Medicine selecting manipulator

Abstract

The utility model discloses a medicine selecting mechanical arm which comprises a machine frame and an execution module. The machine frame is installed on the mechanical arm, the execution modules are arranged in the machine frame in parallel, each execution module is movably installed on an arc-shaped guide rail fixed in the machine frame, each execution module is used for clamping a medicine box, an arc-shaped variable-pitch block is arranged in the machine frame, and the execution modules are in sliding fit with the variable-pitch block; a first clamping groove and a second clamping groove are formed in different positions of the variable pitch block; when the execution module is driven to the first clamping groove and the second clamping groove, a clamping mechanism in the execution module is opened; when the execution module is driven to be separated from the first clamping groove and the second clamping groove, a clamping mechanism in the execution module is closed so as to clamp the medicine box; afterwards, the clamped medicine box can be placed at the needed position by means of a mechanical arm and the like. The powder selecting device has the advantages of being simple in structure, easy to manufacture, low in cost, easy to control and the like, powder selecting efficiency is effectively improved, and artillery launching efficiency can be improved.

Description

Technical Field

[0001] The utility model relates to the field of weapon science and technology, in particular to a medicine selecting manipulator. Background Art

[0002] Some artillery pieces are powered by horseshoe-shaped cartridges placed on the tail tube. To achieve ideal combustion, adjacent cartridges should be placed opposite each other on the tail tube (with their openings facing each other), and the number of cartridges can be adjusted based on the strike distance. Therefore, this process (charge selection) includes two key points: the adjustable number of cartridges and the relative arrangement of adjacent cartridges.

[0003] Currently, the aforementioned charge selection process relies entirely on manual labor, resulting in low efficiency and labor-intensiveness. With the continuous evolution of combat systems and structures, unmanned artillery firing is an inevitable trend in the future. Clearly, manual charge selection cannot meet the requirements of unmanned artillery firing. Therefore, the development of new mechanical equipment that can achieve this function is urgently needed. Summary of the Invention

[0004] The purpose of the utility model is to provide a medicine selecting manipulator, which can realize the grabbing and position adjustment of medicine boxes by cooperating with a mechanical arm, so as to assist in the unmanned firing of artillery.

[0005] In order to achieve the above tasks, the present invention adopts the following technical solutions:

[0006] A medicine selection robot comprises a frame and an execution module; the frame is mounted on a robot arm, and multiple execution modules are arranged in parallel inside the frame, each group of execution modules being movably mounted on an arc-shaped track fixed inside the frame, and each group of execution modules being used to clamp a medicine box, wherein:

[0007] The frame is provided with an arc-shaped variable distance block, and the execution module is slidably matched with the variable distance block; a first card slot and a second card slot are provided at different positions on the variable distance block; when the execution module is driven to the first card slot and the second card slot, the clamping mechanism in the execution module opens; when the execution module is driven to be away from the first card slot and the second card slot, the clamping mechanism in the execution module closes to clamp the medicine box, and the clamped medicine box is placed in the desired position by the robotic arm.

[0008] Furthermore, the frame is a rectangular hollow box with an opening on one side.

[0009] Furthermore, by driving the execution module to slide on the arc track, the opening direction of the medicine box is adjusted, so that the opening directions of adjacent medicine boxes are opposite to each other when the medicine boxes are placed.

[0010] Furthermore, the execution module includes a slider, a first connecting plate, a second connecting plate, a third connecting plate, a fourth connecting plate, a first spring, a second spring, a first rotating shaft, a second rotating shaft, a third rotating shaft, a fourth rotating shaft and the clamping mechanism, wherein:

[0011] A sliding groove is provided in the middle of the slider, and the slider is assembled on the arc track through the sliding groove, and a motor driver is installed on the slider to drive the slider to drive the entire execution module to slide on the arc track; the rear ends of the first connecting plate and the second connecting plate are connected to the two sides of the slider, and the middle parts of the third connecting plate and the fourth connecting plate are provided with bending sections, and the first rotating shaft and the second rotating shaft are provided on the inner side of the bending sections of the third connecting plate and the fourth connecting plate and the front end of the first connecting plate and the second connecting plate; the first spring and the second spring are respectively provided between the rear ends of the third connecting plate and the fourth connecting plate and the inner sides of the first connecting plate and the second connecting plate; the clamping mechanism is installed at the front ends of the third connecting plate and the fourth connecting plate.

