Electrically-driven control multi-joint mechanical clamping mechanism and self-adaptive multi-claw manipulator

Abstract

The invention relates to the technical field of traditional Chinese medicine granule dispensing, and discloses an electrically-driven control multi-joint mechanical clamping mechanism and a self-adaptive multi-claw manipulator. The at least two claw arms are uniformly arranged around the central axis of the shell, and each claw arm is rotationally connected with the shell in a hinged mode; and the claw arm driving motor is used for driving each claw arm to synchronously rotate around the respective hinge shaft, so that each claw arm is synchronously switched between a folded state and an unfolded state, and the bottoms of the claw arms are used for grabbing or releasing the medicament bottles. The grabbing mechanism can be used for grabbing medicament bottles in the automatic traditional Chinese medicine particle dispensing equipment, the claw arms are controlled by the claw arm driving motor to move, and the claw arms can be synchronously switched between the folded state and the unfolded state, so that the medicament bottles can be grabbed or released, the grabbing mechanism is applied to the automatic traditional Chinese medicine particle dispensing equipment, and the labor intensity of workers is reduced. Automation of the medicine bottle taking and placing process can be achieved, and manual medicine bottle taking and placing are not needed any more.

Description

Technical Field

[0001] This invention relates to the field of traditional Chinese medicine granule dispensing technology, and in particular to an electrically driven controlled multi-joint mechanical clamping mechanism and an adaptive multi-claw manipulator. Background Technology

[0002] Although existing automated dispensing equipment for Chinese medicine granules can replace manual preparation of Chinese medicine, manual operation is still required in the process of picking up and putting down medicine bottles. For example, when dispensing Chinese medicine, the staff needs to take the designated medicine bottle from the medicine cabinet, move to the vicinity of the dispensing equipment, weigh the medicine bottle and place it at the dispensing station of the dispensing equipment, and then the dispensing equipment automatically completes the dispensing, packaging and other actions. After completion, the staff still need to take the medicine bottle from the dispensing station, move to the medicine cabinet and put the medicine bottle back in its original storage position.

[0003] It is evident that, although the dispensing and packaging processes are automated, the process of picking up and placing medicine bottles is not automated and still requires manual labor.

[0004] In response, the applicant believes it is necessary to improve the automation level of the entire operation process, so that the process of picking up and putting down medicine bottles can also be automated, in order to further save manpower and improve work efficiency. Summary of the Invention

[0005] The purpose of this invention is to provide an electrically driven, multi-joint mechanical gripping mechanism and an adaptive multi-claw manipulator, which can perform the task of gripping medicine bottles in an automated dispensing equipment for traditional Chinese medicine granules and complete the automated transfer of medicine bottles.

[0006] In a first aspect, the present invention provides an adaptive multi-claw manipulator, comprising:

[0007] case;

[0008] At least two claw arms are evenly arranged around the central axis of the housing, and each claw arm is rotatably connected to the housing by a hinge.

[0009] A claw arm drive motor is mounted above the claw arm and drives the top of the claw arm to drive each claw arm to rotate synchronously relative to the housing around its respective hinge axis, so that each claw arm can switch synchronously between a retracted state and an open state, and use the bottom of each claw arm to perform a grasping or releasing action on the medicine bottle.

[0010] Furthermore, the output shaft of the claw arm drive motor drives a cam to rotate, and the rotation of the cam is converted into the synchronous rotation of each claw arm about its respective hinge axis relative to the housing.

[0011] Furthermore, the circumferential surface of the cam is provided with at least two first arcuate surfaces and at least two second arcuate surfaces at intervals, wherein each first arcuate surface has a radius of R1 and is concentrically arranged, each second arcuate surface has a radius of R2 and is concentrically arranged, and R1 > R2.

