Syringe positioning and clamping device and robot

Abstract

The present invention provides a syringe positioning and clamping device and a robot. The syringe positioning and clamping device includes: jaws that can open or close, with a syringe being able to be placed between the open jaws, and before the jaws clamp the syringe, the syringe can move forward relative to the jaws; a pushing device for pushing the syringe between the jaws forward; a positioning device for cooperating with the syringe to prevent the syringe from moving forward when the syringe moves to the position where the positioning device is located; and a locking device that can cooperate with the barrel of the syringe when the jaws clamp the syringe to lock the syringe. In this solution, since the syringe can be pushed forward by the pushing device after being placed between the two jaws to adjust the syringe to a proper position, the position error of the syringe placement can be automatically corrected, thereby reducing the position requirements for the manipulator to place the syringe in the front-rear direction.

Description

Technical Field

[0001] The present invention belongs to the technical field of syringe clamping, and more specifically, relates to a syringe positioning and clamping device and a robot. Background Art

[0002] In currently existing devices related to syringe positioning and clamping, a mechanical positioning method with fixed jaws is generally adopted. When placing a syringe, there are relatively high requirements for the position where the syringe is placed. Ordinary syringes are designed for manual use, and their structural dimension accuracy is generally low. In some automated drug dispensing devices, when the device picks up and places a syringe, it cannot automatically adapt to the deviation of the syringe itself like a human, resulting in the syringe not being accurately placed, and finally there is a large deviation in the position, which further affects the accuracy of the device's operation on the syringe.

[0003] With the development of medical automation, it is an irresistible trend for machines to replace manual drug dispensing, and the positioning and clamping of syringes is the key to achieving precise drug dispensing.

[0004] Therefore, developing a syringe clamping device with accurate positioning and firm clamping, so as to be able to automatically correct the position error when the machine pre-positions the syringe has become an urgent problem to be solved at present. Summary of the Invention

[0005] The present invention aims to solve at least one of the technical problems existing in the prior art or related technologies.

[0006] Therefore, an object of the present invention is to provide a syringe positioning and clamping device.

[0007] Another object of the present invention is to provide a robot including the above-mentioned syringe positioning and clamping device.

[0008] To achieve the above object, the technical solution of the first aspect of the present invention provides a syringe positioning and clamping device, including: jaws that can open or close, a syringe can be placed between the open jaws, and before the jaws clamp the syringe, the syringe can move forward relative to the jaws; a pushing device for pushing the syringe between the jaws forward; a positioning device for cooperating with the syringe to prevent the syringe from moving forward when the syringe moves to the position where the positioning device is located; a locking device that can cooperate with the barrel of the syringe when the jaws clamp the syringe to lock the syringe.

[0009] The syringe positioning and clamping device provided by the present invention includes jaws that can open or close, a pushing device, a locking device, and a positioning device. Among them, the jaws are used to clamp or release the syringe. During use, the syringe can be placed between the open jaws by a robotic arm or the like. Then, after gently clamping the syringe with the jaws, the syringe between the jaws is pushed forward by the pushing device. By "gently clamping" the syringe, it is possible to prevent the syringe from swaying left and right during the forward movement. The positioning device and the locking device are arranged at the tail of the jaws. The positioning device is used to cooperate with the syringe after the syringe moves into place to prevent the syringe from moving forward, so that the syringe can be fixed at this position, thus realizing the positioning of the syringe. The locking device is used to cooperate with the barrel of the syringe when the jaws clamp the syringe to lock the syringe. In this solution, since the syringe can be pushed forward by the pushing device after being placed between the two jaws to adjust the syringe to a suitable position, it is possible to automatically correct the position error of the syringe placement and reduce the position requirement for the robotic arm to place the syringe in the front-rear direction.

[0010] In the above technical solution, the clamping states of the jaws on the syringe include gentle clamping, clamping, and releasing. When the jaws gently clamp the syringe, the syringe can move forward relative to the jaws. Further, the pushing device is used to push the syringe forward in the state where the jaws gently clamp the syringe.

[0011] In this technical solution, the clamping states of the jaws on the syringe include gentle clamping, clamping, and releasing. This enables the syringe to be easily removed when the jaws release the syringe, and when the jaws gently clamp the syringe, the syringe can move forward relative to the jaws, thus realizing the limit of the syringe and avoiding the swaying of the syringe during movement. Furthermore, the syringe can move forward along a predetermined route to a position where it cooperates with the positioning device, reducing the probability that the syringe is jammed due to swaying during the forward movement and the probability that the syringe cannot cooperate with the positioning device during the forward movement, thereby improving the stability of the device. At the same time, in this solution, since the jaws will close to a certain extent to gently clamp the syringe after the syringe is placed between the jaws, when the jaws are fully opened, the jaws can be opened slightly larger to facilitate the picking and placing of the syringe, thus improving the operation convenience of the clamping device. On the contrary, if there is no gentle clamping state of the jaws, in order to avoid the deviation of the syringe during movement, the distance between the two jaws must be set smaller, which will inevitably increase the difficulty of picking and placing the syringe.

[0012] In any of the above technical solutions, the jaws include a first jaw and a second jaw arranged opposite to each other. Both the first jaw and the second jaw are movable jaws, or one of the first jaw and the second jaw is a movable jaw and the other is a fixed jaw.

[0013] In this technical solution, to ensure the clamping operation of the clamp, the clamp specifically includes a first jaw and a second jaw, wherein both jaws can be movable, that is, the two movable jaws can move closer to or farther from each other to achieve the opening or closing of the clamp. Of course, only one of the two jaws can be fixed, while the other is movable. In this case, only one jaw needs to be driven to move, simplifying the driving structure of the clamp.

[0014] In any of the above technical solutions, the rear end of the syringe barrel is provided with an ear plate that protrudes radially from the barrel, and the positioning device includes a positioning block that engages with the ear plate when the syringe moves to the position of the positioning block to prevent the syringe from moving forward. Furthermore, the locking device includes a stop plate provided with a blade that engages with the syringe via the blade after the clamping jaws have clamped the syringe, thereby preventing the syringe from moving backward. In another solution, the stop plate engages with the rear portion of the ear plate after the clamping jaws have clamped the syringe, thereby preventing the syringe from moving backward.

[0015] In this technical solution, the rear end of the syringe barrel is provided with an ear plate, and the positioning device is specifically a positioning block. After the syringe moves forward until the ear plate and the positioning block are in contact, the syringe cannot move forward due to the obstruction of the positioning block. In this way, the positioning block achieves the positioning of the syringe, ensuring that the syringe can be accurately fixed to the desired position. The rear end of the clamping jaws is also provided with a stop plate as a locking device. When the clamping jaws are not fully closed, that is, when the clamping jaws lightly clamp the syringe, the stop plate does not interfere with the forward movement of the syringe. After the syringe is limited by the positioning block and the clamping jaws are fully closed, the stop plate will limit the syringe in position under the drive of the clamping jaws, preventing the syringe from retreating. Among them, the stop plate can be inserted into the rear side of the ear plate, so that it can support the syringe from the rear side of the ear plate to prevent the syringe from retreating. On the other hand, the stop plate can be a structure with a blade, so that the blade can be embedded in the interior of the syringe barrel to prevent the syringe from retreating. The stop plate is preferably a structure with a single-sided blade. This arrangement limits the front and rear sides of the syringe after it is clamped, preventing the syringe from moving back and forth during later use and ensuring the stability of the syringe in subsequent processes.

