Turret robot, medical device and mobile mechanism

Abstract

The utility model discloses a kind of turnover robot, medical equipment and moving mechanism, wherein turnover robot includes moving mechanism and the grabbing mechanism moved by moving mechanism drive, moving mechanism includes first translation mechanism, lifting mechanism and second translation mechanism, the moving direction of first translation mechanism and second translation mechanism is perpendicular, lifting mechanism includes lifting frame and lifting drive mechanism for driving lifting frame up and down movement, which is movably arranged on the translation frame of first translation mechanism, elastic member is arranged between the bottom of lifting frame and translation frame, and elastic member exerts upward supporting force to lifting frame when the power source of lifting drive mechanism is powered off.The utility model exerts upward supporting force to lifting frame when the power source of lifting drive mechanism is powered off by elastic member, and elastic member can assist lifting drive mechanism to control the falling of lifting frame when power source is powered off to the greatest extent, and can improve safety with simpler and more long-acting structure.

Description

Technical Field

[0001] This utility model relates to the field of medical equipment, and in particular to turnover robots, medical devices and mobile mechanisms. Background Technology

[0002] Various automated devices involve using multi-axis moving parts to drive the movement of grippers to transfer materials.

[0003] Patent document CN110271853B discloses a manipulator for scheduling a sample introduction device, wherein the structure for achieving Z-axis movement includes a second stepper motor, a lead screw, and a nut. The lead screw and nut constitute a lead screw-nut mechanism. The drive motor is connected to the lead screw-nut mechanism to drive the nut to rise and fall.

[0004] In this Z-axis movement structure, under heavy load scenarios, in order to prevent the nut connection structure from falling due to the large gravity when the drive motor (power source) is powered off, a brake motor or a trapezoidal screw is usually required. However, the brake motor increases the power, size and cost of the equipment, while the trapezoidal screw has problems such as low transmission efficiency, high friction and short service life. Utility Model Content

[0005] The purpose of this invention is to solve the aforementioned problems in the prior art and to provide a turnover robot, medical device, and mobile mechanism.

[0006] The objective of this utility model is achieved through the following technical solution: A turnover robot includes a moving mechanism and a gripping mechanism driven by the moving mechanism. The moving mechanism includes at least a first translation mechanism and a lifting mechanism driven by the first translation mechanism to translate along a first horizontal direction. The lifting mechanism includes a lifting frame movably mounted on a translation frame of the first translation mechanism and a lifting drive mechanism that drives the lifting frame to move up and down. An elastic element is provided between the bottom of the lifting frame and the translation frame. When the power source of the lifting drive mechanism is de-energized, the elastic element applies an upward supporting force to the lifting frame.

[0007] Preferably, the translation frame is movably mounted on a first guide rail on the upright plate, and the translation frame is connected to a first translation drive mechanism on the upright plate. The first translation drive mechanism includes a first motor, and the first motor is connected to the translation frame through a synchronous belt mechanism.

[0008] Preferably, the upright plate is provided with two first translation drive mechanisms, the two synchronous belt mechanisms of the two translation drive mechanisms are distributed vertically, and the two translation frames are arranged on the same set of first guide rails.

[0009] Preferably, the lifting drive mechanism is a lead screw motor, the motor body of the lead screw motor is connected to the lifting frame, the lead screw motor passes through the lifting frame and both ends are fixed on the translation frame, and the inner end of the lifting frame is movably mounted on the vertical rail on the translation frame.

[0010] Preferably, the lifting frame is provided with a second translation mechanism that drives the gripping mechanism to move along a second horizontal direction. The second translation mechanism includes a carrier plate that can be translatably disposed below the lifting frame. A second motor is provided at the outer end of the lifting frame. The power output shaft of the second motor is connected to a gear shaft, and the gear shaft meshes with a rack on one side of the carrier plate.

[0011] Preferably, the carrier plate is movably mounted on the slider at the bottom of the lifting frame via a second guide rail.

[0012] Preferably, the gripping mechanism includes a dual-head motor, with each of the two connectors of the dual-head motor connected to a drive rod. The outer walls of the two drive rods are threaded, and their threads are either positive or negative. Each drive rod is threaded into a screw hole of a gripper, and the gripper is movably mounted on a gripper guide rail.