[0012] A sliding shaft is provided between the cam and the top of the claw arm, and a first spring is provided on the side of the top of the claw arm opposite to the sliding shaft; wherein, the cam can be rotated to a position where each of the first arc surfaces corresponds to each of the sliding shafts respectively, and can also be rotated to a position where each of the second arc surfaces corresponds to each of the sliding shafts respectively;

[0013] When the cam rotates to a position where each of the first arcuate surfaces corresponds to a sliding shaft, the sliding shaft moves outward and pushes the top of each claw arm outward, causing each claw arm to be in the retracted state. At the same time, the first spring is compressed. When the cam rotates to a position where each of the second arcuate surfaces corresponds to a sliding shaft, the first spring rebounds and pushes the top of each claw arm inward, causing each claw arm to be in the open state. At the same time, the sliding shaft moves inward.

[0014] Furthermore, the housing is provided with a mounting base inside, which is located between the top of the cam and the claw arm, and the mounting base is provided with guide holes that match each of the sliding shafts, and each of the sliding shafts is movably inserted into the guide holes.

[0015] Furthermore, the cam is connected to a detection plate that rotates with it, and a first sensor for determining the position of the detection plate is provided inside the housing;

[0016] When the cam rotates, the first sensor determines the position of the detection plate and causes the cam to rotate to a position where each of the first arc surfaces corresponds to each of the sliding axes, or to a position where each of the second arc surfaces corresponds to each of the sliding axes.

[0017] Furthermore, the detection plate is provided with three baffles. Two of the baffles correspond to the two first arc-shaped surfaces respectively, and the baffle located between the two baffles corresponds to the second arc-shaped surface between the two first arc-shaped surfaces.

[0018] The first sensor includes two slotted photoelectric sensors;

[0019] When the two baffles on both sides respectively block the two slotted photoelectric sensors, the cam rotates to a position where each of the second arc surfaces corresponds to each of the sliding shafts; when the baffle in the middle blocks any one of the slotted photoelectric sensors, the cam rotates to a position where each of the first arc surfaces corresponds to each of the sliding shafts.

[0020] Furthermore, the outer wall of the housing is provided with adjusting screws that abut against the outer side of each of the first springs and are used to adjust their tightness.

[0021] Furthermore, a gripping head is provided at the bottom of the claw arm, and the gripping head is fitted with a contact layer. The contact layer is used to elastically contact the outer wall of the medicine bottle to grip the medicine bottle.

[0022] Furthermore, the gripping head is hinged to the bottom of the claw arm;

[0023] A second spring is also provided below the hinge point of the gripper head on the claw arm. One end of the second spring abuts against the arm body of the claw arm, and the other end abuts against the gripper head.

[0024] Furthermore, the adaptive multi-claw manipulator also includes a second sensor, a third sensor, and a fourth sensor;

[0025] The second sensor is mounted on the housing and is used to detect whether there is a medicine bottle at the target location before the medicine bottle is grasped.

[0026] The third sensor is located at the bottom of the housing between each of the claw arms and is used to detect whether the medicine bottle is in place when grasping the medicine bottle;

[0027] The fourth sensor is also located at the bottom of the housing between each of the claw arms, and is used to detect whether the medicine bottle has completely detached from the adaptive multi-claw manipulator when the medicine bottle is released.

[0028] Secondly, the present invention provides an electrically driven controlled multi-joint mechanical clamping mechanism, which includes a six-axis robotic arm and an adaptive multi-claw manipulator as described in any one of the above; wherein the adaptive multi-claw manipulator is mounted on the working end of the six-axis robotic arm.

[0029] The beneficial effects of this invention are as follows:

[0030] (1) The adaptive multi-claw manipulator can perform the task of grasping medicine bottles in the automated dispensing equipment for Chinese medicine granules. By controlling the movement of each claw arm through the claw arm drive motor, each claw arm can switch synchronously between the retracted state and the open state, thereby realizing the grasping or releasing of medicine bottles.

[0031] (2) In the adaptive multi-jaw manipulator, the gripping head is hinged to the arm body, and a second spring is set below the hinge point. Therefore, when gripping the medicine bottle, the gripping head can swing slightly and adapt to the contour of the medicine bottle body to ensure that the contact layer can flexibly adhere to and clamp the outer wall of the medicine bottle.