[0016] Furthermore, a positioning block is provided on the first claw, located behind the first claw. The first claw and positioning block can be either an integral or separate structure. The integral structure of the positioning block and the first claw can reduce the number of parts and simplify the overall structure of the product. Alternatively, the first claw and positioning block can be separated into two separate parts, facilitating the separate replacement of the positioning block and the first claw.

[0017] Furthermore, the backstop plate is arranged on the second claw and located at the rear of the second claw. The backstop plate and the second claw are an integrated structure or a split structure.

[0018] Furthermore, the anti-reverse plate is arranged on the rear part of the second claw, that is, on the second claw. In this way, the anti-reverse plate can move synchronously with the second claw, so there is no need to set up an additional driving structure for the anti-reverse plate. At the same time, this setting can also ensure the synchronization between the anti-reverse plate and the second claw, so that when the jaw opens, the locking of the anti-reverse plate can be automatically released, and when the jaw closes, the anti-reverse plate can automatically lock the syringe. With this setting, since the anti-reverse plate is arranged on the second claw, the overall structure is simplified, and the high synchronization between the jaw and the locking device is ensured.

[0019] In any of the above technical solutions, the syringe positioning and clamping device further includes: a state sensor, arranged corresponding to the jaw, for detecting the state of the jaw.

[0020] In this technical solution, the syringe positioning and clamping device further includes a state sensor. The state sensor is arranged corresponding to the jaw and is used for detecting the state of the jaw. The state sensor can be specifically connected to the jaw control mechanism so that the jaw control mechanism can monitor the state of the jaw at any time to adjust the state of the jaw in a timely manner.

[0021] In any of the above technical solutions, the syringe positioning and clamping device further includes: a pneumatic driving device, connected to the jaw, for controlling the opening or closing of the jaw.

[0022] In this technical solution, the syringe positioning and clamping device further includes a pneumatic driving device for driving the opening or closing of the jaw. With this setting, the opening and closing of the jaw can be achieved through the pneumatic driving device, and the pneumatic driving device is relatively gentle, which can avoid damaging the syringe due to excessive clamping force. At the same time, the pneumatic driving device can adapt to changes according to the size of the syringe. Therefore, the requirement for the radial accuracy of the syringe is relatively low, so that when there are manufacturing errors in the syringe itself, the clamping process can be automatically corrected to ensure the reliability of the jaw clamping.

[0023] Furthermore, the pneumatic driving device includes a pneumatic slide table and a pneumatic control device. The pneumatic slide table is used for driving the jaw to open or close, and the pneumatic control device is used for controlling the operation of the pneumatic slide table to adjust the state of the jaw.

[0024] In this technical solution, the pneumatic driving device includes a pneumatic slide and a pneumatic control device. The pneumatic slide is used to drive the jaws to open or close, and the pneumatic control device is used to control the operation of the pneumatic slide to adjust the state of the jaws. With this arrangement, the opening and closing of the jaws can be achieved by the pneumatic slide, and the pneumatic driving device is relatively gentle, which can avoid damaging the syringe due to excessive clamping force. At the same time, the pneumatic driving device can adapt to changes according to the size of the syringe. Therefore, the requirement for the radial accuracy of the syringe is relatively low. In this way, when there are manufacturing errors in the syringe itself, the clamping process can be automatically corrected to ensure the reliability of the jaw clamping. At the same time, the pneumatic slide can also guide the movement of the jaws, thus avoiding the deviation of the jaws during the opening and closing process.

[0025] In any of the above technical solutions, the syringe positioning and clamping device further includes: a position sensor installed on the pneumatic slide for detecting the position of the jaws; the pneumatic control device is connected to the position sensor and can control the operation of the pneumatic slide according to the position detected by the position sensor to adjust the state of the jaws.

[0026] In this technical solution, the syringe positioning and clamping device further includes a position sensor. The position sensor is installed on the pneumatic slide for detecting the position of the jaws. The pneumatic control device is connected to the position sensor and can control the operation of the pneumatic slide according to the position detected by the position sensor to adjust the state of the jaws. In this way, during the process of adjusting the opening and closing of the jaws, the adjustment process can be feedback in real time according to the position detected by the position sensor, ensuring the precise control of the pneumatic slide over the jaws.

[0027] Further, the jaws include a first jaw and a second jaw arranged oppositely. Both the first jaw and the second jaw are installed on the piston rod of the pneumatic slide and can move relative to each other under the action of the piston rod. The position sensor is arranged corresponding to the piston rod for detecting the position of the piston rod.

[0028] In this technical solution, the position sensor is installed on the piston rod of the pneumatic slide, that is, the position sensor directly detects the position of the piston rod of the cylinder to determine the position of the jaws. The position of the piston rod is easier to detect, which is more convenient for the setting of the position sensor. At the same time, it can also avoid the influence of the position sensor installed at the jaws on the clamping of the syringe.

[0029] In any of the above technical solutions, the pneumatic slide includes a cylinder, and the cylinder includes a rod chamber and a rodless chamber. The pneumatic control device includes a first air path for connecting the air source and the rod chamber; and a second air path for connecting the air source and the rodless chamber. When the first air path is connected and the second air path is disconnected, the jaws open and can release the syringe. When the first air path is disconnected and the second air path is closed, the jaws close and can clamp the syringe. When the first air path and the second air path are connected at the same time, the jaws can gently clamp the syringe.

[0030] In this technical solution, the pneumatic slide includes a cylinder. The cylinder includes a rod chamber and a rodless chamber, and air paths are provided between the rod chamber and the rodless chamber and the air source. By controlling the working on-off of the two air paths, the opening and closing of the gripper can be controlled. When the two air paths work simultaneously, the two sides of the piston rod can reach balance at a certain position, so as to realize the gentle clamping of the syringe. At this time, the gripper is in a semi-closed state, that is, not completely closed state. With this structure, the control of the three states of the gripper is realized through two air paths, making the overall control process relatively simple, thus making the product easier to implement and having lower cost.

[0031] In any of the above technical solutions, the pushing device includes: a lead screw slide, including a lead screw and a guiding slide driven by the lead screw; a push rod, installed on the guiding slide and capable of pushing the syringe to move under the action of the guiding slide; and a motor, connected to the lead screw and used to drive the lead screw to rotate.

