CN212170430U - Automatic centre gripping tongs of centering - Google Patents
Automatic centre gripping tongs of centering Download PDFInfo
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- CN212170430U CN212170430U CN202020081301.2U CN202020081301U CN212170430U CN 212170430 U CN212170430 U CN 212170430U CN 202020081301 U CN202020081301 U CN 202020081301U CN 212170430 U CN212170430 U CN 212170430U
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- sliding blocks
- connecting rods
- centering
- gripping
- clamping jaws
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Abstract
The utility model provides an automatic centering clamping gripper, which comprises a gripper base, two clamping jaws matched with each other, at least one group of paired balance connecting rods and a spring for driving two sliding blocks to generate opposite displacement, wherein the gripper base is provided with a linear sliding rail and two sliding blocks, the two sliding blocks are arranged on the linear sliding rail, the two clamping jaws are respectively arranged on the two sliding blocks, the head ends of the two balance connecting rods are hinged with each other, and the tail ends of the two balance connecting rods are respectively hinged on the two clamping jaws; the utility model discloses under the restraint of two balanced connecting rods, the centre gripping center of two clamping jaws coincides or is close the coincidence with two balanced connecting rod looks articulated head end position all the time, realizes centering function to carry out the centre gripping of different specification mother liquor bags, have compact structure, be convenient for the centre gripping, need not to carry out the advantage of adjusting.
Description
Technical Field
The utility model relates to the technical field of medical equipment, concretely relates to centre gripping tongs that can self-centering to carry out the centre gripping of different specification mother liquor bags.
Background
At present, the intravenous medicine allocation mode of the hospital is mainly manual operation of medical care personnel, and because the intravenous medicine requirements of departments of the hospital are large, the manual operation not only occupies a large amount of manpower and material resources of the hospital, but also increases the risks of damaging the health of nursing personnel and polluting liquid medicine. With the development of the robot technology, the intravenous drug dispensing robot gradually appears in the market, so that the prescription can be automatically obtained, the drug dispensing can be automatically carried out, and the risks are reduced to a great extent.
For example, chinese patent 201210323149.4 discloses a dispensing method for an automated dispensing system and an automated dispensing system. The dispensing method comprises the following steps: placing a medicine bottle on the medicine liquid input shaking device; the multi-axis robot moves the medicine bottles to the bottle breaking device, and the bottle breaking device breaks the medicine bottles; the multi-axis robot moves the medicine bottle to the medicine liquid input shaking-up device, the hose filling, transferring and medicine liquid distributing device inserts the needle heads at the two ends of the infusion hose into the medicine bottle or/and the mother liquid bottle and pumps the medicine liquid, and the medicine liquid input shaking-up device shakes up the medicine liquid on the medicine liquid input shaking-up device.
Another prior patent application 201610795397.7 of the applicant discloses an intelligent dispensing apparatus comprising a housing and a vial gripping device comprising: the mechanical arm big arm comprises a big arm lifting assembly and a big arm rotating assembly; the bottom of the large arm lifting assembly is fixedly arranged on the rack; the large arm lifting assembly comprises a longitudinal sliding block, and the large arm rotating assembly comprises a horizontal turntable; the horizontal turntable is directly or indirectly connected with the longitudinal slide block; the mechanical arm small arm comprises a small arm telescopic component and a small arm rotating component; the small arm telescopic assembly is arranged on the horizontal turntable; the small arm telescopic assembly comprises a transverse sliding block; the small arm rotating assembly is connected to the transverse sliding block and comprises a vertical turntable; the manipulator comprises a bottle body clamping assembly; the body centre gripping subassembly sets up on vertical carousel.