[0032] (3) In the electric drive controlled multi-joint mechanical clamping mechanism, the adaptive multi-claw manipulator is installed at the working end of the six-axis manipulator. The six-axis manipulator can drive the adaptive multi-claw manipulator to perform multi-axis motion to realize the action of transferring medicine bottles between the medicine cabinet, weighing station and dispensing station, so that the process of picking up and putting down medicine bottles can be automated, no longer relying on manual picking up and putting down, thereby saving manpower and improving work efficiency. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of the adaptive multi-claw manipulator provided in Embodiment 1 of the present invention, which grasps a medicine bottle during operation;

[0034] Figure 2 This is an exploded view of the adaptive multi-claw manipulator provided in Embodiment 1 of the present invention;

[0035] Figure 3 This is an internal structure diagram of the adaptive multi-claw manipulator provided in Embodiment 1 of the present invention;

[0036] Figure 4 yes Figure 3 A bottom view;

[0037] Figure 5 The adaptive multi-claw manipulator provided in Embodiment 1 of this invention, with some components exploding. Figure 1 ;

[0038] Figure 6 The adaptive multi-claw manipulator provided in Embodiment 1 of this invention, with some components exploding. Figure 2 ;

[0039] Figure 7 This is an independent view of the cam and the detection plate in the adaptive multi-jaw manipulator provided in Embodiment 1 of the present invention;

[0040] Figure 8 This is a top view of the adaptive multi-claw manipulator provided in Embodiment 1 of the present invention, when the cam is in the second working position and the two baffles respectively block the two slotted photoelectric sensors;

[0041] Figure 9 This is a top view of the adaptive multi-claw manipulator provided in Embodiment 1 of the present invention, when the cam is in the first working position and only one baffle blocks two slotted photoelectric sensors;

[0042] Figure 10This is a structural diagram of the electrically driven controlled multi-joint mechanical clamping mechanism provided in Embodiment 2 of the present invention.

[0043] The diagram is marked as follows:

[0044] 410 - Adaptive multi-claw manipulator, 411 - Housing, 41a - Central axis, 411a - Upper housing, 411b - Lower housing, 411c - Middle housing, 412 - Claw arm, 412a - Hinge shaft, 412b - Gripping head, 412b1 - Contact layer, 412c - Arm body, 412d - Second spring, 413 - Claw arm drive motor, 414 - Cam, 414a - First arc surface, 414b - Second arc surface, 415a - Sliding shaft, 415b - First spring, 415c - Adjusting screw, 416 - Mounting base, 416a - Guide hole, 417a - Detection plate, 417a1 - Baffle, 417b - Slotted photoelectric sensor, 418a - Second sensor, 418b - Third sensor, 418c - Fourth sensor, 418d - RFID reader / writer, a - Medicine bottle. Detailed Implementation

[0045] The present invention will be further described in detail below with reference to specific embodiments, but the implementation of the present invention is not limited thereto.

[0046] Example 1:

[0047] See Figures 1 to 3 This embodiment provides an adaptive multi-claw manipulator 410, which includes: a housing 411, a claw arm 412, and a claw arm drive motor 413.

[0048] There are at least two claw arms 412, each claw arm 412 surrounding the central axis 41a of the housing 411 (see...). Figure 2 The claw arms 412 are evenly arranged, and each claw arm 412 is rotatably connected to the housing 411 by a hinge.

[0049] A claw arm drive motor 413 is mounted above the claw arm 412 and is in transmission cooperation with the top of the claw arm 412. It is used to drive each claw arm 412 to rotate synchronously around its respective hinge axis 412a relative to the housing 411, so that each claw arm 412 can switch synchronously between a retracted state and an open state, and use the bottom of each claw arm 412 to perform a grasping or releasing action on the medicine bottle.

[0050] To ensure stable gripping of the medicine bottle a, the number of claw arms 412 is typically set to four, see [link / reference]. Figure 2Four claw arms 412 are evenly arranged around the central axis 41a of the shell 411, in a left-right and front-back distribution. When grasping the medicine bottle a, the four claw arms 412 retract synchronously from the four directions of front, back, left and right, and stably grasp the medicine bottle a from all sides, which can avoid the medicine bottle a from shifting due to uneven force.

