Mechanical arm for sorting scattered vaccines

Abstract

The utility model discloses a mechanical arm for sorting scattered vaccines. The mechanical arm comprises a supporting seat, a first movable arm, a second movable arm, a third movable arm, a fourth movable arm and a picking device, the first movable arm is rotatably mounted on the supporting seat, the second movable arm is rotatably mounted on the first movable arm, the third movable arm is rotatably mounted on the second movable arm, the fourth movable arm is rotatably mounted on the third movable arm, and the pickup device is rotatably mounted on the fourth movable arm; the pickup device comprises a telescopic rod, a suction cup and a probe are installed on the front portion of the telescopic rod, and the probe is used for detecting contact pressure.

Description

Technical Field

[0001] The utility model relates to the field of robotic arms, and particularly to a robotic arm for picking scattered vaccines. Background Art

[0002] Most vaccines need to be stored in a refrigerated environment, and generally traditional cold storages are used for storage. There are some problems. In the traditional method, manual handling is required for vaccine storage and retrieval. Working in a low-temperature environment for a long time will damage people's health. At the same time, the manual storage and retrieval method also has low efficiency problems. Therefore, automated means are needed to replace manual labor. In addition, in medical institutions, it is often necessary to take out small-unit scattered vaccines, such as vaccine boxes containing only one vaccine, from the cold storage and then inject them to the recipients. How to accurately pick such small-boxed scattered vaccines without causing unnecessary damage is also a problem faced by automated picking. Summary of the Utility Model

[0003] For this reason, the utility model provides a robotic arm for picking scattered vaccines, which can well solve the above problems.

[0004] To achieve the purpose of the utility model, the following technical solutions are adopted:

[0005] A robotic arm for picking scattered vaccines includes a support base, a first movable arm, a second movable arm, a third movable arm, a fourth movable arm and a picking device; the first movable arm is rotatably installed on the support base, the second movable arm is rotatably installed on the first movable arm, the third movable arm is rotatably installed on the second movable arm, the fourth movable arm is rotatably installed on the third movable arm, and the picking device is rotatably installed on the fourth movable arm; the picking device includes a telescopic rod, and a suction cup and a probe are installed at the front of the telescopic rod, and the probe is used to detect the contact pressure.

[0006] For the robotic arm, wherein: the first movable arm includes two first support arms and a base, the bottoms of the two first support arms are fixedly connected to the base, and the base of the first movable arm is rotatably installed on the support base, and the first movable arm can horizontally rotate around the longitudinal center line of the support base.

[0007] For the robotic arm, wherein: the second movable arm includes two second support arms and a base, the bottoms of the two second support arms are fixedly connected to the base, and the base is installed on the second movable arm through a first rotating shaft and can rotate around the rotating shaft.

[0008] For the robotic arm, wherein: the bottom of the third movable arm is installed on the second movable arm through a second rotating shaft and can rotate around the rotating shaft.

[0009] The robotic arm described above, wherein: The fourth movable arm includes two fourth arms and a base. The base of the fourth movable arm is rotatably mounted on the top of the third movable arm, and the fourth movable arm can rotate around an axis perpendicular to the top of the third movable arm.

[0010] The robotic arm described above, wherein: The picking device further includes a driving motor, a flange, and a mounting plate. The driving motor is fixed on the fourth movable arm, the flange is mounted on the motor shaft of the driving motor, the mounting plate is mounted on the flange, and the telescopic rod is mounted on the mounting plate.

[0011] The robotic arm described above, wherein: The picking device further includes a spring sleeve. There is a mounting hole on the mounting plate. The spring sleeve passes through the mounting hole and is mounted on the mounting plate. The telescopic rod is inserted into the spring sleeve, and the front and rear ends of the telescopic rod extend out from the front and rear ends of the spring sleeve respectively.

[0012] The robotic arm described above, wherein: An air pipe joint is installed at the tail of the telescopic rod. The air pipe joint is used to connect one end of an air pipe, and the other end of the air pipe is used to connect an air pump.

