Pneumatic clamping mechanism for grabbing baskets

Abstract

The utility model relates to the technical field of hospital intelligent auxiliary equipment, and discloses a pneumatic clamping mechanism for grabbing baskets, which comprises a plate-shaped tool, two electric sliding chutes are arranged on the bottom surface of the plate-shaped tool close to two sides, the two electric sliding chutes are symmetrically arranged in parallel, two soft clamping jaws are arranged in each electric sliding chute, and the two soft clamping jaws are arranged on the bottom surface of the plate-shaped tool. A motor is arranged on the plate-shaped tool to drive the soft clamping jaw to move in the sliding groove, the soft clamping jaw comprises an air cavity formed in the lower portion and an air hole formed in the upper portion, the air hole is connected with an air source, and a clamping head is arranged above the plate-shaped tool and used for being connected to a mechanical arm for operation. The basket is grabbed, taken and placed through cooperation of the soft clamping jaw and air pressure control.

Description

Technical Field

[0001] The utility model relates to the technical field of intelligent auxiliary equipment for hospitals, in particular to a pneumatic clamping mechanism for grabbing a basket. Background Art

[0002] During the transportation of sterile items between the hospital's disinfection supply center and various departments, it is crucial to maintain efficient operation, avoid damage to sterile items, and reduce cross infection.

[0003] The manual handling used in traditional solutions not only has limited efficiency but also poses a potential risk of contamination of sterile items.

[0004] In intelligent solutions, automated equipment is used to automatically transport the baskets containing sterile items. However, in this scenario, the automated equipment or clamping tooling still has deficiencies in adaptability to basket size and fine force control, making it difficult to meet the hospital's specific requirements for transporting sterile item baskets. Utility Model Content

[0005] The purpose of the utility model is to solve the above problems and provide a pneumatic clamping mechanism for grabbing a basket, which can grasp and place the basket through soft clamping claws in conjunction with air pressure control.

[0006] The technical solution adopted by the utility model is:

[0007] A pneumatic clamping mechanism for grabbing a basket, characterized in that it includes a plate-shaped tooling, two electric slides are arranged on the bottom surface of the plate-shaped tooling near the two side edges, the two electric slides are arranged in parallel and symmetrically, two soft clamps are arranged in each electric slide, a motor is arranged on the plate-shaped tooling to drive the soft clamps to move in the slide, the soft clamps include an air cavity arranged at the bottom and an air hole arranged at the top, the air hole is connected to an air source, and a clamping head is arranged above the plate-shaped tooling for connecting to a robot for operation.

[0008] Furthermore, the air cavity of the soft gripper has a palm side facing inward and a back side facing outward. Multiple guide grooves are provided on the palm side and multiple air bags are formed on the back side. When the air cavity is inflated, the air bag pressure increases, and a gripping action is formed inward at the guide groove position.

[0009] Furthermore, the guide groove is scale-shaped.

[0010] Furthermore, a three-dimensional torque sensor is provided on the chuck and connected to a control unit. The control unit adjusts the movement of the manipulator according to the force applied to the chuck to keep the plate-shaped tooling stable.

[0011] Furthermore, the plate-shaped tooling is in the shape of an I-beam, and the electric slide is located on the two long sides of the I-beam.

[0012] Furthermore, the plate-shaped tooling is provided with motor mounting holes and air source pipeline fixing holes.

[0013] Furthermore, two motors are installed in the motor mounting holes on the plate-shaped tooling, respectively controlling two soft clamps of an electric slide.

[0014] The beneficial effects of the utility model are:

[0015] (1) Strong adaptability: It can adapt to different specifications of baskets without the need to replace the clamps or manually adjust the opening and closing size;

[0016] (2) Easy to operate: The automated control system simplifies the operation process, realizes automatic switching of opening and closing sizes, and greatly improves work efficiency;

[0017] (3) Safe and reliable: It has a safety protection mechanism to ensure the safety of equipment and operators to the greatest extent. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Attachment Figure 1 It is a three-dimensional structural diagram of the utility model;

[0019] Attachment Figure 2 It is a three-dimensional structural schematic diagram of another viewing angle of the utility model;

[0020] Attachment Figure 3 It is a schematic diagram of the three-dimensional structure of the soft gripper;

[0021] Attachment Figure 4 It is a schematic diagram of the three-dimensional structure of the grabbing basket of the utility model.

[0022] The reference numerals in the accompanying drawings are:

[0023] 1. Plate-shaped tooling; 2. Electric slide;

[0024] 3.Soft gripper; 4.Air cavity;

[0025] 5. Air hole; 6. Chuck;

[0026] 7. Guide groove; 8. Airbag;

[0027] 9.Motor installation hole; 10.Air source pipeline fixing hole;

[0028] 11.Basketball hoop. DETAILED DESCRIPTION

[0029] The following is a detailed description of a specific embodiment of a pneumatic clamping mechanism for grabbing a basket according to the present invention, with reference to the accompanying drawings.