[0051] During operation, initially, the gripper arm drive motor 413 is at the zero position, and all gripper arms 412 are in the open state. When it is necessary to grasp medicine bottle a, the adaptive multi-grip robot 410 is first aligned with the target medicine bottle a, and then moved closer to the target medicine bottle a, so that all gripper arms 412 surround the medicine bottle a. Afterward, the gripper arm drive motor 413 works, causing all gripper arms 412 to switch to the retracted state, thus achieving the grasping of medicine bottle a. When the adaptive multi-grip robot 410 moves the grasped medicine bottle a to the predetermined position, and it is necessary to release medicine bottle a, the gripper arm drive motor 413 works in reverse, causing all gripper arms 412 to switch to the open state, thus releasing medicine bottle a.

[0052] It can be seen that by applying the adaptive multi-claw robot 410 of the present invention to the automated dispensing equipment for Chinese medicine granules, and by cooperating with the corresponding motion mechanism to drive the adaptive multi-claw robot 410 to move, the adaptive multi-claw robot 410 can transfer medicine bottles between the medicine cabinet, the weighing station and the dispensing station, so that the process of picking up and putting down medicine bottles can be automated, no longer relying on manual picking up and putting down, thereby saving labor and improving work efficiency.

[0053] In a preferred embodiment, the output shaft of the claw arm drive motor 413 is connected to a cam 414. The claw arm drive motor 413 can drive the cam 414 to rotate, and then, through the rotational motion of the cam 414, each claw arm 412 is driven to rotate synchronously around its respective hinge axis 412a relative to the housing 411. That is, the cam 414 plays a connecting role, converting the rotational motion of the output shaft of the claw arm drive motor 413 into the synchronous rotation of each claw arm 412 around its respective hinge axis 412a relative to the housing 411.

[0054] Typically, the output shaft of the claw arm drive motor 413 can be directly inserted into the cam 414 and directly connected to the cam 414 for transmission. See [reference needed]. Figure 2 and Figure 3 Of course, in some other embodiments, the output shaft of the claw arm drive motor 413 may also be indirectly connected to the cam 414 via gears, timing belts or other transmission components.

[0055] In one specific implementation, see Figure 7The cam 414 has at least two first arcuate surfaces 414a and at least two second arcuate surfaces 414b spaced apart on its circumferential surface. Each first arcuate surface 414a has a radius of R1 and is arranged concentrically, and each second arcuate surface 414b has a radius of R2 and is arranged concentrically, wherein R1 > R2.

[0056] See Figure 2 , Figure 3 and Figure 6 A sliding shaft 415a is provided between the cam 414 and the top of the claw arm 412, and a first spring 415b is provided on the side of the top of the claw arm 412 opposite to the sliding shaft 415a (see...). Figure 3 The cam 414 can switch between two working positions when it rotates. When it is in the first working position, each of the first arc surfaces 414a corresponds to each of the sliding shafts 415a. When it is in the second working position, each of the second arc surfaces 414b corresponds to each of the sliding shafts 415a.

[0057] When in the first working position, since each of the first arc surfaces 414a corresponds to each of the sliding shafts 415a, and the first arc surface 414a is an arc surface with a relatively large radius on the circumference of the cam 414, the sliding shaft 415a will be pushed outward by the first arc surface 414a. The outward movement of the sliding shaft 415a will push the top of the claw arm 412 outward, thereby causing the claw arm 412 to rotate around its own hinge axis 412a and then contract inward at the bottom, so that the bottom of each claw arm 412 is in a contracted state for gripping the medicine bottle a; at the same time, the first spring 415b will be compressed by the pressure of the top of the claw arm 412.

[0058] When in the second working position, since each of the second arcuate surfaces 414b corresponds to each of the sliding shafts 415a, and the second arcuate surface 414b is an arcuate surface with a relatively small radius on the circumference of the cam 414, the first spring 415b will rebound, pushing the top of the claw arm 412 inward. This causes the claw arm 412 to rotate around its hinge axis 412a and expand outward at its bottom, so that the bottom of each claw arm 412 is in an open state for releasing the medicine bottle a. At the same time, the sliding shaft 415a will be squeezed inward by the top of the claw arm 412, ensuring that the inner side of the sliding shaft 415a is in close contact with the second arcuate surface 414b. In this way, when the claw arm 412 is reset (i.e., the bottom of each claw arm 412 is in an open state), no additional power is required; the reset can be achieved solely by the rebound of the first spring 415b.

