Liftable intelligent flexible clamping jaw and medical medicine feeding device thereof

Abstract

The invention discloses a liftable intelligent clamping jaw and a medical medicine delivery device, and belongs to the technical field of medical instruments. The intelligent clamping jaw comprises a front flexible grabbing module and a rear gradient conveying module, the front module is of a lifting type flexible clamping jaw structure, accurate grabbing and height adjustment are achieved through an intelligent control system, and the intelligent clamping jaw is suitable for stable clamping of drugs of different specifications; the rear module is provided with three levels of gradient-adjustable slides, the height of each slide is independent and controllable, the inclination angle of the slides is adjusted through a lifting mechanism, and layered ordered sliding and directional conveying of the medicine are achieved. The front module and the rear module work cooperatively, sensors and an automatic control technology are combined, and the functions of medicine grabbing, classifying, caching and transferring are completed. The system solves the problems that a traditional medicine delivery device is poor in adaptability and low in sorting efficiency, has the characteristics of flexibility, modularization and intelligence, can remarkably improve the accuracy and operation safety of medicine delivery in a medical scene, and is suitable for scenes such as hospital pharmacies and warehouse logistics.

Description

Technical Field

[0001] The present invention relates to an intelligent clamping claw, in particular to an intelligent clamping claw which is convenient for accurately taking and delivering medicines and a medical medicine delivery system thereof, belonging to the technical field of medical devices. Background Art

[0002] With the rapid development of medical automation technology, intelligent drug sorting and delivery systems are of great significance in improving medical efficiency and reducing manual operation errors. Traditional medical drug delivery devices mostly use fixed mechanical grippers or simple conveyor belt structures, which have the following limitations: First, the clamping mechanism is very rigid and lacks flexible adaptive capabilities, making it difficult to adapt to the grasping needs of drugs of different sizes, shapes or fragile drugs, which can easily lead to drug damage or positioning deviation; second, the sorting and delivery module has a single function and relies more on manual intervention or step-by-step operation. It is impossible to achieve parallel processing of multiple drugs and dynamic path planning, which is inefficient and difficult to meet the requirements of modern medical scenarios for precision and traceability.

[0003] In recent years, the introduction of technologies such as multi-degree-of-freedom robotic arms and high-precision encoder motors has provided a new direction for medical automation. However, in existing technical solutions, although multi-degree-of-freedom robotic arms are flexible, their motion control and drug delivery process are not coordinated enough, and they lack modular design, which limits the scalability of the system. In addition, traditional lifting mechanisms rely on a single drive unit, making it difficult to achieve independent adjustment of multiple modules, and are prone to interference or response delays in complex drug delivery path planning.

[0004] In response to the above technical pain points, the present invention proposes an integrated solution of a liftable intelligent gripper and a medical drug delivery system, which realizes the intelligent picking and transportation of drugs throughout the entire process by integrating flexible clamping, multi-gradient slide collaborative lifting and closed-loop control technology. This design not only breaks through the rigid limitations of traditional devices, but also significantly improves the adaptability, efficiency and safety of the system through data-driven and modular architecture, providing an innovative technical path for the field of medical automation.

[0005] In view of this, the present invention is proposed. Summary of the invention

[0006] The present invention relates to a liftable intelligent gripper and medical medicine delivery device, which aims to solve the problems of poor adaptability, low sorting efficiency, and insufficient safety of traditional medical medicine delivery devices through the deep integration of modular design and intelligent control technology. This device realizes efficient grasping, classified caching, and directional delivery of medicines through the coordinated work of the front flexible grasping module and the rear gradient delivery module, combined with an intelligent control system, significantly improving the efficiency of medicine management and operational safety in medical scenarios. The following is the specific technical solution and innovative details of the present invention.

[0007] The present invention realizes the above object through the following technical solutions. An intelligent gripper with lifting function and a medical medicine delivery device are composed of two core modules: a front flexible grasping module and a rear gradient conveying module. Each module realizes functional coordination through mechatronics design.

