Multi-directional transmission positioning mechanism for medicine based on mechanical arm

Abstract

The utility model relates to a medicine transmission technical field especially, more direction transmission positioning mechanism of medicine based on mechanical arm, including support base plate, still including left vertical board, right vertical board, motor, screw rod, drive block, limit plate, sliding slot, jacks, slide rail, top groove and positioning rod, and the left side of support base plate top is provided with left vertical board, the utility model discloses according to the grabbing position of medicine and starts motor through the PLC controller of outside control, and motor moves drive block through screw rod, and drive block moves jacks in the inside of sliding slot, and jacks are contacted with the positioning rod in the moving and are lifted up, until jacks move to the below of corresponding positioning rod, when the motorized pulley drives moving plate and moves to the positioning rod that is lifted up, and the microswitch on moving plate then will hit the positioning rod that is lifted up, and microswitch then will send instruction to the PLC controller of outside, and moving plate stops running through the PLC controller of outside control motorized pulley, has realized the positioning function of transmission.

Description

Technical Field

[0001] This utility model relates to the field of drug delivery technology, and in particular to a drug multi-directional delivery and positioning mechanism based on a robotic arm. Background Technology

[0002] With the improvement of modern medical services and the continuous development of the pharmaceutical industry, pharmacy automation systems have been introduced into various hospitals. Robotic arms are a new technology that has emerged in the field of modern automatic control and have become an important component of modern mechanical manufacturing production systems. Robotic arms mimic some of the movements of human hands and automatically deliver medicines according to given programs, trajectories and requirements.

[0003] Common robotic arm-based multi-directional drug transfer devices only include the function of transferring drugs, which can grasp drugs and place them in a designated location. However, they lack the positioning function of the transfer, which cannot guarantee the accuracy of the robotic arm's movement position. This can easily lead to problems such as the robotic arm moving laterally along the slide rails, moving a distance beyond the location where the drug is stored, thus affecting the accuracy of grasping.

[0004] Therefore, in view of the lack of a closed-loop positioning system and real-time calibration mechanism in the above-mentioned multi-directional drug transfer and positioning mechanism based on robotic arms, the slide rail is prone to overtravel deviation due to lack of position feedback when moving, causing misalignment between the gripping point and the target storage position, which affects the positioning accuracy, there is an urgent need to design a new type of multi-directional drug transfer and positioning mechanism based on robotic arms. Utility Model Content

[0005] To overcome the common problem that robotic arm-based multi-directional drug transfer and positioning mechanisms lack a closed-loop positioning system and real-time calibration mechanism, and that the slide rail is prone to overtravel deviation due to lack of position feedback during movement, resulting in misalignment between the gripping point and the target storage position, thus affecting positioning accuracy.

[0006] The technical solution of this utility model is as follows: a multi-directional drug transfer and positioning mechanism based on a robotic arm, including a supporting base plate; it also includes a left vertical plate, a right vertical plate, a motor, a lead screw, a drive block, a limiting plate, a slide groove, a top rod, a slide rail, a top groove, and positioning rods. The left vertical plate is provided on the left side of the top of the supporting base plate, and the right vertical plate is provided on the right side of the top of the supporting base plate. The lead screw is provided between the left and right vertical plates. The drive block is provided in the middle of the left and right vertical plates corresponding to the position of the lead screw. The limiting plate is provided at the top of the left and right vertical plates. A slide groove is provided through the middle of the top of the limiting plate. A top rod is provided at the top of the drive block. A slide rail is provided directly above the limiting plate. A top groove is provided in the middle of the top of the slide rail. Several positioning rods are slidably connected up and down at equal intervals inside the top groove.

[0007] Preferably, the motor is started by an external PLC controller based on the gripping position of the medicine. The motor drives the drive block to move via a lead screw. The drive block drives the push rod to move inside the slide groove. When the push rod moves, it pushes up the positioning rod it contacts until the push rod moves below the corresponding positioning rod. When the electric roller drives the moving plate to the lifted positioning rod, the micro switch on the moving plate will hit the lifted positioning rod. The micro switch will then send a command to the external PLC controller, which will control the electric roller to stop running. This realizes the positioning function of the transmission, which solves the problem that common multi-directional medicine transmission devices based on robotic arms only include the function of transmitting medicine. They can grab medicine and place it in a designated position, but lack the positioning function of transmission. This cannot guarantee the accuracy of the robotic arm's movement position. It is easy for the robotic arm to move laterally through the slide rail, and the distance it moves exceeds the position where the medicine is stored, affecting the gripping accuracy.

