Multifunctional intelligent medical robot gripper

Abstract

The utility model discloses a multifunctional intelligent medical robot gripper, and relates to the technical field of robots. The multifunctional intelligent medical robot gripper comprises a supporting assembly, a driving assembly, a first gripping plate and a second gripping plate, the supporting assembly can be installed at the tail end of a mechanical arm, the driving assembly is installed on the supporting assembly, the first gripping plate is installed at the first output end of the driving assembly, and the second gripping plate is installed at the second output end of the driving assembly; the second grabbing plate is opposite to the first grabbing plate, the clamping faces used for making contact with the sample frame are parallel to each other, the driving assembly can drive the second grabbing plate and the first grabbing plate which are oppositely arranged to move face to face or away from each other so as to clamp or loosen the rectangular sample frame, and the gripper can clamp the sample frame.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, and more specifically, to a multifunctional intelligent medical robot gripper. Background Art

[0002] In the laboratory automation pipeline system, although there are some grippers that can be applied to the end of the robot, at present, most of the grippers are designed for tubular items and are difficult to be compatible with grasping sample racks. Most of the taking and placing of sample racks need to be carried out manually, and it is difficult to realize the automatic sample input and output of the laboratory pipeline.

[0003] In summary, how to enable the laboratory to automatically input and output samples is an urgent problem to be solved by those skilled in the art at present. Summary of the Utility Model

[0004] In view of this, the purpose of the utility model is to provide a multifunctional intelligent medical robot gripper that can clamp a sample rack.

[0005] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0006] A multifunctional intelligent medical robot gripper includes a support component, a drive component, a first gripper plate and a second gripper plate:

[0007] The support component can be installed at the end of the robotic arm. The drive component is installed on the support component. The first gripper plate is installed at the first output end of the drive component. The second gripper plate is installed at the second output end of the drive component. The clamping surfaces of the second gripper plate and the first gripper plate that are opposite to each other and used to contact the sample rack are parallel to each other, and the drive component can drive the second gripper plate and the first gripper plate arranged oppositely to move towards or away from each other along the first direction to clamp or loosen the rectangular sample rack.

[0008] Preferably, one end of the second connecting portion of the second gripper plate is connected to the second output end of the drive component, and the other end has a second clamping portion and a second operating portion arranged at intervals;

[0009] One end of the first connecting portion of the first gripper plate is connected to the first output end of the drive component, and the other end has a first clamping portion and a first operating portion arranged at intervals;

[0010] The second clamping portion is opposite to the first clamping portion, and the second clamping portion and the first clamping portion can cooperate to clamp the sample rack;

[0011] The second operating part is located at the free end of the second connecting part, the first operating part is located at the free end of the first connecting part, the second operating part is opposite to the first operating part, and the second operating part and the first operating part can be synchronously clamped between the switch part and the handle it is installed on.

[0012] Preferably, it further includes a detection component, a clamping force detector and a controller;

[0013] The detection component and the clamping force detector are both arranged on the support component. The detection component can detect the type of the sample rack at the target position, and the clamping force detector is used to detect the target parameters of the driving component;

[0014] The detection component, the driving component and the clamping force detector are all signal-connected to the controller, so as to be able to control the movement stroke of the output end of the driving component through the detection result of the detection component, and be able to control the output torque of the power component in the driving component through the detection results of the detection component and the clamping force detector.

[0015] Preferably, the detection component includes a camera device and a calibration object;

[0016] The calibration object can be arranged on the sample rack and the switch part;

[0017] The camera device can visually calibrate the calibration object according to the image of the calibration object taken.

[0018] Preferably, it further includes an alarm, and the alarm is signal-connected to the controller to give an alarm when the sample rack is separated from the second gripper plate and the first gripper plate.

[0019] Preferably, the driving component further includes a driving gear, a first driven rack and a second driven rack;

[0020] The power component is installed on the support component, and the driving gear is coaxially fixed to the output end of the power component;

[0021] The first driven rack and the second driven rack are relatively arranged on both sides of the driving gear, and both can be slidably arranged on the support component along the first direction and are meshed with the driving gear for transmission;

[0022] The first gripper plate is installed on the first driven rack, and the second gripper plate is installed on the second driven rack.