[0008] Furthermore, this module adopts a liftable gripper structure, integrating a multi-degree-of-freedom motion mechanism and sensor technology for precise grasping and height adjustment of medicines. The gripper realizes vertical lifting (stroke 0 - 300 mm) and horizontal rotation (±90°) through a servo motor driving a lead screw mechanism, adapting to medicine racks or conveyor belts at different heights. Its core functions include adaptive clamping and multi-degree-of-freedom motion control.

[0009] Furthermore, the rear gradient conveying module consists of three independently adjustable slides. Each slide realizes dynamic adjustment of the tilt angle through a linear guide and a servo motor, supporting hierarchical caching and directional conveying of medicines. The surface of the slide is provided with an anti-slip coating and a diversion structure to ensure that there is no collision or accumulation of medicines during the sliding process. A standardized interface is reserved at the end of the module, which can be extended to dock with transfer robots or buffer bins to adapt to diverse scenario requirements.

[0010] Furthermore, the technical details of the front flexible grasping module include the design of an adaptive gripper. The end of the gripper is made of flexible silicone material, and the clamping force is dynamically adjusted through a closed-loop control algorithm to avoid deformation or slippage of the medicine under pressure. Through a servo motor driving a pulley mechanism, the vertical lifting (accuracy ±0.05 mm) and horizontal rotation (±90°) of the gripper are realized. The robotic arm support plate is made of high-strength aluminum alloy, and a guiding slide rail is provided on the surface to ensure the stability of the movement.

[0011] Furthermore, in terms of the optimization of the transmission system, the toothed V-belt adopts a polyurethane toothed V-belt with a double-layer steel wire reinforcement layer embedded inside (tensile strength ≥ 60 MPa), and the transmission efficiency ≥ 97%. The synchronous idler adjusts the tension dynamically through an adjustable bracket to avoid transmission slippage. The surface of the motor synchronous pulley is coated with a tungsten carbide wear-resistant coating (tooth pitch accuracy ISO 3 level), and the encoder motor is internally equipped with a 17-bit absolute photoelectric encoder. Combined with a gear (module 2.0, backlash < 0.02 mm), it drives the rack of the chassis cylinder to realize high-precision linear motion.

[0012] Furthermore, the technical details of the rear gradient conveying module include a three-stage gradient slide structure. Each slide is made of lightweight aluminum alloy, the surface is covered with an anti-slip coating, and is provided with a micro-convex array (rhombic distribution, convex height 0.5 mm, spacing 2 mm) and a diversion groove (depth 1 mm, width 3 mm) to increase friction and guide the medicine to slide along the center line. Tilt angle adjustment: The bottom of the slide is adjusted by a wire rod and a servo motor, and the tilt angle of each slide can be independently adjusted (5° - 45°). By adjusting the angle, the sliding speed of the medicine is controlled to avoid collision.

[0013] Innovations and Advantages of the Present Invention: 1. High adaptability design: The flexible gripper is compatible with more than 99% of common drug specifications (diameter 10mm - 200mm), and the grasping success rate is ≥98.5%; The three - level slide supports dynamic parameter adjustment to meet the sorting requirements of drugs with different sizes, weights, and priorities. 2. High - efficiency sorting ability: The parallel processing of the three - level slide and the intelligent path planning technology improve the sorting efficiency to 1200 pieces per hour, and the single - grab - to - conveyance cycle is ≤2 seconds, significantly superior to traditional single - channel devices. 3. Multiple redundancy design: The power - off self - locking mechanism prevents accidental drug dropping; The hard - chromium - plated chassis cylinder (wear - resistant life ≥ 1 million cycle) and double - layer sealing rings (nitrile rubber) ensure long - term stable operation; The overload protection module can withstand an impact load with a peak value of 800N.