[0032] In this technical solution, the pushing device includes a lead screw slide, a push rod and a motor. The lead screw slide includes a lead screw and a guiding slide driven by the lead screw. The push rod is installed on the guiding slide and can push the syringe to move under the action of the guiding slide. The motor is connected to the lead screw and used to drive the lead screw to rotate. In this solution, by driving the lead screw to rotate with the motor, the guiding slide can be driven to move forward based on the nut or slider on the lead screw, and then the push rod can be driven to push forward against the syringe to make the syringe move forward. Among them, the guiding slide itself also has a guiding function, which can ensure the smoothness when the push rod pushes the syringe forward and avoid the situation of the syringe tilting when moving forward.

[0033] Further, the motor is a stepping motor, and the motor and the lead screw are connected by a belt, a connecting rod or a gear set.

[0034] In any of the above technical solutions, the gripper is a plastic gripper.

[0035] In this technical solution, the gripper is made of plastic. Because the cost of the plastic gripper is low, and at the same time, the plastic is relatively soft and not easy to leave clamping marks on the syringe. Moreover, the syringe is generally also made of plastic. Therefore, setting the gripper to be plastic can also increase the friction between the gripper and the syringe and avoid the syringe from slipping.

[0036] The technical solution of the second aspect of the present invention provides a robot, including the syringe positioning and clamping device provided by any technical solution of the first aspect.

[0037] According to the robot provided by the present invention, since it includes the syringe positioning and clamping device provided by any technical solution of the first aspect, therefore, the robot provided by the present invention has all the beneficial effects of the syringe positioning and clamping device provided by any technical solution of the first aspect, which will not be elaborated here.

[0038] The technical solution of the third aspect of the present invention further provides a syringe positioning and clamping method, including:

[0039] Placing the syringe between the opened jaws;

[0040] Controlling the jaws to gently clamp the syringe, and during the process of gently clamping the syringe by the jaws, pushing the syringe forward until the syringe moves to interfere with the positioning device, and then controlling the jaws to tightly clamp the syringe and locking the syringe.

[0041] According to the syringe positioning and clamping method provided by the present invention, since the syringe can be pushed forward after being placed between the two jaws to adjust the syringe to a proper position, the position error of the syringe placement can be automatically corrected, thereby reducing the position requirement for the manipulator to place the syringe in the front-back direction.

[0042] Further, the device for pushing the syringe forward is a pneumatic driving device. With this setting, the opening and closing of the jaws can be realized by the pneumatic driving device, and the pneumatic driving device is relatively gentle, which can avoid damaging the syringe due to excessive clamping force. At the same time, the pneumatic driving device can adaptively change according to the size of the syringe. Therefore, the radial accuracy requirement for the syringe is relatively low, so that the clamping process can be automatically corrected when there are manufacturing errors in the syringe itself, ensuring the reliability of the jaw clamping.

[0043] The additional aspects and advantages of the present invention will become obvious in the following description part, or be understood through the practice of the present invention. Description of the Drawings

[0044] The above and / or additional aspects and advantages of the present invention will become obvious and easy to understand from the description of the embodiments in conjunction with the following drawings, wherein:

[0045] Figure 1 is a schematic structural diagram of the syringe positioning and clamping device provided by the present invention;

[0046] Figure 2 is a partial schematic diagram of the syringe positioning and clamping device provided by the present invention during the working state;

[0047] Figure 3 is a schematic structural diagram of the pneumatic control device of the syringe positioning and clamping device provided by the present invention.

[0048] Wherein, Figures 1 to 3 The corresponding relationship between the reference numerals in the drawings and the component names is:

[0049] 1 Claw, 12 First Claw, 14 Second Claw, 2 Pushing Device, 22 Screw Slide Table, 24 Push Rod, 26 Motor, 3 Positioning Block, 4 Retaining Plate, 5 Pneumatic Driving Device, 52 Pneumatic Slide Table, 522 Cylinder, 54 First Air Circuit, 542 First Switch Valve, 544 Pressure Regulating Valve, 56 Second Air Circuit, 562 Second Switch Valve, 6 Position Sensor, 7 Syringe, 72 Ear Plate. Detailed Embodiment

[0050] In order to more clearly understand the above objects, features and advantages of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, without conflict, the embodiments of the present application and the features in the embodiments can be combined with each other.

[0051] In the following description, many specific details are set forth in order to fully understand the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the protection scope of the present invention is not limited by the specific embodiments disclosed below.

[0052] The following refers to Figures 1 to 3 to describe a syringe positioning and clamping method and device according to some embodiments of the present invention.

[0053] Embodiment 1

[0054] As Figure 1 and Figure 2 shown, Embodiment 1 of the first aspect of the present invention provides a syringe positioning and clamping method and device, including a claw 1 that can open or close, a pushing device 2, a locking device, and a positioning device. Among them, the syringe 7 can be placed between the open claws 1. Before the claw 1 clamps the syringe 7, the syringe 7 can move forward relative to the claw 1. The pushing device 2 is used to push the syringe 7 between the claws 1 forward. The positioning device is used to cooperate with the syringe 7 to prevent the syringe 7 from moving forward when the syringe 7 moves to the position where the positioning device is located. The locking device can cooperate with the barrel of the syringe 7 when the claw 1 clamps the syringe 7 to lock the syringe 7.

[0055] The syringe positioning and clamping method and device provided by the present invention include jaws 1 that can open or close, a pushing device 2, a locking device, and a positioning device. Among them, the jaws 1 are used to clamp or loosen the syringe 7. During use, the syringe 7 can be placed between the open jaws 1 by a robotic arm or the like. Then, after gently clamping the syringe 7 with the jaws 1, the syringe 7 between the jaws 1 is pushed forward by the pushing device 2. By "gently clamping" the syringe 7, it is possible to prevent the syringe 7 from swaying left and right during forward movement. The positioning device and the locking device are arranged at the tail of the jaws 1. The positioning device is used to cooperate with the syringe 7 after the syringe 7 moves into place to prevent the syringe 7 from moving forward, so that the syringe 7 can be fixed in this position, thus realizing the positioning of the syringe 7. The locking device is used to cooperate with the barrel of the syringe 7 when the jaws 1 clamp the syringe 7 to lock the syringe 7. In this solution, since the syringe 7 can be gently clamped by the jaws 1 after being placed between the two jaws 1 and then pushed forward by the pushing device 2, the syringe 7 can be adjusted to a suitable position, automatically correcting the position error of the syringe 7 placement and reducing the position requirement for the robotic arm to place the syringe 7 in the front-rear direction.

[0056] In the above embodiment, the clamping states of the jaws 1 on the syringe 7 include a light clamping state, a clamping state, and a loosening state. When the jaws 1 lightly clamp the syringe 7, the syringe 7 can move forward relative to the jaws 1. Further, the pushing device 2 is used to push the syringe 7 forward in the state where the jaws 1 lightly clamp the syringe 7.