[0013] Preferably, an image acquisition component is disposed below the dual-head motor and located between the two grippers.

[0014] Medical devices, including turnover robots as described in any of the above.

[0015] The moving mechanism includes at least a first translation mechanism and a lifting mechanism driven thereto to translate along a first horizontal direction. The lifting mechanism includes a lifting frame that is movably mounted on a translation frame of the first translation mechanism and a lifting drive mechanism that drives the lifting frame to move up and down. An elastic element is provided between the bottom of the lifting frame and the translation frame. The elastic element applies an upward supporting force to the lifting frame when the power source of the lifting drive mechanism is de-energized.

[0016] The advantages of this utility model's technical solution are mainly reflected in: The present invention provides an elastic element between the bottom of the lifting frame and the horizontal frame. When the power source of the lifting drive mechanism is de-energized, the elastic element applies an upward supporting force to the lifting frame. The elastic element can assist the lifting drive mechanism in controlling the descent of the lifting frame to the greatest extent when the power source is de-energized, thereby improving safety with a simpler and more durable structure.

[0017] The first translation mechanism of this utility model uses a synchronous belt mechanism to transmit power, which can meet the needs of large-stroke handling at a lower cost. At the same time, the two translation mechanisms share a vertical plate and a set of guide rails, which helps to make the structure more compact.

[0018] This utility model adopts a cantilever gripping mechanism, and the second translation mechanism where the gripping mechanism is located is connected to the bottom of the lifting frame through the second guide rail. This allows the gripping mechanism to extend forward to the front of the second translation mechanism to perform a gripping action. At the same time, when gripping is not needed, it retracts to the bottom of the lifting frame, which can effectively avoid other moving structures and provide sufficient space for other structures.

[0019] The gripping mechanism of this invention uses a dual-head motor to drive two drive rods, which are threadedly connected to the gripper. This structure is simpler and can effectively maintain gripping stability even in the event of a power outage. Simultaneously, an image acquisition device is installed below the dual-head motor, which allows for convenient and quick determination of the gripping position, and facilitates verification of stable gripping of the item after gripping and during movement. Attached Figure Description

[0020] Figure 1 This is a three-dimensional view of the turnover robot of this utility model; Figure 2 This is an end view of the turnover robot of this utility model; Figure 3 This is a partial front view of the turnover robot of this utility model. Detailed Implementation

[0021] The purpose, advantages, and features of this utility model will be illustrated and explained through the following non-limiting description of preferred embodiments. These embodiments are merely typical examples of applying the technical solutions of this utility model, and all technical solutions formed by equivalent substitutions or equivalent transformations fall within the scope of protection claimed by this utility model.

[0022] In the description of the solution, it should be noted that the terms "center," "upper," "lower," "left," "right," "front," "rear," "vertical," "horizontal," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience and simplification of description. They 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 of this utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0023] Example 1 The following description, in conjunction with the accompanying drawings, illustrates the turnover robot disclosed in this utility model. Figure 1 As shown, it includes a moving mechanism and a gripping mechanism 500 driven by the moving mechanism. The moving mechanism includes a first translation mechanism 100, a lifting mechanism 200 and a second translation mechanism 300, and the moving directions of the first translation mechanism 100 and the second translation mechanism 300 are perpendicular.

[0024] As attached Figure 1 As shown, the first translation mechanism 100 is mounted on a vertical plate 400. The first translation mechanism 100 includes a translation frame 110 movably mounted on a first guide rail 120 on the vertical plate 400. The first guide rail 120 extends along a first horizontal direction X, and its number can be set as needed; it can be one, more preferably multiple, but this is not limited here. The translation frame 110 is connected to a first translation drive mechanism 130 on the vertical plate 400. The first translation drive mechanism 130 can be a structure composed of a motor and a lead screw, or it can be a known servo module. More preferably, the first translation drive mechanism 130 includes a first motor 131 fixed on the vertical plate 400. The first motor 131 is connected to the translation frame 110 via a synchronous belt mechanism. The synchronous belt mechanism includes two synchronous pulleys 132; one synchronous pulley 132 is connected to the motor shaft of the first motor 131, and the other synchronous pulley 132 is connected to the other synchronous pulley 132. The 32 is rotatably mounted on the upright plate 400 at the end opposite to the first motor 131. The two synchronous pulleys 132 are fitted with synchronous belts 133. The synchronous belts 133 are connected to the portion of the translation frame 110 extending above the upright plate 400 via belt clips 134. Thus, when the first motor 131 drives the synchronous pulleys 132 connected to it to rotate, it can drive the synchronous belts 133 to rotate. The synchronous belts 133 drive the translation frame 110 to move along the first guide rail 120 via belt clips 134. The translation frame drives the lifting mechanism on it to translate along the first horizontal direction X.

