Clamping device, rotating disc type clamping mechanism and liquid preparation robot

Abstract

The utility model discloses a clamping device, which comprises a first motor, a second motor and a third motor, the sliding piece is arranged on the lead screw in a sleeving manner and is in threaded connection with the lead screw; the connecting rod assembly comprises a fixing part, a connecting part and a pushing part, and the fixing part is fixedly connected with the first motor; the two ends of the connecting part are rotationally connected with the fixing part and the pushing part correspondingly. The pushing part is rotationally connected with the sliding piece; the clamping jaw assembly comprises a first clamping jaw and a second clamping jaw; in the first motion state, the sliding piece moves upwards on the lead screw in the first direction, and the pushing part drives the first clamping jaw and the second clamping jaw to move oppositely. And in the second motion state, the sliding piece moves downwards on the lead screw in the second direction, so that the pushing part is retracted, and the first clamping jaw and the second clamping jaw move oppositely in the second direction. According to the clamping device, the structure can be simplified, and the occupied space of the clamping device is reduced. The utility model further provides a rotating disc type clamping mechanism and a liquid preparation robot.

Description

TECHNICAL FIELD

[0001] The utility model relates to automatic liquid preparation equipment technical field, especially in cluding a clamping device, a rotary table type clamping mechanism and a liquid preparation robot. BACKGROUND

[0002] The drug configuration of the hospital needs to suck the liquid (such as sodium chloride solution) of the infusion bag into the syringe, then injects the liquid in the syringe into the west bottle, mixes the liquid and powder in the west bottle, and then sucks and injects the mixed liquid into the infusion bag through the syringe.

[0003] The clamping device of the existing liquid preparation robot for clamping the west bottle is complex in structure and large in space occupation. UTILITY MODEL CONTENT

[0004] The utility model discloses a kind of clamping device, rotary table type clamping mechanism and liquid preparation robot, can simplify structure, reduce space occupation.

[0005] To solve the above technical problems, the embodiment of the utility model discloses a kind of clamping device, comprising: first motor, including screw rod, the screw rod extends along first direction;Sliding member, sleeve is set in the screw rod, and is threadedly connected with the screw rod;The sliding member is switched between first movement state and second movement state;Connecting rod assembly, including fixed part, connecting part and push part, the fixed part is fixedly connected with the first motor;The both ends of the connecting part are respectively rotationally connected with the fixed part and the push part;The push part is rotationally connected with the sliding member;Claw subassembly, including first claw and second claw, which are arranged along second direction interval;The second direction is perpendicular to the first direction;Wherein, in the first movement state, the sliding member moves upwards on the screw rod along the first direction, to make the push part drive the first claw and the second claw move along the second direction opposite direction;In the second movement state, the sliding member moves downwards on the screw rod along the second direction, to make the push part retract, the first claw and the second claw move along the second direction towards.

[0006] The technical scheme is adopted, the sliding part is sleeved on the screw rod and is threadedly connected with the screw rod, the first motor is started, the first motor drives the screw rod to rotate, the screw rod rotates, the sliding part threadedly connected with the screw rod moves up and down on the screw rod along the first direction, when the sliding part moves up along the first direction (i.e. the first movement state), the one end of the connecting part and the pushing part connected together is close to the sliding part, the one end of the pushing part away from the connecting part and not connected with the sliding part is gradually away from the sliding part, and is close to the direction of the clamping jaw assembly, and pushes the first clamping jaw and the second clamping jaw, so that the first clamping jaw and the second clamping jaw move away from each other along the second direction, i.e. the first clamping jaw and the second clamping jaw are opened, and the vial can be taken off.

[0007] When the sliding part moves down along the second direction on the screw rod (i.e. the second movement state), the one end of the connecting part and the pushing part connected together is away from the sliding part, the one end of the pushing part away from the connecting part and not connected with the sliding part is gradually close to the sliding part, i.e. the pushing part is retracted, the first clamping jaw and the second clamping jaw move towards each other along the second direction, i.e. the first clamping jaw and the second clamping jaw are clamped.

[0008] In summary, the first motor, the sliding part and the connecting rod assembly are cooperated to control the opening and closing of the first clamping jaw and the second clamping jaw, the structure is simple, and too much space is not occupied.

[0009] According to another specific embodiment of the utility model, the pushing part is triangular, the pushing part comprises a first rotating part, a second rotating part and a pressing part, the first rotating part is connected with the connecting part in a rotatable manner around the second direction, the second rotating part is connected with the sliding part in a rotatable manner around the second direction, and the pressing part is used for driving the first clamping jaw and the second clamping jaw to move away from each other along the second direction.

[0010] The technical scheme is adopted, in the first movement state of the sliding part, the sliding part moves up along the first direction on the screw rod, then the first rotating part and the connecting part are gradually close to the sliding part, thus the pressing part of the pushing part is gradually away from the sliding part, so as to be close to the direction of the first clamping jaw and the second clamping jaw, so that the first clamping jaw and the second clamping jaw are opened.

