Quick dispensing machine medicine taking gripper based on flexible gripping

Abstract

The utility model belongs to the technical field of medicine taking grippers, and particularly relates to a rapid medicine dispensing machine medicine taking gripper based on flexible gripping, which comprises a base plate, a rotating motor is mounted on the base plate, the output end of the rotating motor is fixedly connected with a rotating disc, a support is mounted at the top of the rotating disc, a first motor is mounted in the support, and a second motor is mounted in the first motor. The output end of the first motor is fixedly connected with a first force arm. According to the manipulator, three-dimensional space positioning of the tail end of the gripper is achieved through the rotating motor and the multi-joint force arm, the horizontal operation range can be enlarged, and the gripping angle can be accurately adjusted; the arc-shaped active clamping jaw and the auxiliary clamping jaw are matched with the connecting rod, the U-shaped rotating rod and the closing plate, so that flexible wrapping and grabbing can be realized by fitting the shape of the medicine, the contact stress is reduced, and the damage risk is reduced; and the rotating stability is improved through the design of a base plate supporting column and balls, the grabbing efficiency can be improved through the overall scheme, multi-shape medicine compatibility can be achieved, and the requirements of automatic medicine dispensing for efficiency and safety are met.

Description

Technical Field

[0001] This utility model relates to the field of drug dispensing gripper technology, specifically a drug dispensing gripper for a rapid drug dispensing machine based on flexible gripping. Background Technology

[0002] In the fields of smart healthcare and automated pharmacies, traditional dispensing machines generally use rigid mechanical grippers to perform drug picking tasks. These grippers rely on fixed clamps or rigid claws and can only handle drugs with regular shapes (such as rectangular pillboxes and standard tablets). They are insufficient for picking up irregularly shaped packaged drugs (such as ampoules, round ointment tubes, and aluminum foil blister packs). For example, rigid claws are prone to damaging the coating of sugar-coated tablets due to compression, and may slip or break when picking up drugs from glass bottles due to uneven contact force. Furthermore, they cannot adapt to the rapid switching between drugs of different sizes, requiring frequent manual adjustments of the grippers, which seriously restricts dispensing efficiency and drug safety.

[0003] With the diversification of pharmaceutical packaging and the widespread adoption of automated dispensing, higher demands are being placed on the adaptability, accuracy, and safety of gripping devices. Flexible gripping technology, combining biomimetic design (such as flexible actuation structures mimicking finger joints) with intelligent sensing technologies (such as pressure sensors and visual recognition), has become a key solution to the shortcomings of traditional rigid gripping. For example, novel actuators such as pneumatic soft grippers and shape memory alloy grippers can achieve non-rigid contact gripping of irregular objects through material deformation or adaptive structures, significantly reducing drug damage rates. However, existing flexible gripping technologies still suffer from slow response speeds and insufficient precision in multi-degree-of-freedom collaborative control in high-speed dispensing scenarios. Summary of the Invention

[0004] Technical problems to be solved

[0005] To address the shortcomings of existing technologies, this invention provides a flexible gripper for a rapid dispensing machine, which solves the problems mentioned in the background section.

[0006] (II) Technical Solution

[0007] To achieve the above objectives, this utility model specifically adopts the following technical solution:

[0008] A rapid dispensing gripper based on flexible grasping includes a chassis with a rotary motor mounted on it. A rotating disk is fixedly connected to the output end of the rotary motor. A bracket is mounted on the top of the rotating disk, and a first motor is installed in the bracket. A first lever arm is fixedly connected to the output end of the first motor, and one end of the first lever arm is rotatably connected to the fixed end of the first motor. A second motor is embedded in the front end of the first lever arm. A second lever arm is fixedly connected to the output end of the second motor, and one end of the second lever arm is rotatably connected to the fixed end of the second motor. A third motor is embedded in the front end of the second lever arm, and a third lever arm is fixedly connected to the output end of the third motor, and one end of the third lever arm is rotatably connected to the fixed end of the third motor. Two symmetrically arranged clamping motors are fixedly connected to the front end of the third lever arm. An active clamping claw is fixedly connected to the output end of the clamping motor. A connecting rod is fixedly connected to the active clamping claw, and an auxiliary clamping claw is fixedly connected to the connecting rod. A U-shaped rotating rod is rotatably connected to the front ends of the active and auxiliary clamping claws, and one end of the rotating rod is fixedly connected to a composite plate.

[0009] Furthermore, the chassis has mounting and positioning holes at its four corners, which are then fixed to the platform with bolts.

[0010] Furthermore, the chassis is provided with four pillars around its perimeter, and ball bearings are fitted onto the top of each pillar, with the ball bearings contacting the rotating disk.

