Gripping robot arm

Abstract

The utility model relates to the technical field of grabbing device especially is concerned with a kind of grabbing mechanical arm, and it is adjusted to position to medicine by moving device and adjusting device cooperation, it is lifted to medicine by lifting device, it is rotated to medicine by rotating device and is righted, it is grabbed to medicine by grabbing device;Including operation platform;Still include moving device, adjusting device, lifting device, rotating device and grabbing device, moving device is installed on operation platform, adjusting device is installed on moving device, lifting device is installed on adjusting device, rotating device is installed on lifting device, grabbing device is installed on rotating device;Moving device moves, adjusting device adjusts position, lifting device is lifted, rotating device rotates, and grabbing device is grabbed.

Description

Technical Field

[0001] This utility model relates to the technical field of gripping devices, and in particular to a gripping robotic arm. Background Technology

[0002] The core components of gripping robotic arms are iterating towards high precision, self-adaptation, and intelligence, and their application scenarios are expanding from traditional industries to emerging fields such as medical care and laboratories. Explosion-proof and corrosion-resistant grippers are used in the handling of medical drugs, replacing manual operations.

[0003] For example, in a class of prior art represented by application number CN202222638822.5, the main structure includes a hydraulic lifting rod, a weight sensor, a mounting bracket, a screw, and a gripping assembly. The gripping assembly includes a mounting block, a lifting rod, a movable rod, a gripping hook, and a spring. The screw is driven to rotate by a motor, which in turn drives two mounting blocks to move towards each other to grip the rim. The spring deformation allows the gripping hook to hold the rim tightly while avoiding leaving indentations on the rim surface. The weight sensor facilitates the calculation and measurement of the rim's weight, preventing the rim weight from exceeding the acceptable range. By threading the movable rod through the lifting rod and connecting the gripping hook to the movable rod, the spring deformation generates force, making the connection between the gripping hook and the movable rod more stable. This ensures that the gripping hook is stably mounted on the lifting rod, preventing it from falling off, thus achieving stable gripping of the rim.

[0004] During use, it was found that some medicines were placed in the wrong direction, and the existing gripping robotic arm was not convenient to rotate and straighten the medicines. Therefore, there is an urgent need for a gripping robotic arm. Summary of the Invention

[0005] To solve the above-mentioned technical problems, this utility model provides a gripping robotic arm that uses a moving device and an adjusting device to adjust the position of the medicine, a lifting device to raise and lower the medicine, a rotating device to rotate and straighten the medicine, and a gripping device to grip the medicine.

[0006] This utility model discloses a gripping robotic arm, including an operating table; it also includes a moving device, an adjusting device, a lifting device, a rotating device, and a gripping device. The moving device is mounted on the operating table, the adjusting device is mounted on the moving device, the lifting device is mounted on the adjusting device, the rotating device is mounted on the lifting device, and the gripping device is mounted on the rotating device. The moving device moves, the adjusting device adjusts the position, the lifting device raises and lowers, the rotating device rotates, and the gripping device grips. The moving device and the adjusting device work together to adjust the position of the medicine, the lifting device raises and lowers the medicine, the rotating device rotates and straightens the medicine, and the gripping device grips the medicine.

[0007] Furthermore, the operating table includes a base, which is installed in the work area; the base serves as a support.

[0008] Furthermore, the moving device includes two sets of linear motors and a moving bracket. The two sets of linear motors are symmetrically mounted on the top of the base, and each set of linear motors is equipped with a set of sliders. The moving bracket is mounted on the top of the two sets of sliders. By starting the linear motors, the sliders and the moving bracket are moved.

[0009] Furthermore, the adjustment device includes a motor, a lead screw, a moving block, a guide shaft, and a guide sleeve. The motor is mounted on the side of the moving bracket, and the output end of the motor is rotatably connected to the input end of the lead screw. The moving block is mounted on the lead screw via a threaded connection. The guide shaft is mounted on the moving bracket, and the guide sleeve is mounted on the moving block and fitted onto the guide shaft. By starting the motor, the lead screw is driven to rotate, and the moving block is directionally moved on the guide shaft via the guide sleeve.