[0059] In one specific implementation, see Figure 5 and Figure 6The housing 411 is provided with a mounting base 416 inside. The mounting base 416 is located between the top of the cam 414 and the claw arm 412. The mounting base 416 is provided with a guide hole 416a that matches each of the sliding shafts 415a. Each of the sliding shafts 415a is movably inserted into the guide hole 416a.

[0060] Thus, the guide hole 416a plays a role in positioning and guiding the sliding shaft 415a. The cam 414 is located in the mounting base 416. When the cam 414 rotates, the sliding shaft 415a can move outward or inward along the axial direction of the guide hole 416a.

[0061] To accurately determine the rotational position of cam 414, see [reference needed]. Figure 5 The top of the cam 414 is connected to a detection plate 417a that can rotate with it, and a first sensor is provided inside the housing 411 for determining the position of the detection plate 417a. When the cam 414 rotates, the first sensor determines whether to rotate the cam 414 to the first working position or the second working position by judging the position of the detection plate 417a.

[0062] For more details, see Figure 7 The detection piece 417a is provided with three baffles 417a1. Two of the baffles 417a1 correspond to the two first arcuate surfaces 414a respectively, and the baffle 417a1 located between the two baffles 417a1 corresponds to the second arcuate surface 414b between the two first arcuate surfaces 414a. (See also...) Figure 5 The first sensor includes two slotted photoelectric sensors 417b, which are fixed on the mounting base 416.

[0063] See Figure 8 When the two baffles 417a1 on both sides respectively block the two slotted photoelectric sensors 417b, the cam 414 is in the second working position. At this time, each of the second arcuate surfaces 414b of the cam 414 corresponds to each of the sliding shafts 415a respectively, the sliding shafts 415a are in the inward position, and the claw arm 412 is in the open state. See also Figure 9 When the baffle 417a1 in the middle blocks any one of the slotted photoelectric sensors 417b, the cam 414 is located in the first working position. At this time, each of the first arc surfaces 414a of the cam 414 corresponds to each of the sliding shafts 415a respectively. The sliding shafts 415a are in the outward position, and the claw arm 412 is in the retracted state.

[0064] Therefore, when the claw arm drive motor 413 drives the cam 414 to rotate during operation, it can determine whether the cam 414 is in the first working position or the second working position by judging whether one slotted photoelectric sensor 417b is blocked or both slotted photoelectric sensors 417b are blocked, thereby accurately adjusting each claw arm 412 to the retracted state or the open state.

[0065] Since there are four claw arms 412, there are also four sliding shafts 415a. Because the number of first arc-shaped surfaces 414a and second arc-shaped surfaces 414b should match the number of sliding shafts 415a, there are also four first arc-shaped surfaces 414a and four second arc-shaped surfaces 414b on the circumference of the cam 414. Thus, the first arc-shaped surfaces 414a and 414b divide the circumference of the cam 414 into eight equal parts, and the first arc-shaped surfaces 414a and 414b are arranged alternately, with an included angle of 45° between adjacent first arc-shaped surfaces 414a and 414b (see [reference]). Figure 7 Therefore, the included angle between adjacent baffles 417a1 on the detection piece 417a is also 45°.

[0066] During setup, the zero-point position is typically set when the two baffles 417a1 on both sides respectively block the two slotted photoelectric sensors 417b, that is, when the cam 414 is in the second working position. Therefore, by determining that both slotted photoelectric sensors 417b are blocked (see...), the system can determine the zero-point position. Figure 8 This ensures that the claw arm drive motor 413 is in the zero position. Simultaneously, since the cam 414 is in the second working position when in the zero position, all claw arms 412 are in the open state. When it is necessary to grasp the medicine bottle a, the output shaft of the claw arm drive motor 413 rotates forward or backward by a certain angle, causing the detection plate 417a to rotate until only one slotted photoelectric sensor 417b is blocked by the baffle 417a1 (see...). Figure 9 This allows the cam 414 to rotate 45° to switch to the first working position, thereby switching the claw arm 412 to the retracted state to clamp the medicine bottle a.