[0008] Preferably, the output end on the left side of the motor passes through the right vertical plate and is connected to the right end of the lead screw, while the left end of the lead screw is rotatably connected to the right side of the left vertical plate. The motor drives the lead screw to rotate, and the lead screw drives the drive block to move.

[0009] Preferably, the lead screw is threadedly connected to the drive block, the top end of the push rod passes through the slide groove and is placed on the top of the limiting plate, the bottom end of the positioning rod is placed on the top of the limiting plate, the drive block drives the push rod to move inside the slide groove, and the push rod pushes the positioning rod in contact with it upward when it moves.

[0010] Preferably, two support feet are symmetrically arranged on the left and right sides of the support base plate, and a fixing member is provided on the top of the support foot to support the fixing member.

[0011] Preferably, the left and right ends of the slide rail are respectively inserted into the interior of two fixing members. The slide rail is fixed to the fixing members by rivets, and the fixing members support the slide rail to maintain the height of the slide rail.

[0012] Preferably, a movable plate is provided on the top of the slide rail, and four electric rollers are provided at the four corners of the bottom of the movable plate corresponding to the position of the slide rail. The four electric rollers are controlled by an external PLC controller to rotate, and the movable plate is moved above the slide rail by the four electric rollers.

[0013] Preferably, two micro switches are symmetrically arranged in the middle of the left and right sides of the movable plate, and the robotic arm body is set on the top of the movable plate. When the electric roller drives the movable plate to move to the positioning rod that is lifted, the micro switch on the movable plate will hit the positioning rod that is lifted, and the micro switch will send a command to the external PLC controller, which will control the electric roller to stop running.

[0014] The beneficial effects of this utility model are:

[0015] 1. The PLC controller sends a drive command to the motor based on the drug grabbing coordinates. The motor drives the lead screw to rotate, which is converted into the axial displacement of the drive block. The drive block drives the push rod to slide directionally along the inner wall of the chute through a rigid connection. During the sliding process, the push rod contacts the bottom of the positioning rod on the preset path. The positioning rod is pushed up to the locking height by the vertical lifting force. When the electric roller drives the moving plate carrying the micro switch to move in front of the lifted positioning rod, the micro switch contact collides physically with the positioning rod, triggering an electrical signal feedback to the PLC controller. The PLC controller then cuts off the power output of the electric roller, so that the moving plate stops precisely at the target position, completing the positioning and stopping control process based on electromechanical interlock. Attached Figure Description

[0016] Figure 1 The diagram shown is a schematic representation of the overall structure of a multi-directional drug transfer and positioning mechanism based on a robotic arm according to this utility model.

[0017] Figure 2 The diagram shown is a schematic of the slide rail structure of a multi-directional drug transfer and positioning mechanism based on a robotic arm according to this utility model.

[0018] Figure 3 The diagram shown is a schematic representation of the positioning component of a multi-directional drug transfer and positioning mechanism based on a robotic arm, according to this utility model.

[0019] Figure 4 The diagram shown is a schematic diagram of the moving plate structure of a multi-directional drug transfer and positioning mechanism based on a robotic arm according to this utility model.

[0020] Explanation of reference numerals in the attached drawings: 1. Support base plate; 2. Left vertical plate; 3. Right vertical plate; 4. Motor; 5. Lead screw; 6. Drive block; 7. Limiting plate; 8. Slide groove; 9. Top rod; 10. Slide rail; 11. Top groove; 12. Positioning rod; 13. Support foot; 14. Fixing component; 15. Moving plate; 16. Electric roller; 17. Micro switch; 18. Robotic arm body. Detailed Implementation