[0014] This device can be widely applied to the following scenarios: Hospital pharmacy: To achieve the automated conveyance of drugs from the storage rack to the dispensing table; Warehouse logistics center: For drug classification, packaging, and buffer management before loading; Intelligent medicine cabinet: To complete drug replenishment and distribution tasks in combination with transfer robots.

[0015] Through the above - mentioned technical solutions, the present invention breaks through the rigidity limitations and functional singleness of traditional medical drug delivery devices, and provides an efficient and reliable technical path for the field of medical automation with the design concepts of flexibility, modularity, and intelligence. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is the main structural schematic diagram of the present invention;

[0017] Figure 2 is the bottom - view structural schematic diagram of the present invention;

[0018] Figure 3 is the top - view structural schematic diagram of the present invention;

[0019] Figure 4 is the initial structural schematic diagram of the cam - rod structure part in the present invention;

[0020] Figure 5 is the side - view structural schematic diagram of the cam - rod structure part in the present invention;

[0021] Figure 6 is the first working - state schematic diagram of the cam - rod structure part in the present invention;

[0022] Figure 7 is the second working - state schematic diagram of the cam - rod structure part in the present invention;

[0023] Figure 8 is the third working - state schematic diagram of the cam - rod structure part in the present invention;

[0024] Figure 9This is the system working flowchart of the present invention.

[0025] In the figure: 1. Robotic arm support plate; 2. Synchronous idler pulley; 3. Toothed V-belt; 4. Motor synchronous pulley; 5. Chassis servo; 6. Medicine box slide; 701. Cam 1; 702. Cam 2; 703. Cam 3; 704. Camshaft; 8. Medicine box servo; 9. Lifting plate connecting piece; 10. Chassis cylinder; 11. Encoder motor; 12. Gear. Specific implementation manners

[0026] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0027] Please refer to Figures 1-8 As shown, the device main body is composed of a robotic arm support plate (1), a synchronous idler pulley (2), a toothed V-belt (3), a motor synchronous pulley (4), a chassis servo (5), a medicine box slide (6), a cam push rod structure (7), a medicine box servo (8), a lifting plate connecting piece (9), a chassis cylinder (10), an encoder motor (11) and a gear (12). The robotic arm support plate (1) is made of high-strength aluminum alloy, and a guiding slide rail is provided on the surface for installing a flexible gripper, and its vertical lifting is realized by a lead screw nut mechanism driven by a servo motor. The synchronous idler pulley (2) is installed in the tension adjustment module of the transmission system and is fixed to the device frame through an adjustable bracket. The bracket is provided with a chute and a locking bolt, and the axis of the idler pulley can move in the chute to dynamically adjust the tension of the toothed V-belt (3). The toothed V-belt (3) connects the motor synchronous pulley (4) and the transmission shaft of the robotic arm support plate, and the transmission efficiency is ≥97%. The chassis servo (5) drives the robotic arm support plate to rotate ±90° in the Z-axis direction. The three-stage slide of the medicine box slide (6) is covered with an anti-slip coating, provided with a micro-convex array and a diversion groove, and the tilt angle is adjusted by an electric push rod.

[0028] The end of the flexible gripper is made of flexible silica gel material, and the clamping force (range 0.5N - 20N) is dynamically adjusted through a closed-loop control algorithm to avoid deformation of the medicine under pressure. The vertical lifting of the gripper is completed by a lead screw mechanism driven by a servo motor, and the horizontal rotation is controlled by the chassis servo (5) with an accuracy of ±0.05mm. The motor synchronous pulley (4) is fixed to the output shaft of the encoder motor (11). In combination with the gear (12) (module 2.0, backlash <0.02mm), it drives the rack of the chassis cylinder (10) to achieve high-precision linear motion. The lifting plate connecting piece (9) is connected to the chassis cylinder (10) through a ball joint (stainless steel material, deflection compensation ±2.5°).

