Medical negative pressure ball pick-up robot tool and control method thereof

Abstract

The application discloses a medical negative pressure ball taking mechanical hand fixture and a control method thereof, and belongs to the technical field of medical negative pressure ball production and manufacturing. The medical negative pressure ball taking mechanical hand fixture comprises a support plate, a sleeve, a suction assembly and a clamping assembly. The sleeve is arranged on the support plate and has a hollow cylindrical shape. The axis of the sleeve is arranged in the up-down direction. Two clearance holes are symmetrically arranged on the end of the sleeve close to the support plate in the radial direction of the sleeve. The suction assembly is arranged on the wall of the sleeve and is arranged in the middle section of the sleeve in the radial direction of the sleeve. The suction assembly is arranged towards the inside of the sleeve and is used for sucking the side wall of the medical negative pressure ball. The clamping assembly comprises two first air cylinders and two clamping jaws. The two first air cylinders are respectively arranged in the two clearance holes. The two first air cylinders are respectively provided with the clamping jaws on the side towards the axis of the sleeve. The two first air cylinders drive the two clamping jaws to move towards or away from each other in the radial direction of the sleeve to realize the clamping action.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical negative pressure ball production and manufacturing, and particularly relates to a medical negative pressure ball taking manipulator jig and a control method thereof. BACKGROUND

[0002] A medical negative pressure ball, also known as a negative pressure drainage ball, is usually used for postoperative drainage. It is composed of a ball that can absorb fluid and an adjustable rubber tube connected to it, which is used to collect excess fluid and gas in the body and reduce pressure. The negative pressure drainage ball is usually made of high molecular material, has excellent airtightness and hygiene, and avoids the risk of infection. And its size can be customized according to the surgical site and condition, which can improve the postoperative recovery effect. The sterile negative pressure drainage ball has become an indispensable device in surgical operations, which greatly reduces the postoperative pain and complication rate of patients.

[0003] Because the material of the medical negative pressure ball is very soft, and the entire circumference is a reverse buckle structure, it cannot be molded by the conventional ejection method, and the existing mold is manually torn off from the insert, which can easily cause the product to be severely deformed, waste labor in taking the product, increase labor costs, and reduce production efficiency. SUMMARY

[0004] The purpose of the present application is to at least solve one of the technical problems existing in the prior art. To this end, the present application provides a medical negative pressure ball taking manipulator jig and a control method thereof, which can efficiently and safely complete the taking action of the medical negative pressure ball after forming.

[0005] The medical negative pressure ball taking manipulator jig according to the first aspect of the present application comprises: a support plate; a sleeve, the sleeve is arranged on the support plate, the sleeve is in a hollow cylindrical shape, the axis of the sleeve is arranged in the up-down direction, and two clearance holes are symmetrically arranged on one end of the sleeve close to the support plate along the radial direction of the sleeve; a suction assembly, the suction assembly is arranged on the wall of the sleeve, the suction assembly is arranged in the middle section of the sleeve along the radial direction of the sleeve, the suction assembly is arranged towards the inside of the sleeve, and the suction assembly is used to suck the side wall of the medical negative pressure ball; a clamping assembly, the clamping assembly is arranged on the support plate, the clamping assembly is arranged in the two clearance holes, the clamping assembly comprises two first air cylinders and two clamping jaws, the two first air cylinders are arranged in the two clearance holes respectively, and the two first air cylinders are respectively provided with a clamping jaw on the side facing the axis of the sleeve, and the two first air cylinders drive the two clamping jaws to move towards or away from each other along the radial direction of the sleeve to realize the clamping action.

[0006] According to the medical negative pressure ball taking mechanical hand tool of the first aspect of the embodiment of the present application, at least the following beneficial effects are achieved: the medical negative pressure ball is stably sucked by the sucking assembly, the medical negative pressure ball is prevented from being scratched during clamping, the head of the medical negative pressure ball is clamped by the clamping assembly, the action of taking out the medical negative pressure ball is automatically completed, manual auxiliary operation is not required throughout the process, the medical negative pressure ball is prevented from being deformed due to tearing, the production efficiency is improved, and the labor cost is reduced.

[0007] According to some embodiments of the present application, the two clamping jaws are made of plastic.

[0008] According to some embodiments of the present application, the sleeve is provided with a flange surface near one end of the support plate, and the sleeve is connected to the support plate through the flange surface.

[0009] According to some embodiments of the present application, a reinforcing block and a fixing block are further included, the reinforcing block is arranged on the outside of the sleeve, the fixing block is arranged on the inside of the sleeve at a position corresponding to the reinforcing block, the reinforcing block is connected to the support plate, the fixing block and the reinforcing block are connected through a screw penetrating the sleeve, and the fixing block and the reinforcing block clamp the sleeve.