[0012] Furthermore, the clamping mechanism includes a first clamp and a second clamp, which are hinged to the inner sides of the front ends of the third connecting plate and the fourth connecting plate through a third rotating shaft and a fourth rotating shaft respectively, and the front ends of the third connecting plate and the fourth connecting plate are used to limit the rotation range of the first clamp and the second clamp. When the first clamp and the second clamp rotate to contact the front ends of the third connecting plate and the fourth connecting plate, they cannot continue to rotate.

[0013] Furthermore, the first clamp and the second clamp are of arc-shaped structure, and the first clamp and the second clamp are provided with clamping blocks located opposite to each other, and the medicine box is clamped by using the clamping blocks on the first clamp and the second clamp.

[0014] Furthermore, the clamping block may be an arc-shaped protrusion formed on the back sides of the first clamping piece and the second clamping piece.

[0015] Furthermore, the distance-varying block is arranged in front of the arc track; the distance-varying block is arranged parallel to the arc track.

[0016] Furthermore, a limiting block cooperating with the distance-varying block is provided on the inner side of the rear end of the third connecting plate and the fourth connecting plate.

[0017] Furthermore, the first card slot and the second card slot are arranged on the pitch-changing block at an interval of 90°.

[0018] Compared with the prior art, the present invention has the following technical features:

[0019] The utility model has the advantages of simple structure, easy manufacturing, low cost and simple control. It can grab multiple medicine boxes at one time and adjust them so that the opening directions of adjacent medicine boxes are opposite. The entire process can be achieved unmanned, which effectively improves the efficiency of medicine selection and also helps to improve the efficiency of artillery firing. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0021] Figure 2 This is a schematic diagram of the execution module structure of the utility model;

[0022] Figure 3 This is a schematic diagram of the initial (end) position structure of the execution module in the present invention when selecting a certain (adjacent) medicine box;

[0023] Figure 4 This is a schematic diagram of the structure of the end (initial) position of the execution module in the present utility model when selecting a certain (adjacent) medicine box;

[0024] Figure 5 It is a structural schematic diagram of the variable distance block in the utility model.

[0025] Figure numerals: 1 frame, 2 medicine box, 3 execution module, 4 slider, 5 first connecting plate, 6 second connecting plate, 7 third connecting plate, 8 fourth connecting plate, 9 first spring, 10 second spring, 11 first rotating shaft, 12 second rotating shaft, 13 third rotating shaft, 14 fourth rotating shaft, 15 first clamp, 16 second clamp, 17 variable distance block, 18 arc track, 19 first slot, 20 second slot. DETAILED DESCRIPTION

[0026] See attached Figures 1 to 5 The utility model provides a medicine selection robot, comprising a frame 1 and an execution module 3; the frame 1 is mounted on a robot arm, and the frame 1 comprises a rectangular hollow box body with an opening on a side. Multiple groups of execution modules 3 are arranged in parallel inside the frame 1, and each group of execution modules 3 is movably mounted on an arc-shaped track 18 fixed inside the frame 1. Each group of execution modules 3 is used to clamp a medicine box 2, wherein:

[0027] The frame 1 is provided with an arc-shaped variable distance block 17, and the execution module 3 slides with the variable distance block 17; a first card slot 19 and a second card slot 20 are provided at different positions on the variable distance block 17; when the execution module 3 is driven to the first card slot 19 and the second card slot 20, the clamping mechanism in the execution module 3 is opened; when the execution module is driven to disengage from the first card slot 19 and the second card slot 20, the clamping mechanism in the execution module 3 is closed to clamp the medicine box 2, and the clamped medicine box 2 is placed at the desired position by the robotic arm, for example, on the tail tube of the artillery; in this process, by driving the execution module 3 to slide on the arc track 18, the opening direction position of the medicine box 2 can be adjusted, so that the opening directions of adjacent medicine boxes 2 are relative when the medicine boxes 2 are placed.

[0028] like Figure 2As shown, optionally, the execution module 3 includes a slider 4, a first connecting plate 5, a second connecting plate 6, a third connecting plate 7, a fourth connecting plate 8, a first spring 9, a second spring 10, a first rotating shaft 11, a second rotating shaft 12, a third rotating shaft 13, a fourth rotating shaft 14 and the clamping mechanism, wherein:

[0029] A sliding groove is provided in the middle of the slider 4, and the slider 4 is assembled to the arc track 18 through the sliding groove, and a motor driver is installed on the slider 4 to drive the slider 4 to drive the entire execution module 3 to slide on the arc track 18; the rear ends of the first connecting plate 5 and the second connecting plate 6 are connected to the two sides of the slider 4, and the middle parts of the third connecting plate 7 and the fourth connecting plate 8 are provided with a bending section, and the first rotating shaft 11 and the second rotating shaft 12 are provided on the inner side of the bending section of the third connecting plate 7 and the fourth connecting plate 8 and the front end of the first connecting plate 5 and the second connecting plate 6; the first spring 9 and the second spring 10 are respectively provided between the rear ends of the third connecting plate 7 and the fourth connecting plate 8 and the inner sides of the first connecting plate 5 and the second connecting plate 6; the clamping mechanism is installed at the front end of the third connecting plate 7 and the fourth connecting plate 8.