[0025] Meanwhile, in order to make full use of the upright plate 400 and the first guide rail 120, there are two first translation mechanisms 100. At this time, the first motors 131 of the two first translation mechanisms 100 are distributed vertically, and the two synchronous belt mechanisms are staggered vertically.

[0026] As attached Figure 2As shown, the lifting mechanism 200 is mounted on the translation frame 110. The lifting mechanism 200 includes a lifting frame 210 that is movably mounted on the translation frame 110 of the first translation mechanism 100 and a lifting drive mechanism 220 that drives the lifting frame 210 to move up and down. The inner end of the lifting frame 210 (the end facing the upright plate 400) is movably mounted on the vertical rail 230 on the translation frame 110. Preferably, there are two vertical rails 230 and they are close to both sides of the translation frame 110. The lifting drive mechanism 220 is a lead screw motor, which is the power source. The specific structure of the lead screw motor is known technology and will not be described in detail here. Its motor body 221 is connected to the bottom of the lifting frame 210 and close to the inner end of the lifting frame. The screw 222 of the lead screw motor passes through the lifting frame 210 and its two ends are fixed to the mounting plates 111 on the translation frame 110. The two mounting plates 111 are located between the two vertical rails 230 and distributed at both ends of the vertical rails 230. During operation, the motor body 221 moves up and down, driving the lifting frame 210 to move up and down.

[0027] As attached Figure 2 As shown, an elastic element 240 is provided between the bottom of the lifting frame 210 and the translation frame 110. The elastic element 240 applies an upward supporting force to the lifting frame 210 when the lead screw motor is de-energized. The elastic element 240 is, for example, a spring, with one end connected to the bottom of the lifting frame 210 and the other end abutting against the top of the lowered mounting plate 111. Furthermore, the spring is fitted around a limiting post 250, which is connected to both mounting plates 111 and passes through the lifting frame 210. The lifting frame 210 can move up and down relative to the limiting post 250. The limiting post 250 can also cooperate with the vertical rail 230 to guide the lifting frame 210. Of course, in other embodiments, the elastic element 240 can also be a spring sheet or the like.

[0028] As attached Figure 3 As shown, the second translation mechanism 300 is provided on the lifting frame 210. The second translation mechanism 300 is connected to the gripping mechanism 500 and drives the gripping mechanism 500 to translate along the second horizontal direction Y. The second horizontal direction Y is perpendicular to the first horizontal direction X.

[0029] In order for the gripping mechanism 500 to extend to the outside of the lifting frame 210 for gripping, as shown in the attached... Figure 3As shown, the second translation mechanism 300 includes a carrier plate 310 movably disposed below the lifting frame 210. The carrier plate 310 is movably disposed on a slider at the bottom of the lifting frame 210 via a second guide rail 320 disposed on its top, and the upright plate is provided with a clearance hole for the second guide rail to pass through. A second motor 330 is disposed at the outer end of the lifting frame 210 (the end away from the upright plate 400). The power output shaft of the second motor 330 is connected to a gear shaft 340. The gear shaft 340 meshes with a rack 350 on one side of the carrier plate 310. Thus, when the second motor 330 drives the gear shaft 340 in both forward and reverse directions, it drives the rack 350 to reciprocate linearly, thereby causing the carrier plate 310 to reciprocate along a second horizontal direction.