[0010] According to some embodiments of the present application, a fixing seat is further included, the fixing seat is arranged on the side of the support plate away from the sleeve, and the fixing seat is used to fix the support plate to the mechanical arm of the injection molding machine.

[0011] According to some embodiments of the present application, the sleeve is provided with a clearance groove, and the clearance groove is arranged along the axial direction of the sleeve.

[0012] According to some embodiments of the present application, the sucking assembly includes a fixing plate, the fixing plate is arranged on the outer wall of the sleeve and arranged along the radial direction of the sleeve, a second cylinder, the second cylinder is arranged on the fixing plate along the radial direction of the sleeve, and a soft rubber suction nozzle, the soft rubber suction nozzle is arranged at the end of the second cylinder facing the axial center of the sleeve.

[0013] According to some embodiments of the present application, a long slot is arranged on the fixing plate, the fixing position of the second cylinder is adjusted through the long slot, and the distance between the soft rubber suction nozzle and the medical negative pressure ball is adjusted.

[0014] The control method of the medical negative pressure ball taking mechanical hand tool of the second aspect of the embodiment of the present application includes:

[0015] The second cylinder operates to drive the soft rubber suction nozzle to suck the side wall of the medical negative pressure ball;

[0016] The two first cylinders operate to drive the two clamping jaws to synchronously move close to the axial center of the sleeve and clamp the head of the medical negative pressure ball.

[0017] According to some embodiments of the present application, before the second cylinder operates, the position of the second cylinder on the fixing plate is adjusted according to the size of the medical negative pressure ball.

[0018] Additional aspects and advantages of the present application will be given in part in the following description, become apparent from the following description, or be learned by the practice of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0019] The present application is further illustrated by the following drawings and examples:

[0020] Figure 1 is a structural schematic diagram of a medical negative pressure ball taking mechanical hand tool of an embodiment of the present application;

[0021] Figure 2 is a bottom view of Figure 1 ;

[0022] Figure 3 is a structural schematic diagram of a medical negative pressure ball in Figure 1 . BRIEF DESCRIPTION OF DRAWINGS

[0024] Support plate 100; fixed seat 110;

[0025] Sleeve 200; let go hole 210; flange face 220; reinforcing block 230; fixed block 240; let go slot 250;

[0026] Suction assembly 300; fixed plate 310; long slot 311; second air cylinder 320; soft rubber suction nozzle 330;

[0027] Clamping assembly 400; first air cylinder 410; clamping jaw 420;

[0028] Medical negative pressure ball 1. DETAILED DESCRIPTION

[0029] This part will describe the specific embodiments of the present application in detail, the preferred embodiments of the present application are shown in the drawings, the role of the drawings is to supplement the description of the text part with figures, so that people can intuitively and visually understand each technical feature and the overall technical scheme of the present application, but it cannot be understood as the limitation of the protection scope of the present application.

[0030] In the description of the present application, it should be understood that the orientation description, such as the orientation or position relationship indicated by up, down, front, back, left, right and the like, is based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation, therefore it cannot be understood as the limitation of the present application.

[0031] In the description of the present application, the meaning of one or more is one or more, the meaning of multiple is more than two, greater than, less than, more than, etc. are understood as not including the number, above, below, within, etc. are understood as including the number. If the first, second is described, it is only used to distinguish the technical features for the purpose, and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of indicated technical features or implicitly indicating the sequence of indicated technical features.

[0032] In the description of the present application, unless otherwise expressly limited, the words such as setting, installing, connecting, etc. should be broadly understood, and those skilled in the art can reasonably determine the specific meaning of the above words in the present application in combination with the specific content of the technical scheme.

[0033] Reference Figures 1 to 3 The medical negative pressure ball taking mechanical hand tool and its control method according to the embodiment of the present application are described.

[0034] As Figures 1 to 3 shown, the medical negative pressure ball taking mechanical hand tool according to the embodiment of the present application comprises a support plate 100, a sleeve 200 arranged on the support plate 100, the sleeve 200 being in a hollow cylindrical shape, the axis of the sleeve 200 being arranged along the up-down direction, two accommodation holes 210 being symmetrically arranged on the end of the sleeve 200 close to the support plate 100 along the radial direction of the sleeve 200, a suction assembly 300 arranged on the wall of the sleeve 200, the suction assembly 300 being arranged in the middle section of the sleeve 200 along the radial direction of the sleeve 200, the suction assembly 300 being arranged towards the inside of the sleeve 200, the suction assembly 300 being used to suck the side wall of the medical negative pressure ball 1, a clamping assembly 400 arranged on the support plate 100, the clamping assembly 400 being arranged in the two accommodation holes 210, the clamping assembly 400 comprising two first air cylinders 410 and two clamping jaws 420, the two first air cylinders 410 being arranged in the two accommodation holes 210 respectively, the two first air cylinders 410 being respectively provided with the clamping jaws 420 towards the side of the axis of the sleeve 200, the two first air cylinders 410 driving the two clamping jaws 420 to approach and move away from each other along the radial direction of the sleeve 200 to realize the clamping action.