[0011] In the second movement state of the sliding part, the sliding part moves down along the second direction on the screw rod, then the first rotating part and the connecting part are gradually away from the sliding part, thus the pressing part of the pushing part is gradually close to the sliding part, i.e. the pushing part is retracted, so that the first clamping jaw and the second clamping jaw are clamped.

[0012] According to another specific embodiment of the utility model, still include: first connecting rod, one end of first connecting rod is connected with first clamping jaw, second connecting rod, one end of second connecting rod is connected with second clamping jaw, one end of first connecting rod away from first clamping jaw and one end of second connecting rod away from second clamping jaw are arranged to intersect, moving piece, one end of first connecting rod and second connecting rod intersecting is rotatably connected with moving piece around first direction, wherein, in first movement state of moving piece, top pressure part pushes moving piece and moves in third direction and direction away from moving piece, the included angle between first connecting rod and second connecting rod increases, third direction is perpendicular to first direction and second direction, in second movement state of moving piece, push part is retracted, moving piece moves along third direction and towards moving piece, the included angle between first connecting rod and second connecting rod decreases.

[0013] According to another specific embodiment of the utility model, still include: first connecting rod, one end of first connecting rod is connected with first clamping jaw, second connecting rod, one end of second connecting rod is connected with second clamping jaw, one end of first connecting rod away from first clamping jaw and one end of second connecting rod away from second clamping jaw are arranged to intersect, moving piece, one end of first connecting rod and second connecting rod intersecting is rotatably connected with moving piece around first direction, wherein, in first movement state of moving piece, top pressure part pushes moving piece and moves in third direction and direction away from moving piece, the included angle between first connecting rod and second connecting rod increases, third direction is perpendicular to first direction and second direction, in second movement state of moving piece, push part is retracted, moving piece moves along third direction and towards moving piece, the included angle between first connecting rod and second connecting rod decreases.

[0014] According to another specific embodiment of the utility model, still include: first connecting rod, one end of first connecting rod is connected with first clamping jaw, second connecting rod, one end of second connecting rod is connected with second clamping jaw, one end of first connecting rod away from first clamping jaw and one end of second connecting rod away from second clamping jaw are arranged to intersect, moving piece, one end of first connecting rod and second connecting rod intersecting is rotatably connected with moving piece around first direction, wherein, in first movement state of moving piece, top pressure part pushes moving piece and moves in third direction and direction away from moving piece, the included angle between first connecting rod and second connecting rod increases, third direction is perpendicular to first direction and second direction, in second movement state of moving piece, push part is retracted, moving piece moves along third direction and towards moving piece, the included angle between first connecting rod and second connecting rod decreases.

[0015] According to another specific embodiment of the utility model, still include: first connecting rod, one end of first connecting rod is connected with first clamping jaw, second connecting rod, one end of second connecting rod is connected with second clamping jaw, one end of first connecting rod away from first clamping jaw and one end of second connecting rod away from second clamping jaw are arranged to intersect, moving piece, one end of first connecting rod and second connecting rod intersecting is rotatably connected with moving piece around first direction, wherein, in first movement state of moving piece, top pressure part pushes moving piece and moves in third direction and direction away from moving piece, the included angle between first connecting rod and second connecting rod increases, third direction is perpendicular to first direction and second direction, in second movement state of moving piece, push part is retracted, moving piece moves along third direction and towards moving piece, the included angle between first connecting rod and second connecting rod decreases.

[0016] According to another specific embodiment of the utility model, still include: first connecting rod, one end of first connecting rod is connected with first clamping jaw, second connecting rod, one end of second connecting rod is connected with second clamping jaw, one end of first connecting rod away from first clamping jaw and one end of second connecting rod away from second clamping jaw are arranged to intersect, moving piece, one end of first connecting rod and second connecting rod intersecting is rotatably connected with moving piece around first direction, wherein, in first movement state of moving piece, top pressure part pushes moving piece and moves in third direction and direction away from moving piece, the included angle between first connecting rod and second connecting rod increases, third direction is perpendicular to first direction and second direction, in second movement state of moving piece, push part is retracted, moving piece moves along third direction and towards moving piece, the included angle between first connecting rod and second connecting rod decreases.

[0017] According to the technical scheme, the moving piece moves along the third direction and away from the sliding piece under the action of the pushing part, the elastic piece is compressed, the included angle between the first connecting rod and the second connecting rod is increased, and the jaw assembly is opened to facilitate the removal of the vial.

[0018] Correspondingly, after the pushing part moves away from the moving piece, the moving piece moves along the third direction and towards the sliding piece under the restoring force of the elastic piece, the included angle between the first connecting rod and the second connecting rod is reduced, that is, the jaw assembly returns to the original clamping state.

[0019] According to another specific embodiment of the utility model, the moving piece comprises a first abutting surface; an annular portion is arranged between the annular groove and the through hole, the annular portion comprises a second abutting surface facing the first abutting surface, and the second abutting surface is used for abutting with the first abutting surface to limit the movement of the moving piece along the third direction and away from the sliding piece.