[0023] Preferably, the support component includes a housing, a U-shaped mounting plate and a guiding structure;

[0024] The power component is installed on the top cross plate of the mounting plate and is located outside thereof. The guiding structure is a rod-shaped structure, and one end of the guiding structure is connected to one end of the mounting plate, and the other end of the guiding structure is connected to the other end of the mounting plate;

[0025] The first driven rack, the second driven rack and the driving gear are all located in the inner cavity of the mounting plate;

[0026] The housing covers the outside of the mounting plate and the power component.

[0027] Preferably, the opposite second clamping part and the first clamping part, and the opposite second operating part and the first operating part are both located on the front side of the support assembly, and the detection assembly is located on the rear side of the support assembly.

[0028] Preferably, both the second connecting part and the first connecting part are L-shaped plate bodies;

[0029] The free end of the longitudinal plate of the first connecting part is installed on the first output end of the driving assembly, and the first clamping part and the first operating part are both installed on the transverse plate of the first connecting part;

[0030] The free end of the longitudinal plate of the second connecting part is installed on the second output end of the driving assembly, and the second clamping part and the second operating part are both installed on the transverse plate of the second connecting part.

[0031] The multi-functional intelligent medical robot gripper provided by the present utility model, the support assembly is used to install and support the driving assembly, the second gripper plate, the first gripper plate, etc. The first gripper plate is arranged at the first output end of the driving assembly, and the second gripper plate is arranged at the second output end of the driving assembly. The first output end and the second output end of the driving assembly can move towards or away from each other to drive the first gripper plate and the second gripper plate to move towards or away from each other to clamp or loosen the sample rack. On the opposite sides of the second gripper plate and the first gripper plate, the clamping surface of the first gripper plate for contacting the sample rack and the clamping surface of the second gripper plate for contacting the sample rack are parallel to each other. Then, the rectangular columnar sample rack can be clamped by the first gripper plate and the second gripper plate. When in use, the driving assembly is started to drive the first gripper plate and the second gripper plate to move towards or away from each other, so as to clamp or loosen the sample rack. Then, the gripper can cooperate with the robotic arm to realize the transfer of the sample rack. Description of the Drawings

[0032] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present utility model. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained according to the provided drawings.

[0033] Figure 1 Schematic diagram of the use of the specific embodiment provided by the present utility model;

[0034] Figure 2 Another schematic diagram of the use of the specific embodiment provided by the present utility model;

[0035] Figure 3 Another schematic diagram of the use of the specific embodiment provided by the present utility model;

[0036] Figure 4 Schematic diagram of the structure of the detection component of the specific embodiment provided by the present utility model;

[0037] Figure 5 Schematic diagram of the structure of the support component, the first gripping plate, and the second gripping plate of the specific embodiment provided by the present utility model;

[0038] Figure 6 Exploded view of the support component and the drive component of the specific embodiment provided by the present utility model;

[0039] Figure 7 Schematic diagram of the structure of the calibration object of the specific embodiment provided by the present utility model.

[0040] Reference numerals:

[0041] 1 - Support component; 11 - Outer shell; 12 - Mounting plate; 13 - Guide structure;

[0042] 2 - Drive component; 21 - Power member; 22 - Driving gear; 23 - First driven rack; 231 - Sliding portion; 24 - Second driven rack;

[0043] 3 - First gripping plate; 31 - First connecting portion; 32 - First clamping portion; 33 - First operating portion; 34 - Third clamping portion; 35 - First connecting block;

[0044] 4 - Second gripping plate; 41 - Second connecting portion; 42 - Second clamping portion; 43 - Second operating portion; 44 - Fourth clamping portion; 45 - Second connecting block;

[0045] 5 - Detection component; 51 - Imaging device; 52 - Calibration object; 53 - Light source; 54 - Connecting plate; 55 - Fastener;

[0046] 7 - Controller;

[0047] 80 - Sample rack; 81 - Switching member; 82 - Handle; 83 - Tubular article;

[0048] X - First direction. Detailed implementation manners

[0049] 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. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0050] The core of the present invention is to provide a multifunctional intelligent medical robot gripper that can grip a sample rack.