[0067] Based on the above working principle, it can be seen that when in the zero position, the claw arm drive motor 413 can rotate forward or backward. Rotating forward or backward by 45° will allow the cam 414 to switch from the second working position to the first working position, achieving the purpose of clamping the medicine bottle a. That is, in the zero position, there is no requirement for the forward or reverse rotation of the claw arm drive motor 413. Whether rotating forward or backward, it can allow each claw arm 412 to switch from the open state to the closed state.

[0068] In a preferred embodiment, see Figure 3 and Figure 6The outer wall of the housing 411 is provided with adjusting screws 415c that abut against the outer side of each of the first springs 415b and are used to adjust their tightness. That is, the adjusting screws 415c are threaded onto the housing 411, and the outer side of the adjusting screws 415c has a groove (such as an internal hexagonal groove) for engaging with a screwdriver. By turning the adjusting screws 415c with a screwdriver, the adjusting screws 415c can be moved inward or outward to change the tightness of the first springs 415b that abut against the adjusting screws 415c (i.e., tightening or loosening the first springs 415b), thereby adjusting the tightness of the claw arm 412.

[0069] In a preferred embodiment, the housing 411 includes an upper housing 411a, a lower housing 411b, and an intermediate housing 411c. The upper housing 411a surrounds the claw arm drive motor 413, the lower housing 411b surrounds the mounting base 416, and the intermediate housing 411c connects the upper housing 411a and the lower housing 411b. The claw arm drive motor 413 is mounted on a stepped surface inside the intermediate housing 411c. The upper housing 411a, the intermediate housing 411c, and the lower housing 411b are sequentially connected to each other by screws.

[0070] In a preferred embodiment, see Figure 3 and Figure 6 The bottom of the claw arm 412 is provided with a gripping head 412b, and the inner side of the gripping head 412b is provided with a contact layer 412b1. The contact layer 412b1 is used to contact the outer wall of the medicine bottle a and grips the medicine bottle a through its own elasticity. Preferably, the wall surface of the contact layer 412b1 that contacts the medicine bottle a has an arc-shaped structure to adapt to the arc-shaped outer wall of the medicine bottle a. Typically, the contact layer 412b1 is made of silicone.

[0071] For more details, see Figure 3 The gripping head 412b is hinged to the bottom of the arm body 412c of the claw arm 412. A second spring 412d is also provided below the hinge point of the gripping head 412b on the claw arm 412. One end of the second spring 412d abuts against the arm body 412c of the claw arm 412, and the other end abuts against the gripping head 412b.

[0072] In the above structure, the clamping head 412b is hinged to the arm body 412c, and a second spring 412d is provided below the hinge point. Therefore, when clamping the medicine bottle a, the clamping head 412b can swing slightly and adapt to the contour of the medicine bottle a, ensuring that the contact layer 412b1 can flexibly fit and clamp the outer wall of the medicine bottle a.

[0073] In a preferred embodiment, see Figure 1 , Figure 2 and Figure 4 The adaptive multi-claw manipulator 410 also includes a second sensor 418a, a third sensor 418b, and a fourth sensor 418c.

[0074] The second sensor 418a is disposed on the side of the housing 411 and is used to detect whether there is a medicine bottle a at the target location before grasping the medicine bottle a.

[0075] The third sensor 418b is disposed at the bottom of the housing 411 between each of the claw arms 412, and is used to detect whether the medicine bottle a is in place when grasping the medicine bottle a.

[0076] The fourth sensor 418c is also located at the bottom of the housing 411 between each of the claw arms 412, and is used to detect whether the medicine bottle a is completely detached from the adaptive multi-claw manipulator 410 when the medicine bottle a is released.

[0077] The second sensor 418a is a distance sensor, and the third sensor 418b and the fourth sensor 418c are both reflective photoelectric sensors.