[0013] The robotic arm described above, wherein: A support is installed at the front of the telescopic rod. The probe is mounted on the support. A pressure sensor is mounted on the probe. The front end of the probe is flush with or slightly exceeds the front end of the suction cup; The suction cup is detachably mounted on the telescopic rod.

[0014] The robotic arm described above, wherein: The support is a U-shaped plate, including a bottom plate and two support plates extending upward from both ends of the bottom plate respectively. Each of the two support plates has a through hole. The support tube passes through the through hole of the rear support plate and is fixed on the rear support plate. The front end of the telescopic rod passes through the support tube and passes out from the through hole of the front support plate; There is a probe mounting hole on the front support plate. The head of the probe passes out from the probe mounting hole and is fastened on the front support plate by front and rear nuts. The body of the probe is provided with an external thread. The front nut is threadedly mounted on the body and is located in front of the front support plate. The rear nut is threadedly mounted on the body and is located behind the front support plate. Description of the Drawings

[0015] Figure 1 Is an axonometric view of the robotic arm for picking up scattered vaccines;

[0016] Figure 2 Is an axonometric view of the robotic arm for picking up scattered vaccines;

[0017] Figure 3 Is a schematic structural diagram of the picking device;

[0018] Figure 4 Is a schematic structural diagram of the picking device. Detailed Description of the Invention

[0019] The following is combined with the attached Figures 1-4, a detailed description of the specific embodiments of the present utility model will be given. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present utility model without creative efforts fall within the scope of protection of the present utility model. The described embodiments are exemplary and are only used to explain the present utility model, and should not be construed as a limitation to the present utility model.

[0020] As described in this specification, "an embodiment" or "some embodiments" etc. mean that in one or more embodiments of the present utility model, specific features, structures or characteristics described in combination with this embodiment are included. Thus, the terms "include", "comprise", "have" and their variants in this specification all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0021] As Figure 1 , 2 shown, the robotic arm for picking up scattered vaccines of the present utility model includes a support base 1, a first movable arm 2, a second movable arm 3, a third movable arm 4, a fourth movable arm 5, and a picking device.

[0022] The support base 1 can be fixed to the ground of the cold storage by anchor bolts or fixed to the base of the cold storage.

[0023] Wherein: The first movable arm 2 includes two first arms and a base. The bottoms of the two first arms are fixedly connected to the base. The base of the first movable arm 2 is rotatably installed on the support base 1. The first movable arm 2 can make a 360-degree horizontal rotation around the longitudinal center line of the support base 1.

[0024] The second movable arm 3 includes two second arms and a base. The bottoms of the two second arms are fixedly connected to the base. The base is installed on the first rotating shaft between the two first arms and can make a forward and backward rotation around the first rotating shaft between the two first arms.

[0025] The bottom of the third movable arm 4 is installed on the second rotating shaft between the two second arms and can make a forward and backward rotation around the second rotating shaft between the two second arms.

[0026] The fourth movable arm 5 includes two fourth arms and a base. The base of the fourth movable arm 5 is rotatably installed on the top of the third movable arm 4. The fourth movable arm 5 can rotate around the axis perpendicular to the top of the third movable arm 4 of the third movable arm 4, and the rotation angle is 360 degrees; the picking device is installed between the two fourth arms, and the front end of the picking device extends outside the fourth arms.

[0027] As Figures 1-4As shown, the picking device includes a driving motor 6, a flange 11, a mounting plate 7, a telescopic rod 8, a support 9, a suction cup 10, a probe 12, and a spring sleeve 15.

[0028] The driving motor 6 is fixed between two fourth arms. The flange 11 is mounted on the motor shaft of the driving motor 6. The mounting plate 7 is mounted on the flange 11. Multiple fixing holes are provided on both the mounting plate 7 and the flange 11. After the mounting plate 7 and the flange 11 are aligned, bolts are passed through the fixing holes of the two and locked by nuts to fixedly connect the mounting plate 7 and the flange 11.