[0010] Furthermore, the lifting device includes an electric telescopic rod, a lifting platform, a second guide shaft, and a second guide sleeve. The electric telescopic rod is installed at the top of the moving block, and an output shaft is provided on the electric telescopic rod. The lifting platform is installed at the bottom end of the output shaft of the electric telescopic rod. The second guide shaft is installed at the top of the lifting platform, and the second guide sleeve is installed on the moving block and fitted onto the second guide shaft. By activating the electric telescopic rod, the output shaft of the electric telescopic rod is extended, and the lifting platform is directionally lowered on the second guide sleeve via the second guide shaft.

[0011] Furthermore, the rotating device includes a dual-output shaft motor and a swing arm. The dual-output shaft motor is mounted on the top of the lifting platform and has two sets of output shafts. The two sets of output shafts of the dual-output shaft motor pass through bearing seats mounted on both sides of the lifting platform. The swing arm is fitted onto the two sets of output shafts of the dual-output shaft motor and has a sliding groove. By starting the dual-output shaft motor, the two sets of output shafts of the dual-output shaft motor are driven to rotate, thereby rotating the swing arm.

[0012] Furthermore, the gripping device includes a dual-axis cylinder, a locking block one, and a locking block two. The dual-axis cylinder is mounted on the top of the swing arm and has two sets of output shafts. Locking block one is mounted on the side end of one set of output shafts of the dual-axis cylinder and is slidably mounted on a slide groove. Locking block two is mounted on the side end of the other set of output shafts of the dual-axis cylinder and is slidably mounted on a slide groove. By activating the dual-axis cylinder, the two sets of output shafts of the dual-axis cylinder retract, thereby enabling locking block one and locking block two to move directionally on the slide groove and gripping the medicine.

[0013] Compared with the prior art, the present invention has the following advantages: The position of the medicine is adjusted by the cooperation of the moving device and the adjusting device, the medicine is raised and lowered by the lifting device, the medicine is rotated and straightened by the rotating device, and the medicine is grasped by the gripping device. Attached Figure Description

[0014] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0015] Figure 1 This is the structural isometric drawing of this utility model; Figure 2 yes Figure 1 Structural isometric view of the operating console and moving device in this utility model; Figure 3 yes Figure 1 Enlarged isometric view of the moving device and adjusting device structure in this utility model; Figure 4 yes Figure 1 Enlarged structural isometric view of the adjustment device and lifting device in this utility model; Figure 5 yes Figure 1 Enlarged isometric view of the rotating device and gripping device structure in this utility model.

[0016] The attached diagram is labeled as follows: 01, operating table; 11, base; 02, moving device; 21, linear motor; 22, slider; 23, moving bracket; 03, adjusting device; 31, motor one; 32, lead screw; 33, moving block; 34, guide shaft one; 35, guide sleeve one; 04, lifting device; 41, electric telescopic rod; 42, lifting platform; 43, guide shaft two; 44, guide sleeve two; 05, rotating device; 51, dual output shaft motor; 52, swing arm; 53, slide rail; 06, gripping device; 61, dual-axis cylinder; 62, locking block one; 63, locking block two. Detailed Implementation

[0017] It should be noted that, where there is no conflict, the embodiments and features in the embodiments of this utility model can be combined with each other. The present utility model will now be described in detail with reference to the accompanying drawings and embodiments.

[0018] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit this utility model or its application or use. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0019] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to the present invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0020] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps described in these embodiments do not limit the scope of this invention. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following figures denote similar items; therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0021] In the description of this utility model, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is usually based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this utility model and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this utility model. The directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0022] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation besides the orientation of the device as described in the figures. For example, if the device in the figures is inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0023] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be construed as limiting the scope of protection of this utility model.