[0020] According to another specific embodiment of the utility model, further comprising: a first connecting seat fixedly connected with the first jaw; the first connecting rod is rotationally connected with the first connecting seat, and the first connecting rod is used for driving the first connecting seat to move along the second direction; a second connecting seat fixedly connected with the second jaw; the second connecting rod is rotationally connected with the second connecting seat, and the second connecting rod is used for driving the second connecting seat to move along the second direction.

[0021] According to another specific embodiment of the utility model, the first connecting seat comprises a first rotation groove, the other end of the first connecting rod extends into the first rotation groove and is used for rotating in the first rotation groove; the second connecting seat comprises a second rotation groove, and the other end of the second connecting rod extends into the second rotation groove and is used for rotating in the second rotation groove.

[0022] According to another specific embodiment of the utility model, the fixing seat is provided with an accommodating groove penetrating along the second direction, and the accommodating groove is in communication with the through hole along the third direction; the first connecting seat and the second connecting seat are arranged in the accommodating groove along the second direction.

[0023] According to the technical scheme, the accommodating groove penetrates the fixing seat along the second direction, and the first connecting seat and the second connecting seat are arranged in the accommodating groove along the second direction, so that the first connecting seat can move in the accommodating groove along the second direction under the action of the corresponding first connecting rod, and the first jaw connected with the first connecting seat moves along the second direction. Correspondingly, the second connecting seat can move in the accommodating groove along the second direction under the action of the corresponding second connecting rod, and the second jaw connected with the second connecting seat moves along the second direction. Then, the first jaw and the second jaw move away from each other along the second direction, and the distance between the first jaw and the second jaw is increased, so that the first jaw and the second jaw are gradually opened to facilitate the removal of the vial.

[0024] The embodiment of the utility model discloses a rotary table type clamping mechanism of the clamping device of any one of the above-mentioned embodiments, comprising: a rotary table; a second motor is connected with the rotary table; the second motor is used to drive the rotary table to rotate; the clamping device, the first motor of the clamping device is fixedly connected on the outer wall of the second motor; the clamping device comprises a plurality of the claw subassembly, a plurality of the claw subassembly are arranged along the circumference of the rotary table and are spaced, the rotary table is used to drive a plurality of the claw subassembly to rotate, so that any one claw subassembly in a plurality of claw subassembly rotates to correspond with the pusher in the third direction, and the pusher makes the first claw and the second claw of the claw subassembly move along the second direction in opposite directions.

[0025] According to another specific embodiment of the utility model, further include sensor, sensor is connected with second motor, sensor is located on one side of sliding piece, is used to detect whether pusher is withdrawn to initial position.

[0026] Adopt the above technical scheme, sensor is used to detect whether pusher is withdrawn to initial position. Initial position refers to the position before the motion of sliding piece along the first direction, or the position after the up-down motion of sliding piece in the first direction, at this time, pusher and moving piece are spaced, so that the rotary table can be controlled by second motor to rotate, so that the next claw subassembly clamping the vial rotates to the position opposite to pusher, so that pusher repeats the above process, realizes the unloading process of the vial.

[0027] The embodiment of the utility model discloses a liquid preparation robot of the rotary table type clamping mechanism of any one of the above-mentioned embodiments, comprising: a workbench; a first clamping mechanism is arranged on the workbench, and the first clamping mechanism is used for clamping a first container containing a first product; a suction member clamping mechanism is arranged on the workbench, and the suction member clamping mechanism is used for clamping a suction member; and the rotary table type clamping mechanism described above is arranged on the workbench, and the rotary table type clamping mechanism comprises a clamping device, the clamping device comprises a plurality of claw subassemblies, each claw subassembly is used for clamping a second container for containing a second product; the suction member clamping mechanism is arranged between the first clamping mechanism and the rotary table type clamping mechanism, and the suction member clamping mechanism is used for rotating to face the first clamping mechanism or the rotary table type clamping mechanism.

[0028] Using the above technical solution, the suction clamping mechanism is located between the first clamping mechanism and the rotary clamping mechanism. When it faces the first container of the first clamping mechanism, the first product in the first container can be drawn out by the suction member (e.g., a syringe). Then, it turns to the second container of the rotary clamping mechanism to inject the first product in the suction member into the second container, so that the second product in the second container and the first product are mixed. After the mixing is completed, it is drawn into the cylinder by the suction member and then turns to the first container of the first clamping mechanism to inject the mixed solution into the first container to complete the solution preparation. Attached Figure Description

[0029] Figure 1 A perspective view of the liquid preparation robot according to an embodiment of the present invention is shown;

[0030] Figure 2 This invention illustrates a three-dimensional representation of a rotary clamping mechanism according to an embodiment of the present invention. Figure 1 ;

[0031] Figure 3 This invention illustrates a three-dimensional representation of a rotary clamping mechanism according to an embodiment of the present invention. Figure 2 Only one gripper assembly is shown; the turntable and housing are not shown.

