A clamping gripper for a mother liquid bag and a medicine dispensing robot

Abstract

The present invention provides a clamping gripper for a mother liquor bag and a medicine dispensing robot. The clamping gripper includes a gripper base, two jaws, and a self-clamping device. A linear slide rail and two sliding blocks are provided on the gripper base, and the two jaws are respectively installed on the two sliding blocks; the self-clamping device includes two L-shaped fork members, a rotary shaft, a guide shaft, and a spring member; the L-shaped fork member has a corner portion, a connecting edge portion, and an abutting edge portion; a connecting hole is provided in the corner portion, and the rotary shaft is vertically provided on the gripper base and passes through the connecting hole to install the L-shaped fork member on the gripper base; a connecting groove is provided in the connecting edge portion, and the guide shaft is vertically provided on the sliding block and can slide in the connecting groove; the side end surface of the abutting edge portion is an abutting arc surface, and the abutting arc surfaces of the two L-shaped fork members are in contact with each other; the spring member can drive the two sliding blocks to slide. The present invention can automatically clamp mother liquor bags of different specifications, and has a compact structure and is convenient to use.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and particularly to a clamping gripper for mother liquid bags that can adapt to mother liquid bags of various different specifications and a medicine dispensing robot. Background Art

[0002] Currently, the method of intravenous drug dispensing in hospitals mainly relies on manual operation by medical staff. Since the demand for intravenous drugs in each department of the hospital is relatively large, manual operation not only occupies a large amount of human and material resources in the hospital, but also increases the risks of harming the health of nursing staff and contaminating the liquid medicine. With the development of robot technology, intravenous drug dispensing robots have gradually emerged on the market, which can automatically obtain prescriptions and automatically perform drug dispensing, greatly reducing the above risks.

[0003] For example, Chinese Patent No. 201210323149.4 discloses a medicine dispensing method and an automated medicine dispensing system of an automated medicine dispensing system. The medicine dispensing method includes the following steps: placing a medicine bottle on the liquid medicine input and shaking device; the multi-axis robot moves the medicine bottle to the bottle breaking device, and the bottle breaking device breaks the medicine bottle; the multi-axis robot moves the medicine bottle to the liquid medicine input and shaking device, and the hose loading transfer and liquid medicine distribution device inserts the needles at both ends of the infusion hose into the medicine bottle or / and the mother liquid bottle and pumps the liquid medicine, and the liquid medicine input and shaking device shakes the liquid medicine thereon.

[0004] For another example, the applicant's prior patent application No. 201610795397.7 discloses an intelligent medicine dispensing device, which includes a frame and a medicine bottle grasping device. The medicine bottle grasping device includes: a large arm of the robotic arm, which includes a large arm lifting component and a large arm rotating component; the bottom of the large arm lifting component is fixedly arranged on the frame; the large arm lifting component includes a longitudinal slider, and the large arm rotating component includes a horizontal turntable; the horizontal turntable is directly or indirectly connected to the longitudinal slider; a small arm of the robotic arm, which includes a small arm telescoping component and a small arm rotating component; the small arm telescoping component is arranged on the horizontal turntable; the small arm telescoping component includes a transverse slider; the small arm rotating component is connected to the transverse slider, and the small arm rotating component includes a vertical turntable; a robotic hand, which includes a bottle body clamping component; the bottle body clamping component is arranged on the vertical turntable.

[0005] The equipment structure in the above-mentioned prior art is relatively complex, and it is only applicable to the drug dispensing process in the oncology department. It is too large and expensive for general departments in the hospital, which is not conducive to use. Moreover, the dispensing robot needs to use a clamping gripper to pick up the mother liquid bag. For example, Chinese Patent No. 201210233918.1 discloses a manipulator claw of a dispensing robot, which includes: a frame; a double-threaded lead screw rotatably arranged on the frame, with threaded portions provided at both ends of the double-threaded lead screw, and the thread directions of the threaded portions are opposite; a left finger and a right finger respectively cooperating with the two threaded portions of the double-threaded lead screw. When the double-threaded lead screw rotates, it drives the left finger and the right finger to move towards or away from each other; a motor, whose rotating shaft drives the double-threaded lead screw to rotate; an encoder for detecting the rotation position of the rotating shaft of the motor; a claw controller connected to the motor and the encoder for controlling the rotation of the motor and processing the signals fed back by the encoder. Among them, both the left finger and the right finger are provided with wedge-shaped grooves, and the wedge-shaped groove of the left finger corresponds to the wedge-shaped groove of the right finger to clamp the medicine bottle in the clamping space jointly formed by the wedge-shaped grooves of the left finger and the right finger. The structure in the above-mentioned prior art is relatively complex, and the motor control process is rather cumbersome.