[0051] Please refer to Figure 1 , the present invention provides a multifunctional intelligent medical robot gripper, including a support assembly 1, a drive assembly 2, a first gripper plate 3, and a second gripper plate 4: Among them, the support assembly 1 can be installed at the end of the robotic arm, the drive assembly 2 is installed on the support assembly 1, the first gripper plate 3 is installed at the first output end of the drive assembly 2, the second gripper plate 4 is installed at the second output end of the drive assembly 2, the clamping surfaces of the second gripper plate 4 and the first gripper plate 3 that are opposite to each other and used to contact the sample rack 80 are parallel to each other, and the drive assembly 2 can drive the second gripper plate 4 and the first gripper plate 3 arranged oppositely to move towards or away from each other to clamp or loosen the rectangular sample rack 80.

[0052] As Figure 1 shown, the support assembly 1 is used to install and support the drive assembly 2, the second gripper plate 4, the first gripper plate 3, etc. The support assembly 1 can adopt a plate-like structure or a housing structure, etc. The first gripper plate 3 is arranged at the first output end of the drive assembly 2, the second gripper plate 4 is arranged at the second output end of the drive assembly 2, and the first output end and the second output end of the drive assembly 2 can move towards or away from each other along the X direction, thereby driving the first gripper plate 3 on the left and the second gripper plate 4 on the right to move towards or away from each other to clamp or loosen the sample rack 80.

[0053] It should be noted that the type of the drive assembly 2 is not limited, as long as the above functions can be achieved. For example, the drive assembly 2 includes a threaded rod, a first nut member, and a second nut member. The first gripper plate 3 is installed on the first nut member, the second gripper plate 4 is installed on the second nut member. The threaded rod extends along the X direction, and one end of the threaded rod is a first rod section with a positive thread and the other end is a second rod section with a reverse thread. The first nut member is in threaded cooperation with the first rod section, and the second nut member is in threaded cooperation with the second rod section. Then, driving the threaded rod to rotate can drive the first nut member to move to the left. At the same time, the second nut member moves to the right. Conversely, it can also drive the first nut member to move to the right, and at the same time, the first nut member moves to the left.

[0054] The right side of the first gripper plate 3 is the clamping surface for contacting the sample holder 80, and the left side of the second gripper plate 4 is the clamping surface for contacting the sample holder 80. The clamping surfaces of the first gripper plate 3 and the second gripper plate 4 face each other and are parallel to each other. Thus, the rectangular columnar sample holder 80 can be clamped by the first gripper plate 3 and the second gripper plate 4.

[0055] During use, the gripper is moved to a preset position by the robotic arm, such that the first gripper plate 3 and the second gripper plate 4 are located on both sides of the sample holder 80. The drive assembly 2 is activated to drive the first gripper plate 3 to move rightward along the X direction, and at the same time drive the second gripper plate 4 to move leftward along the X direction until the clamping surfaces of the first gripper plate 3 and the second gripper plate 4 both contact and clamp the sample holder 80. Then, the sample holder 80 can be transferred by the robotic arm. After the sample holder 80 is transferred to the preset position, the drive assembly 2 is activated to drive the first gripper plate 3 to move leftward along the X direction, and at the same time drive the second gripper plate 4 to move rightward along the X direction, thereby releasing the sample holder 80.

[0056] On the basis of the above embodiments, one end of the second connecting portion 41 of the second gripper plate 4 is connected to the second output end of the drive assembly 2, and the other end has a second clamping portion 42 and a second operating portion 43 arranged at intervals; one end of the first connecting portion 31 of the first gripper plate 3 is connected to the first output end of the drive assembly 2, and the other end has a first clamping portion 32 and a first operating portion 33 arranged at intervals; the second clamping portion 42 faces the first clamping portion 32, and the second clamping portion 42 and the first clamping portion 32 can cooperate to clamp the sample holder 80; the second operating portion 43 is located at the free end of the second connecting portion 41, the first operating portion 33 is located at the free end of the first connecting portion 31, the second operating portion 43 faces the first operating portion 33, and the second operating portion 43 and the first operating portion 33 can be synchronously clamped between the switch member 81 and the handle 82 installed thereon.

[0057] As Figures 1 to 3 、 Figure 4 shown, the upper end of the second connecting portion 41 of the second gripper plate 4 is connected to the upper surface of the second output end of the drive assembly 2, and the lower end of the second connecting portion 41 of the second gripper plate 4 is provided with the second clamping portion 42 and the second operating portion 43 arranged side by side. Similarly, the upper end of the first connecting portion 31 of the first gripper plate 3 is connected to the upper surface of the first output end of the drive assembly 2, and the lower end of the first connecting portion 31 of the first gripper plate 3 is provided with the first clamping portion 32 and the first operating portion 33 arranged side by side.