Above-mentioned equipment structure among the prior art is comparatively complicated to only the flow of dispensing to oncology, it is bulky to the ordinary administrative or technical offices of hospital, and is costly, is unfavorable for the use, and the robot that dispenses moreover need use the centre gripping tongs to carry out getting of mother's liquid bag, for example chinese patent 201210233918.1 discloses a robot's gripper that dispenses, includes: a frame; the double-thread screw is rotatably arranged on the rack, two ends of the double-thread screw are respectively provided with a thread part, and the thread directions of the thread parts are opposite; the left finger and the right finger are respectively matched with the two thread parts of the double-thread screw rod, and the double-thread screw rod rotates to drive the left finger and the right finger to move in opposite directions or in back directions; the rotating shaft of the motor drives the double-thread screw rod to rotate; an encoder for detecting a rotational position of a rotating shaft of the motor; the paw controller is connected with the motor and the encoder and is used for controlling the motor to rotate and processing a signal fed back by the encoder; wherein, left finger and right finger all are equipped with the wedge groove, and the wedge groove of left finger corresponds with the wedge groove of right finger to with the centre gripping of medicine bottle in the clamping space that the wedge groove of left finger and the wedge groove of right finger formed jointly. The structure in the prior art is complex, and the motor control process is complex.
Based on this, this application provides a centre gripping tongs that can self-centering to carry out the centre gripping of different specification mother liquor bags.
SUMMERY OF THE UTILITY MODEL
To prior art's defect, the utility model provides an automatic centre gripping tongs of centering, it can be automatic centering to carry out the centre gripping of different specification mother liquor bags, compact structure, convenient to use.
In order to realize the above object, the utility model provides an automatic centre gripping tongs of centering, include:
the gripper comprises a gripper base, wherein a linear slide rail and two sliding blocks are arranged on the gripper base, and the two sliding blocks are arranged on the linear slide rail;
the two clamping jaws which are matched with each other are respectively arranged on the two sliding blocks;
the head ends of the two balance connecting rods are hinged with each other, and the tail ends of the two balance connecting rods are respectively hinged on the two clamping jaws; and
a spring driving the two sliding blocks to generate opposite displacement.
The above technical scheme of the utility model, adopted mated balanced connecting rod, the head end of two balanced connecting rods is articulated mutually, the end of two balanced connecting rods articulates respectively on two clamping jaws, can form the central Y-shaped structure with the head end of two balanced connecting rods as the center, under the restraint of two balanced connecting rods, the centre gripping center of two clamping jaws coincides or is close the coincidence with two balanced connecting rod looks articulated head end position all the time, realize centering function, have the centre gripping of being convenient for, need not to carry out the advantage adjusted.
Further, the spring can drive the two sliding blocks to generate opposite displacement so as to provide clamping acting force of the two clamping jaws and form an automatic clamping effect.
Wherein, can adopt two springs to drive the sliding block respectively and slide, also can adopt a spring to carry out the drive of two sliding blocks, in order to avoid the inconsistent of spring effort, it is preferred, adopt same spring to carry out the drive of two sliding blocks.
According to the utility model discloses a another kind of embodiment, the spring is for being in the extension spring who is stretched the form all the time, and the both ends of spring are connected respectively on two sliding blocks, perhaps are connected respectively on two clamping jaws.
According to the utility model discloses a another kind of embodiment is provided with two sets of mated balanced connecting rods, and wherein, the head end pin joint of two balanced connecting rods in two sets of mated balanced connecting rods can be the same, also can be different to form multiple to heart bearing structure.
According to the utility model discloses a another kind of embodiment, further include at least a set of mated balancing plate, two balancing plates are fixed respectively on two clamping jaws to range upon range of crisscross setting between two balancing plates.
Wherein contact or be close the contact all the time between two balance plates to avoid the stress phenomenon of beating that appears among the transmission process between individual part, make the clamping process more stable.
According to the utility model discloses a another kind of embodiment, the centre gripping tongs further includes two fork components of pulling out that make two sliding blocks slide in step, and two fork components of pulling out are installed on the tongs base through the revolving axle, and wherein, two rotations of pulling out the fork component can drive two sliding blocks and produce the displacement dorsad.
According to the utility model discloses a another kind of embodiment connects through the gear engagement mode between two shifting fork members.