[0021] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0022] Please see Figures 1-4This utility model provides an embodiment: a multi-directional drug transfer and positioning mechanism based on a robotic arm, including a supporting base plate 1; it also includes a left vertical plate 2, a right vertical plate 3, a motor 4, a lead screw 5, a drive block 6, a limiting plate 7, a slide groove 8, a top rod 9, a slide rail 10, a top groove 11, and a positioning rod 12. The left vertical plate 2 is arranged on the left side of the top of the supporting base plate 1, and the right vertical plate 3 is arranged on the right side of the top of the supporting base plate 1. The lead screw 5 is arranged between the left vertical plate 2 and the right vertical plate 3. A drive block 6 is positioned in the middle of the right vertical plate 3, corresponding to the position of the lead screw 5. Limit plates 7 are positioned at the top of the left vertical plate 2 and the right vertical plate 3. A sliding groove 8 is formed through the middle of the top of the limit plate 7. A top rod 9 is positioned at the top of the drive block 6. A slide rail 10 is positioned directly above the limit plate 7. A top groove 11 is formed in the middle of the top of the slide rail 10. Several positioning rods 12 are slidably connected vertically at equal intervals inside the top groove 11. The motor 4 is controlled by an external PLC controller according to the gripping position of the medicine. Upon startup, motor 4 drives drive block 6 via lead screw 5. Drive block 6 then drives push rod 9 to move inside slide groove 8. As push rod 9 moves, it lifts the positioning rod 12 it contacts until push rod 9 moves below the corresponding positioning rod 12. When electric roller 16 drives moving plate 15 to the lifted positioning rod 12, micro switch 17 on moving plate 15 will strike the lifted positioning rod 12. Micro switch 17 will then send a command to external PLC controller, which will control electric roller 16 to stop running. This achieves the positioning function of transmission, solving the problem of common multi-directional drug transmission devices based on robotic arms that only include the function of drug transmission, which can grab drugs and place them in a designated position, but lack the positioning function of transmission. This makes it impossible to guarantee the accuracy of the robotic arm's movement position, and it is easy for the robotic arm to move laterally through slide rail 10, with the distance of movement exceeding the position where the drug is stored, affecting the accuracy of grabbing.

[0023] Please see Figures 2-4 In this embodiment, the output end of the motor 4 on the left side passes through the right vertical plate 3 and is connected to the right end of the lead screw 5. The left end of the lead screw 5 is rotatably connected to the right side of the left vertical plate 2. The motor 4 drives the lead screw 5 to rotate, and the lead screw 5 drives the drive block 6 to move. The lead screw 5 and the drive block 6 are threadedly connected. The top end of the top rod 9 passes through the slide groove 8 and is placed on the top of the limiting plate 7. The bottom end of the positioning rod 12 is placed on the top of the limiting plate 7. The drive block 6 drives the top rod 9 to move inside the slide groove 8. When the top rod 9 moves, it pushes the positioning rod 12 that it contacts upward. Two support feet 13 are symmetrically arranged on the left and right sides of the supporting base plate 1. The top of the support feet 13 is provided with a fixing member 14, which is supported by the support feet 13.

[0024] Please see Figures 1-4In this embodiment, the left and right ends of the slide rail 10 are respectively inserted into the interior of two fixing members 14. The slide rail 10 is fixed to the fixing members 14 by rivets. The fixing members 14 support the slide rail 10 to maintain the height of the slide rail 10. A movable plate 15 is provided on the top of the slide rail 10. Four electric rollers 16 are provided at the four corners of the bottom of the movable plate 15 corresponding to the position of the slide rail 10. The four electric rollers 16 are controlled to rotate by an external PLC controller. The four electric rollers 16 drive the movable plate 15 to move above the slide rail 10. Two micro switches 17 are symmetrically arranged in the middle of the left and right sides of the movable plate 15. A robotic arm body 18 is provided on the top of the movable plate 15. When the electric rollers 16 drive the movable plate 15 to move to the lifted positioning rod 12, the micro switches 17 on the movable plate 15 will hit the lifted positioning rod 12. The micro switches 17 will send a command to the external PLC controller, which will control the electric rollers 16 to stop running.

[0025] During operation, the four electric rollers 16 are rotated by an external PLC controller according to the position of the medicine being grasped. The four electric rollers 16 drive the moving plate 15 to move above the slide rail 10. The moving plate 15 then drives the robotic arm body 18 to move towards the position of the medicine. The PLC controller sends a drive command to the motor 4 based on the medicine grasping coordinates. The motor 4 drives the lead screw 5 to rotate, which is converted into the axial displacement of the drive block 6. The drive block 6 drives the top rod 9 to slide directionally along the inner wall of the slide groove 8 through a rigid connection. During the sliding process, the top rod 9 contacts the bottom of the positioning rod 12 on the preset path. The vertical lifting force pushes the positioning rod 12 to the locking height. When the electric rollers 16 drive the moving plate 15, carrying the micro switch 17, to move in front of the lifted positioning rod 12, the contact of the micro switch 17 physically collides with the positioning rod 12, triggering an electrical signal feedback to the PLC controller. The PLC controller then cuts off the power output of the electric rollers 16, so that the moving plate 15 stops precisely at the target position, realizing the positioning and stopping function based on electromechanical interlock.