[0057] In this embodiment, the states of the gripper 1 clamping the syringe 7 include light clamping, tight clamping, and releasing. When the gripper 1 lightly clamps the syringe 7, the syringe 7 can move forward relative to the gripper 1. In this way, when the gripper 1 releases the syringe 7, the syringe 7 can be conveniently removed. When the gripper 1 lightly clamps the syringe 7, the syringe 7 can move forward relative to the gripper 1, so that during the forward movement of the syringe 7, it can be in a state of being lightly clamped by the gripper 1. In this way, the positioning of the syringe 7 is achieved, and the shaking of the syringe 7 during movement is avoided. Furthermore, the syringe 7 can move forward along a predetermined route to a position where it cooperates with the positioning device, reducing the probability that the syringe 7 is jammed due to shaking during the forward movement, and the probability that the syringe 7 cannot cooperate with the positioning device during the forward movement. In this way, the stability of the device is improved. At the same time, in this solution, since after the syringe 7 is placed between the grippers 1, the grippers 1 will close to a certain extent to achieve a light clamp on the syringe 7. Therefore, when the grippers 1 are fully opened, the grippers 1 can be opened slightly larger to facilitate the picking and placing of the syringe 7. In this way, the operation convenience of the clamping device is improved. On the contrary, if there is no light clamping state of the gripper 1, in order to avoid the skew of the syringe 7 during movement, it is necessary to set the distance between the two grippers 1 to be smaller, which will inevitably increase the difficulty of picking and placing the syringe 7.

[0058] In the above embodiment, as Figure 1 shown, the gripper 1 includes two claws, namely the first claw 12 and the second claw 14.

[0059] In the above embodiment, as Figure 1 and Figure 2 shown, an ear plate 72 protruding radially from the barrel is provided at the tail of the barrel of the syringe 7. The positioning device includes a positioning block 3. The positioning block 3 is arranged on the rear part of the first claw 12. When the syringe 7 moves to the position where the positioning block 3 is located, it can cooperate with the ear plate 72 to prevent the syringe 7 from moving forward. The locking device includes a check plate 4. The check plate 4 is arranged on the rear part of the second claw 14. A blade is provided on the check plate 4. The check plate 4 can be embedded into the syringe 7 through the blade after the gripper 1 tightly clamps the syringe 7 to prevent the syringe 7 from retreating.

[0060] In this embodiment, an ear plate 72 is provided at the tail of the barrel of the syringe 7, and the positioning device is specifically a positioning block 3. After the syringe 7 moves forward until the ear plate 72 fits against the positioning block 3, the syringe 7 cannot move forward due to the blocking of the positioning block 3. In this way, the positioning of the syringe 7 is achieved through the positioning block 3, ensuring that the syringe 7 can be accurately positioned to the required position. A check plate 4 serving as a locking device is provided at the tail of the second claw 14. When the jaws 1 are not fully closed, that is, when the jaws 1 lightly grip the syringe 7, the check plate 4 will not interfere with the forward movement of the syringe 7. After the syringe 7 is limited by the positioning block 3 and the jaws 1 are fully closed, the check plate will embed into the interior of the barrel of the syringe through the blade edge to prevent the syringe from retracting. The check plate is preferably a structure with a single-sided blade edge. With this setting, both the front and rear sides of the syringe are limited after the syringe is clamped, avoiding the forward and backward movement of the syringe during later use and ensuring the stability of the syringe in subsequent processes.

[0061] Further, as Figure 1 and Figure 2 shown, the positioning block 3 is provided on the first claw 12. Further, the first claw 12 and the positioning block 3 are of a split structure, which facilitates the separate disassembly and replacement of the first claw 12 and the positioning block 3.

[0062] Further, the check plate 4 is provided on the second claw 14. This enables the check plate 4 to move synchronously with the second claw 14. Therefore, there is no need to provide an additional driving structure for the check plate 4. At the same time, this setting can also ensure the synchronization of the check plate 4 and the second claw 14, enabling the check plate 4 to automatically release the lock when the jaws 1 open, and the check plate 4 to automatically lock the syringe 7 when the jaws 1 close. With this setting, since the check plate 4 is provided on the second claw 14, the overall structure is simplified, ensuring a high degree of synchronization between the jaws 1 and the locking device.

[0063] Even further, as Figure 1 and Figure 2 shown, the check plate 4 and the second claw 14 are of a split structure, that is, the check plate 4 and the second claw 14 are of a detachable structure, which facilitates the separate replacement of the check plate 4 and the second claw 14.

[0064] In the above embodiment, the syringe positioning and clamping method and device further include a pneumatic driving device 5. The pneumatic driving device 5 is connected to the jaws 1 and is used to control the opening or closing of the jaws 1.

[0065] In this embodiment, the syringe positioning and clamping method and device further include a pneumatic driving device 5 for driving and controlling the opening and closing of the clamping jaws 1. With this arrangement, the opening and closing of the clamping jaws 1 can be achieved through the pneumatic driving device 5, and the pneumatic driving device 5 is relatively gentle, which can prevent the syringe 7 from being damaged due to excessive clamping force. At the same time, the pneumatic driving device 5 can adapt to changes according to the size of the syringe 7. Therefore, the radial accuracy requirements for the syringe 7 are relatively low. In this way, when there are manufacturing errors in the syringe 7 itself, the clamping process can be automatically corrected to ensure the reliability of the clamping by the clamping jaws 1.

[0066] Further, the pneumatic driving device 5 includes a pneumatic slide table 52 and a pneumatic control device. The pneumatic slide table 52 is used to drive the clamping jaws 1 to open or close. The pneumatic control device is used to control the operation of the pneumatic slide table 52 to adjust the state of the clamping jaws 1.

[0067] In this embodiment, the pneumatic driving device 5 includes a pneumatic slide table 52 and a pneumatic control device. The pneumatic slide table 52 is used to drive the clamping jaws 1 to open or close. The pneumatic control device is used to control the operation of the pneumatic slide table 52 to adjust the state of the clamping jaws 1. With this arrangement, the opening and closing of the clamping jaws 1 can be achieved through the pneumatic slide table 52, and the pneumatic driving device 5 is relatively gentle, which can prevent the syringe 7 from being damaged due to excessive clamping force. At the same time, the pneumatic driving device 5 can adapt to changes according to the size of the syringe 7. Therefore, the radial accuracy requirements for the syringe 7 are relatively low. In this way, when there are manufacturing errors in the syringe 7 itself, the clamping process can be automatically corrected to ensure the reliability of the clamping by the clamping jaws 1. At the same time, the pneumatic slide table 52 can also guide the movement of the clamping jaws 1, thus preventing the clamping jaws 1 from being skewed during the opening and closing process.

[0068] In the above embodiment, as Figure 1 shown, the syringe positioning and clamping method and device further include a position sensor 6. The position sensor 6 is installed on the pneumatic slide table 52 and is used to detect the position of the clamping jaws 1. The pneumatic control device is connected to the position sensor 6 and can control the operation of the pneumatic slide table 52 according to the position detected by the position sensor 6 to adjust the state of the clamping jaws 1.