[0029] The telescopic rod 8 is a hollow rod-shaped member with openings at both ends. An installation hole is provided on the mounting plate 7. The spring sleeve 15 passes through the installation hole and is mounted on the mounting plate 7. The telescopic rod 8 is inserted into the spring sleeve 15. The front end of the telescopic rod 8 extends out from the front end of the spring sleeve 15, and the rear end of the telescopic rod 8 extends out from the rear end of the spring sleeve 15. An air pipe joint 16 is installed at the tail of the telescopic rod 8. The air pipe joint 16 is used to connect one end of an air pipe (not shown in the figure), and the other end of the air pipe is connected to an air pump. The telescopic rod 8 is sleeved with a spring in the spring sleeve 15, so that the telescopic tube 8 can elastically expand and contract in the sleeve.

[0030] The front end of the telescopic rod 8 is connected with a suction cup 10. The suction cup 10 is made of an elastic material (such as rubber). The support 9 is sleeved on the front part of the telescopic rod 8. The probe 12 is mounted on the support 9. A pressure sensor is mounted on the probe 12. The front end of the probe 12 is flush with or slightly exceeds the front end of the suction cup 10. The suction cup 10 is detachably mounted on the front end of the telescopic rod 8, and suction cups of different sizes can be replaced as needed to adapt to the picking of vaccine boxes of different specifications.

[0031] Preferably, the support 9 is a U-shaped plate, which includes a bottom plate and support plates extending upward from both ends of the bottom plate. Each of the two support plates is provided with a through hole, and the two through holes are arranged oppositely. The support tube 17 passes through the through hole of the rear support plate and is fastened to the rear support plate by means of a nut. The front end of the telescopic rod 8 passes through the support tube 17 and passes out from the through hole of the front support plate. A probe installation hole is provided on the front support plate. The head of the probe 12 passes out from the probe installation hole and is fastened to the front support plate by front and rear nuts. External threads are provided on the needle body of the probe 12. The front nut is threadedly mounted on the needle body and is located in front of the front support plate, and the rear nut is threadedly mounted on the needle body and is located behind the front support plate. By adjusting the front and rear nuts, the extending length of the probe 12 can be adjusted, and thus the detection sensitivity of the sensor can be controlled.

[0032] When the robotic arm for picking up scattered vaccines of the present utility model is in use, the position of the vaccine box is identified by an externally provided image acquisition device (not shown in the figure), and the control system (not shown in the figure) controls the rotation angles of the first movable arm, the second movable arm, the third movable arm, and the fourth movable arm according to the position information, so that the front end of the telescopic rod moves and approaches the vaccine box. When the probe contacts the vaccine box, the pressure sensor transmits the detected pressure signal to the control system, and the control system controls the air pump to start, so that a negative pressure is generated between the suction cup and the vaccine box after the suction cup contacts the vaccine box, and the suction cup can suck the vaccine box. Then, the control system controls the telescopic rod to move to the release position, such as the conveyor belt or the tray of the transfer robot. After arriving, the control system controls the air pump to stop working, and the suction force of the suction cup disappears, and the vaccine box can be released onto the conveyor belt or the tray of the transfer robot, and then conveyed out of the cold storage by the conveyor belt or the transfer robot. During this process, since the telescopic rod can elastically expand and contract, the impact force of the telescopic rod on the vaccine box can be buffered, the vaccine can be prevented from being damaged, and the suction cup can better adsorb the vaccine box. At the same time, the control system can also control the rotation of the drive motor, so that the suction cup can be aligned with the accurate position of the vaccine box, and the whole suction cup is located on one surface of the vaccine box and sucks it, improving the adsorption success rate.

[0033] Through the present utility model, automatic picking up of scattered vaccines can be realized, manual operation is reduced, damage to the human body caused by the low-temperature environment is avoided, and work efficiency is improved.