[0035] As Figures 1 to 3As shown, a flange face 220 is provided at one end of the sleeve 200 near the support plate 100, and the sleeve 200 is connected to the support plate 100 through the flange face 220. It also includes a reinforcing block 230 and a fixing block 240. The reinforcing block 230 is located on the outside of the sleeve 200, and the fixing block 240 is located on the inside of the sleeve 200 corresponding to the reinforcing block 230. The reinforcing block 230 is connected to the support plate 100, and the fixing block 240 is connected to the reinforcing block 230 by screws that penetrate the sleeve 200. The fixing block 240 and the reinforcing block 230 clamp the sleeve 200. This medical negative pressure ball retrieval robotic arm fixture also includes a fixing seat 110, which is located on the side of the support plate 100 facing away from the sleeve 200. The fixing seat 110 is used to fix the support plate 100 to the robotic arm of the injection molding machine. A clearance groove 250 is provided on the sleeve 200, and the clearance groove 250 is arranged along the axial direction of the sleeve 200. The suction assembly 300 includes: a fixing plate 310, which is disposed on the outer wall of the sleeve 200 and arranged radially along the sleeve 200; a second cylinder 320, which is arranged radially along the sleeve 200 on the fixing plate; and a soft rubber suction nozzle 330, which is disposed at one end of the second cylinder 320 facing the axis of the sleeve 200. The fixing plate 310 is provided with an elongated groove 311, through which the fixed position of the second cylinder 320 is adjusted, thereby adjusting the distance of the soft rubber suction nozzle 330 relative to the medical negative pressure bulb 1.

[0036] The suction component 300 is inserted through the clearance hole 210 in the middle section of the sleeve 200. When the medical negative pressure ball removal robot jig is put onto the medical negative pressure ball 1, the second cylinder 320 drives the soft rubber suction nozzle 330 to suck up the medical negative pressure ball 1 located inside the sleeve 200, so as to prevent the medical negative pressure ball 1 from shaking inside the sleeve 200 and causing scratches to the medical negative pressure ball 1.

[0037] By setting reinforcement components and fixing blocks 240 on the support plate 100, the reliability of the connection between the sleeve 200 and the support plate 100 is further improved. Both grippers 420 are made of plastic to prevent damage to the medical negative pressure ball 1. The first cylinder 410 drives the grippers 420 to hold the head of the medical negative pressure ball 1, thus fixing and assisting in pulling out the medical negative pressure ball 1. The sleeve 200 needs to withstand the expansion pressure of the medical negative pressure ball 1 after inflation; therefore, the wall thickness of the sleeve 200 needs to be sufficiently thick. At the same time, the weight of the sleeve 200 cannot be too heavy, and it needs to meet the load limit of the robotic arm on the injection molding machine. Therefore, the wall thickness of the sleeve 200 is designed to be approximately 2mm. Multiple sets of reinforcement components and fixing blocks 240 are evenly distributed along the circumference of the sleeve 200 to reinforce the sleeve 200 and prevent it from cracking due to the expansion of the medical negative pressure ball 1.

[0038] A control method for a medical negative pressure ball removal robotic jig according to a second aspect of the present invention includes:

[0039] Adjust the position of the second cylinder 320 on the fixed plate 310 according to the size of the medical negative pressure ball 1;

[0040] The second cylinder 320 operates to drive the soft rubber suction nozzle 330 to suck up the side wall of the medical negative pressure ball 1;

[0041] The two first cylinders 410 operate, driving the two grippers 420 to move synchronously toward the axis of the sleeve 200, clamping the head of the medical negative pressure ball 1.

[0042] like Figures 1 to 3 As shown, after the mold is opened, the robotic arm moves the fixture and puts it onto the medical negative pressure ball 1. Then, the medical negative pressure ball 1 is inflated by blowing air. The soft rubber nozzle 330 sucks on the medical negative pressure ball 1 to prevent it from shaking inside the sleeve 200. The first cylinder 410 drives the gripper 420 to clamp the head of the medical negative pressure ball 1. Then, the robotic arm takes the medical negative pressure ball 1 and places it on the conveyor belt.