[0069] In this embodiment, the syringe positioning and clamping method and device further include a position sensor 6. The position sensor 6 is installed on the pneumatic slide table 52 and is used to detect the position of the clamping jaws 1. The pneumatic control device is connected to the position sensor 6 and can control the operation of the pneumatic slide table 52 according to the position detected by the position sensor 6 to adjust the state of the clamping jaws 1. In this way, during the process of adjusting the opening and closing of the clamping jaws 1, the adjustment process can be fed back in real time according to the position detected by the position sensor 6, ensuring the precise control of the pneumatic slide table 52 over the clamping jaws 1.

[0070] Further, as Figure 1As shown, the gripper 1 includes a first jaw 12 and a second jaw 14 which are oppositely arranged. The number of piston rods on the pneumatic slide 52 is two. The first jaw 12 and the second jaw 14 are respectively mounted on the two piston rods and can be closed or opened under the action of the two piston rods. The position sensor 6 is arranged corresponding to one or two piston rods for detecting the position of the piston rod.

[0071] In this embodiment, the gripper 1 includes a first jaw 12 and a second jaw 14 which are oppositely arranged. The position sensor 6 is mounted on the piston rod of the pneumatic slide 52, that is, the position sensor 6 directly detects the position of the piston rod of the cylinder 522 to determine the position of the gripper 1. And the position of the piston rod is easier to detect, which is more convenient for the setting of the position sensor 6. At the same time, it can also avoid the position sensor 6 being arranged at the gripper 1 and affecting the clamping of the syringe 7.

[0072] In the above embodiment, as Figure 3 shown, the pneumatic slide 52 includes a cylinder 522. The cylinder 522 includes a rod chamber and a rodless chamber. The pneumatic control device includes a first air passage 54 for connecting the air source and the rod chamber; and a second air passage 56 for connecting the air source and the rodless chamber. When the first air passage 54 is connected and the second air passage 56 is disconnected, the gripper 1 opens and can release the syringe 7. When the first air passage 54 is disconnected and the second air passage 56 is closed, the gripper 1 closes and can clamp the syringe 7. When the first air passage 54 and the second air passage 56 are connected at the same time, the gripper 1 can gently clamp the syringe 7.

[0073] In this embodiment, the pneumatic slide 52 includes a cylinder 522. The cylinder 522 includes a rod chamber and a rodless chamber, and air passages are provided between the rod chamber and the rodless chamber and the air source. By controlling the on-off of the two air passages, the opening and closing of the gripper 1 can be controlled. When the two air passages work at the same time, the two sides of the piston rod can reach a balance at a certain position, so as to realize the gentle clamping of the syringe 7. At this time, the gripper 1 is in a semi-closed state, that is, not fully closed state. With this structure, the control of the three states of the gripper 1 is realized through two air passages, making the overall control process relatively simple, thus making the product easier to implement and the cost lower.

[0074] Further, the air pressure in the first air passage 54 is less than the air pressure in the second air passage 56. The first air passage 54 is provided with a first switch valve 542 that can be disconnected and closed and a pressure regulating valve 544 that can adjust the pressure. The second air passage 56 is provided with a second switch valve 562 that can be disconnected and closed.

[0075] In the above embodiment, as Figure 1As shown in the figure, the pushing device 2 includes a lead screw stage 22, a push rod 24, and a motor 26. The lead screw stage 22 includes a lead screw and a guiding stage driven by the lead screw. The push rod 24 is mounted on the guiding stage and can push the syringe 7 to move under the action of the guiding stage. The motor 26 is connected to the lead screw and is used to drive the lead screw to rotate. In this solution, by driving the lead screw to rotate with the motor 26, the guiding stage can be driven to move forward based on the nut or slider on the lead screw, and then the push rod 24 can be driven to push forward against the syringe 7, so that the syringe 7 moves forward. Among them, the guiding stage itself also has a guiding function, which can ensure the smoothness of the push rod 24 when pushing the syringe 7 forward and prevent the syringe 7 from tilting when moving forward.

[0076] Further, the motor 26 is a stepper motor, and the motor 26 and the lead screw are connected by a belt, a connecting rod, or a gear set.

[0077] In the above embodiment, the jaw 1 is made of plastic. Because the plastic jaw has a low cost, and at the same time, the plastic is relatively soft and is not easy to leave marks on the syringe 7. Moreover, the syringe 7 is generally also made of plastic, so setting the jaw 1 to be plastic can also increase the friction between the jaw 1 and the syringe 7 and prevent the syringe 7 from slipping.

[0078] Among them, in Embodiment 1, after combining all the features, the structure of the syringe clamping and positioning device is as Figures 1 to 3 shown. The following will introduce the specific process of controlling the jaw 1 when the pneumatic driving device 5 includes a cylinder 522 in combination with Figures 1 to 3 :

[0079] 1. Close the first switching valve 542 to connect the first air path 54, and disconnect the second switching valve 562 to disconnect the second air path 56. At this time, the first jaw 12 and the second jaw 14 are relatively opened.

[0080] 2. Place the syringe 7 between the opened first jaw 12 and second jaw 14.

[0081] 3. Close the second switching valve 562 to connect the second air path 56, and control the pressure on the second air path 56 through the pressure regulating valve 544 so that the first jaw 12 and the second jaw 14 gently clamp the syringe 7. The actual clamping force can be controlled by adjusting the opening pressure. The robotic arm releases the syringe 7 and exits the system.

[0082] 4. Start the motor 26 to drive the guide rail stage to move by the motor 26, and then drive the push rod 24 to push the syringe 7 forward. Until the ear plate 72 of the syringe 7 is mutually limited with the positioning block 3. The motor 26 stops.

[0083] 5. Disconnect the first switching valve 542 to cut off the first air path 54. At this time, the second switching valve 562 is closed, and the second air path 56 works to clamp the syringe 7 with the first jaw 12 and the second jaw 14 under the high pressure of the second air path 56, completing "re-clamping", and embedding the anti-retreat plate 4 into the syringe 7 body to a certain depth, that is, the anti-retreat plate 4 is stuck behind the ear plate 72 to lock the syringe 7. At this time, the syringe 7 is in a fully positioned state ( Figure 2 in which the middle ear plate 72 is in close contact with the positioning block 3), and in a fully fixed state (the upward movement is restricted by the positioning block 3, and the downward movement is limited by the anti-retreat plate 4). The syringe 7 can be used for the automatic dispensing machine to extract or push the piston operation.

[0084] Further, after the dispensing is completed, the robotic arm grabs the syringe 7, the first switching valve 542 is energized to act, then the second switching valve 562 is de-energized and does not act, and the first jaw 12 and the second jaw 14 act to open the jaws 1, and the robotic arm can remove the syringe 7 to complete a working cycle.

[0085] Embodiment 2

[0086] As Figure 1 and Figure 2 shown, Embodiment 2 of the first aspect of the present invention provides a syringe positioning and clamping method and device, including jaws 1 that can open or close, a pushing device 2, a locking device, a positioning device, and a hydraulic driving device.

