splint 26 moves to both sides at the same time into the inner wall of the connecting block 23. At this time, the output shaft of the dual-rotor axial flux motor 4 can be inserted into the connecting block 23 so that the protrusion 21 corresponds to the keyway , then release the ring 22, and the moving block 24 is reset under the elastic force of the reset spring 28, so that the hinge rod 25 and the splint 26 are reset, and the splint 26 is blocked by the protrusion 21 and is in a certain position. In this state, when the output shaft of the dual-rotor axial flux motor 4 rotates, the protrusion 21 will generate an impact force on the splint 26, and the splint 26 compresses the elastic part B35, and drives the hinge rod 25 to flip, drives the moving block 24 to move, and squeezes the reset spring 28. During this process, the rubber pad 29 continuously contacts the inner walls of multiple groups of grooves 20 one by one, and is squeezed by the grooves 20 and the inner walls of the connecting block 23, resulting in a certain deformation, thereby increasing the friction force of the moving block 24 when it moves, thereby playing a damping effect, and then having a better buffering effect on the protrusion 21, so as to avoid excessive impact force during operation causing wear and loud noise.

[0026] Example 2: Reference Figure 6-Figure 8 The inner wall of the fixed block 31 is elastically connected to the trapezoidal block 34 through the elastic member B35, the outer wall of the bottom end of the trapezoidal block 34 is fixedly connected to the partition 33, the outer wall of the bottom end of the partition 33 is fixedly connected to the square block 32, the outer wall of the slide rod 37 is fixedly connected to the abutment block 36, the output shaft of the magnetorheological damper 5 is fixedly connected to the rotating shaft A51, and the input shaft of the harmonic reducer 6 is fixedly connected to the rotating shaft B61. The outer walls of the rotating shaft A51 and the rotating shaft B61 are both provided with square grooves 12, and the outer walls of the rotating shaft A51 and the rotating shaft B61 are both fixedly connected to the fixed plate 38, and the outer wall of the fixed plate 38 is provided with a bevel groove 39.

[0027] The above solution is adopted: the rotating shaft A51 and the rotating shaft B61 can be connected by a locking mechanism 3. The locking mechanism 3 is equivalent to the role of a coupling, and the locking effect is better during installation, and the position offset between the rotating shaft A51 and the rotating shaft B61 will not occur due to long-term operation; the locking mechanism 3 includes two sets of upper and lower fixing blocks 31. The two sets of fixing blocks 31 and the internal structure are exactly the same. The two sets of fixing blocks 31 can be connected by positioning bolts and nuts. Each set of fixing blocks 31 is provided with two sets of square blocks 32. One set of square blocks 32 can be engaged with the square groove 12 of the rotating shaft A51. , the other group of square blocks 32 can be engaged with the square groove 12 of the rotating shaft B61, so that the output shaft of the magnetorheological damper 5 can drive the input shaft of the harmonic reducer 6 to rotate synchronously; under normal conditions, the elastic member B35 keeps the trapezoidal block 34 in a certain position due to its own elastic force, and the trapezoidal block 34 drives the partition 33 and the two groups of square blocks 32 below it to maintain a fixed state, and in this state, the sliding rods 37 on both sides are always in contact with the short side inclined surface of the trapezoidal block 34; the inclined surface groove 39 is provided with two sections, the section close to the two sides of the fixed plate 38 is the inclined surface section, and the section close to the middle of the fixed plate 38 is the straight surface section.

[0028] Reference Figure 6-Figure 8 The fixed block 31 contacts the outer walls of the rotating shaft A51 and the rotating shaft B61, and the square block 32 contacts the inner wall of the square groove 12; the partition 33 is slidingly connected to the inner wall of the fixed block 31, one end of the elastic member B35 is fixedly connected to the outer wall of the trapezoidal block 34, and the other end of the elastic member B35 is fixedly connected to the inner wall of the fixed block 31; one end of the sliding rod 37 is fixedly connected to the outer wall of the abutment block 36, and the other end of the sliding rod 37 is slidingly connected to the outer wall of the trapezoidal block 34; the abutment block 36 is clamped with the inclined groove 39, and the trapezoidal block 34 is slidingly connected in the inner wall of the fixed block 31.

[0029] The above scheme is adopted: when it is necessary to connect the rotating shaft A51 and the rotating shaft B61, the two can be rotated first so that the two groups of square grooves 12 are on the same axis, and then the square blocks 32 in the upper and lower groups of fixed blocks 31 are aligned with the positions of the square grooves 12, and the two groups of fixed blocks 31 are moved relative to each other until they fit together, and then fixed with positioning bolts and nuts to complete the connection; in the process of relative movement of the two groups of fixed blocks 31, the square blocks 32 will first contact the inner wall of the square groove 12, and the square groove 12 squeezes the square blocks 32, so that it drives the partition 33 to move into the inner wall of the fixed block 31, and drives the trapezoidal block 34 to move synchronously, compressing the elastic part B35, and the inclined surface of the trapezoidal block 34 will squeeze the two groups of slide bars 37. Since the slide bars 37 can only move horizontally, they will drive the corresponding abutment blocks 36 to move to both sides.