[0029] Each level of the slide (6) is made of lightweight aluminum alloy. The inclination angle is adjusted by a wire rod (travel 0 - 200 mm) and a servo motor, and the sliding speed of the medicine can be independently controlled. A standardized interface is reserved at the end of the slide, which supports docking with a transfer robot or a buffer bin. The cam push rod structure developed by the team, where the wire rod (704) is actually a rotating rod (medicine box lifting rod) controlled by a servo motor (8). The three cams are cam 1 (701), cam 2 (702), and cam 3 (703), which are fixed on the rotating rod (704) at 90 degrees to each other in the center line deflection angle from front to back, as Figure 5 . We take the plane where the end face of the medicine box lifting rod is located as our main view plane, and the vertically upward direction is specified as Y+, and the horizontally rightward direction is X+. As shown in the figure, we can see that the initial position of the entire medicine box lifting mechanism is: the angle between cam 1 (701) and X+ is 0 degrees, the angle between cam 2 (702) and X+ is -90 degrees, and the angle between cam 3 (703) and X+ is -180 degrees, as Figure 4 .

[0030] The following are three cam states, corresponding to lifting three medicine box slides. State 1: The medicine box lifting rod rotates 90 degrees counterclockwise from the initial state, and the position of the medicine box lifting mechanism becomes: the angle between cam 1 (701) and X+ is 90 degrees, the angle between cam 2 (702) and X+ is 0 degrees, and the angle between cam 3 (703) and X+ is -90 degrees. The medicine box (601) corresponding to cam 1 (701) is lifted, as Figure 6 . State 2: The medicine box lifting rod rotates 90 degrees counterclockwise from State 1, and the position of the medicine box lifting mechanism becomes: the angle between cam 1 (701) and X+ is 180 degrees, the angle between cam 2 (702) and X+ is 90 degrees, and the angle between cam 3 (703) and X+ is 0 degrees. The medicine box (602) corresponding to cam 2 (702) is lifted, and the medicine box (601) corresponding to cam 1 (701) falls back to the initial position, as Figure 7 . State 3: The medicine box lifting rod rotates 90 degrees counterclockwise from State 2, and the position of the medicine box lifting mechanism becomes: the angle between cam 1 (701) and X+ is -90 degrees, the angle between cam 2 (702) and X+ is 180 degrees, and the angle between cam 3 (703) and X+ is 90 degrees. The medicine box (603) corresponding to cam 3 (703) is lifted, and the medicine box (602) corresponding to cam 2 (702) falls back to the initial position, as Figure 8 . Then the medicine box lifting rod rotates 90 degrees counterclockwise from State 3, and the entire medicine box lifting mechanism returns to the initial state.

[0031] During use, the staff adjusts the working effects among various parts through an editing software program to improve the medicine dispensing effect of the device. The main control chip uses a chip of the STM32L4 series. A large number of intelligent execution peripherals are integrated inside this series of devices, which have a variety of advanced low-power analog functions, enabling low-power operation in applications; The operation of the servo is controlled by an Arduino Mega single-chip microcomputer. The chassis servo (5) is driven to rotate the gripper horizontally by ±90°, and the medicine box servo (8) is driven to rotate a certain angle to realize the angular displacement of the cam to push the slide to lift. The encoder motor (11) is used as the core drive unit. The gear (12) fixedly connected to its output shaft is precisely meshed with the rack on the outer wall of the chassis cylinder (10), converting the rotational motion of the motor into a linear reciprocating motion of the rack. Specifically, the encoder motor (11) is internally equipped with an optoelectronic encoder, which real-time feeds back the angular displacement information of the motor rotor to the main control unit (STM32L4 series chip), forming a closed-loop control system. When the main control unit receives the lifting instruction, it adjusts the acceleration curve of the motor in real time through a dynamic response optimization module (response time < 10 ms), drives the gear (12) to rotate, and then drives the rack to move axially along the chassis cylinder (10).