[0026] Through the above steps, the motor 4 is started by an external PLC controller according to the gripping position of the medicine. The motor 4 drives the drive block 6 to move through the lead screw 5. The drive block 6 drives the push rod 9 to move inside the slide groove 8. When the push rod 9 moves, it pushes up the positioning rod 12 it contacts until the push rod 9 moves below the corresponding positioning rod 12. When the electric roller 16 drives the moving plate 15 to move to the lifted positioning rod 12, the micro switch 17 on the moving plate 15 will hit the lifted positioning rod 12. The micro switch 17 will then send a command to the external PLC controller, which will control the electric roller 16 to stop running. This realizes the positioning function of the transmission, which solves the problem that common multi-directional medicine transmission devices based on robotic arms only include the function of transmitting medicine. They can grab medicine and place it in a designated position, but lack the positioning function of transmission. This cannot guarantee the accuracy of the movement position of the robotic arm. It is easy for the robotic arm to move laterally through the slide rail 10, and the distance it moves exceeds the position where the medicine is stored, which affects the gripping accuracy.

Claims

1. A multi-directional drug transfer and positioning mechanism based on a robotic arm, comprising a supporting base plate (1); characterized in that: It also includes a left vertical plate (2), a right vertical plate (3), a motor (4), a lead screw (5), a drive block (6), a limit plate (7), a slide groove (8), a top rod (9), a slide rail (10), a top groove (11), and a positioning rod (12). The left vertical plate (2) is provided on the left side of the top of the support base plate (1), and the right vertical plate (3) is provided on the right side of the top of the support base plate (1). The lead screw (5) is provided between the left vertical plate (2) and the right vertical plate (3). A drive block (6) is provided at the position corresponding to the lead screw (5) in the middle. A limit plate (7) is provided at the top of the left vertical plate (2) and the right vertical plate (3). A sliding groove (8) is provided through the middle of the top of the limit plate (7). A top rod (9) is provided at the top of the drive block (6). A slide rail (10) is provided directly above the limit plate (7). A top groove (11) is provided in the middle of the top of the slide rail (10). Several positioning rods (12) are slidably connected up and down at equal intervals inside the top groove (11).

2. The multi-directional drug transfer and positioning mechanism based on a robotic arm according to claim 1, characterized in that: The output end of the motor (4) on the left side passes through the right vertical plate (3) and is connected to the right end of the lead screw (5). The left end of the lead screw (5) is rotatably connected to the right side of the left vertical plate (2).

3. The multi-directional drug transfer and positioning mechanism based on a robotic arm according to claim 1, characterized in that: The lead screw (5) is threadedly connected to the drive block (6), the top end of the push rod (9) passes through the slide groove (8) and is placed on the top of the limiting plate (7), and the bottom end of the positioning rod (12) is placed on the top of the limiting plate (7).

4. The multi-directional drug transfer and positioning mechanism based on a robotic arm according to claim 1, characterized in that: Two support feet (13) are symmetrically arranged on the left and right sides of the support base plate (1), and a fastener (14) is provided on the top of the support feet (13).

5. A multi-directional drug transfer and positioning mechanism based on a robotic arm according to claim 4, characterized in that: The left and right ends of the slide rail (10) are respectively inserted into the interior of two fasteners (14), and the slide rail (10) is fixed to the fasteners (14) by rivets.

6. A multi-directional drug transfer and positioning mechanism based on a robotic arm according to claim 1, characterized in that: A movable plate (15) is provided on the top of the slide rail (10), and four electric rollers (16) are provided at the four corners of the bottom of the movable plate (15) corresponding to the position of the slide rail (10).

7. A multi-directional drug transfer and positioning mechanism based on a robotic arm according to claim 6, characterized in that: Two microswitches (17) are symmetrically arranged in the middle of the left and right sides of the movable plate (15), and the robotic arm body (18) is arranged on the top of the movable plate (15).

Images