Medical manipulator tube grabbing device

Abstract

The utility model relates to the technical field of manipulators, in particular to a medical manipulator tube grabbing device which comprises a moving assembly and a manipulator grabbing assembly, the manipulator grabbing assembly is installed on the moving assembly and comprises a mechanical arm, a grabbing arm and a flexible film, the mechanical arm is rotatably installed on the moving assembly, and the grabbing arm is installed on the flexible film. A base wall is fixedly installed on the side, away from the moving assembly, of the mechanical arm, at least four grabbing arms are installed on the periphery of the base wall, flexible films are fixedly installed on the inner walls of the opposite sides of the grabbing arms, and flexible telescopic pieces are fixedly installed at the edges of the flexible films. The flexible telescopic piece is fixedly mounted on the surface of the grabbing arm, so that the test tube box is clamped and coated for automatic conveying, and the test tube box is physically supported and protected; and the problem that the test tubes are easily damaged due to manual conveying is solved.

Description

Technical Field

[0001] The utility model relates to the technical field of manipulators, in particular to a medical manipulator tube grasping device. Background Art

[0002] Existing blood collection tubes are usually transported to the laboratory by operators after collection, who either directly hold the test tube rack or use a cart to carry the test tube rack. This method of transportation is not only time-consuming and labor-intensive, but also prone to damage to the test tube box and test tubes due to different walking speeds, postures and other behavioral habits.

[0003] Therefore, the utility model provides a medical manipulator tube grasping device to solve the above problems. Utility Model Content

[0004] The technical problem to be solved by the utility model is that the test tubes are easily damaged during manual transportation.

[0005] The utility model provides the following technical solutions: a medical manipulator tube grasping device, comprising a moving component and a manipulator grasping component, the moving component being equipped with a manipulator grasping component, the manipulator grasping component comprising a manipulator arm, a grasping arm and a flexible membrane, the moving component being rotatably equipped with a manipulator arm, a base wall being fixedly mounted on a side of the manipulator arm away from the moving component, grasping arms being mounted around the base wall, at least four grasping arms being arranged in an array along a rectangular path, a flexible membrane being fixedly mounted on an inner wall on an opposite side of the grasping arm, a flexible telescopic part being fixedly mounted at an edge of the flexible membrane, and the flexible telescopic part being fixedly mounted on a surface of the grasping arm.

[0006] The flexible telescopic member is fixedly mounted on the surface of the grabbing arm through a plurality of fixing members.

[0007] A first adsorption hole is opened on the surface of the grabbing arm, and the first adsorption hole is located below the flexible telescopic part. A negative pressure generator connected to the first adsorption hole is fixedly installed on the side of the grabbing arm, and a solenoid valve is fixedly installed in the adsorption hole.

[0008] The fixing member includes short lines, one end of a plurality of short lines is fixedly connected to the edge of the flexible telescopic member, and the other ends of the plurality of short lines are fixedly connected to the grabbing arm.

[0009] A first telescopic member is fixedly installed between the manipulator and the base wall.

[0010] A second telescopic member is fixedly installed between the base wall and the grabbing arm.

[0011] A tooth-shaped flexible body is fixedly mounted on the side wall of the grabbing arm.

[0012] A first telescopic member is fixedly installed between the manipulator and the base wall.

[0013] A second telescopic member is fixedly installed between the base wall and the grabbing arm.

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

[0015] 1. This utility model can automatically transport blood test tube boxes to the testing site through the cooperation of the mobile component and the manipulator grasping component, reducing the labor burden. In addition, when the grasping arm clamps the test tube rack, it can also cooperate with the flexible membrane to cover the test tube box, thereby closely supporting and protecting the test tube box from damage and preventing dust and microorganisms from adhering to the surface of the test tube and invading the test tube and causing contamination.

[0016] 2. The utility model adopts a short line to connect the grabbing arm box flexible film, which can make the extended size of the flexible telescopic part smaller than the grabbing arm and the test tube box, so that the flexible telescopic part and the flexible film can fit the surface of the test tube box more closely for protection, thereby improving the covering property of the flexible film on the test tube rack, and further improving the covering and fixing effect of the flexible film on the test tube rack. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the specific implementation methods of the utility model or the technical solutions in the prior art, the following is a brief introduction to the drawings required for use in the specific implementation methods or the description of the prior art. Obviously, the drawings described below are some implementation methods of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0018] Figure 1 This is a schematic diagram of the overall structure of the utility model;

[0019] Figure 2 This is a schematic diagram of the structure of the robotic gripper assembly of the utility model;

[0020] Figure 3 This is a schematic diagram of the connection structure between the grabbing arm and the flexible membrane of the utility model;

[0021] Figure 4 This is a structural diagram of the grabbing arm of the utility model.