[0043] Therefore, this medical negative pressure ball retrieval robot jig and its control method use a suction component 300 to stabilize the medical negative pressure ball 1, preventing the medical negative pressure ball 1 from being scratched during the clamping process, and then use a clamping component 400 to clamp the head of the medical negative pressure ball 1, automatically completing the action of retrieving the medical negative pressure ball 1. The entire process does not require manual assistance, avoids tearing the medical negative pressure ball 1 and causing deformation, and at the same time improves production efficiency and reduces labor costs.

[0044] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention.

Claims

1. A medical negative pressure ball retrieval robotic jig, characterized in that, include: Support plate (100); A sleeve (200) is disposed on the support plate (100). The sleeve (200) is hollow cylindrical. The axis of the sleeve (200) is arranged in the vertical direction. Two clearance holes (210) are symmetrically opened in the radial direction of the sleeve (200) at one end of the sleeve (200) near the support plate (100). A suction assembly (300) is inserted through the wall of the sleeve (200), the suction assembly (300) is arranged radially along the middle section of the sleeve (200), the suction assembly (300) is arranged facing the inside of the sleeve (200), and the suction assembly (300) is used to suction the side wall of the medical negative pressure ball (1); the suction assembly (300) includes: a fixing plate (310), the fixing plate (310) is arranged on the outer wall of the sleeve (200), the fixing plate (310) is arranged radially along the sleeve (200); a second cylinder (320), the second cylinder (320) is arranged radially along the sleeve (200); a soft rubber suction nozzle (330), the soft rubber suction nozzle (330) is arranged at one end of the second cylinder (320) facing the axis of the sleeve (200); A clamping assembly (400) is disposed on the support plate (100). The clamping assembly (400) passes through two relief holes (210). The clamping assembly (400) includes two first cylinders (410) and two grippers (420). The two first cylinders (410) are respectively disposed in the two relief holes (210). The grippers (420) are respectively disposed on the side of the two first cylinders (410) facing the axis of the sleeve (200). The two first cylinders (410) drive the two grippers (420) to move closer and further away from each other along the radial direction of the sleeve (200) to achieve the clamping action.

2. The medical negative pressure ball removal robotic jig according to claim 1, characterized in that, Both grippers (420) are made of plastic.

3. The medical negative pressure ball removal robotic jig according to claim 2, characterized in that, The sleeve (200) is provided with a flange face (220) at one end near the support plate (100), and the sleeve (200) is connected to the support plate (100) through the flange face (220).

4. The medical negative pressure ball removal robotic jig according to claim 3, characterized in that, It also includes a reinforcing block (230) and a fixing block (240). The reinforcing block (230) is disposed on the outside of the sleeve (200), and the fixing block (240) is disposed on the inside of the sleeve (200) at a position corresponding to the reinforcing block (230). The reinforcing block (230) is connected to the support plate (100), and the fixing block (240) is connected to the reinforcing block (230) by a screw that penetrates the sleeve (200). The fixing block (240) and the reinforcing block (230) clamp the sleeve (200).

5. The medical negative pressure ball removal robotic jig according to claim 4, characterized in that, It also includes a fixing seat (110), which is disposed on the side of the support plate (100) facing away from the sleeve (200) and is used to fix the support plate (100) to the robotic arm of the injection molding machine.

6. The medical negative pressure ball removal robotic jig according to claim 5, characterized in that, The sleeve (200) has a relief groove (250) on its wall surface, and the relief groove (250) is arranged along the axial direction of the sleeve (200).

7. The medical negative pressure ball removal robotic jig according to claim 6, characterized in that, The fixing plate (310) is provided with a long groove (311). The fixing position of the second cylinder (320) is adjusted by the long groove (311), thereby adjusting the distance between the soft rubber suction nozzle (330) and the medical negative pressure ball (1).

8. A control method for a medical negative pressure ball retrieval robotic jig, characterized in that, The medical negative pressure ball extraction robotic jig is the medical negative pressure ball extraction robotic jig according to claim 7, and the control method includes: The second cylinder (320) operates to drive the soft rubber nozzle (330) to suck up the side wall of the medical negative pressure ball (1); The two first cylinders (410) operate, driving the two grippers (420) to move synchronously toward the axis of the sleeve (200) to clamp the head of the medical negative pressure ball (1).

9. The control method for the medical negative pressure ball removal robotic jig according to claim 8, characterized in that, Before the second cylinder (320) operates, the position of the second cylinder (320) on the fixed plate (310) is adjusted according to the size of the medical negative pressure ball (1).

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