[0032] Figure 4 A perspective view of the clamping device according to an embodiment of the present invention is shown;

[0033] Figure 5 A perspective view of the gripper assembly according to an embodiment of the present invention is shown, wherein the fixing base is not shown;

[0034] Figure 6 A cross-sectional view of the gripper assembly according to an embodiment of the present invention is shown;

[0035] Figure 7 A perspective view of the movable component according to an embodiment of the present invention is shown;

[0036] Figure 8 This invention illustrates the three-dimensional shape of the fixing base according to an embodiment of the present invention. Figure 1 ;

[0037] Figure 9 This invention illustrates the three-dimensional shape of the fixing base according to an embodiment of the present invention. Figure 2 ;

[0038] Figure 10 This is a perspective view showing the connection of the first motor, sliding member, and connecting rod assembly according to an embodiment of the present invention;

[0039] Figure 11 A perspective view of the threaded sleeve according to an embodiment of the present invention is shown. Detailed Implementation

[0040] The following describes the embodiments of the present application with specific examples, and those skilled in the art can easily understand other advantages and effects of the present application from the disclosure. Although the description of the present application will be introduced in combination with the preferred embodiments, it does not mean that the features of the present application are limited to the embodiments. On the contrary, the purpose of introducing the present application in combination with the embodiments is to cover other options or modifications that can be extended based on the claims of the present application. In order to provide a deep understanding of the present application, many specific details will be included in the following description. The present application can also be implemented without using these details. In addition, in order to avoid confusion or obscure the focus of the present application, some specific details will be omitted in the description. It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0041] It should be noted that in this specification, similar reference numbers and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0042] In the description of the present embodiment, it should be noted that the terms "upper", "lower", "inner", "bottom" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the product of the present application is usually placed, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0043] The terms "first", "second", and the like are only used for differentiation and cannot be understood as indicating or implying relative importance.

[0044] In the description of the present embodiment, it should also be noted that unless otherwise explicitly specified and limited, the terms "provided", "connected", "connected" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be connected inside two elements. For those skilled in the art, the specific meaning of the above terms in the present embodiment can be understood according to the specific circumstances.

[0045] In order to make the purpose, technical scheme and advantages of the present application more clear, the embodiments of the present application will be further described in detail below in combination with the drawings.

[0046] Reference Figure 1The embodiment of the present application provides a liquid preparation robot 1, which comprises a workbench 2, an electric control box 3, a first clamping mechanism 4, a suction member clamping mechanism 5 and a rotary disc clamping mechanism 6. The electric control box 3, the first clamping mechanism 4, the suction member clamping mechanism 5 and the rotary disc clamping mechanism 6 are all arranged on the workbench 2.

[0047] The first clamping mechanism 4 is used for clamping a first container 40 (for example, an infusion bag), the first container 40 contains a first product (for example, sodium chloride solution), the rotary disc clamping mechanism 6 is used for clamping a second container (for example, a vial, not shown in the figure), the second container contains a second product (powdered medicine or liquid medicine), and the suction member clamping mechanism 5 is used for clamping a suction member 7, which is located between the first clamping mechanism 4 and the rotary disc clamping mechanism 6. When the suction member 7 (for example, a syringe) is directed to the first container 40 of the first clamping mechanism 4, the first product in the first container 40 can be extracted through the suction member 7, and then the suction member 7 is directed to the second container of the rotary disc clamping mechanism 6, so that the first product in the suction member 7 is injected into the second container, so that the second product in the second container and the first product are mixed, after the mixing is completed, the mixed solution is sucked into the cylinder through the suction member 7, and then the mixed solution is injected into the first container 40 of the first clamping mechanism 4 to complete the liquid preparation.

[0048] The electric control box 3 is provided with a control system, the control system is used for controlling the first clamping mechanism 4, the suction member clamping mechanism 5 and the rotary disc clamping mechanism 6 to perform the liquid preparation work, and the control system is connected with an operation display screen 30 located outside the control system, so that the staff controls the liquid preparation process through the operation display screen 30.

[0049] Those skilled in the art can understand that the liquid preparation robot 1 of the present application can perform liquid preparation work of various liquids, in addition to drug solutions, and can also perform liquid preparation for chemical solutions in a laboratory and cosmetic formulations.

[0050] The specific structure of the rotary disc clamping mechanism 6 will be described in detail below with reference to the accompanying drawings.

[0051] As shown in Figures 1 to 3 The rotary disc clamping mechanism 6 comprises a support column 60, a second motor 61, a rotary disc 62 and a clamping device 63. The lower end of the support column 60 is fixed to the workbench 2, and the upper end is connected to a shell 600, the second motor 61 is installed in the shell 600, and the second motor 61 is used for driving the rotary disc 62 to rotate.

[0052] The clamping device 63 comprises a plurality of jaw assemblies 630 and a pushing part 64. Each jaw assembly 630 comprises a first jaw 631 and a second jaw 632 for clamping the second container (e.g. a vial) as described above. The plurality of jaw assemblies 630 are arranged on the rotating disc 62 along the circumferential direction R of the rotating disc 62. The second motor 61 drives the rotating disc 62 to rotate, and the plurality of jaw assemblies 630 arranged on the rotating disc 62 also rotate to change the position of each jaw assembly 630 relative to the workbench 2.