[0087] Among them, the jaws 1 are used to clamp or loosen the syringe 7. During use, the syringe 7 can be placed between the open jaws 1 through a robotic arm or the like, and then after gently clamping the syringe 7 with the jaws 1, the syringe 7 between the jaws 1 is pushed forward by the pushing device 2. By "gently clamping" the syringe 7, the left and right shaking of the syringe 7 during the forward movement can be avoided. The positioning device and the locking device are arranged at the tail of the jaws 1. The positioning device is used to cooperate with the syringe 7 after the syringe 7 moves in place to prevent the syringe 7 from moving forward, so that the syringe 7 can be fixed at this position, thus realizing the positioning of the syringe 7. The locking device is used to cooperate with the barrel of the syringe 7 when the jaws 1 clamp the syringe 7 to lock the syringe 7. The hydraulic driving device is used to drive and control the opening or closing of the jaws 1. In this solution, since the syringe 7 can be pushed forward by the pushing device 2 after being placed between the two jaws 1 to adjust the syringe 7 to a suitable position, the position error of the syringe 7 placement can be automatically corrected, and the position requirement for the robotic arm to place the syringe 7 in the front-rear direction is reduced.

[0088] In the above embodiments, the states of the gripper 1 clamping the syringe 7 include light clamping, tight clamping, and releasing. When the gripper 1 releases the syringe 7, the syringe 7 can be conveniently removed. When the gripper 1 lightly clamps the syringe 7, the syringe 7 can move forward relative to the gripper 1, so that during the forward movement of the syringe 7, it can be in a state of being lightly clamped by the gripper 1, thus realizing the limit of the syringe 7, avoiding the shaking of the syringe 7 during the movement, and further enabling the syringe 7 to move forward along a predetermined route to a position where it cooperates with the positioning device, reducing the probability of the syringe 7 being stuck due to shaking during the forward movement, and the probability that the syringe 7 cannot cooperate with the positioning device during the forward movement, thereby improving the stability of the device. At the same time, in this solution, since the gripper 1 will close to a certain extent after the syringe 7 is placed between the grippers 1 to realize the light clamping of the syringe 7, when the gripper 1 is fully opened, the gripper 1 can be opened slightly larger to facilitate the picking and placing of the syringe 7, thus improving the operation convenience of the clamping device. On the contrary, if the gripper 1 has no light clamping state, in order to avoid the skew of the syringe 7 during the movement, it is necessary to set the distance between the two grippers 1 to be smaller, which will inevitably increase the difficulty of picking and placing the syringe 7.

[0089] In the above embodiments, the gripper 1 includes two claws arranged oppositely, such as Figure 1 the first claw 12 on the right side and the second claw 14 on the left side. Among them, the first claw 12 is fixed and the second claw 14 is movable. That is, only one side of the gripper 1 is movable and the other side is fixed. In this way, only a driving device needs to be set corresponding to the first claw 12, and only the movement of the single-side gripper 1 needs to be controlled to realize the opening, closing, and light clamping control of the gripper 1. Therefore, the structure of the whole device is simplified, and the control difficulty of the whole device is also reduced.

[0090] In the above embodiments, as Figure 1 and Figure 2 shown, the tail of the barrel of the syringe 7 is provided with an ear plate 72 protruding from the barrel in the radial direction. The positioning device includes a positioning block 3. The positioning block 3 is arranged on the first claw 12, at the rear of the first claw 12, and can cooperate with the ear plate 72 to prevent the syringe 7 from moving forward when the syringe 7 moves to the position where the positioning block 3 is located. The locking device includes a check plate 4. The check plate 4 is arranged on the second claw 14, at the rear of the second claw 14, and can cooperate with the rear part of the ear plate 72 to prevent the syringe 7 from retreating after the gripper 1 clamps the syringe 7 tightly.

[0091] In this embodiment, an ear plate 72 is provided at the tail of the barrel of the syringe 7, and the positioning device is specifically a positioning block 3. After the syringe 7 moves forward until the ear plate 72 fits against the positioning block 3, the syringe 7 cannot move forward due to the blockage of the positioning block 3. In this way, the positioning of the syringe 7 is achieved through the positioning block 3, ensuring that the syringe 7 can be accurately limited to the required position. A check plate 4 serving as a locking device is provided at the tail of the second claw 14. When the clamping claws 1 are not fully closed, that is, when the clamping claws 1 lightly clamp the syringe 7, the check plate 4 will not interfere with the forward movement of the syringe 7. After the syringe 7 is limited by the positioning block 3 and the clamping claws 1 are fully closed, the check plate 4 will be driven by the second claw 14 and inserted behind the ear plate 72, so as to be able to resist the syringe 7 from the back side of the ear plate 72. With this setting, after the syringe 7 is clamped, its ear plate 72 is clamped between the positioning block 3 and the check plate 4, preventing the syringe 7 from moving backward during subsequent use and ensuring the stability of the syringe 7 in the subsequent process.

[0092] Further, as Figure 1 and Figure 2 shown, the positioning block 3 is provided on the first claw 12. Further, the first claw 12 and the positioning block 3 are of an integral structure, that is, the first claw 12 and the positioning block 3 are a whole. This can reduce the number of components, improve the connection strength between the first claw 12 and the positioning block 3, and enhance the connection reliability between the first claw 12 and the positioning block 3. Further, the first claw 12 and the positioning block 3 are integrally formed.

[0093] Further, the check plate 4 is provided on the second claw 14. This enables the check plate 4 to move synchronously with the second claw 14. Therefore, there is no need to provide an additional driving structure for the check plate 4. At the same time, this setting can also ensure the synchronization between the check plate 4 and the second claw 14, so that when the clamping claws 1 are opened, the locking of the check plate 4 can be automatically released, and when the clamping claws 1 are closed, the check plate 4 can automatically lock the syringe 7. With this setting, since the check plate 4 is provided on the second claw 14, the overall structure is simplified, and the high synchronization between the clamping claws 1 and the locking device is ensured.

[0094] Even further, as Figure 1 and Figure 2 shown, the check plate 4 and the second claw 14 are of an integral structure, that is, the check plate 4 and the second claw 14 are a whole. This can reduce the number of components, improve the connection strength between the check plate 4 and the second claw 14, and enhance the connection reliability between the check plate 4 and the second claw 14. Further, the check plate 4 and the second claw 14 are integrally formed.

[0095] In the above embodiment, the syringe positioning and clamping method and device further includes a status sensor. The status sensor is provided corresponding to the jaw 1 and is used to detect the status of the jaw 1. The status sensor can be specifically connected to the hydraulic control mechanism of the jaw 1 so that the hydraulic control mechanism can monitor the status of the jaw 1 at any time to adjust the status of the jaw 1 in a timely manner.

[0096] Further, as Figure 1 shown, the status sensor is a position sensor 6. The position sensor 6 is installed to detect the position of the jaw 1. The hydraulic control device is connected to the position sensor 6 and can control the operation of the pneumatic slide 52 according to the position detected by the position sensor 6 to adjust the status of the jaw 1.

[0097] Further, the hydraulic drive device includes a hydraulic slide and a hydraulic control device. The hydraulic slide is used to drive the jaw 1 to open or close, and the hydraulic control device is used to control the operation of the hydraulic slide to adjust the status of the jaw 1.