[0011] Furthermore, one end of the auxiliary gripper is rotatably connected to the third lever arm.

[0012] Furthermore, the active gripper and the auxiliary gripper are adapted to each other in shape and are arc-shaped.

[0013] Furthermore, the laminate is a rectangular plate.

[0014] (III) Beneficial Effects

[0015] Compared with the prior art, this utility model provides a drug-dispensing gripper based on flexible grasping for rapid drug dispensing, which has the following beneficial effects:

[0016] This invention utilizes a rotary motor and a multi-joint lever arm to achieve three-dimensional spatial positioning of the gripper end, expanding the horizontal working range and allowing for precise adjustment of the gripping angle. The arc-shaped active gripper and auxiliary gripper, in conjunction with connecting rods, a U-shaped rotating rod, and a connecting plate, can conform to the shape of the medicine to achieve flexible wrapping and gripping, reducing contact stress and lowering the risk of damage. The chassis support column and ball bearing design improve rotational stability. The overall solution can improve gripping efficiency and is compatible with medicines of various shapes, meeting the efficiency and safety requirements of automated dispensing. Attached Figure Description

[0017] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0018] Figure 2 This is a side view of the structure of this utility model;

[0019] Figure 3 This is a side view of the structure of this utility model.

[0020] In the diagram: 1. Chassis; 2. Rotary motor; 3. Rotary disk; 4. Support column; 5. Ball bearing; 6. Bracket; 7. First motor; 8. First lever arm; 9. Second motor; 10. Second lever arm; 11. Third motor; 12. Third lever arm; 13. Clamping motor; 14. Active clamping claw; 15. Connecting rod; 16. Auxiliary clamping claw; 17. Rotating rod; 18. Assembly plate. Detailed Implementation

[0021] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0022] Example

[0023] like Figure 1-3 As shown in the figure, an embodiment of the present invention proposes a rapid dispensing hand for a flexible gripping device, which includes a chassis 1, a rotary motor 2 mounted on the chassis 1, and a rotary disk 3 fixedly connected to the output end of the rotary motor 2; by rotating the rotary disk 3, the horizontal working range of the hand is expanded, and multi-directional dispensing of medicine is realized;

[0024] A bracket 6 is installed on the top of the rotating disk 3. A first motor 7 is installed in the bracket 6. A first lever arm 8 is fixedly connected to the output end of the first motor 7. One end of the first lever arm 8 is also rotatably connected to the fixed end of the first motor 7, so as to realize the pitch movement of the gripper in the vertical plane and adjust the gripping height.

[0025] The first lever arm 8 is fitted with a second motor 9 at its front end. The output end of the second motor 9 is fixedly connected to a second lever arm 10. One end of the second lever arm 10 is also rotatably connected to the fixed end of the second motor 9. Based on the first lever arm 8, the horizontal extension distance of the gripper is further adjusted to expand the lateral working range.

[0026] The front end of the second lever arm 10 is fitted with a third motor 11, and the output end of the third motor 11 is fixedly connected to a third lever arm 12. One end of the third lever arm 12 is also rotatably connected to the fixed end of the third motor 11, so as to realize the fine angle adjustment of the end of the gripper and ensure that the gripper is aligned with the position of the medicine.

[0027] The front end of the third lever arm 12 is fixedly connected to two symmetrically arranged clamping motors 13. The output end of the clamping motor 13 is fixedly connected to the active clamping claw 14. The opening and closing of the active clamping claw 14 is controlled by the forward and reverse rotation of the motor to provide clamping power.

[0028] A connecting rod 15 is fixed on the active gripper 14, and the connecting rod 15 is fixedly connected to the auxiliary gripper 16. The connecting rod 15 realizes the synchronous movement of the active gripper and the auxiliary gripper to ensure that the gripping force is evenly distributed. The auxiliary gripper 16 provides flexible buffer through a rotatable connection to adapt to the shape and contour of medicines of different sizes.

[0029] The front ends of the active gripper 14 and the auxiliary gripper 16 are rotatably connected to a U-shaped rotating rod 17, and one end of the rotating rod 17 is fixedly connected to the composite plate 18;

[0030] The rotating rod 17 and the mating plate 18 form a linkage structure. When clamping, the angle of the claw body is finely adjusted by rotation to enhance the wrapping of the medicine.

[0031] The rectangular plywood 18 provides rigid support to prevent excessive deformation of the claw body during clamping and ensure gripping stability.