[0024] Example 1 A gripping robotic arm includes an operating table 01; characterized in that it further includes a moving device 02, an adjusting device 03, a lifting device 04, a rotating device 05, and a gripping device 06, wherein the moving device 02 is mounted on the operating table 01, the adjusting device 03 is mounted on the moving device 02, the lifting device 04 is mounted on the adjusting device 03, the rotating device 05 is mounted on the lifting device 04, and the gripping device 06 is mounted on the rotating device 05. The moving device 02 moves, the adjusting device 03 adjusts the position, the lifting device 04 lifts, the rotating device 05 rotates, and the gripping device 06 grips. The operating console 01 includes a base 11, which is installed in the work area; The moving device 02 includes two sets of linear motors 21 and a moving bracket 23. The two sets of linear motors 21 are symmetrically installed on the top of the base 11. Each set of linear motors 21 is provided with a set of sliders 22. The moving bracket 23 is installed on the top of the two sets of sliders 22. The adjustment device 03 includes a motor 31, a lead screw 32, a moving block 33, a guide shaft 34, and a guide sleeve 35. The motor 31 is mounted on the side of the moving bracket 23, and the output end of the motor 31 is rotatably connected to the input end of the lead screw 32. The moving block 33 is mounted on the lead screw 32 by a threaded connection. The guide shaft 34 is mounted on the moving bracket 23, and the guide sleeve 35 is mounted on the moving block 33 and fitted onto the guide shaft 34. The lifting device 04 includes an electric telescopic rod 41, a lifting platform 42, a second guide shaft 43, and a second guide sleeve 44. The electric telescopic rod 41 is installed on the top of the moving block 33, and an output shaft is provided on the electric telescopic rod 41. The lifting platform 42 is installed at the bottom of the output shaft of the electric telescopic rod 41. The second guide shaft 43 is installed on the top of the lifting platform 42. The second guide sleeve 44 is installed on the moving block 33 and is fitted onto the second guide shaft 43. The gripping device 06 includes a dual-axis cylinder 61, a locking block 1 62, and a locking block 2 63. The dual-axis cylinder 61 is mounted on the top of the swing arm 52 and has two sets of output shafts. The locking block 1 62 is mounted on the side end of one set of output shafts of the dual-axis cylinder 61 and is slidably mounted on the slide groove 53. The locking block 2 63 is mounted on the side end of the other set of output shafts of the dual-axis cylinder 61 and is slidably mounted on the slide groove 53. The moving device 02 moves, the adjusting device 03 adjusts the position, the lifting device 04 lifts and lowers, and the gripping device 06 grips. The activation of the dual-axis cylinder 61 retracts its two output shafts, causing locking blocks 62 and 63 to move directionally on the slide groove 53 to grasp the medicine. Then, activation of the electric telescopic rod 41 retracts its output shaft, causing the lifting platform 42 to rise directionally on the guide sleeve 44 via the guide shaft 43. Next, activation of the linear motor 21 moves the slider 22 and the moving bracket 23. Finally, activation of motor 31 rotates the lead screw 32. The movable block 33 moves directionally on the guide shaft 34 via the guide sleeve 35, allowing the medicine to reach the designated position. Then, the electric telescopic rod 41 is activated, causing its output shaft to extend. The lifting platform 42 descends directionally on the guide sleeve 44 via the guide shaft 43, allowing the medicine to contact the top of the base 11. Then, the dual-axis cylinder 61 is activated, causing its two output shafts to extend. The locking blocks 62 and 63 move directionally on the slide groove 53, placing the medicine in the designated position.

[0025] Example 2 like Figures 1 to 5 As shown, in addition to Embodiment 1, a rotating device 05 is also included; The rotating device 05 includes a dual-output shaft motor 51 and a swing arm 52. The dual-output shaft motor 51 is installed on the top of the lifting platform 42. The dual-output shaft motor 51 is provided with two sets of output shafts. The two sets of output shafts of the dual-output shaft motor 51 pass through the bearing seats installed on both sides of the lifting platform 42. The swing arm 52 is fitted on the two sets of output shafts of the dual-output shaft motor 51. The swing arm 52 is provided with a sliding groove 53. The rotating device 05 rotates; When it is necessary to rotate and straighten the medicine, the dual-output shaft motor 51 is started, which drives the two sets of output shafts of the dual-output shaft motor 51 to rotate, thereby rotating the swing arm 52 and rotating the medicine by 90 degrees to straighten the medicine.

[0026] This utility model discloses a gripping robotic arm. During operation, the dual-axis cylinder 61 is activated, causing its two output shafts to retract. This retracts the locking blocks 62 and 63, enabling directional movement of the locking blocks 62 and 63 on the slide groove 53 to grip the medicine. Then, the electric telescopic rod 41 is activated, causing its output shaft to retract and allowing the lifting platform 42 to rise directionally via the guide shaft 43 and guide sleeve 44. When the medicine needs to be rotated and aligned, the dual-output shaft motor 51 is activated, causing its two output shafts to rotate. This rotates the swing arm 52, turning the medicine 90 degrees to align it. Finally, a linear motor... The activation of motor 21 causes slider 22 and moving bracket 23 to move. Then, the activation of motor 31 causes lead screw 32 to rotate, which moves moving block 33 in a directional manner on guide shaft 34 via guide sleeve 35, so that the medicine reaches the designated position. Then, the activation of electric telescopic rod 41 causes the output shaft of electric telescopic rod 41 to extend, which causes lifting platform 42 to descend in a directional manner on guide sleeve 44 via guide shaft 43, so that the medicine contacts the top of base 11. Then, the activation of dual-axis cylinder 61 causes the two sets of output shafts of dual-axis cylinder 61 to extend, which moves locking block 62 and locking block 63 in a directional manner on slide groove 53, so that the medicine is placed in the designated position.