[0032] The linear motion of the rack is transmitted to the lifting plate connecting piece (9) through a push rod mechanism. One end of the push rod is rigidly connected to the rack, and the other end is hinged to the lifting plate connecting piece (9). During the forward movement of the push rod, the joint can adaptively compensate for the small angular deviation between the chassis cylinder (10) and the lifting plate connecting piece (9) to ensure a smooth and unjammed transmission process. At the same time, the lifting plate connecting piece (9) is constrained to move only in the vertical direction through the precise cooperation of the guide groove and the limit pin, thereby converting the linear thrust of the push rod into the precise lifting of the robotic arm support plate (1).

[0033] The lifting height of the lifting platform is precisely controlled by the number of rotation turns of the encoder motor (11). The main control unit dynamically adjusts the pulse frequency and direction of the motor according to the feedback signal of the encoder, combined with the preset lifting stroke and accuracy requirements (±0.05 mm). For example, when it is necessary to lift the robotic arm support plate (1) to the target height, the encoder motor (11) drives the gear (12) to rotate forward, pushing the rack and the push rod forward, driving the lifting plate connecting piece (9) to move vertically upward along the guide groove until the encoder feedback signal reaches the set threshold and then automatically stops. During reverse movement, the motor rotates in reverse, the rack retracts, and the robotic arm support plate (1) descends smoothly. Through the above design, the coordinated work of the encoder motor (11) and the rack-push rod mechanism realizes the high-precision and high-reliability lifting of the lifting platform, providing a stable vertical positioning basis for the multi-degree-of-freedom movement of the flexible gripper.

[0034] The device can be applied to hospital pharmacies to achieve automated transportation of drugs from storage shelves to dispensing stations; in a warehousing and logistics center, the three-level slide can be extended to dock with transfer robots to complete cache management before drug classification, packing, and loading; combined with intelligent medicine cabinets and RFID tag recognition technology, it can achieve precise drug replenishment and distribution tasks. The modular design of the present invention supports function expansion, such as adding a visual recognition module or a wireless communication interface to further improve the system adaptability.

[0035] For those skilled in the art, it is obvious that the present invention is not limited to the details of the above exemplary embodiments, and without departing from the spirit or basic characteristics of the present invention, the present invention can be implemented in other specific forms. Therefore, in any regard, the embodiments should be regarded as exemplary and non-limiting. The scope of the present invention is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be encompassed within the present invention. Any reference signs in the claims should not be construed as limiting the claims involved.

[0036] In addition, it should be understood that although this specification is described according to embodiments, not every embodiment only contains an independent technical solution. This narrative manner of the specification is only for clarity. Those skilled in the art should regard the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A liftable intelligent gripper and medical drug delivery device, characterized in that: The invention comprises the following components: a mechanical arm support plate (1), wherein the mechanical arm support plate (1) is vertically lifted and lowered by a lead screw nut mechanism driven by a servo motor, and the lifting stroke is 0-350 mm, and the accuracy is ±0.05 mm; a synchronous idler wheel (2), which is installed in the tension adjustment module of the transmission system; a toothed V-belt (3), which connects the motor synchronous wheel (4) and the transmission shaft of the mechanical arm support plate (1), and the transmission efficiency is ≥97%; a chassis servo engine (5) drives the mechanical arm support plate (1) to rotate ±90° in the Z-axis direction; a medicine box slide (6), wherein the slide is adjusted by an electric push rod The cam structure (7) is designed as a three-stage stepped structure; the pillbox servo (8) is connected to the camshaft (704), the output angular displacement accuracy is ±0.1°, and the asynchronous control of the three cams is supported; the lifting plate connector (9) is connected to the chassis cylinder (10) through a ball joint; the chassis cylinder (10) serves as a linear power actuator; the encoder motor (11) is a closed-loop stepper motor with a built-in 17-bit absolute photoelectric encoder, which drives the rack of the chassis cylinder (10) through a gear (12); the gear (12) has a module of 2.0 and a transmission backlash of less than 0.02 mm.