[0058] Among them, the surfaces of the first clamping part 32 and the second clamping part 42 facing each other are the clamping surfaces, so as to be able to contact the sample rack 80 simultaneously and clamp it; at the same time, the first operating part 33 is located at the free end of the first connecting part 31, and a space for the handle 82 to be inserted is reserved between the first operating part 33 and the first clamping part 32. The second operating part 43 is located at the free end of the second connecting part 41, and a space for the handle 82 to be inserted is reserved between the second operating part 43 and the first clamping part 32.

[0059] During use, move the gripper to the left, so that the first gripper plate 3 and the second gripper plate 4 move to the left to approach the switch member 81 such as a drawer or a door. Then move the gripper downward, so that both the first operating part 33 and the second operating part 43 are inserted between the switch member 81 and the handle 82 mounted thereon. Finally, pull the gripper to the right to open the switch member 81, and then the sample rack 80 in the device provided with the switch member 81 can be grabbed by the first gripper plate 3 and the second gripper plate 4.

[0060] On the basis of the above embodiments, it further includes a detection component 5, a clamping force detector and a controller 7; the detection component 5 and the clamping force detector are both arranged on the support component 1. The detection component 5 can detect the type of the sample rack 80 at the target position, and the clamping force detector is used to detect the target parameters of the driving component 2; the detection component 5, the driving component 2 and the clamping force detector are all connected to the controller 7 in a signal connection manner, so as to be able to control the movement stroke of the output end of the driving component 2 through the detection result of the detection component 5, and be able to control the output torque of the power member 21 in the driving component 2 through the detection results of the detection component 5 and the clamping force detector.

[0061] As Figure 1 shown, a detection component 5 is further arranged on the support component 1 to detect the type of the sample rack 80 placed at the target position. It should be noted that the type of the detection component 5 is not limited, as long as it can meet the above functions. For example, the detection component 5 can adopt a camera. During use, the sample rack 80 placed at the target position is photographed by the camera to confirm the type of the sample rack 80 placed at the target position. Or, the detection component 5 can also adopt a scanner to be able to read the bar code information set on the sample rack 80, etc.

[0062] Cooperatively, the driving component 2 in the gripper is connected to the controller 7 in a signal connection manner. The controller 7 can refer to a single-chip microcomputer or a central processing unit with software capable of performing calculations according to a preset logic, etc. Then, the output end of the driving component 2 can be controlled by the controller 7 to move a preset distance, so as to drive the second gripper plate 4 to move a preset stroke.

[0063] During use, for example, first, the detection component 5 identifies the type of the sample rack 80 and transmits the detection result to the controller 7, so as to control the output end of the driving component 2 to move a preset stroke through the controller 7, so that a preset space is reserved between the first gripper plate 3 and the second gripper plate 4, so that the sample rack 80 to be grabbed can be inserted between the first gripper plate 3 and the second gripper plate 4, and when moving the gripper closer to the sample rack 80 to be grabbed, the first gripper plate 3 and the second gripper plate 4 will not interfere with structures other than the sample rack 80.

[0064] In cooperation, in this gripper, the clamping force detector can detect the target parameters of the driving component 2 in real time and feedback the detection result to the controller 7, and the controller 7 can control the power component 21 to output the corresponding torque according to the detection result feedback by the clamping force detector. Then, through the controller 7, the power component 21 can be controlled to output the target torque based on the real-time torque output by the power component 21 to meet the clamping requirements of different types of sample racks 80, effectively avoiding possible damage to the sample rack 80.

[0065] It should be noted that the types of the power component 21 and the clamping force detector are not limited, as long as the above functions can be realized. For example, the power component 21 uses a servo motor. In cooperation, the clamping force detector can use a current sensor to real-time monitor the magnitude of the current flowing to the power component 21, and the controller 7 has a control logic for outputting the corresponding torque value according to the magnitude of the current. Then, during use, the magnitude of the current fed back to the controller 7 by the current sensor, and through the controller 7, the power component 21 can be controlled to output the corresponding torque. Or, the power component 21 uses a servo motor or a motor. In cooperation, the clamping force detector can also use a torque sensor. The torque sensor is arranged on the output shaft of the power component 21 to real-time monitor the torque output by the power component 21. The controller 7 has a control logic for outputting the corresponding torque value according to the magnitude of the output torque. Then, during use, the magnitude of the torque fed back to the controller 7 by the torque sensor, and through the controller 7, the power component 21 can be controlled to output the corresponding torque.