[0006] Based on this, the present application provides a clamping gripper and a dispensing robot that have a simple structure and can adapt to mother liquid bags of various different specifications. Summary of the Invention

[0007] Aiming at the defects of the prior art, the present invention provides a clamping gripper for a mother liquid bag and a dispensing robot to automatically clamp the mother liquid bag during the clamping process of mother liquid bags of different specifications.

[0008] The first object of the present invention is to provide a clamping gripper for a mother liquid bag, which is used to clamp the mother liquid bag in a dispensing robot and includes a gripper base, two cooperating clamping claws and a self-clamping device. Among them, the two cooperating clamping claws are slidably arranged on the gripper base, and the self-clamping device is used to drive the two clamping claws to slide towards each other to clamp the mother liquid bag.

[0009] The gripper base is provided with a linear slide rail and two sliding blocks arranged on the linear slide rail. The two clamping claws are respectively installed on the two sliding blocks in a form where the clamping mouths face each other.

[0010] The self-clamping device includes two cooperating L-shaped fork members, a rotating shaft, a guiding shaft and a spring member.

[0011] The L-shaped fork member has a corner part, a connecting edge part and an abutting edge part.

[0012] The corner part is provided with a connecting hole. The rotating shaft is vertically arranged on the gripper base and passes through the connecting hole to install the L-shaped fork member on the gripper base.

[0013] The connecting edge is provided with a connecting groove along its length direction, and the guiding shaft is vertically arranged on the sliding block and can slide in the connecting groove;

[0014] The side end face of the abutting edge is an abutting arc surface, and the abutting arc surfaces of the two L-shaped fork members are in contact with each other;

[0015] Wherein, the spring member can drive the two sliding blocks to generate sliding, and at the same time drive the guiding shaft to slide in the connecting groove, and drive the two abutting arc surfaces to roll around the rotating shaft.

[0016] In the above technical solution of the present invention, the self-clamping device can automatically perform the clamping process of the two jaws, so as to automatically clamp during the clamping process of mother liquid bags of different specifications, and can make the center of the bottle mouth of the mother liquid bag completely or approximately coincide with the clamping center of the two jaws during the clamping process of the mother liquid bag, and the clamping process of the mother liquid bag will be more convenient, accurate and efficient.

[0017] Furthermore, the two L-shaped fork members in the self-clamping device cooperate with each other. Driven by the spring member, the two L-shaped fork members keep the two sliding blocks sliding towards or away from each other with equal displacement, so as to keep the two jaws having a unique clamping center position, which is convenient for the subsequent puncture and aspiration process of the injection needle.

[0018] According to another specific embodiment of the present invention, the two ends of the spring member are respectively connected to the two sliding blocks, or respectively connected to the two L-shaped fork members, or respectively connected to the two jaws.

[0019] According to another specific embodiment of the present invention, gears for rolling are arranged on the abutting arc surface, and the two groups of gears mesh with each other, making the rotation process more stable.

[0020] According to another specific embodiment of the present invention, the connecting groove is a straight groove with an opening formed by inward depression along the side end face of the connecting edge, which is convenient for installation.

[0021] According to another specific embodiment of the present invention, one side surface of the L-shaped fork member is in contact with the sliding block, and the other side surface of the L-shaped fork member is limited by a snap ring arranged on the rotating shaft to prevent the possible jumping phenomenon of the L-shaped fork member during the rotation process, making the overall structure more stable.

[0022] According to another specific embodiment of the present invention, it further includes a balance link device, and the balance link device includes at least one pair of balance links. The first ends of the two balance links are hinged to each other, and the second ends of the two balance links are respectively hinged to the two jaws.

[0023] In this solution, the position where the hinge points formed by the first ends of the two balance connecting rods are located is the position where the clamping centers of the two jaws are located. Due to the fork-shaped support structure formed by the two balance connecting rods, the clamping centers of the two jaws can always be constant regardless of the clamping state, facilitating the cooperation between the two jaws to better clamp the mother liquid bag.

[0024] According to another specific embodiment of the present invention, the balance connecting rod device further includes at least one pair of balance plates, which are stacked and staggered between the two balance plates. The two balance plates are always in contact or close contact to avoid the stress jump phenomenon during the transmission between components, making the clamping process more stable.