[0053] In the present embodiment, the vial is taken as an example of the clamped member (i.e. the second container). However, those skilled in the art can understand that in other embodiments, other clamped members such as reagent bottles, vaccine bottles, etc. can also be used.

[0054] The pushing part 64 is mounted on the outer wall of the second motor 61 and does not rotate with the rotating disc 62. With the rotation of the plurality of jaw assemblies 630, the pushing part 64 can be arranged opposite to any one of the plurality of jaw assemblies 630 along the third direction X to drive the first jaw 631 and the second jaw 632 of the jaw assembly 630 to open.

[0055] It should be noted that the first jaw 631 and the second jaw 632 are usually in a clamped state to clamp the vial. When the pushing part 64 applies a pushing force to the first jaw 631 and the second jaw 632, the first jaw 631 and the second jaw 632 open to release the vial after the liquid preparation is completed.

[0056] Exemplarily, a speed reducer 610 is arranged between the rotating disc 62 and the second motor 61, and the speed reducer 610 is fixed to the output shaft of the second motor 61. That is, the rotating disc 62 is fixed to the output shaft of the second motor 61 through the speed reducer 610. The speed reducer 610 can reduce the rotation speed of the output shaft of the second motor 61 to adjust the angle of rotation of the rotating disc 62. In this way, the rotating disc 62 rotates once, and the next jaw assembly 630 is arranged opposite to the pushing part 64 along the third direction X.

[0057] In the present embodiment, the rotating disc 62 is provided with 12 jaw assemblies 630, and the rotating disc 62 can rotate relative to the support column 60. Each jaw assembly 630 can rotate synchronously with the rotating disc 62. The rotating disc 62 rotates once to align another jaw assembly 630 with the pushing part 64. That is, the rotating disc 62 rotates by the same angle each time to make the 12 jaw assemblies 630 cooperate with the pushing part 64 in turn. Exemplarily, the rotating disc 62 rotates by 30° each time in the present embodiment, but is not limited thereto. The angle of rotation of the rotating disc 62 can be adjusted according to the number of jaw assemblies 630. For example, when the rotating disc 62 is provided with six jaw assemblies 630, the rotating disc 62 can rotate by 60° each time.

[0058] ReferenceFigures 4 to 6 The clamping device 63 further comprises a first connecting seat 633, a second connecting seat 634, a first connecting rod 635, a second connecting rod 636, a moving piece 637, a fixing seat 638 and an elastic piece 639. The first connecting seat 633 and the second connecting seat 634 are not shown in the fixing seat 638. Figure 5

[0059] As shown in Figure 5 and Figure 6 , the first connecting seat 633 is fixedly connected with the first clamping jaw 631, and the first connecting rod 635 is rotationally connected with the first connecting seat 633. The first connecting rod 635 is used to drive the first connecting seat 633 to move along the second direction Y. Exemplarily, the first connecting seat 633 comprises a first rotation slot 6330, one end of the first connecting rod 635 extends into the first rotation slot 6330 and is used to rotate in the first rotation slot 6330.

[0060] Correspondingly, the second connecting seat 634 is fixedly connected with the second clamping jaw 632, and the second connecting rod 636 is rotationally connected with the second connecting seat 634. The second connecting rod 636 is used to drive the second connecting seat 634 to move along the second direction Y. Exemplarily, the second connecting seat 634 comprises a second rotation slot 6340, one end of the second connecting rod 636 extends into the second rotation slot 6340 and is used to rotate in the second rotation slot 6340.

[0061] The other ends of the first connecting rod 635 and the second connecting rod 636 are intersectingly arranged. The ends of the first connecting rod 635 and the second connecting rod 636 intersecting with each other are connected with the moving piece 637 in a rotatable manner around the first direction Z. Exemplarily, as shown in Figure 6 and Figure 7 , one end of the moving piece 637 is provided with a rectangular slot 6370, and the ends of the first connecting rod 635 and the second connecting rod 636 intersecting with each other overlap in the rectangular slot 6370. A rotating shaft 6371 penetrates through the first connecting rod 635, the second connecting rod 636 and the moving piece 637 along the first direction Z, so as to realize the rotational connection of the first connecting rod 635, the second connecting rod 636 and the moving piece 637.

[0062] As shown in Figure 6 and Figure 8 , the fixing seat 638 is provided with a through hole 6380 and an annular slot 6381. The through hole 6380 penetrates through the fixing seat 638 along the third direction X. The annular slot 6381 is arranged around the through hole 6380. Exemplarily, the third direction X is parallel to the radial direction of the rotating disc 62. The annular slot 6381 is open to one end of the second motor 61.