[0030] The clamping mechanism includes a first clamp 15 and a second clamp 16, which are hinged to the inner sides of the front ends of the third connecting plate 7 and the fourth connecting plate 8 through a third rotating shaft 13 and a fourth rotating shaft 14 respectively, and the front ends of the third connecting plate 7 and the fourth connecting plate 8 are used to limit the rotation range of the first clamp 15 and the second clamp 16. When the first clamp 15 and the second clamp 16 rotate to contact the front ends of the third connecting plate 7 and the fourth connecting plate 8, they cannot continue to rotate to avoid affecting the clamping process of the medicine box 2.

[0031] See attached Figure 2 The first clamp 15 and the second clamp 16 are arc-shaped structures, and the first clamp 15 and the second clamp 16 are provided with clamping blocks in opposite positions, and the clamping blocks on the first clamp 15 and the second clamp 16 are used to clamp the medicine box 2.

[0032] See attached Figure 1 In this embodiment, the medicine box 2 has a C-shaped structure. Correspondingly, the clamping block can be an arc-shaped protrusion formed on the back side of the first clamp 15 and the second clamp 16, and the medicine box 2 is clamped by using the edges of the clamping block and the first clamp 15 and the second clamp 16.

[0033] like Figure 3 and Figure 4 As shown, in this solution, the arc track 18 is installed inside the frame 1, and both ends of the arc track 18 are fixed to the top and bottom of the frame 1 respectively.

[0034] The variable distance block 17 is arranged inside the frame 1 and in front of the arc track 18; preferably, the variable distance block 17 is arranged parallel to the arc track 18; see Figure 2 The inner side of the rear end of the third connecting plate 7 and the fourth connecting plate 8 is provided with a limit block that cooperates with the distance changing block 17; see the attached Figure 3 When the limit block is clamped at other positions on the distance changing block 17 except the first slot 19 and the second slot 20, the first spring 9 and the second spring 10 are in a compressed state, so that the clamping mechanism remains closed; and when the execution module 3 slides until the limit block is clamped into the first slot 19 and the second slot 20, since the first slot 19 and the second slot 20 are both grooves, the first spring 9 and the second spring 10 are extended, and then the third connecting plate 7 and the fourth connecting plate 8 move backwards, so that the distance between the first clamp 15 and the second clamp 16 increases, and the clamping mechanism opens.

[0035] Preferably, the first clamping slot 19 and the second clamping slot 20 are arranged on the pitch-changing block 17 at an interval of 90°; that is, the corresponding central angle between the two is 90°.

[0036] The working process of one embodiment of the utility model is as follows:

[0037] See also Figure 1 First, before use, for different execution modules 3 in the rack 1, adjust so that adjacent execution modules 3 are respectively located in the first card slot 19 or the second card slot 20 of the initial position, that is, one is in the first card slot 19 and the other is in the second card slot 20, and they are staggered; at this time, the clamping mechanisms in all execution modules 3 are in the open state.

[0038] After the robotic arm drives the frame 1 close to the medicine box 2 and aligns it, the motor driver drives the slider 4 to move, so that the execution module 3 disengages from the first slot 19 and the second slot 20 respectively. During the disengagement process, the clamping mechanism closes to clamp and fix the medicine box 2 in the medicine chamber; after fixation, the robotic arm drives the entire frame 1 to move to the tail tube of the gun; then the execution module 3 continues to be driven until it reaches another slot opposite to the initial position, the clamping mechanism opens, the medicine box 2 disengages from the clamping mechanism and is placed on the tail tube; because in this process, one of the adjacent medicine boxes 2 moves upward 90° and the other moves downward 90°, so after placement, the openings of the adjacent medicine boxes 2 are exactly opposite to each other; after placing the medicine box 2, the entire robotic arm withdraws and proceeds to the next cycle.