[0025] According to another specific embodiment of the present invention, a deformable support guardrail is also provided on the gripper base to support the bottle body part of the mother liquid bag. Especially when it is a soft bag, it can still be used.

[0026] According to another specific embodiment of the present invention, it further includes a mother liquid bag position switching device for switching the position of the mother liquid bag. The mother liquid bag position switching device is a four-link device, which includes a mother liquid bag support frame, a driving link, and a follower link. One end of the driving link is hinged on the mother liquid bag support frame, the other end of the driving link is hinged on the gripper base, one end of the follower link is hinged on the mother liquid bag support frame, and the other end of the follower link is hinged on the gripper base.

[0027] Preferably, the driving link and the follower link are parallel to each other to form a parallelogram four-link device, which has strong motion stability, and the accurate placement position, puncture position, and suction position of the mother liquid bag can be obtained by setting limits.

[0028] Among them, by driving the driving link to rotate and the follower link to follow, the switching of the spatial position of the gripper base (equivalent to a connecting rod) can be realized. In the form of rotational drive, the change of the position from low to high in the plane is more concise than the guide rail structure and more convenient to use.

[0029] The second object of the present invention is to provide a medicine dispensing robot, including the clamping gripper for the mother liquid bag described above.

[0030] The present invention has the following beneficial effects:

[0031] The clamping gripper for the mother liquid bag of the present invention adopts a mechanical transmission structure, which can be used for mother liquid bags of different specifications and has the advantages of automatic centering and automatic adaptation to the specifications of the mother liquid bag.

[0032] In addition, the self-locking device provided adopts mutually cooperating L-shaped fork members, which can cooperate well with the sliding of the sliding block, provide better guiding for the sliding of the sliding block in the opposite or back direction, and facilitate the locking of the mother liquid bag.

[0033] In addition, the structures of the various components of the present invention are compact, occupying less space, avoiding the failures caused by the need for additional drivers in the prior art using methods such as electric control and pneumatic control, and making the use process more stable and the operability stronger.

[0034] In addition, the provided balance link device can, on the one hand, ensure that the clamping centers of the two jaws are always constant regardless of the clamping state, facilitating the cooperation between the two jaws to better clamp the mother liquid bag, and on the other hand, can also avoid the stress jump phenomenon during the transmission process between the various components, making the clamping process smoother and more efficient.

[0035] The present invention will be further described in detail below with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 is the overall structural schematic diagram of the clamping gripper for the mother liquid bag of the present invention;

[0037] Figure 2 is Figure 1 the top view schematic diagram of

[0038] Figure 3 is Figure 1 the front view schematic diagram of

[0039] Figure 4 is the structural schematic diagram of the clamping gripper for the mother liquid bag of the present invention;

[0040] Figure 5 is the structural schematic diagram of the self-locking device in the clamping gripper for the mother liquid bag of the present invention;

[0041] Figure 6 is the structural schematic diagram of the mother liquid bag position switching device of the present invention, which shows the form of the mother liquid bag in the low position for picking and placing;

[0042] Figure 7 is Figure 6 the three-dimensional schematic diagram of

[0043] Figure 8 is the structural schematic diagram of the mother liquid bag position switching device of the present invention, which shows the form of the mother liquid bag in the high position for sucking;

[0044] Figure 9 is Figure 8 the three-dimensional schematic diagram of DETAILED DESCRIPTION OF THE EMBODIMENTS

[0045] Example 1

[0046] A clamping gripper for a mother liquid bag, used to clamp the mother liquid bag in a dispensing robot, as Figure 1As shown in FIGS. -5, it includes a gripper base 100, two jaws 200, a self-clamping device 300, and a balance link device 400.

[0047] Among them, the gripper base 100 is in the shape of a vertical plate, on which there are linear slide rails 110, two sliding blocks 120, and a deformable support guardrail 130. The two sliding blocks 120 are arranged on the linear slide rails 110. Among them, detachable limit pieces can be set at both ends of the linear slide rails 110 to prevent the sliding blocks 120 from slipping off after the sliding blocks 120 are installed; the deformable support guardrail 130 is used to support the bottle body part of the mother liquid bag, especially when it is a soft bag, it can still be used.

[0048] The two jaws 200 are respectively installed on the two sliding blocks 120 in a form where the clamping openings face each other. Among them, grooves 210 adapted to the shape of the mother liquid bag are provided on the two jaws 200 to accommodate and clamp the mother liquid bag.