[0063] At least part of the moving piece 637 is located in the through hole 6380 and can move along the third direction X in the through hole 6380 under the pushing of the pushing part 64. ​

[0064] In the embodiment, as shown in Figures 6 to 8 The end of the moving piece 637 away from the first connecting rod 635 and the second connecting rod 636 comprises a first abutting surface 6372; a ring-shaped part 6382 is arranged between the ring-shaped groove 6381 and the through hole 6380, and the ring-shaped part 6382 comprises a second abutting surface 6383 facing the first abutting surface 6372, the first abutting surface 6372 is used to abut against the second abutting surface 6383 to limit the movement of the moving piece 637 in the third direction X and away from the second motor 61. That is, under the action of the pushing part 64, the moving piece 637 moves in the third direction X and away from the second motor 61 in the through hole 6380 to a set distance, and the first abutting surface 6372 abuts against the second abutting surface 6383 to limit the continuous movement of the moving piece 637.

[0065] Exemplarily, the moving piece 637 comprises a rod part 6374, a first protruding part 6375 and a second protruding part 6376, wherein the first protruding part 6375 is sleeved outside the rod part 6374, the second protruding part 6376 is sleeved outside the first protruding part 6375, and a stepped surface formed between the first protruding part 6375 and the rod part 6374 constitutes the first abutting surface 6372.

[0066] The elastic piece 639 extends in the third direction X, and one end of the elastic piece 639 abuts against the bottom wall of the ring-shaped groove 6381. Exemplarily, the elastic piece 639 is a spring.

[0067] The first protruding part 6375 and the second protruding part 6376 of the moving piece 637 are internally hollow to form a limiting groove 6373, and the other end of the elastic piece 639 is located in the limiting groove 6373. That is, the elastic piece 639 is located between the limiting groove 6373 and the bottom wall of the ring-shaped groove 6381, then under the action of the pushing part 64, the moving piece 637 moves in the third direction X and away from the second motor 61, the elastic piece 639 is compressed, the included angle between the first connecting rod 635 and the second connecting rod 636 is increased, and the jaw assembly 630 is opened to facilitate the taking down of the vial.

[0068] Correspondingly, after the pushing part 64 leaves the moving piece 637, the moving piece 637 moves in the third direction X and towards the second motor 61 under the restoring force of the elastic piece 639, the included angle between the first connecting rod 635 and the second connecting rod 636 is reduced, that is, the jaw assembly 630 restores to the original clamping state.

[0069] In the embodiment, as shown in Figure 8 and Figure 9As shown, the fixing base 638 is provided with an accommodating groove 6384 penetrating through in the second direction Y, the accommodating groove 6384 communicates with the through hole 6380 in the third direction X; the first connecting base 633 and the second connecting base 634 are arranged in the accommodating groove 6384 in the second direction Y. Exemplarily, the accommodating groove 6384 penetrates through the fixing base 638 in the second direction Y, and the first connecting base 633 and the second connecting base 634 are arranged in the accommodating groove 6384 in the second direction Y, then the first connecting base 633 can move in the second direction Y in the accommodating groove 6384 under the action of the corresponding first connecting rod 635, and the first clamping jaw 631 connected with the first connecting base 633 moves in the second direction Y. Correspondingly, the second connecting base 634 can move in the second direction Y in the accommodating groove 6384 under the action of the corresponding second connecting rod 636, and the second clamping jaw 632 connected with the second connecting base 634 moves in the second direction Y. Then the first clamping jaw 631 and the second clamping jaw 632 move away from each other in the second direction Y, and the distance between the first clamping jaw 631 and the second clamping jaw 632 becomes larger, which gradually opens to facilitate the taking of the vial.

[0070] It can be understood that the first connecting base 633, the second connecting base 634, the first connecting rod 635, the second connecting rod 636, the moving piece 637, the fixing base 638 and the elastic piece 639 are all connected with the clamping jaw assembly 630, which rotates synchronously with the rotating disc 62 as a whole, so that the moving piece 637 cooperates with the pushing part 64 to realize the opening of the clamping jaw assembly 630.

[0071] As shown in Figure 4 and Figure 10 The pushing part 64 is driven by the first motor 640 to push the moving piece 637. Specifically, the first motor 640 is fixedly connected to the outer wall of the second motor 61, and the first motor 640 includes a lead screw 6400 extending in the first direction Z. Exemplarily, the first motor 640 is a lead screw motor.

[0072] The sliding member 641 is sleeved on the screw rod 6400 and is threadedly connected with the screw rod 6400. The sliding member 641 is switched between the first movement state and the second movement state. Exemplarily, a threaded sleeve 642 is arranged between the screw rod 6400 and the sliding member 641. The threaded sleeve 642 comprises a base plate portion 6420 and a columnar portion 6421 protruding from the base plate portion 6420. The base plate portion 6420 is threadedly connected with the bottom of the sliding member 641. The columnar portion 6421 extends along the first direction Z. The columnar portion 6421 is provided with a threaded hole 6422 penetrating through the base plate portion 6420. The screw rod 6400 is arranged in the threaded hole 6422, and the sliding member 641 is sleeved outside the columnar portion 6421. That is, the sliding member 641 is threadedly connected with the screw rod 6400 through the threaded sleeve 642. When the first motor 640 is started, the screw rod 6400 rotates, and the threaded sleeve 642 drives the sliding member 641 to move up and down along the first direction Z.