[0032] The working principle of the medicine dispensing gripper based on flexible gripping is as follows: Rotary motor 2 drives the rotating disk 3 to rotate, and ball bearings 5 ​​support the rotating disk 3 to ensure smooth rotation. The first motor 7, the second motor 9, and the third motor 11 drive the first lever arm 8, the second lever arm 10, and the third lever arm 12 to move, respectively, to achieve spatial positioning of the gripper end. After reaching the medicine dispensing position, the clamping motor 13 drives the active clamping claw 14 to move, and drives the auxiliary clamping claw 16 to move synchronously through the connecting rod 15. The arc-shaped claw body adapts to the shape of the medicine. The U-shaped rotating rod 17 at the front end of the active clamping claw 14 and the auxiliary clamping claw 16 cooperates with the mating plate 18 to achieve flexible clamping of the medicine. After the gripping is completed, the motors move in opposite directions to transfer the medicine to the designated position. The automation and precision of the entire gripping process are achieved by controlling the motor speed and direction.

[0033] like Figure 1 As shown, in some embodiments, the chassis 1 has mounting and positioning holes at its four corners, which are fixed to the platform by bolts. The positioning holes achieve a rigid connection between the gripper and the dispensing machine platform, ensuring installation stability.

[0034] like Figure 2 As shown, in some embodiments, the chassis 1 is provided with four pillars 4 around its perimeter, and the top of each pillar 4 is fitted with a ball bearing 5, which contacts the rotating disk 3. The pillars 4 and the ball bearing 5 form a rolling support structure, which reduces the frictional resistance when the rotating disk 3 rotates and improves the rotational stability.

[0035] like Figure 2As shown, in some embodiments, one end of the auxiliary gripper 16 is rotatably connected to the third lever arm 12; the auxiliary gripper 16, through the rotatable connection, can automatically adjust its angle according to the outline of the medicine during the gripping process, avoiding the concentration of gripping force caused by rigid fixation.

[0036] like Figure 3 As shown, in some embodiments, the active gripping claw 14 and the auxiliary gripping claw 16 are adapted in shape and are arc-shaped. The arc-shaped surfaces of the two claws can conform to the surface of the medicine to form a wrapping contact rather than rigid compression.

[0037] like Figure 3 As shown, in some embodiments, the plywood 18 is a rectangular plate, which allows for direct contact but is not convenient for clamping and squeezing.

[0038] Finally, it should be noted that the above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A drug dispensing gripper for a rapid drug dispensing machine based on flexible gripping, comprising a chassis (1), characterized in that: A rotary motor (2) is mounted on the chassis (1). A rotary disk (3) is fixedly connected to the output end of the rotary motor (2). A bracket (6) is mounted on the top of the rotary disk (3). A first motor (7) is mounted in the bracket (6). A first lever arm (8) is fixedly connected to the output end of the first motor (7). One end of the first lever arm (8) is rotatably connected to the fixed end of the first motor (7). A second motor (9) is embedded in the front end of the first lever arm (8). A second lever arm (10) is fixedly connected to the output end of the second motor (9). One end of the second lever arm (10) is rotatably connected to the fixed end of the second motor (9). A second lever arm (10) is embedded in the front end of the second lever arm (10). The device is equipped with a third motor (11), the output end of which is fixedly connected to a third lever arm (12). One end of the third lever arm (12) is also rotatably connected to the fixed end of the third motor (11). The front end of the third lever arm (12) is fixedly connected to two symmetrically arranged clamping motors (13). The output end of the clamping motor (13) is fixedly connected to an active clamping claw (14). A connecting rod (15) is fixedly connected to the active clamping claw (14). An auxiliary clamping claw (16) is fixedly connected to the connecting rod (15). The front ends of the active clamping claw (14) and the auxiliary clamping claw (16) are rotatably connected to a U-shaped rotating rod (17). One end of the rotating rod (17) is fixedly connected to a composite plate (18).

2. The drug dispensing gripper for a rapid drug dispensing machine based on flexible gripping as described in claim 1, characterized in that: The chassis (1) has mounting and positioning holes at its four corners, which are fixed to the platform by bolts.

3. The drug dispensing gripper for a rapid drug dispensing machine based on flexible gripping as described in claim 1, characterized in that: The chassis (1) is provided with four pillars (4) around its perimeter. The top of each pillar (4) is fitted with a ball bearing (5), which contacts the rotating disk (3).

4. The drug dispensing gripper for a rapid drug dispensing machine based on flexible gripping as described in claim 1, characterized in that: One end of the auxiliary gripper (16) is rotatably connected to the third lever arm (12).

5. The drug-dispensing gripper for a rapid drug dispensing machine based on flexible gripping as described in claim 1, characterized in that: The active gripper (14) and the auxiliary gripper (16) are adapted to each other and are arc-shaped.

6. The drug dispensing gripper for a rapid drug dispensing machine based on flexible gripping as described in claim 1, characterized in that: The composite board (18) is a rectangular board.

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