[0049] The self-clamping device 300 is used to make the two jaws 200 generate opposite sliding to clamp the mother liquid bag after the two jaws 200 are opened by an external force, and includes an L-shaped fork member 310, a rotary shaft 320, a guide shaft 330, and a spring member 340;

[0050] In this example, the specially designed L-shaped fork member 310 has a corner portion 311, a connecting edge portion 322, and an abutting edge portion 323, see Figure 4 , Figure 5 .

[0051] Among them, the corner portion 311 is used for installation and position determination. A connecting hole is provided in the corner portion 311. The rotary shaft 320 is vertically arranged on the gripper base 100 and passes through the connecting hole. Internal and external snap rings are arranged on the rotary shaft 320 for limit installation to ensure the accurate installation position of the L-shaped fork member 310.

[0052] The connecting edge portion 322 is used for cooperative connection with the sliding block 120 to convert the rotation of the L-shaped fork member 310 into synchronous linear sliding of the two sliding blocks 120. Among them, a connecting groove 324 along its length direction is provided in the connecting edge portion 322. The guide shaft 330 is vertically arranged on the sliding block 120, and it is located in the connecting groove 324 and can slide in the connecting groove 324.

[0053] Among them, for the convenience of installation, the connecting groove 324 is a linear groove with an opening formed by inward depression along the side end face of the connecting edge portion 322, see Figure 5 .

[0054] The abutting edge portion 323 is used for abutting between two L-shaped fork members 310 to form a rotational fit. Among them, the side end face of the abutting edge portion 323 is an abutting arc surface, and the two abutting arc surfaces are always in contact with each other to be able to form relative rolling.

[0055] Among them, in order to avoid the relative sliding phenomenon that occurs during the rolling process, gears 325 for rolling are provided on the abutting arc surfaces in this example. The two sets of gears 325 mesh with each other, making the rotation process smoother.

[0056] The spring member 340 in this example can drive the two sliding blocks 120 to produce opposite sliding, and at the same time drive the guide shaft 330 to slide in the connecting groove 324, and drive the two abutting arc surfaces to roll around the rotation shaft 320.

[0057] Furthermore, the two ends of the spring member 340 are respectively connected to the two sliding blocks 120, or respectively connected to the two L-shaped fork members 310, or respectively connected to the two jaws 200. For example, in this example, the spring member 340 is respectively connected to the two sliding blocks 120.

[0058] During installation, one side surface of the L-shaped fork member 310 is in contact with the sliding block 120, and the other side surface of the L-shaped fork member 310 is limited by a circlip provided on the rotation shaft 320 to prevent the possible jumping phenomenon of the L-shaped fork member 310 during the rotation process, making the overall structure more stable.

[0059] The balance link device 400 is used to balance the dynamic process of the loosening and clamping of the two jaws 200. It includes a pair of balance links 410. See Figure 2 、 Figure 4 , the first ends of the two balance links 410 are hinged to each other, the second ends of the two balance links 410 are respectively hinged to the two jaws 200, and the position where the hinged point formed by the first ends of the two balance links 410 is located is the position where the clamping center of the two jaws 200 is located. Due to the fork-shaped support structure formed by the two balance links 410, no matter what the clamping state is, the clamping center of the two jaws 200 is always constant, which is convenient for the cooperation between the two jaws 200 to better clamp the mother liquid bag.

[0060] Specifically, the balance link 410 device 400 in this example further includes a pair of balance plates 420. The two balance plates 420 are respectively fixed on the two jaws 200, and the two balance plates 420 are stacked and staggered with each other, and the two balance plates 420 are always in contact or always close to contact with each other to avoid the stress jumping phenomenon that occurs during the transmission process between components, making the clamping process more stable.

[0061] Example 2

[0062] A clamping gripper for a mother liquid bag, as Figure 1 shown in FIG. -9, on the basis of Embodiment 1, a mother liquid bag position switching device 500 for switching the position of the mother liquid bag is further provided, which is used to switch the mother liquid bag between the low position for picking and placing and the high position for puncturing and aspirating.

[0063] The mother liquid bag position switching device 500 is a four-bar linkage device, including a mother liquid bag support frame 510, a driving link 520, and a follower link 530. A connecting bracket 140 is provided on the gripper base 100. One end of the driving link 520 is hinged to the mother liquid bag support frame 510, and the other end of the driving link 520 is hinged to the connecting bracket 140. One end of the follower link 530 is hinged to the mother liquid bag support frame 510, and the other end of the follower link 530 is hinged to the connecting bracket 140.