[0039] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present application, and should all be included in the scope of protection of the present application.

Claims

1. A drug selection robot, characterized in that: The invention comprises a frame (1) and an execution module (3); the frame (1) is mounted on a mechanical arm, and a plurality of execution modules (3) are arranged in parallel inside the frame (1), and each group of execution modules (3) is movably mounted on an arc track (18) fixed inside the frame (1), and each group of execution modules (3) is used to clamp a medicine box (2), wherein: An arc-shaped variable distance block (17) is provided in the frame (1), and the execution module (3) is slidably matched with the variable distance block (17); a first card slot (19) and a second card slot (20) are provided at different positions on the variable distance block (17); when the execution module (3) is driven to the first card slot (19) and the second card slot (20), the clamping mechanism in the execution module (3) is opened; when the execution module is driven to be away from the first card slot (19) and the second card slot (20), the clamping mechanism in the execution module (3) is closed to clamp the medicine box (2), and the clamped medicine box (2) is placed at a desired position by the mechanical arm.

2. The drug selection robot according to claim 1, characterized in that: The frame (1) is a rectangular hollow box with an opening on one side.

3. The drug selection robot according to claim 1, characterized in that: By driving the execution module (3) to slide on the arc track (18), the opening orientation of the medicine box (2) is adjusted, so that the opening directions of adjacent medicine boxes (2) are opposite when the medicine boxes (2) are placed.

4. The drug selection robot according to claim 1, characterized in that: The execution module (3) comprises a slider (4), a first connecting plate (5), a second connecting plate (6), a third connecting plate (7), a fourth connecting plate (8), a first spring (9), a second spring (10), a first rotating shaft (11), a second rotating shaft (12), a third rotating shaft (13), a fourth rotating shaft (14) and the clamping mechanism, wherein: A slide groove is provided in the middle of the slider (4), and the slider (4) is assembled to the arc track (18) through the slide groove. A motor driver is installed on the slider (4) for driving the slider (4) to drive the entire execution module (3) to slide on the arc track (18); the rear ends of the first connecting plate (5) and the second connecting plate (6) are connected to both sides of the slider (4); the middle parts of the third connecting plate (7) and the fourth connecting plate (8) are both provided with a bending section, and the first rotating shaft (11) and the second rotating shaft (12) are provided on the inner side of the bending section of the third connecting plate (7) and the fourth connecting plate (8) and the front end of the first connecting plate (5) and the second connecting plate (6); the first spring (9) and the second spring (10) are respectively provided between the rear ends of the third connecting plate (7) and the fourth connecting plate (8) and the inner side of the first connecting plate (5) and the second connecting plate (6); the clamping mechanism is installed at the front end of the third connecting plate (7) and the fourth connecting plate (8).

5. The drug selection robot according to claim 4, characterized in that: The clamping mechanism comprises a first clamping piece (15) and a second clamping piece (16). The first clamping piece (15) and the second clamping piece (16) are hinged to the inner sides of the front ends of the third connecting plate (7) and the fourth connecting plate (8) respectively through a third rotating shaft (13) and a fourth rotating shaft (14). The front ends of the third connecting plate (7) and the fourth connecting plate (8) are used to limit the rotation range of the first clamping piece (15) and the second clamping piece (16). When the first clamping piece (15) and the second clamping piece (16) rotate to contact the front ends of the third connecting plate (7) and the fourth connecting plate (8), they cannot continue to rotate.

6. The drug selection robot according to claim 5, characterized in that: The first clamping piece (15) and the second clamping piece (16) are arc-shaped structures. The first clamping piece (15) and the second clamping piece (16) are provided with clamping blocks positioned opposite to each other. The clamping blocks on the first clamping piece (15) and the second clamping piece (16) are used to clamp the medicine box (2).

7. The drug selection robot according to claim 6, characterized in that: The clamping block is an arc-shaped protrusion formed on the back side of the first clamping piece (15) and the second clamping piece (16).

8. The drug selection robot according to claim 1, characterized in that: The distance-changing block (17) is arranged in front of the arc track (18); the distance-changing block (17) and the arc track (18) are arranged in parallel.

9. The drug selection robot according to claim 4, characterized in that: The inner sides of the rear ends of the third connecting plate (7) and the fourth connecting plate (8) are provided with limiting blocks that cooperate with the distance-varying block (17).

10. The drug selection robot according to claim 1, characterized in that: The first clamping slot (19) and the second clamping slot (20) are arranged at intervals of 90 degrees on the pitch-changing block (17).

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