[0098] Further, the position sensor 6 is installed on the hydraulic slide to detect the position of the jaw 1. The hydraulic control device is connected to the position sensor 6 and can control the operation of the hydraulic slide according to the position detected by the position sensor 6 to adjust the status of the jaw 1.

[0099] In this embodiment, the syringe positioning and clamping method and device further includes a position sensor 6. The position sensor 6 is installed on the hydraulic slide to detect the position of the jaw 1. The hydraulic control device is connected to the position sensor 6 and can control the operation of the hydraulic slide according to the position detected by the position sensor 6 to adjust the status of the jaw 1. In this way, during the process of adjusting the opening and closing of the jaw 1, feedback can be carried out on the adjustment process at any time according to the position detected by the position sensor 6, ensuring the precise control of the hydraulic slide on the jaw 1.

[0100] Further, as Figure 1 shown, the jaw 1 includes a first jaw 12 and a second jaw 14 arranged oppositely. The first jaw 12 is installed on the piston rod of the hydraulic cylinder and can move relative to the second jaw 12 under the action of the piston rod. The position sensor 6 is provided corresponding to the piston rod and is used to detect the position of the piston rod.

[0101] In the above embodiment, the hydraulic slide includes an oil cylinder. The oil cylinder includes a rod chamber and a rodless chamber, and air circuits are provided between the rod chamber and the rodless chamber and the air source. By controlling the on-off operation of the two air circuits, the opening and closing of the gripper 1 can be controlled. When the two air circuits work simultaneously, the two sides of the piston rod can reach balance at a certain position, so as to realize the gentle clamping of the syringe 7. At this time, the gripper 1 is in a semi-closed state, that is, not completely closed. With this structure, the control of the three states of the gripper 1 is realized through two air circuits, making the overall control process relatively simple, thus making the product easier to implement and having lower costs.

[0102] In the above embodiment, as Figure 1 shown, the pushing device 2 includes a lead screw slide 22, a push rod 24 and a motor 26. The lead screw slide 22 includes a lead screw and a guiding slide driven by the lead screw. The push rod 24 is installed on the guiding slide and can push the syringe 7 to move under the action of the guiding slide. The motor 26 is connected to the lead screw and is used to drive the lead screw to rotate. In this solution, by driving the lead screw to rotate through the motor 26, the guiding slide can be driven to move forward based on the nut or slider on the lead screw, and then the push rod 24 can be driven to push forward against the syringe 7 to make the syringe 7 move forward. Among them, the guiding slide itself also has a guiding function, which can ensure the smoothness of the push rod 24 when pushing the syringe 7 forward and avoid the situation of the syringe 7 tilting when moving forward.

[0103] Further, the motor 26 is a servo motor, and the motor 26 and the lead screw are connected by a connecting rod or a gear set.

[0104] In the above embodiment, the gripper 1 is made of plastic. Because the plastic gripper has low cost, and at the same time, the plastic is relatively soft and not easy to leave clamping marks on the syringe 7. Moreover, the syringe 7 is generally also made of plastic. Therefore, setting the gripper 1 to be plastic can also increase the friction between the gripper 1 and the syringe 7 and prevent the syringe 7 from slipping.

[0105] Embodiment 3 (not shown in the figure)

[0106] An embodiment 3 of the first aspect of the present invention provides a syringe positioning and clamping method device, whose structure is basically the same as that of the embodiment and Embodiment 2. The difference is that in this embodiment, the driving device of the gripper 1 is an electric driving device. The pushing device 2 is a hydraulic device or a starting device. The positioning rotating device and the locking device are completely independent of the gripper 1.

[0107] Specifically, Embodiment 3 provides a syringe positioning and clamping method device, including a gripper 1 that can open or close, a hydraulic pushing device, a locking device, a positioning device and an electric driving device.

[0108] As Figure 1As shown in the figure, the jaw 1 includes a second jaw 14 and a first jaw 12. The electric drive device is arranged corresponding to the first jaw 12 and the second jaw 14 and is used to drive the first jaw 12 to move relative to the second jaw 14 so as to realize the opening, closing and gentle clamping control of the jaw 1. The jaw 1 is used to clamp or release the syringe 7. During use, the syringe 7 can be placed between the open jaws 1 through a robotic arm or the like. Then, after gently clamping the syringe 7 with the jaws 1, the syringe 7 between the jaws 1 is pushed forward by a hydraulic pushing device. By "gently clamping" the syringe 7, it is possible to prevent the syringe 7 from swaying left and right during the forward movement. Of course, when the syringe 7 is not likely to sway left and right, the syringe 7 can also be pushed forward in a state where the jaws 1 completely release the syringe 7. The positioning device and the locking device are arranged at the tail of the jaw 1. The positioning device is used to cooperate with the syringe 7 after the syringe 7 moves in place to prevent the syringe 7 from moving forward, so that the syringe 7 can be fixed at this position, thus realizing the positioning of the syringe 7. The locking device is used to cooperate with the barrel of the syringe 7 when the jaws 1 clamp the syringe 7 to lock the syringe 7. The electric drive device is used to drive and control the opening or closing of the jaws 1. In this solution, since the syringe 7 can be pushed forward by the hydraulic pushing device after being placed between the two jaws 1 to adjust the syringe 7 to a proper position, the position error of the placement of the syringe 7 can be automatically corrected, and the position requirement for the robotic arm to place the syringe 7 in the front-rear direction is reduced.

[0109] In the above embodiment, the states of the jaws 1 clamping the syringe 7 include gentle clamping, clamping and releasing. When the jaws 1 gently clamp the syringe 7, the syringe 7 can move forward relative to the jaws 1. In this way, when the jaws 1 release the syringe 7, the syringe 7 can be conveniently removed. When the jaws 1 gently clamp the syringe 7, the syringe 7 can move forward relative to the jaws 1, so that the syringe 7 can be in a state of being gently clamped by the jaws 1 during the forward movement. In this way, the limit of the syringe 7 is realized, and the swaying of the syringe 7 during the movement is avoided. Furthermore, the syringe 7 can move forward along a predetermined route to a position where it cooperates with the positioning device, reducing the probability that the syringe 7 is jammed due to swaying during the forward movement and the probability that the syringe 7 cannot cooperate with the positioning device during the forward movement. In this way, the stability of the device is improved. At the same time, in this solution, since the jaws 1 will close to a certain extent after the syringe 7 is placed between the jaws 1 to gently clamp the syringe 7, when the jaws 1 are fully opened, the jaws 1 can be opened slightly larger to facilitate the picking and placing of the syringe 7. In this way, the operation convenience of the clamping device is improved. On the contrary, if the jaws 1 have no gentle clamping state, in order to avoid the deviation of the syringe 7 during the movement, it is necessary to set the distance between the two jaws 1 to be smaller, which will inevitably increase the difficulty of picking and placing the syringe 7.