[0073] In the embodiment, the first movement state is that the sliding member 641 moves upward along the first direction Z on the screw rod 6400, and the second movement state is that the sliding member 641 moves downward along the first direction Z on the screw rod 6400.

[0074] The sliding member 641 is connected with a connecting rod assembly 643. The connecting rod assembly 643 comprises a fixed portion 6430, a connecting portion 6431 and the pushing portion 64. The fixed portion 6430 is fixedly connected with the first motor 640. It can be understood that the fixed portion 6430 is connected with the outer wall of the first motor 640, that is, the fixed portion 6430 is relatively fixed.

[0075] The two ends of the connecting portion 6431 are respectively connected with the fixed portion 6430 and the pushing portion 64 in a rotatable manner around the second direction Y. Exemplarily, the connecting portion 6431 is rotatably connected with the fixed portion 6430 through a first rotating shaft 6437.

[0076] The pushing portion 64 is rotatably connected with the sliding member 641 around the second direction Y. The second direction Y is perpendicular to the first direction Z. Exemplarily, the pushing portion 64 is triangular. Specifically, the triangular pushing portion 64 comprises a first rotating portion 6433, a second rotating portion 6434 and a pressing portion 6435 connected in a triangular shape. The first rotating portion 6433 is rotatably connected with the connecting portion 6431 through a second rotating shaft 6438. The second rotating portion 6434 is rotatably connected with the sliding member 641 through a third rotating shaft 6439. The pressing portion 6435 is used to push the moving member 637 to move along the third direction X away from the sliding member 641.

[0077] Exemplarily, the side of the top pressing part 6435 facing away from the sliding part 641 is connected with a semicircular push ball 6436, which is used to directly contact the moving part 637 to push the moving part 637 to move. In the first movement state, the semicircular push ball 6436 contacts the moving part 637, and in the second movement state, the semicircular push ball 6436 is spaced apart from the moving part 637. The semicircular push ball 6436 is in a semispherical shape, which facilitates the application of a pushing force to the moving part 637 to move it.

[0078] In the first movement state of the sliding part 641, the sliding part 641 moves upward along the first direction Z on the lead screw 6400, so that the first rotating part 6433 and the connecting part 6431 gradually approach the sliding part 641. Thus, the top pressing part 6435 of the pushing part 64 and the semicircular push ball 6436 located thereon gradually move away from the sliding part 641, so as to contact and push the moving part 637 to move, thereby realizing the opening of the first clamping jaw 631 and the second clamping jaw 632.

[0079] In the second movement state of the sliding part 641, the sliding part 641 moves downward along the second direction Y on the lead screw 6400, so that the first rotating part 6433 and the connecting part 6431 gradually move away from the sliding part 641. Thus, the top pressing part 6435 of the pushing part 64 and the semicircular push ball 6436 located thereon gradually approach the sliding part 641, that is, the pushing part 64 is retracted, and the first clamping jaw 631 and the second clamping jaw 632 return to the original clamping state.

[0080] In addition, one side of the sliding part 641 is provided with a sensor (not shown in the figure), which is connected with the second motor 61 to realize the relative fixation of the position. The sensor is used to detect whether the pushing part 64 is retracted to the initial position. The initial position refers to the position of the sliding part 641 before the movement along the first direction Z, or the position of the sliding part 641 after the up-down movement along the first direction Z is completed. At this time, the semicircular push ball 6436 on the pushing part 64 is spaced apart from the moving part 637, so that the rotation of the rotating disc 62 can be controlled by the second motor 61 to make the next clamping jaw assembly 630 with a vial rotate to a position opposite to the pushing part 64, so that the pushing part 64 repeats the above process to realize the unloading process of the vial.

[0081] Although the utility model has been illustrated and described with reference to certain preferred embodiments thereof, it should be understood that the above description is a further detailed description of the utility model in conjunction with specific embodiments and cannot be deemed as a limitation of the specific implementation of the utility model to these descriptions. Those skilled in the art can make various changes in form and details, including making a number of simple inferences or substitutions, without departing from the spirit and scope of the utility model.

Claims

1. A clamping device, characterized in that The utility model relates to a kind of mechanical arm, including: First motor, including screw rod, the screw rod extends along first direction; Sliding element, sleeve is set in the screw rod, and is threadedly connected with the screw rod; The sliding element is switched between first motion state and second motion state; Connecting rod assembly, including fixed part, connecting part and push part, the fixed part is fixedly connected with the first motor;The both ends of the connecting part are respectively rotationally connected with the fixed part and the push part;The push part is rotationally connected with the sliding element; Clamping jaw assembly, including first clamping jaw and second clamping jaw spaced apart along second direction;The second direction is perpendicular to the first direction; Wherein, in the first motion state, the sliding element is moved upwards on the screw rod along the first direction, to make the push part drive the first clamping jaw and the second clamping jaw move away along the second direction; In the second motion state, the sliding element is moved downwards on the screw rod along the second direction, to make the push part retract, the first clamping jaw and the second clamping jaw move towards along the second direction.