[0030] When the square groove 12 just contacts the square block 32, the abutment block 36 contacts the inclined surface section of the inclined surface groove 39. As the fixed block 31 continues to move, the abutment block 36 will move to both sides, thereby moving along the inclined surface section of the inclined surface groove 39 to the straight surface section. When the two groups of fixed blocks 31 are fitted together, the abutment block 36 contacts the straight surface section of the inclined surface groove 39. At this time, the fixed plate 38 of the rotating shaft A51 and the rotating shaft B61 is connected through the abutment block 36, the slide rod 37 and the trapezoidal block 34. When the output shaft of the magnetorheological damper 5 and the rotating shaft A51 drive the input shaft and the rotating shaft B61 of the harmonic reducer 6 to rotate, this design will increase the synchronization of the two during rotation, and further reduce the degree of axial deviation of the two after long-term rotation.

[0031] The working principle and use process of the present invention: When connecting the output shaft of the dual-rotor axial flux motor 4 with the input shaft of the magnetorheological damper 5, the circular ring 22 can be moved horizontally first to drive the moving block 24 to move synchronously, squeeze the reset spring 28, and the hinged rod 25 pushes the clamping plate 26 to move to both sides to the inner wall of the connecting block 23. Then, the output shaft of the dual-rotor axial flux motor 4 is inserted into the connecting block 23 so that the protrusion 21 corresponds to the key slot, and the circular ring 22 is loosened. Under the elastic force of the reset spring 28, the hinged rod 25 and the clamping plate 26 are reset, and the clamping plate 26 contacts the outer wall of the protrusion 21. Then, the output shaft of the magnetorheological damper 5 is connected to the input shaft of the harmonic reducer 6, and the rotating shaft A51 and the rotating shaft B61 can be rotated so that the two groups of square grooves 12 are on the same axis. Then, the square blocks 32 in the upper and lower groups of fixed blocks 31 are aligned with the positions of the square grooves 12, and the two groups of fixed blocks 31 are moved relative to each other until they are in contact, and fixed with positioning bolts and nuts; during the relative movement of the fixed blocks 31, when the square grooves 12 and the square blocks 32 just contact, the abutment blocks 36 contact the inclined surface section of the inclined groove 39, and when the fixed blocks 31 continue to move, the square blocks 32 are squeezed by the square grooves 12 to drive the partition 33 and the trapezoidal blocks 34 to move, compressing the elastic part B35, and the inclined surface of the trapezoidal block 34 squeezes the slide rod 37 to make the abutment blocks 36 move to both sides, and the abutment blocks 36 will move along the inclined surface section of the inclined groove 39 to the straight surface section. When the two groups of fixed blocks 31 are in contact, the abutment blocks 36 contact the straight surface section of the inclined groove 39. After the connection is completed, the dual-rotor axial flux motor 4 can be started, and the orthogonal magnetic field superposition effect can be used to output strong and stable power. Its output shaft drives the input shaft of the magnetorheological damper 5 to rotate. During the rotation, the protrusion 21 will contact the splint 26 and generate an impact force on it. The splint 26 compresses the elastic part A27, driving the hinge rod 25 to flip and the moving block 24 to move, squeezing the reset spring 28. The rubber pad 29 contacts the inner wall of the multiple groups of grooves 20 to produce deformation, increasing the friction force of the moving block 24 and playing a damping effect. Therefore, when the output shaft of the dual-rotor axial flux motor 4 rotates, it has a better buffering effect with the input shaft of the magnetorheological damper 5, reducing the direct impact force of the protrusion 21 on the keyway inside the connecting block 23, reducing wear and noise, and improving service life. The output shaft of the magnetorheological damper 5 drives the input shaft of the harmonic reducer 6 through the locking mechanism 3. The harmonic reducer 6 converts high speed and low torque into low speed and high torque. The output shaft of the harmonic reducer 6 drives the turntable 7 to rotate. The clamping claw body 10 at the top of the turntable 7 clamps and secures the vial 11. As the turntable 7 rotates, the voice coil motor inside the protective cover 1 drives the turntable 7 to vibrate up and down, vertically shaking the medication in the vial 11 and achieving drug mixing. During this process, the magnetorheological damper 5 adjusts the magnetic field strength based on the real-time monitoring of the tooth gap vibration, controls the conversion of tooth gap vibration energy, and suppresses vibration and noise. The adaptive preload bearing system automatically adjusts the bearing preload according to the equipment's operating load and speed. The online dynamic balancing compensation algorithm monitors the operating status of the rotating shaft in real time, corrects the shaft runout, and maintains the stable position of the vial 11 on the turntable 7, allowing the robot to extract the medication liquid from the vial 11 after the shaking is completed. Because the drive mechanism responds promptly and operates relatively stably, the positioning accuracy of the robot is improved.