[0034] The above are only the preferred embodiments of the present utility model, and do not impose any form of limitation on the present utility model. Although the present utility model has been disclosed above with the preferred embodiments, it is not intended to limit the present utility model. Any person skilled in the art can make some changes or modifications to the above-disclosed technical content to be equivalent embodiments with equivalent changes, but as long as the technical content of the present utility model is not departed from, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present utility model still fall within the scope of the technical solution of the present utility model.

Claims

1. A robotic arm for picking scattered vaccines, characterized by: It includes a support base, a first movable arm, a second movable arm, a third movable arm, a fourth movable arm and a picking device; the first movable arm is rotatably mounted on the support base, the second movable arm is rotatably mounted on the first movable arm, the third movable arm is rotatably mounted on the second movable arm, the fourth movable arm is rotatably mounted on the third movable arm, and the picking device is rotatably mounted on the fourth movable arm; the picking device includes a telescopic rod, a suction cup and a probe are mounted on the front of the telescopic rod, and the probe is used to detect contact pressure.

2. The robotic arm according to claim 1, characterized in that: The first movable arm includes two first support arms and a base. The bottoms of the two first support arms are fixedly connected to the base. The base of the first movable arm is rotatably mounted on the support base. The first movable arm can rotate horizontally around the longitudinal center line of the support base.

3. The robotic arm according to claim 1, characterized in that: The second movable arm comprises two second supporting arms and a base. The bottoms of the two second supporting arms are fixedly connected to the base. The base is installed on the second movable arm through a first rotating shaft and can rotate around the rotating shaft.

4. The robotic arm according to claim 1, characterized in that: The bottom of the third movable arm is installed on the second movable arm through the second rotating shaft and can rotate around the rotating shaft.

5. The robotic arm according to claim 1, characterized in that: The fourth movable arm comprises two fourth supporting arms and a base. The base of the fourth movable arm is rotatably mounted on the top of the third movable arm. The fourth movable arm can rotate around an axis perpendicular to the top of the third movable arm.

6. The robotic arm according to claim 1, characterized in that: The picking device also includes a driving motor, a flange and a mounting plate. The driving motor is fixed on the fourth movable arm, the flange is mounted on the motor shaft of the driving motor, the mounting plate is mounted on the flange, and the telescopic rod is mounted on the mounting plate.

7. The robotic arm according to claim 6, characterized in that: The picking device also includes a spring sleeve, a mounting hole is opened on the mounting plate, the spring sleeve passes through the mounting hole and is mounted on the mounting plate, the telescopic rod is inserted into the spring sleeve, and the front and rear ends of the telescopic rod extend from the front and rear ends of the spring sleeve respectively.

8. The robotic arm according to claim 7, characterized in that: An air pipe joint is installed at the tail of the telescopic rod. The air pipe joint is used to be connected to one end of the air pipe, and the other end of the air pipe is used to be connected to the air pump.

9. The robotic arm according to claim 1, characterized in that: A support is installed at the front of the telescopic rod, a probe is installed on the support, a pressure sensor is installed on the probe, and the front end of the probe is flush with the front end of the suction cup or slightly exceeds the front end of the suction cup; the suction cup is detachably installed on the telescopic rod.

10. The robotic arm according to claim 1, characterized in that: The support is a U-shaped plate, including a bottom plate and two support plates extending upward from both ends of the bottom plate, each of the two support plates has a through hole, the support tube passes through the through hole of the rear support plate and is fixed on the rear support plate, the front end of the telescopic rod passes through the support tube and passes through the through hole of the front support plate; the front support plate has a probe mounting hole, the probe head passes through the probe mounting hole and is fastened to the front support plate through front and rear nuts, the needle body of the probe is provided with an external thread, the front nut is threadedly installed on the needle body and is located at the front of the front support plate, and the rear nut is threadedly installed on the needle body and is located at the rear of the front support plate.

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