[0064] Among them, referring to Figure 6 FIG. -9, the hinge point between the driving link 520 and the mother liquid bag support frame 510 is the main driving point, which is driven by, for example, a motor 540 to rotate clockwise or counterclockwise. Correspondingly, in order to reduce the load of the motor 540, in this example, the driving link 520 is extended to form a counterweight structure 550 to balance the gravity of the mother liquid bag.

[0065] Preferably, in this example, the driving link 520 and the follower link 530 are parallel to each other, and an upper limit block 511 and a lower limit block 512 are provided on the mother liquid bag support frame 510 to limit the rotation positions of the driving link 520 and the follower link 530 respectively, so as to obtain accurate low positions for picking and placing the mother liquid bag and high positions for puncturing and aspirating, with high position accuracy and strong operability.

[0066] In this example, by driving the driving link 520 to rotate and the follower link 530 to follow, the switching of the spatial position of the gripper base 100 (equivalent to a link) can be realized. In a rotational driving manner, the position can change from low to high in a plane, which is more concise than a guide rail structure and more convenient to use.

[0067] Although the present invention is disclosed above with preferred embodiments, it is not intended to limit the scope of the embodiments of the present invention. Any ordinary technician in the art can make some improvements without departing from the scope of the present invention. That is, all equivalent improvements made in accordance with the present invention should be covered by the scope of the present invention.

Claims

1. A clamping gripper for a mother liquid bag, which is used to clamp the mother liquid bag in a medicine dispensing robot. Characterized in that, It includes: A gripper base; Two cooperating clamping jaws, which are slidably arranged on the gripper base; And A self-clamping device for driving the two clamping jaws to slide towards each other to clamp the mother liquid bag; The gripper base is provided with a linear slide rail and two sliding blocks arranged on the linear slide rail, and the two clamping jaws are respectively installed on the two sliding blocks in a form where the clamping openings are distributed facing each other; The self-clamping device includes two cooperating L-shaped fork members, a rotating shaft, a guiding shaft and a spring member; The L-shaped fork member has a corner portion, a connecting edge portion and an abutting edge portion; The corner portion is provided with a connecting hole, and the rotating shaft is vertically arranged on the gripper base and passes through the connecting hole to install the L-shaped fork member on the gripper base; The connecting edge portion is provided with a connecting groove along its length direction, and the guiding shaft is vertically arranged on the sliding block and can slide in the connecting groove; The side end face of the abutting edge portion is an abutting arc surface, and the abutting arc surfaces of the two L-shaped fork members are in contact with each other; Wherein, the spring member can drive the two sliding blocks to generate sliding, and at the same time drive the guiding shaft to slide in the connecting groove and drive the two abutting arc surfaces to roll around the rotating shaft.

2. The clamping gripper for a mother liquid bag according to claim 1, Characterized in that, The two ends of the spring member are respectively connected to the two sliding blocks, or respectively connected to the two L-shaped fork members, or respectively connected to the two clamping jaws.

3. The clamping gripper for a mother liquid bag according to claim 1, Characterized in that, Gears for rolling are arranged on the abutting arc surfaces.

4. The clamping gripper for a mother liquid bag according to claim 1, Characterized in that, The connecting groove is a linear groove with an opening formed by inward depression along the side end face of the connecting edge portion.

5. The clamping gripper for a mother liquid bag according to claim 1, Characterized in that, One side surface of the L-shaped fork member is in contact with the sliding block, and the other side surface of the L-shaped fork member is limited by a snap ring arranged on the rotating shaft.

6. The clamping gripper for a mother liquid bag according to claim 1, Characterized in that, It further includes a balance link device, and the balance link device includes at least one pair of balance links. The first ends of the two balance links are hinged to each other, and the second ends of the two balance links are respectively hinged to the two clamping jaws.

7. The clamping gripper for a mother liquid bag according to claim 6, Characterized in that, The balance link device further includes at least one pair of balance plates, and the two balance plates are arranged in a stacked and staggered manner.

8. The clamping gripper for a mother liquid bag according to claim 1, Characterized in that, A deformable support guardrail is further arranged on the gripper base.

9. The clamping gripper for a mother liquid bag according to claim 1, Characterized in that, It further includes a mother liquid bag position switching device for switching the position of the mother liquid bag, which comprises a mother liquid bag support frame, a driving link and a follower link. One end of the driving link is hinged to the mother liquid bag support frame, the other end of the driving link is hinged to the gripper base, one end of the follower link is hinged to the mother liquid bag support frame, and the other end of the follower link is hinged to the gripper base.

10. A medicine dispensing robot, characterized in that it includes a clamping gripper for the mother liquid bag as described in any one of claims 1-9.

Images