[0030] See attached Figure 1 、2 The pneumatic clamping mechanism includes a plate-shaped tooling 1, which is in the shape of an I. Two electric slides 2 are arranged on the long side of the bottom surface of the plate-shaped tooling 1, near the two side edges. The two electric slides 2 are arranged in parallel and symmetrically. Two soft clamps 3 are arranged in each electric slide 2. A motor is arranged on the plate-shaped tooling 1 to drive the soft clamps 3 to move in the slide. The soft clamps 3 include an air cavity 4 arranged at the bottom and an air hole 5 arranged at the top. The air hole 5 is connected to the air source. A chuck 6 is arranged above the plate-shaped tooling 1 for connecting to a robot for operation.

[0031] See attached Figure 3 The air cavity 4 of the soft gripper 3 faces inward toward the palm side and outward toward the back of the hand. Multiple scale-shaped guide grooves 7 are provided on the palm side, while multiple air pockets 8 are formed on the back of the hand. When the air cavity 4 is inflated, the pressure in the air pockets 8 increases, creating a gripping action inward at the guide grooves 7. The soft gripper 3 can achieve different opening and closing actions and opening and closing distances by controlling the air pressure and flow rate of the air source.

[0032] The plate-shaped tooling 1 is provided with motor mounting holes 9 and air supply line fixing holes 10. The motor mounting holes 9 are used to mount two motors (not shown), which respectively control the two soft grippers 3 of a motorized chute 2. The distance between the two soft grippers 3 matches the basket size, allowing them to be electrically opened and closed to the appropriate gripping position according to different basket specifications. The air supply line is tied to the air supply line fixing holes 10 to prevent interference during operation.

[0033] A three-dimensional torque sensor is installed on the chuck 6 and connected to the control unit. The control unit adjusts the robot's movement based on the force applied to the chuck 6 to maintain the stability of the plate-shaped tooling 1. The torque deflection in the X, Y, and Z directions, centered on the end of the robot, is detected. If the deflection exceeds the range, the control system automatically corrects the gripping posture.

[0034] This patented soft gripper, made of flexible material, does not damage the object being grasped. Its centimeter-level adaptability makes it highly versatile, adapting to various shapes without requiring frequent fixture changes. Utilizing pneumatic drive technology, the gripper switches between positive and negative pressure to open and close, achieving flexible gripping. Adjusting the air pressure within the gripper controls the gripping force and opening and closing angle, enabling flexible grasping of various objects while avoiding damage.

[0035] See attached Figure 4 , through the pneumatic clamping mechanism of this patent, accurate grasping of the basket 11 is achieved.

[0036] The above is only a preferred embodiment of the present invention. It should be pointed out that ordinary technicians in this technical field can make several improvements and modifications without departing from the principles of the present invention. These improvements and modifications should also be regarded as within the scope of protection of the present invention.

Claims

1. A pneumatic clamping mechanism for grabbing a basket, characterized in that: It includes a plate-shaped tooling, two electric slides are arranged on the bottom surface of the plate-shaped tooling near the two side edges, the two electric slides are arranged in parallel and symmetrically, two soft clamps are arranged in each electric slide, and a motor is arranged on the plate-shaped tooling to drive the soft clamps to move in the slide, the soft clamps include an air cavity arranged at the bottom and an air hole arranged at the top, the air hole is connected to an air source, and a clamping head is arranged above the plate-shaped tooling for connecting to a robot for operation.

2. A pneumatic clamping mechanism for grabbing a basket according to claim 1, characterized in that: The inward side of the air cavity of the soft gripper is the palm side, and the outward side is the back of the hand. Multiple guide grooves are set on the palm side, and multiple air bags are formed on the back of the hand. When the air cavity is inflated, the air bag pressure increases, and a grasping action is formed inward at the guide groove position.

3. A pneumatic clamping mechanism for grabbing a basket according to claim 2, characterized in that: The guide groove is in a scale shape.

4. The pneumatic clamping mechanism for grabbing a basket according to claim 1, characterized in that: The chuck is provided with a three-dimensional torque sensor which is connected to a control unit. The control unit adjusts the movement of the manipulator according to the force applied to the chuck to keep the plate-shaped tooling stable.

5. A pneumatic clamping mechanism for grabbing a basket according to any one of claims 1 to 4, characterized in that: The plate-shaped tooling is in the shape of an I-beam, and the electric slide is located on the two long sides of the I-beam.

6. A pneumatic clamping mechanism for grabbing a basket according to any one of claims 1 to 4, characterized in that: The plate-shaped tooling is provided with motor mounting holes and gas source pipeline fixing holes.

7. A pneumatic clamping mechanism for grabbing a basket according to claim 6, characterized in that: Two motors are installed at the motor installation holes on the plate-shaped tooling, respectively controlling two soft grippers of an electric slide.

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