[0030] As attached Figure 3 As shown, the gripping mechanism 500 is disposed below the carrier plate 310. The gripping mechanism 500 includes a dual-head motor 510, which is disposed on a motor plate at the bottom of the carrier plate 310 and maintains a distance from the carrier plate 310. Two externally extending connectors 511 of the dual-head motor 510 extend along the first horizontal direction X and are respectively connected to a drive rod 520. The outer walls of the two drive rods are provided with threads, and their threads are positive and negative threads. Each drive rod is threaded to a screw hole 531 of a gripper 530. The gripper 530 is movably disposed on a gripper guide rail 540, which extends along the first horizontal direction X and is disposed at the bottom of the carrier plate 310. The two connectors of the dual-head motor drive the two drive rods to rotate, thereby driving the two grippers 530 to move in opposite directions to open and close.

[0031] As attached Figure 3 As shown, a mounting bracket is also provided at the bottom of the carrier plate 310. An image acquisition component 550 is provided on the mounting bracket below the dual-head motor 510. The image acquisition component is located between the two grippers 530. The image acquisition component includes a CCD and a light source. Their specific structures are known technologies and are not innovations of this utility model. They will not be described in detail here.

[0032] Example 2 This embodiment discloses a medical device, including a turnover robot as described in any of the above embodiments.

[0033] This utility model has many other embodiments. All technical solutions formed by equivalent transformation or equivalent transformation fall within the protection scope of this utility model.

Claims

1. A turnover robot, comprising a moving mechanism and a gripping mechanism driven to move by said moving mechanism, said moving mechanism comprising at least a first translation mechanism and a lifting mechanism driven thereto to translate along a first horizontal direction, characterized in that: The lifting mechanism includes a lifting frame that is movably mounted on the translation frame of the first translation mechanism and a lifting drive mechanism that drives the lifting frame to move up and down. An elastic element is provided between the bottom of the lifting frame and the translation frame. When the power source of the lifting drive mechanism is de-energized, the elastic element applies an upward supporting force to the lifting frame.

2. The carousel robot of claim 1, wherein: The translation frame is movably mounted on a first guide rail on the upright plate. The translation frame is connected to a first translation drive mechanism on the upright plate. The first translation drive mechanism includes a first motor, which is connected to the translation frame via a synchronous belt mechanism.

3. The carousel robot of claim 2, wherein: The upright plate is provided with two first translation drive mechanisms, the two synchronous belt mechanisms of the two translation drive mechanisms are distributed vertically, and the two translation frames are arranged on the same set of first guide rails.

4. The carousel robot of claim 1, wherein: The lifting drive mechanism is a lead screw motor. The motor body of the lead screw motor is connected to the lifting frame. The lead screw motor passes through the lifting frame and its two ends are fixed on the translation frame. The inner end of the lifting frame is movably mounted on the vertical rail on the translation frame.

5. The carousel robot of claim 4, wherein: The lifting frame is provided with a second translation mechanism that drives the gripping mechanism to move along a second horizontal direction. The second translation mechanism includes a carrier plate that can be translatably disposed below the lifting frame. A second motor is provided at the outer end of the lifting frame. The power output shaft of the second motor is connected to a gear shaft, and the gear shaft meshes with a rack on one side of the carrier plate.

6. The carousel robot of claim 5, wherein: The carrier plate is movably mounted on the slider at the bottom of the lifting frame via a second guide rail.

7. The carousel robot of claim 5, wherein: The gripping mechanism includes a dual-head motor, with each of the two connectors of the dual-head motor connected to a drive rod. The outer walls of the two drive rods are threaded, and their threads are either positive or negative. Each drive rod is threaded into a screw hole of a gripper, and the gripper is movably mounted on a gripper guide rail.

8. The carousel robot of claim 7, wherein: Below the dual-head motor is an image acquisition component located between the two grippers.

9. A medical device characterized by: Including the turnover robot as described in any one of claims 1-8.

10. A moving mechanism comprising at least a first translation mechanism and a lifting mechanism driven by the first translation mechanism to translate in a first horizontal direction, characterized in that: The lifting mechanism includes a lifting frame that is movably mounted on a translation frame of a first translation mechanism and a lifting drive mechanism that drives the lifting frame to move up and down. An elastic element is provided between the bottom of the lifting frame and the translation frame. When the power source of the lifting drive mechanism is de-energized, the elastic element applies an upward supporting force to the lifting frame.

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