[0027] The linear motor 21, motor 31, electric telescopic rod 41, dual-output shaft motor 51, and dual-axis cylinder 61 of this utility model are commercially available. Technical personnel in this industry only need to install and operate them according to the accompanying instruction manual, without requiring any creative work from those skilled in the art.

[0028] The main function of this invention is to rotate and straighten the medicine.

[0029] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this utility model.

Claims

1. A gripping robotic arm, comprising an operating table (01); characterized in that, It also includes a moving device (02), an adjusting device (03), a lifting device (04), a rotating device (05), and a gripping device (06). The moving device (02) is installed on the operating table (01), the adjusting device (03) is installed on the moving device (02), the lifting device (04) is installed on the adjusting device (03), the rotating device (05) is installed on the lifting device (04), and the gripping device (06) is installed on the rotating device (05). The moving device (02) moves, the adjusting device (03) adjusts the position, the lifting device (04) lifts and lowers, the rotating device (05) rotates, and the gripping device (06) grips.

2. The gripping robotic arm according to claim 1, characterized in that: The operating console (01) includes a base (11), which is installed in the work area.

3. The gripping robotic arm according to claim 1, characterized in that: The moving device (02) includes two sets of linear motors (21) and a moving bracket (23). The two sets of linear motors (21) are symmetrically installed on the top of the base (11). Each set of linear motors (21) is provided with a set of sliders (22). The moving bracket (23) is installed on the top of the two sets of sliders (22).

4. The gripping robotic arm according to claim 1, characterized in that: The adjustment device (03) includes: motor (31), lead screw (32), moving block (33), guide shaft (34) and guide sleeve (35). Motor (31) is installed on the side of the moving bracket (23). The output end of motor (31) is rotatably connected to the input end of lead screw (32). Moving block (33) is installed on lead screw (32) by threaded connection. Guide shaft (34) is installed on moving bracket (23). Guide sleeve (35) is installed on moving block (33). Guide sleeve (35) is fitted on guide shaft (34).

5. The gripping robotic arm according to claim 1, characterized in that: The lifting device (04) includes: an electric telescopic rod (41), a lifting platform (42), a second guide shaft (43), and a second guide sleeve (44). The electric telescopic rod (41) is installed on the top of the moving block (33). An output shaft is provided on the electric telescopic rod (41). The lifting platform (42) is installed at the bottom of the output shaft of the electric telescopic rod (41). The second guide shaft (43) is installed on the top of the lifting platform (42). The second guide sleeve (44) is installed on the moving block (33) and is fitted onto the second guide shaft (43).

6. The gripping robotic arm according to claim 1, characterized in that: The rotating device (05) includes a dual-output shaft motor (51) and a swing arm (52). The dual-output shaft motor (51) is installed on the top of the lifting platform (42). The dual-output shaft motor (51) has two sets of output shafts. The two sets of output shafts of the dual-output shaft motor (51) pass through the bearing seats installed on both sides of the lifting platform (42). The swing arm (52) is fitted on the two sets of output shafts of the dual-output shaft motor (51). The swing arm (52) is provided with a sliding groove (53).

7. The gripping robotic arm according to claim 1, characterized in that: The gripping device (06) includes: a dual-axis cylinder (61), a locking block one (62) and a locking block two (63). The dual-axis cylinder (61) is installed on the top of the swing arm (52). The dual-axis cylinder (61) is provided with two sets of output shafts. The locking block one (62) is installed on the side end of one set of output shafts of the dual-axis cylinder (61) and is slidably installed on the slide groove (53). The locking block two (63) is installed on the side end of the other set of output shafts of the dual-axis cylinder (61) and is slidably installed on the slide groove (53).

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