[0078] The cooperation of the three sensors enables the adaptive multi-claw robot 410 to identify whether a medicine bottle is needed at the target location before grasping it, using the second sensor 418a. If so, the grasping action is initiated. During the grasping process, the third sensor 418b detects whether the medicine bottle a is in place. Only after it is in place can the claw arm 412 be retracted to grasp the medicine bottle. When releasing the medicine bottle a, as the adaptive multi-claw robot 410 moves away from the medicine bottle, the fourth sensor 418c determines whether the medicine bottle has completely detached from the adaptive multi-claw robot 410.

[0079] In a preferred embodiment, see Figure 4 An RFID reader 418d is also provided at the bottom of the housing 411 between each of the claw arms 412. This reader reads the RFID tag information on the bottom of the medicine bottle a to determine whether the medicine bottle a to be grasped is the target medicine bottle. Specifically, medicine bottle a typically has an RFID tag attached to its bottom, which records the name of the traditional Chinese medicine stored in the bottle. Before grasping the medicine bottle, the adaptive multi-claw robot 410 reads the RFID tag information on the bottom of the bottle to determine whether the name of the traditional Chinese medicine in the bottle matches the target name. The grasping action is only performed if the name completely matches the target name, thus avoiding incorrect grasping.

[0080] Example 2:

[0081] See Figure 10This embodiment provides an electrically driven controlled multi-joint mechanical gripping mechanism, which includes a six-axis robotic arm 2000 and an adaptive multi-claw manipulator 410 of Embodiment 1. The adaptive multi-claw manipulator 410 is mounted on the working end of the six-axis robotic arm 2000.

[0082] The six-axis robotic arm 2000 can achieve six degrees of freedom of movement, and can precisely adjust its position and angle. It can drive the adaptive multi-claw robotic arm 410 to perform multi-axis movements to realize the action of transferring medicine bottles between the medicine cabinet, weighing station and dispensing station, thereby making the process of picking up and putting down medicine bottles completely automated.

[0083] The six-axis robotic arm 2000 is an existing device that is commonly used in the field of automated production and can be purchased directly from relevant manufacturers on the market.

[0084] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. An adaptive multi-claw robotic arm, characterized in that, include: Casing (411); At least two claw arms (412) are evenly arranged around the central axis (41a) of the housing (411), and each claw arm (412) is rotatably connected to the housing (411) by a hinge. A claw arm drive motor (413) is mounted above the claw arm (412) and is in transmission cooperation with the top of the claw arm (412). It is used to drive each claw arm (412) to rotate synchronously around its respective hinge axis (412a) relative to the housing (411), so that each claw arm (412) can switch synchronously between a retracted state and an open state, and use the bottom of each claw arm (412) to perform a grasping or releasing action on the medicine bottle.

2. The adaptive multi-claw manipulator according to claim 1, characterized in that, The output shaft of the claw arm drive motor (413) drives a cam (414) to rotate. The rotation of the cam (414) is converted into the synchronous rotation of each claw arm (412) relative to the housing (411) around its respective hinge axis (412a).

3. The adaptive multi-claw manipulator according to claim 2, characterized in that, The cam (414) has at least two first arc-shaped surfaces (414a) spaced apart and at least two second arc-shaped surfaces (414b) spaced apart. Each of the first arc-shaped surfaces (414a) has a radius of R1 and is arranged concentrically, and each of the second arc-shaped surfaces (414b) has a radius of R2 and is arranged concentrically, and R1 > R2. A sliding shaft (415a) is provided between the top of the cam (414) and the top of the claw arm (412), and a first spring (415b) is provided on the side of the top of the claw arm (412) opposite to the sliding shaft (415a); wherein, the cam (414) can be rotated to a position where each of the first arc surfaces (414a) corresponds to each of the sliding shafts (415a) respectively, and can also be rotated to a position where each of the second arc surfaces (414b) corresponds to each of the sliding shafts (415a) respectively; When the cam (414) rotates to a position where each of the first arcuate surfaces (414a) corresponds to a position where each of the sliding shafts (415a) corresponds to a position where the sliding shafts (415a) correspond to a position where the top of each of the claw arms (412) corresponds to a position where the claw arms (412) correspond to a position where the claw arms (412) correspond to a position where the claw arms (412) correspond to a position where the claw arms (415a) correspond to a position where the claw arms (415a) correspond to a position where the claw arms (415a) correspond to a position where the claw arms (412) correspond to a position where the claw arms (412) correspond to a position where the claw arms (415a ...