[0032] The examples of this specific embodiment are all preferred embodiments of this application and are not intended to limit the scope of protection of this application. Identical components are represented by the same reference numerals. Therefore, any equivalent changes made based on the structure, shape, and principle of this application should be included in the scope of protection of this application.

Claims

1. A driving mechanism for shaking a medicine bottle, comprising a protective cover (1), characterized in that: Also includes: A turntable (7), the turntable (7) being arranged on the top outer wall of the protective cover (1), the top outer wall of the turntable (7) being fixedly connected to a clamping jaw housing (8), the outer wall of the clamping jaw housing (8) being provided with a clamping jaw body (10), the outer wall of the clamping jaw housing (8) being fixedly connected to a medicine bottle holder (9), the outer wall of the medicine bottle holder (9) being provided with a cillin bottle (11); A harmonic reducer (6), the harmonic reducer (6) being arranged on the outer wall of the bottom end of the protective cover (1); A magnetorheological damper (5), the magnetorheological damper (5) being arranged at the bottom of the harmonic reducer (6) via a locking mechanism (3); A dual-rotor axial flux motor (4), wherein the dual-rotor axial flux motor (4) is arranged at the bottom of a harmonic reducer (6) via a buffer mechanism (2); Wherein, the buffer mechanism (2) comprises a connecting block (23), and the outer wall of the connecting block (23) is slidably connected to the ring (22); The locking mechanism (3) comprises a fixed block (31), and the inner wall of the fixed block (31) is slidably connected to a sliding rod (37).

2. The driving mechanism for shaking a medicine bottle according to claim 1, characterized in that: The output shaft of the dual-rotor axial flux motor (4) is fixedly connected to a protrusion (21), the inner wall of the connecting block (23) is elastically connected to a moving block (24) via a return spring (28), the outer wall of the moving block (24) is hinged to a clamping plate (26) via a hinge rod (25), the outer wall of the clamping plate (26) is fixedly connected to an elastic member A (27), the outer wall of the moving block (24) is fixedly connected to a rubber pad (29), and the inner wall of the connecting block (23) is provided with a groove (20).

3. The driving mechanism for shaking a medicine bottle according to claim 2, characterized in that: The protrusion (21) contacts the outer wall of the clamping plate (26), and the elastic member A (27) is fixedly connected to the inner wall of the connecting block (23).

4. The driving mechanism for shaking a medicine bottle according to claim 2, characterized in that: The clamping plate (26) is slidably connected to the inner wall of the connecting block (23), the moving block (24) is slidably connected to the inner wall of the connecting block (23), and the moving block (24) is fixedly connected to the outer wall of the bottom end of the ring (22).

5. The driving mechanism for shaking a medicine bottle according to claim 2, characterized in that: One end of the return spring (28) is fixedly connected to the outer wall of the moving block (24), and the other end of the return spring (28) is fixedly connected to the inner wall of the connecting block (23). The rubber pad (29) contacts the inner wall of the groove (20), and the connecting block (23) is fixedly connected to the input shaft of the magnetorheological damper (5).

6. The driving mechanism for shaking a medicine bottle according to claim 1, characterized in that: The inner wall of the fixed block (31) is elastically connected to the trapezoidal block (34) through the elastic member B (35); the outer wall of the bottom end of the trapezoidal block (34) is fixedly connected to the partition (33); the outer wall of the bottom end of the partition (33) is fixedly connected to the square block (32); the outer wall of the sliding rod (37) is fixedly connected to the abutment block (36); the output shaft of the magnetorheological damper (5) is fixedly connected to the rotating shaft A (51); the input shaft of the harmonic reducer (6) is fixedly connected to the rotating shaft B (61); the outer walls of the rotating shaft A (51) and the rotating shaft B (61) are both provided with square grooves (12); the outer walls of the rotating shaft A (51) and the rotating shaft B (61) are both fixedly connected to the fixed plate (38); the outer wall of the fixed plate (38) is provided with an inclined groove (39).

7. The driving mechanism for shaking a medicine bottle according to claim 6, characterized in that: The fixed block (31) contacts the outer walls of the rotating shaft A (51) and the rotating shaft B (61), and the square block (32) contacts the inner wall of the square groove (12).

8. The driving mechanism for shaking a medicine bottle according to claim 6, characterized in that: The partition (33) is slidably connected to the inner wall of the fixed block (31), one end of the elastic member B (35) is fixedly connected to the outer wall of the trapezoidal block (34), and the other end of the elastic member B (35) is fixedly connected to the inner wall of the fixed block (31).

9. The driving mechanism for shaking a medicine bottle according to claim 6, characterized in that: One end of the slide rod (37) is fixedly connected to the outer wall of the abutment block (36), and the other end of the slide rod (37) is slidably connected to the outer wall of the trapezoidal block (34).

10. The driving mechanism for shaking a medicine bottle according to claim 6, characterized in that: The abutment block (36) is engaged with the inclined groove (39), and the trapezoidal block (34) is slidably connected to the inner wall of the fixed block (31).

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