[0066] On the basis of the above embodiments, the detection component 5 includes a camera device 51 and a calibration object 52; the calibration object 52 can be arranged on the sample rack 80 and the switch member 81; the camera device 51 can perform visual calibration on the calibration object 52 according to the image of the calibration object 52 captured.

[0067] It should be noted that the type of the calibration object 52 is not limited. For example, as Figure 7 shown, the calibration object 52 uses a picture with a number of dots arranged in a 6×7 matrix, or a picture with a number of dots arranged in an 8×10 matrix, etc. Further, the calibration object 52 can be adhered to or magnetically attracted to the sample rack 80.

[0068] During use, first, the calibration object 52 is photographed by the imaging device 51, and the relationship between the coordinates of the calibration object 52 and the gripper coordinates is calculated, so as to visually calibrate the calibration object 52 pasted on instruments such as the switch part 81 and the sample rack 80, so as to facilitate the accurate positioning of the gripper. And by shooting towards the target position, it is convenient to confirm the type of the sample rack 80 placed at the target position, and at the same time, it is possible to confirm whether the sample rack 80 is placed at the target position and / or the placement posture of the sample rack 80 placed at the target position.

[0069] It should be noted that the type of the imaging device 51 is not limited, as long as it can meet the shooting requirements. Optionally, the imaging device 51 adopts an infrared camera; Optionally, the detection component 5 further includes a connecting plate 54 and a light source 53. The light source 53 and the imaging device 51 are both installed on the connecting plate 54 provided on the support component 1. The lens of the imaging device 51 is inserted into the through hole in the middle of the light source 53, and the end of the light source 53 for illumination and the lens of the imaging device 51 for shooting are located on the same side, so as to be able to illuminate and shoot towards the same side. Among them, the connecting plate 54 can adopt an L-shaped bending plate or a U-shaped bending plate, etc. The imaging device 51 and the light source 53 are installed on the connecting plate 54 through fasteners 55 such as screws or rivets. During use, first turn on the light source 53, and then the imaging device 51 photographs the calibration object 52 and / or the sample rack 80, switch part 81, etc. where it is located.

[0070] Furthermore, the controller 7 can be connected to the main controller of the medical robot for controlling the movement of the robotic arm through a cable, so that the controller 7 can be signal-connected to the main controller of the medical robot, and then the medical robot can automatically control the position and posture of the gripper according to the calibration result.

[0071] On the basis of the above embodiments, an alarm is further included. The alarm is signal-connected to the controller 7 to give an alarm when the sample rack 80 is separated from the second gripper plate 4 and the first gripper plate 3. It should be noted that the type of the alarm is not limited, as long as it can give an early warning, such as a buzzer or a red indicator light, etc.

[0072] During the process of the first gripper plate 3 and the second gripper plate 4 clamping the sample piece for transfer, the target parameters of the power component 21 are continuously detected by the clamping force detector. When the target parameters change suddenly, for example, the current increases, the output torque becomes smaller, etc., the controller 7 can judge that the sample rack 80 has separated from the first gripper plate 3 and the second gripper plate 4, and then the controller 7 controls the alarm to give an alarm.

[0073] Based on the above embodiments, the driving assembly 2 further includes a driving gear 22, a first driven rack 23 and a second driven rack 24; the power member 21 is installed on the support assembly 1, and the driving gear 22 is coaxially and fixedly connected to the output end of the power member 21; the first driven rack 23 and the second driven rack 24 are relatively arranged on both sides of the driving gear 22, and both can slide along the first direction on the support assembly 1 and mesh with the driving gear 22 for transmission; the first gripping plate 3 is installed on the first driven rack 23, and the second gripping plate 4 is installed on the second driven rack 24.

[0074] As Figure 6 shown, both the first driven rack 23 and the second driven rack 24 can be arranged to slide along the X direction on the support assembly 1. It should be noted that the cooperation structure between the first driven rack 23, the second driven rack 24 and the support assembly 1 is not limited, as long as the above functions can be achieved. For example, a guiding structure 13 is provided on the support assembly 1, and the guiding structure 13 can adopt a linear slide rail or chute extending along the X direction or two rows of guiding columns. Both the first driven rack 23 and the second driven rack 24 have sliding portions 231 that cooperate with the guiding structure 13, so that the first driven rack 23 and the second driven rack 24 can move along the X direction under the guidance of the guiding structure 13.