According to the utility model discloses a another kind of embodiment is provided with the locating part that is used for restricting the sliding block position on the linear slide rail, and locating part detachably installs on linear slide rail.
The utility model discloses possess following beneficial effect:
the utility model discloses a centre gripping hand claw has set up balanced connecting rod, and the head end of two balanced connecting rods is articulated mutually, and the end of two balanced connecting rods articulates respectively on two clamping jaws, under the restraint of two balanced connecting rods, the centre gripping center of two clamping jaws coincides or is close the coincidence with two balanced connecting rod looks articulated head end position all the time, realizes the centering function, has the centre gripping of being convenient for, need not to carry out the advantage of adjusting.
In addition, the balance plates are arranged, the two balance plates are arranged in a stacked and staggered mode, the stress jumping phenomenon in the transmission process among all parts can be avoided, and the clamping process is more stable.
In addition, a shifting fork component is arranged, and the two sliding blocks are driven in a rotating mode to generate backward displacement so as to stabilize the sliding process between the two sliding blocks and enable the two sliding blocks to synchronously slide in the opposite direction or in the backward direction.
The present invention will be described in further detail with reference to the accompanying drawings.
Drawings
Fig. 1 is a schematic view of the overall structure of the clamping gripper of the present invention;
FIG. 2 is a schematic view of FIG. 1;
FIG. 3 is a schematic front view of FIG. 1;
FIG. 4 is a schematic view of a gripping finger of the mother liquor bag of the present invention;
fig. 5 is a schematic view of the gripping fingers of the mother liquor bag of the present invention showing the balancing linkage and the shifting fork member.
Detailed Description
A self-centering gripping finger, as shown in fig. 1-2, includes a finger base 10, two gripping jaws 20, springs 30, a set of pairs of balancing links 40, a set of pairs of balancing plates 50, and a fork pulling member 60.
The gripper base 10 is provided with a linear slide rail 11, two sliding blocks 12 and a limiting member 13, the two sliding blocks 12 are disposed on the linear slide rail 11, and the limiting member 13 is detachably mounted at an end of the linear slide rail 11 and used for limiting the farthest position of the sliding blocks 12.
Two clamping jaws 20 are respectively mounted on two sliding blocks 12, and synchronously clamp or release the two sliding blocks 12, and the two clamping jaws 20 are matched to clamp or release the mother liquor bag.
Wherein, two clamping jaws 20 are provided with a groove 21 which is matched with the mother liquor bag in shape so as to accommodate and clamp the mother liquor bag.
The head ends of the two balance connecting rods 40 are hinged with each other, the tail ends of the two balance connecting rods 40 are hinged on the two clamping jaws 20 respectively, a centering fork-shaped structure taking the head ends of the two balance connecting rods 40 as a center can be formed, and under the constraint of the two balance connecting rods 40, the clamping centers of the two clamping jaws 20 are always coincided with or nearly coincided with the hinged head end positions of the two balance connecting rods 40, so that the centering function is realized.
The two balance plates 50 are respectively fixed on the two clamping jaws 20, the two balance plates 50 are arranged in a stacked and staggered mode, the two balance plates 50 are always in contact or close to be in contact, the stress jumping phenomenon in the transmission process between the parts is avoided, and the clamping process is more stable.
The two fork members 60 are mounted on the hand grip base 10 through the rotation shaft 64, wherein the rotation of the two fork members 60 can drive the two sliding blocks 12 to displace in a backward direction, and the two are connected in a rolling (rotating) manner through a gear engagement.
One preferred fork member 60 is L-shaped, see fig. 4 and 5:
the fork member 60 has a corner portion 61, a connecting side portion 62 and an abutting side portion 63;
the corner part 61 is used for installation and position determination, the corner part 61 is provided with a connecting hole, the rotating shaft 64 is vertically arranged on the gripper base 10 and penetrates through the connecting hole, and the rotating shaft 61 is provided with an inner clamp spring and an outer clamp spring for limiting installation so as to ensure the accurate installation position of the shifting fork component 60.