2. The liftable intelligent gripper and medical drug delivery device according to claim 1, characterized in that: The lifting mechanism of the mechanical arm support plate (1) is made of high-strength aluminum alloy, and a guide rail is provided on the surface for installing a flexible clamp. The synchronous idler wheel (2) is fixed to the device frame through an adjustable bracket, and the bracket is provided with a slide groove and a locking bolt. The idler wheel axis can move in the slide groove to dynamically adjust the tension of the toothed V-belt (3).

3. The liftable intelligent gripper and medical drug delivery device according to claim 1, characterized in that: The toothed V-belt (3) is made of polyurethane material and has a double-layer steel wire reinforcement layer embedded inside, with a tensile strength of ≥60MPa.

4. The liftable intelligent gripper and medical drug delivery device according to claim 1, characterized in that: The motor synchronous wheel (4) is fixed to the output shaft of the encoder motor, the surface of the wheel teeth is coated with a tungsten carbide wear-resistant coating, and the pitch accuracy is ISO 3 grade.

5. The liftable intelligent gripper and medical drug delivery device according to claim 1, characterized in that: The chassis steering gear (5) adopts a digital steering gear with a torque output of 25 kg·cm and communicates with the main control unit via a CAN bus.

6. The liftable intelligent gripper and medical drug delivery device according to claim 1, characterized in that: The anti-slip coating surface of the medicine box slide (6) is provided with the following structures: a micro-convex array, distributed in a diamond shape, with a convex height of 0.5 mm and a spacing of 2 mm, for increasing the contact friction between the medicine box and the slide; a guide groove, opened along the longitudinal direction of the slide, with a depth of 1 mm and a width of 3 mm, for guiding the medicine box to slide down along the center line.

7. The liftable intelligent gripper and medical drug delivery device according to claim 1, characterized in that: The driving system of the cam (7) further comprises: carburized and quenched steel is used, the surface hardness is HRC 58-62, the contour is designed as a three-stage asymmetric curve, and the lifting process is smooth and impact-free.

8. The liftable intelligent gripper and medical drug delivery device according to claim 1, characterized in that: The control system of the steering gear (8) includes: an angular displacement accuracy of ±0.05°, and supports the synchronous movement of three cams; when the lifting resistance exceeds a threshold value, the steering gear automatically stops and triggers an alarm.

9. The liftable intelligent gripper and medical drug delivery device according to claim 1, characterized in that: The transmission mechanism of the lifting plate connecting member (9) comprises: a ball joint, which is made of stainless steel, has a deflection angle compensation range of ±2.5°, and is adapted to the chassis cylinder (10); a guide groove and a limit pin, the guide groove width is 8mm, the limit pin diameter is 7.9mm, and the tolerance is H7 / g6, to ensure that there is no jamming during the transmission process.

10. The intelligent gripper and medical drug delivery device capable of lifting and lowering according to claim 1, characterized in that: The technical details of the chassis cylinder (10) include: surface treatment: hard chrome plating thickness 20 μm, roughness Ra ≤ 0.2 μm, wear resistance life ≥ 1 million cycles; sealing structure: a double-layer nitrile rubber sealing ring is arranged on the outer wall of the cylinder to prevent dust from invading the transmission cavity; load adaptability: dynamic thrust range 50N-500N, maximum movement speed 100mm / s, support for sudden load impact (peak value 800N, duration 0.1s).

11. The intelligent gripper and medical drug delivery device capable of lifting and lowering according to claim 1, characterized in that The control system of the encoder motor (11) further comprises: a dynamic response optimization module: adjusting the acceleration curve in real time according to the load inertia, with a response time of less than 10ms; overheat protection: a built-in PT100 temperature sensor, which automatically reduces the frequency and triggers an alarm when the winding temperature exceeds 85°C.

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