[0075] The first driven rack 23 and the second driven rack 24 are located on both sides of the driving gear 22. The first driven rack 23 has a number of tooth structures arranged along the X direction, and the second driven rack 24 also has a number of tooth structures arranged along the X direction. The tooth structures of the first driven rack 23 are opposite to those of the second driven rack 24 and both mesh with the driving gear 22 for transmission.

[0076] During use, the power member 21 is started to drive the driving gear 22 to rotate. The first driven rack 23 and the second driven rack 24 synchronously mesh with the driving gear 22 to drive the first gripping plate 3 and the second gripping plate 4 to move along the X direction. This gripping structure is simple and is conducive to realizing miniaturized design.

[0077] Based on the above embodiments, the support assembly 1 includes a housing 11 and a U-shaped mounting plate 12; the power member 21 is installed on the top cross plate of the mounting plate 12 and is located outside it. The guiding structure 13 is a rod-shaped structure, and one end of the guiding structure 13 is connected to one end of the mounting plate 12, and the other end of the guiding structure 13 is connected to the other end of the mounting plate 12; the first driven rack 23, the second driven rack 24 and the driving gear 22 are all located in the inner cavity of the mounting plate 12; the housing 11 covers the outside of the mounting plate 12 and the power member 21.

[0078] As Figures 1 to 3 , Figure 5 and Figure 6As shown, in the support assembly 1, the mounting plate 12 is located inside and the housing is located outside. The openings of the U-shaped mounting plate 12 and the housing both face downward, for the first gripping plate 3 and the second gripping plate 4 to pass through and connect to the corresponding first driven rack 23 and second driven rack 24. Correspondingly, the power member 21 is installed on the cross plate above the mounting plate 12, and the power member 21 is located between the mounting plate 12 and the outer shell 11. The first driven rack 23, the second driven rack 24, and the driving gear 22 are all installed in the inner cavity of the mounting plate 12, and the guiding structure 13 is located on the opening side of the mounting plate 12. The guiding structure 13 adopts a linear rod-shaped structure, and the left end and the right end of the guiding structure 13 are installed at the corresponding ends of the mounting plate 12 by screws or the like. With such a setting, the layout of this gripper is reasonable, facilitating assembly, and having relatively high structural stability.

[0079] Furthermore, the top of the outer shell 11 has a flange structure to facilitate the stable installation of this gripper at the end of the robotic arm.

[0080] Based on the above embodiments, the opposite second clamping portion 42 and the first clamping portion 32, and the opposite second operating portion 43 and the first operating portion 33 are both located at the front side of the support assembly 1, and the detection assembly 5 is located at the rear side of the support assembly 1.

[0081] As Figure 1 shown, the first clamping portion 32 and the second clamping portion 42 for clamping the sample rack 80, the first operating portion 33 and the second operating portion 43 for pulling the switch member 81 are all located on the left side of the support assembly 1, the detection assembly 5 is located on the right side of the support assembly 1, and the driving assembly 2 is located at the middle position of the support assembly 1. With such a setting, the layout of this gripper is reasonable, which is beneficial to avoiding interference between the detection assembly 5 and the sample rack 80, the switch member 81, etc. when operating this gripper to grab the sample rack 80 or pull the switch member 81.

[0082] Of course, in some other possible embodiments, the detection assembly 5, the first clamping portion 32 and the second clamping portion 42 for clamping the sample rack 80, and the first operating portion 33 and the second operating portion 43 for pulling the switch member 81 can also be all located on the same side of the support assembly 1, as long as the functions of the first gripping plate 3 and the second gripping plate 4 are ensured while meeting the detection requirements.

[0083] Based on the above embodiments, the second connecting portion 41 and the first connecting portion 31 are both L-shaped plate bodies; the free end of the longitudinal plate of the first connecting portion 31 is installed at the first output end of the driving assembly 2, and the first clamping portion 32 and the first operating portion 33 are both installed on the cross plate of the first connecting portion 31; the free end of the longitudinal plate of the second connecting portion 41 is installed at the second output end of the driving assembly 2, and the second clamping portion 42 and the second operating portion 43 are both installed on the cross plate of the second connecting portion 41.