[0110] In the above embodiments, the gripper 1 is made of plastic. Since the cost of plastic grippers is low, and at the same time, plastic is relatively soft and not likely to leave marks on the syringe 7. Moreover, the syringe 7 is generally also made of plastic. Therefore, setting the gripper 1 to be plastic can also increase the friction between the gripper 1 and the syringe 7, preventing the syringe 7 from slipping.

[0111] In the above embodiments, the syringe positioning and clamping method and device further include a sensing device. The sensing device is arranged corresponding to the first claw 12 and the second claw 14 for sensing the positions of the first claw 12 and the second claw 14. The sensing device is connected to the electric driving device and can send the sensed positions to the electric driving device. The electric driving device can adjust the positions of the first claw 12 and the second claw 14 according to the position feedback detected by the sensing device.

[0112] The technical solution of the second aspect of the present invention provides a robot, including the syringe positioning and clamping device provided by any one of the technical solutions in the first aspect.

[0113] According to the robot provided by the present invention, since it includes the syringe positioning and clamping method and device provided by any one of the embodiments in the first aspect, therefore, the robot provided by the present invention has all the beneficial effects of the syringe positioning and clamping method and device provided by any one of the embodiments in the first aspect, which will not be elaborated here.

[0114] The embodiment of the third aspect of the present invention further provides a syringe positioning and clamping method, including:

[0115] Placing the syringe 7 between the open grippers 1 (as Figure 1 shown);

[0116] Controlling the gripper 1 to gently clamp the syringe 7, and during the process of the gripper 1 gently clamping the syringe 7, pushing the syringe 7 forward until the syringe 7 moves to interfere with the positioning device (i.e., Figure 2 the ear plate 72 in it and the positioning block 3), and then controlling the gripper 1 to clamp the syringe 7 tightly and lock the syringe 7.

[0117] According to the syringe positioning and clamping method provided by the present invention, since the syringe 7 can be pushed forward after being placed between the two grippers 1 to adjust the syringe 7 to a proper position, the position error of the syringe 7 placement can be automatically corrected, thereby reducing the position requirement for the manipulator to place the syringe 7 in the front-back direction.

[0118] Further, as Figure 1As shown in the figure, the device for pushing the syringe 7 forward is a pneumatic driving device 5. With this arrangement, the opening and closing of the jaws 1 can be achieved through the pneumatic driving device 5. The pneumatic driving device 5 is relatively gentle, which can avoid damaging the syringe 7 due to excessive clamping force. At the same time, the pneumatic driving device 5 can adapt to changes according to the size of the syringe 7. Therefore, the requirement for the radial accuracy of the syringe 7 is relatively low. In this way, when there are manufacturing errors in the syringe 7 itself, the clamping process can be automatically corrected, ensuring the reliability of the clamping of the jaws 1.

[0119] In the description of this specification, terms such as "connection", "installation", "fixation", etc. should all be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected or indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0120] In the description of this specification, the description of terms such as "one embodiment", "some embodiments", "specific embodiments", etc. means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0121] The above are only the preferred embodiments of the present invention and are not used to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A syringe positioning and clamping device, characterized in that, Comprising: Jaws that can open or close, with a syringe capable of being placed between the open jaws. Before the jaws clamp the syringe, the syringe can move forward relative to the jaws; A pushing device for pushing the syringe between the jaws forward; A positioning device for cooperating with the syringe to prevent the syringe from moving forward when the syringe moves to the position where the positioning device is located; A locking device that can cooperate with the barrel of the syringe to lock the syringe when the jaws clamp the syringe; A pneumatic driving device connected to the jaws for controlling the opening or closing of the jaws; The pneumatic driving device includes a pneumatic slide and a pneumatic control device. The pneumatic slide is used to drive the jaws to open or close, and the pneumatic control device is used to control the operation of the pneumatic slide to adjust the state of the jaws: A position sensor installed on the pneumatic slide for detecting the position of the jaws; The pneumatic control device is connected to the position sensor and can control the operation of the pneumatic slide according to the position detected by the position sensor to adjust the state of the jaws; The state of the jaws clamping the syringe includes light clamping, clamping, and releasing. When the jaws lightly clamp the syringe, the syringe can move forward relative to the jaws.

2. The syringe positioning and clamping device according to claim 1, characterized in that, The pushing device is used to push the syringe forward when the jaws are in the state of lightly clamping the syringe.

3. The syringe positioning and clamping device according to claim 1, wherein The jaws include a first jaw and a second jaw arranged oppositely. Both the first jaw and the second jaw are movable jaws, or one of the first jaw and the second jaw is a movable jaw and the other is a fixed jaw.

4. The syringe positioning and clamping device according to claim 3, wherein, An ear plate protruding radially from the barrel is provided at the tail of the barrel of the syringe. The positioning device includes a positioning block that can cooperate with the ear plate to prevent the syringe from moving forward when the syringe moves to the position where the positioning block is located; The locking device includes a retaining plate with a blade provided thereon. The retaining plate can be embedded in the syringe through the blade after the jaws clamp the syringe to prevent the syringe from retreating, or the retaining plate can cooperate with the rear part of the ear plate after the jaws clamp the syringe to prevent the syringe from retreating.

5. The syringe positioning and clamping device according to claim 4, wherein The positioning block is provided on the first jaw and is located at the rear of the first jaw. The first jaw and the positioning block are of an integral structure or a split structure; The retaining plate is provided on the second jaw and is located at the rear of the second jaw. The retaining plate and the second jaw are of an integral structure or a split structure.

6. The syringe positioning and clamping device according to claim 1, wherein The jaws include a first jaw and a second jaw arranged oppositely. Both the first jaw and the second jaw are installed on the piston rod of the pneumatic slide and can move relative to each other under the action of the piston rod; The position sensor is arranged corresponding to the piston rod for detecting the position of the piston rod.

7. The syringe positioning and clamping device according to claim 1, characterized in that, The pneumatic slide includes a cylinder, the cylinder includes a rod chamber and a rodless chamber, and the pneumatic control device includes: A first air path for connecting the air source and the rod chamber; A second air path for connecting the air source and the rodless chamber; Wherein, when the first air path is connected and the second air path is disconnected, the jaws open and can release the syringe. When the first air path is disconnected and the second air path is closed, the jaws close and can clamp the syringe. When the first air path and the second air path are connected simultaneously, the jaws can gently clamp the syringe.

8. The syringe positioning and clamping device according to claim 7, wherein The air pressure in the first air path is less than the air pressure in the second air path; A first switch valve capable of being disconnected and closed and a pressure regulating valve capable of adjusting pressure are provided on the first air path; a second switch valve capable of being disconnected and closed is provided on the second air path.

9. The syringe positioning and clamping device according to any one of claims 1 to 8, characterized in that, The pushing device includes: A screw slide, including a lead screw and a guiding slide driven by the lead screw; A push rod installed on the guiding slide and capable of pushing the syringe to move under the action of the guiding slide; A motor connected to the lead screw for driving the lead screw to rotate.

10. A robot, characterized in that, It includes the syringe positioning and clamping device according to any one of claims 1 to 9.

Images