4. The adaptive multi-claw manipulator according to claim 3, characterized in that, The housing (411) is provided with a mounting base (416) inside. The mounting base (416) is located between the top of the cam (414) and the claw arm (412). The mounting base (416) is provided with a guide hole (416a) that matches each of the sliding shafts (415a). Each of the sliding shafts (415a) is movably inserted into the guide hole (416a).

5. The adaptive multi-claw manipulator according to claim 3, characterized in that, The cam (414) is connected to a detection plate (417a) that rotates with it, and a first sensor for determining the position state of the detection plate (417a) is provided inside the housing (411). When the cam (414) rotates, the first sensor determines the position of the detection piece (417a) and causes the cam (414) to rotate to a position where each of the first arc surfaces (414a) corresponds to each of the sliding shafts (415a), or to a position where each of the second arc surfaces (414b) corresponds to each of the sliding shafts (415a).

6. The adaptive multi-claw manipulator according to claim 5, characterized in that, The detection piece (417a) is provided with three baffles (417a1). Among the three baffles (417a1), two baffles (417a1) correspond to the two first arc surfaces (414a) respectively, and the baffle (417a1) located in the middle of the two baffles (417a1) corresponds to the second arc surface (414b) between the two first arc surfaces (414a). The first sensor includes two slotted photoelectric sensors (417b). When the two baffles (417a1) on both sides are respectively blocked in the two slotted photoelectric sensors (417b), the cam (414) rotates to the position where each of the second arc surfaces (414b) corresponds to each of the sliding shafts (415a); when the baffle (417a1) in the middle is blocked in any one of the slotted photoelectric sensors (417b), the cam (414) rotates to the position where each of the first arc surfaces (414a) corresponds to each of the sliding shafts (415a).

7. The adaptive multi-claw manipulator according to claim 3, characterized in that, The outer wall of the housing (411) is provided with adjusting screws (415c) that abut against the outer side of each of the first springs (415b) and are used to adjust their tightness.

8. The adaptive multi-claw manipulator according to claim 1, characterized in that, The bottom of the claw arm (412) is provided with a clamping head (412b), and the clamping head (412b) is fitted with a contact layer (412b1). The contact layer (412b1) is used to elastically contact the outer wall of the medicine bottle (a) to clamp the medicine bottle (a).

9. The adaptive multi-claw manipulator according to claim 8, characterized in that, The gripping head (412b) is hinged to the bottom of the arm body (412c) of the claw arm (412); The claw arm (412) is further provided with a second spring (412d) below the hinge point of the gripping head (412b). One end of the second spring (412d) abuts against the arm body (412c) of the claw arm (412), and the other end abuts against the gripping head (412b).

10. The adaptive multi-claw manipulator according to claim 1, characterized in that, The adaptive multi-claw manipulator (410) also includes a second sensor (418a), a third sensor (418b), and a fourth sensor (418c). The second sensor (418a) is disposed on the housing (411) and is used to detect whether there is a medicine bottle (a) at the target location before grasping the medicine bottle (a). The third sensor (418b) is disposed at the bottom of the housing (411) between each of the claw arms (412) and is used to detect whether the medicine bottle (a) is in place when grasping the medicine bottle (a); The fourth sensor (418c) is also located at the bottom of the housing (411) between each of the claw arms (412) for detecting whether the medicine bottle (a) is completely detached from the adaptive multi-claw manipulator (410) when the medicine bottle (a) is released.

11. An electrically driven, multi-joint mechanical clamping mechanism, characterized in that, It includes a six-axis robotic arm (2000) and an adaptive multi-claw manipulator (410) as described in any one of claims 1 to 10; wherein the adaptive multi-claw manipulator (410) is mounted on the working end of the six-axis robotic arm (2000).

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