[0084] AsFigure 5 As shown, the upper end of the longitudinal plate of the second connecting portion 41 that extends longitudinally is mounted on the driving assembly 2, and the lower end of the longitudinal plate of the second connecting portion 41 is a transverse plate that extends transversely. The second clamping portion 42 and the second operating portion 43 are arranged side by side on the transverse plate of the second connecting portion 41. Similarly, the upper end of the longitudinal plate of the first connecting portion 31 that extends longitudinally is mounted on the driving assembly 2, and the lower end of the longitudinal plate of the first connecting portion 31 is a transverse plate that extends transversely. The first clamping portion 32 and the first operating portion 33 are arranged side by side on the transverse plate of the first connecting portion 31. With such a setting, the gripper has a simple structure and is convenient for grasping the sample rack 80 in the device provided with the setting switch member 81.

[0085] Furthermore, the second gripper plate 4 further includes a second connecting block 45, and the second connecting portion 41 is mounted on the second output end of the driving assembly 2 through the second connecting block 45, that is, the second connecting portion 41 is mounted on the second connecting block 45, and the second connecting block 45 is mounted on the second output end of the driving assembly 2. Similarly, the first gripper plate 3 further includes a first connecting block 35, and the first connecting portion 31 is mounted on the first output end of the driving assembly 2 through the first connecting block 35, that is, the first connecting portion 31 is mounted on the first connecting block 35, and the first connecting block 35 is mounted on the first output end of the driving assembly 2.

[0086] It should be noted that the types of the second connecting block 45 and the first connecting block 35 are not limited. For example, a rectangular block or an L-shaped block, etc., as long as the above requirements can be met.

[0087] On the basis of the above embodiments, as Figure 3 shown, both the first connecting portion 31 and the second connecting portion 41 are inverted T-shaped plate bodies. Among them, the free end of the longitudinal rod of the first connecting portion 31 is connected to the first output end of the driving assembly 2, the first clamping portion 32 and the first operating portion 33 are mounted on one end of the cross bar of the first connecting portion 31, and the third clamping portion 34 is mounted on the other end of the cross bar of the first connecting portion 31. Similarly, the free end of the longitudinal rod of the second connecting portion 41 is connected to the second output end of the driving assembly 2, the second clamping portion 42 and the second operating portion 43 are mounted on one end of the cross bar of the second connecting portion 41, and the fourth clamping portion 44 is mounted on the other end of the cross bar of the second connecting portion 41. The third clamping portion 34 and the fourth clamping portion 44 are arranged opposite to each other, and the third clamping portion 34 and the fourth clamping portion 44 can cooperate to clamp the tubular article 83.

[0088] It should be noted that the relative terms such as "first" and "second" described above are only used to distinguish one entity from several other entities, and do not necessarily require or imply any such actual relationship or order between these entities; the "upper surface, lower surface, top, bottom" and the orientation terms "up, down, left, right" described above are all defined based on the accompanying drawings of the specification.

[0089] The various embodiments in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. For the same or similar parts among the various embodiments, reference can be made to each other.

[0090] The above has introduced in detail the multifunctional intelligent medical robot gripper provided by the present utility model. Specific examples are used herein to elaborate on the principle and implementation manner of the present utility model. The description of the above embodiments is only used to help understand the method and its core idea of the present utility model. It should be noted that for those of ordinary skill in the art in this technical field, without departing from the principle of the present utility model, several improvements and modifications can still be made to the present utility model, and these improvements and modifications also fall within the protection scope of the present utility model.

Claims

1. A multifunctional intelligent medical robot gripper, characterized in that: It comprises a supporting assembly (1), a driving assembly (2), a first grabbing plate (3) and a second grabbing plate (4): The support component (1) can be installed at the end of a robot arm, the drive component (2) is installed on the support component (1), the first gripping plate (3) is installed at a first output end of the drive component (2), and the second gripping plate (4) is installed at a second output end of the drive component (2), and the clamping surfaces of the second gripping plate (4) and the first gripping plate (3) opposite to each other and used for contacting the sample rack (80) are parallel to each other, and the drive component (2) can drive the second gripping plate (4) and the first gripping plate (3) arranged opposite to each other to move toward or away from each other along a first direction to clamp or release the rectangular sample rack (80).