Connecting edge 62 is used for matching connection with sliding block 12 to convert rotation of fork pulling component 60 into synchronous linear sliding of two sliding blocks 12, wherein connecting edge 62 is provided with a connecting groove 65 along the length direction of connecting edge 62, sliding block 12 is provided with a guide shaft 66 perpendicular to sliding block 12, and guide shaft 66 is positioned in connecting groove 65 and can slide in connecting groove 65.
Here, for the convenience of mounting, the coupling groove 65 is a linear groove having an opening formed recessed inward along a side end surface of the coupling side portion 62, see fig. 5.
The abutting edge 63 is used for abutting between the two shifting fork members 60 to form a rotating fit, wherein the side end face of the abutting edge 63 is an abutting arc face, a gear 67 for rolling is arranged on the abutting arc face, and the two groups of gears 67 are meshed with each other, so that the rotating process is more stable.
In this example
Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the scope of the invention. Any person skilled in the art can make some modifications without departing from the scope of the invention, i.e. all equivalent modifications made according to the invention shall be covered by the scope of the invention.
Claims (7)
1. The utility model provides an automatic centre gripping tongs which characterized in that includes:
the gripper base is provided with a linear slide rail and two sliding blocks, and the two sliding blocks are arranged on the linear slide rail;
the two clamping jaws which are matched with each other are respectively arranged on the two sliding blocks;
the head ends of the two balance connecting rods are hinged with each other, and the tail ends of the two balance connecting rods are respectively hinged on the two clamping jaws; and
and a spring for driving the two sliding blocks to generate opposite displacement.
2. Self-centering gripping grip according to claim 1, wherein said spring is an extension spring always in the extended configuration, said spring being connected at its two ends to the two sliding blocks or to the two gripping jaws, respectively.
3. A self-centering gripping hand as claimed in claim 1, characterised in that two sets of said pairs of balancing links are provided.
4. The self-centering gripping gripper according to claim 1, further comprising at least one pair of balancing plates, two of said balancing plates being secured to each of said gripping jaws and being in stacked, staggered relationship.
5. The self-centering gripping hand according to one of claims 1 to 4, wherein said gripping hand further comprises two fork members for synchronously sliding said two sliding blocks, said two fork members being mounted on said hand base via pivot shafts, wherein rotation of said two fork members drives said two sliding blocks into a back displacement.
6. The self-centering gripping hand as claimed in claim 5, wherein the two fork members are connected by gear engagement.
7. The self-centering gripping gripper according to claim 1, wherein said linear slide is provided with a stop for limiting the position of said sliding block, said stop being removably mounted on said linear slide.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020081301.2U CN212170430U (en) | 2020-01-15 | 2020-01-15 | Automatic centre gripping tongs of centering |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020081301.2U CN212170430U (en) | 2020-01-15 | 2020-01-15 | Automatic centre gripping tongs of centering |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212170430U true CN212170430U (en) | 2020-12-18 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020081301.2U Active CN212170430U (en) | 2020-01-15 | 2020-01-15 | Automatic centre gripping tongs of centering |
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| CN (1) | CN212170430U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114234558A (en) * | 2021-12-28 | 2022-03-25 | 安徽昌荣农业综合开发有限公司 | A pre-treatment facility for blueberry fruit wine filling bottle |
| CN115196336A (en) * | 2022-08-30 | 2022-10-18 | 中能智能装备(深圳)有限公司 | Tool clamp capable of automatically aligning |
-
2020
- 2020-01-15 CN CN202020081301.2U patent/CN212170430U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114234558A (en) * | 2021-12-28 | 2022-03-25 | 安徽昌荣农业综合开发有限公司 | A pre-treatment facility for blueberry fruit wine filling bottle |
| CN115196336A (en) * | 2022-08-30 | 2022-10-18 | 中能智能装备(深圳)有限公司 | Tool clamp capable of automatically aligning |
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