2. The clamping device of claim 1, wherein The push part is triangular;The push part includes first rotating part, second rotating part and top pressure part;Wherein, the first rotating part is rotationally connected with the connecting part in a manner of surrounding the second direction, the second rotating part is rotationally connected with the sliding element in a manner of surrounding the second direction;The top pressure part is used to drive the first clamping jaw and the second clamping jaw move away along the second direction.

3. The clamping device of claim 2, wherein Further including: First rotating shaft, extends along the second direction, the first rotating shaft rotationally connects the fixed part and one end of the connecting part; Second rotating shaft, extends along the second direction, the second rotating shaft rotationally connects the first rotating part of the push part and the other end of the connecting part; Third rotating shaft, extends along the second direction, the third rotating shaft rotationally connects the second rotating part of the push part and the sliding element.

4. The clamping device of claim 2, wherein Further including: First connecting rod, one end of the first connecting rod is connected with the first clamping jaw; Second connecting rod, one end of the second connecting rod is connected with the second clamping jaw; The end of the first connecting rod away from the first clamping jaw and the end of the second connecting rod away from the second clamping jaw are intersected; Moving element, one end of the first connecting rod and the second connecting rod intersected with is rotationally connected with the moving element in a manner of surrounding the first direction; Wherein, in the first motion state of the sliding element, the top pressure part pushes the moving element to move along third direction and the direction away from the sliding element, the included angle between the first connecting rod and the second connecting rod increases;The third direction is perpendicular to the first direction and the second direction; In the second motion state of the sliding element, the push part retracts, the moving element moves along the third direction and towards the sliding element, the included angle between the first connecting rod and the second connecting rod decreases.

5. The clamping device of claim 4, wherein Further including semicircular push ball, the semicircular push ball is fixedly connected with the side of the top pressure part away from the sliding element.

6. The clamping device of claim 4, wherein Further including: Fixed seat, is equipped with through hole and annular groove, the through hole penetrates the fixed seat along the third direction;The annular groove is arranged around the through hole; An elastic member extends along the third direction, one end of the elastic member abuts against the bottom wall of the annular groove; The moving member is provided with a limiting groove at one end away from the first connecting rod, and the other end of the elastic member is located in the limiting groove.

7. The clamping device of claim 6, wherein The moving member comprises a first abutting surface; an annular portion is arranged between the annular groove and the through hole, and the annular portion comprises a second abutting surface facing the first abutting surface, and the second abutting surface is used to abut against the first abutting surface to limit the movement of the moving member away from the sliding member along the third direction.

8. The clamping device of claim 7, wherein Further comprising: A first connecting seat is fixedly connected with the first clamping jaw; the first connecting rod is rotationally connected with the first connecting seat, and the first connecting rod is used to drive the first connecting seat to move along the second direction; A second connecting seat is fixedly connected with the second clamping jaw; the second connecting rod is rotationally connected with the second connecting seat, and the second connecting rod is used to drive the second connecting seat to move along the second direction.

9. The clamping device of claim 8, wherein The first connecting seat comprises a first rotation groove, and the other end of the first connecting rod extends into the first rotation groove and is used to rotate in the first rotation groove; The second connecting seat comprises a second rotation groove, and the other end of the second connecting rod extends into the second rotation groove and is used to rotate in the second rotation groove.

10. The clamping device of claim 9, wherein The fixed seat is provided with an accommodating groove penetrating along the second direction, and the accommodating groove is in communication with the through hole along the third direction; the first connecting seat and the second connecting seat are arranged in the accommodating groove along the second direction.

11. A turntable chucking mechanism characterized by comprising: Comprising: A turntable; A second motor is connected with the turntable; The second motor is used to drive the turntable to rotate; The clamping device of any one of claims 1 to 10, wherein the first motor of the clamping device is fixedly connected to the outer wall of the second motor; the clamping device comprises a plurality of clamping jaw assemblies, and the plurality of clamping jaw assemblies are arranged at intervals along the circumference of the turntable; the turntable is used to drive the plurality of clamping jaw assemblies to rotate, so that any one of the plurality of clamping jaw assemblies rotates to correspond to the pushing part in the third direction, and the pushing part drives the first clamping jaw and the second clamping jaw of the clamping jaw assembly to move away from each other along the second direction.

12. The turntable chucking mechanism of claim 11, wherein Further comprising a sensor connected with the second motor, the sensor is arranged on one side of the sliding member and is used to detect whether the pushing part is retracted to the initial position.

13. A dispensing robot characterized by, Comprising: A workbench; A first clamping mechanism arranged on the workbench, the first clamping mechanism is used to clamp a first container, and the first container contains a first product; A suction member clamping mechanism arranged on the workbench, the suction member clamping mechanism is used to clamp a suction member; and The turntable type clamping mechanism of any one of claims 11 to 12 is arranged on the workbench, and the turntable type clamping mechanism comprises a clamping device, and the clamping device comprises a plurality of clamping jaw assemblies, each of which is used to clamp a second container for containing a second product. The suction member holding mechanism is disposed between the first holding mechanism and the rotary disc type holding mechanism, and is rotated to face the first holding mechanism or the rotary disc type holding mechanism.

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