2. The multifunctional intelligent medical robot gripper according to claim 1, characterized in that: The second connecting portion (41) of the second grab plate (4) has one end connected to the second output end of the drive assembly (2), and the other end having a second clamping portion (42) and a second operating portion (43) arranged at intervals; One end of the first connecting portion (31) of the first grab plate (3) is connected to the first output end of the driving assembly (2), and the other end has a first clamping portion (32) and a first operating portion (33) arranged at intervals; The second clamping portion (42) is opposite to the first clamping portion (32), and the second clamping portion (42) and the first clamping portion (32) can cooperate to clamp the sample holder (80); The second operating portion (43) is located at the free end of the second connecting portion (41), the first operating portion (33) is located at the free end of the first connecting portion (31), the second operating portion (43) is opposite to the first operating portion (33), and the second operating portion (43) and the first operating portion (33) can be synchronously inserted between the switch member (81) and the handle (82) installed thereon.

3. The multifunctional intelligent medical robot gripper according to claim 2, characterized in that: It also includes a detection component (5), a clamping force detector and a controller (7); The detection component (5) and the clamping force detector are both arranged on the support component (1); the detection component (5) is capable of detecting the type of the sample rack (80) at the target position; and the clamping force detector is used to detect the target parameter of the drive component (2); The detection component (5), the drive component (2), and the clamping force detector are all connected to the controller (7) by signal, so that the movement stroke of the output end of the drive component (2) can be controlled through the detection results of the detection component (5), and the output torque of the power part (21) in the drive component (2) can be controlled through the detection results of the detection component (5) and the clamping force detector.

4. The multifunctional intelligent medical robot gripper according to claim 3, characterized in that: The detection component (5) comprises a camera device (51) and a calibration object (52); The calibration object (52) can be arranged on the sample rack (80) and the switch element (81); The camera device (51) is capable of visually calibrating the calibration object (52) based on the captured image of the calibration object (52).

5. The multifunctional intelligent medical robot gripper according to claim 3, characterized in that: It also comprises an alarm, which is connected to the controller (7) by signal so as to sound an alarm when the sample rack (80) is separated from the second gripping plate (4) and the first gripping plate (3).

6. The multifunctional intelligent medical robot gripper according to claim 3, characterized in that: The driving assembly (2) further comprises a driving gear (22), a first driven rack (23) and a second driven rack (24); The power member (21) is mounted on the support assembly (1), and the driving gear (22) is coaxially fixedly connected to the output end of the power member (21); The first driven rack (23) and the second driven rack (24) are arranged on opposite sides of the driving gear (22), and both are slidable along the first direction and arranged on the support assembly (1), and mesh with the driving gear (22) for transmission; The first grab plate (3) is mounted on the first driven rack (23), and the second grab plate (4) is mounted on the second driven rack (24).

7. The multifunctional intelligent medical robot gripper according to claim 6, characterized in that: The support assembly (1) comprises a housing (11), a U-shaped mounting plate (12) and a guide structure (13); The power member (21) is mounted on the top horizontal plate of the mounting plate (12) and is located outside the mounting plate (12); the guide structure (13) is a rod-shaped structure, and one end of the guide structure (13) is connected to one end of the mounting plate (12), and the other end of the guide structure (13) is connected to the other end of the mounting plate (12); The first driven rack (23), the second driven rack (24) and the driving gear (22) are all located in the inner cavity of the mounting plate (12); The housing (11) is arranged to cover the outside of the mounting plate (12) and the power component (21).

8. The multifunctional intelligent medical robot gripper according to claim 3, characterized in that: The second clamping portion (42) and the first clamping portion (32) opposite to each other, and the second operating portion (43) and the first operating portion (33) opposite to each other are both located on the front side of the supporting component (1), and the detecting component (5) is located on the rear side of the supporting component (1).

9. The multifunctional intelligent medical robot gripper according to claim 2, characterized in that: The second connecting portion (41) and the first connecting portion (31) are both L-shaped plates; The free end of the longitudinal plate of the first connecting portion (31) is mounted on the first output end of the driving assembly (2), and the first clamping portion (32) and the first operating portion (33) are both mounted on the transverse plate of the first connecting portion (31); The free end of the longitudinal plate of the second connecting portion (41) is mounted on the second output end of the driving assembly (2), and the second clamping portion (42) and the second operating portion (43) are both mounted on the transverse plate of the second connecting portion (41).

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