[0022] In the figure: 1. Moving component; 2. Robotic arm; 21. Base wall; 22. First telescopic member; 23. Second telescopic member; 3. Grasping arm; 31. Adsorption hole; 32. Negative pressure generator; 33. Toothed flexible body; 4. Flexible membrane; 41. Flexible telescopic member; 5. Fixed member. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Therefore, the following detailed description of the embodiments of the present invention is not intended to limit the scope of the utility model for protection, but merely represents some of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0024] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings.

[0025] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," "outer," and "back" and the like indicate positions or locations based on the positions or locations shown in the accompanying drawings, or the positions or locations in which the product of this utility model is typically placed when in use. Such terms are used solely to facilitate the description of this utility model and to simplify the description. They are not intended to indicate or imply that the device or component referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0026] It should also be noted that, in the description of this utility model, unless otherwise expressly specified or limited, the terms "disposed," "installed," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in this utility model based on specific circumstances.

[0027] The embodiment of the present disclosure aims to solve the problem that the existing manual transportation easily causes damage and contamination of test tubes. In view of this, the embodiment of the present disclosure proposes a medical manipulator tube grasping device, comprising a moving component 1 and a manipulator grasping component, the moving component 1 is equipped with a manipulator grasping component, the manipulator grasping component comprises a manipulator arm 2, a grasping arm 3 and a flexible membrane 4, the moving component 1 is rotatably mounted with the manipulator arm 2, the side of the manipulator arm 2 away from the moving component 1 is fixedly mounted with a base wall 21, the base wall 21 is surrounded by grasping arms 3, at least four grasping arms 3 are arranged in a rectangular path array, the inner wall of the opposite side of the grasping arm 3 is fixedly mounted with a flexible membrane 4, the edge of the flexible membrane 4 is fixedly mounted with a flexible telescopic member 41, and the flexible telescopic member 41 is fixedly mounted on the surface of the grasping arm 3.

[0028] The flexible retractable member 41 in the embodiment of the present disclosure is a rubber band, so that the edge of the flexible membrane 4 can be expanded and tightened by the rubber band, and can then be tightly attached to the surface of test tube boxes of different sizes for covering.

[0029] The robotic arm 2 can adopt any structure in the prior art that can accurately move to a predetermined point. The robotic arm 2 and the driving structure are extremely mature technologies in the prior art and will not be described in detail here.

[0030] In the disclosed embodiment, the mobile assembly 1 is driven by a drive motor and a moving wheel to move the entire frame. The mobile assembly 1 drives the frame and the robotic gripping assembly above the frame to move, thereby enabling the operator to travel back and forth between the blood collection location and the blood testing location. The mobile assembly 1 is conventional and can utilize any conventional technology capable of traveling back and forth between predetermined locations, and will not be elaborated upon here.

[0031] It should be noted that how the mobile component 1 identifies the moving path and obstacles, and how the manipulator grasping component identifies the target and grasps it are all existing technologies, which can be implemented using the environmental perception and algorithm models in the existing technologies, and will not be elaborated here.

[0032] After the operator collects blood and places the test tube into the test tube box, the moving component 1 moves to the test tube box, and then the robotic arm 2 in the robotic grasping component drives the grasping arm 3 to be located above the test tube box. After the grasping arm 3 is located above the test tube box, the robotic arm 2 drives the grasping arm 3 to move down and make the grasping arm 3 fit and clamp the test tube box. While the grasping arm 3 moves down and fits the test tube box, the flexible membrane 4 contacts and covers the test tube in the test tube box. On the one hand, the test tube box and the test tube can be fixed by the flexible membrane 4. On the other hand, the flexible membrane 4 can also physically protect the test tube, thereby preventing pollutants such as dust, microorganisms, and chemicals in the surrounding environment from invading the test tube and affecting the blood sample, thereby avoiding contamination of the blood test tube during transportation. In addition, the flexible membrane 4 can be made of polyurethane film and polyvinyl chloride film, so that it has high ductility and heat insulation performance, and can fit and cover the test tube during transportation while preventing the test tube from being affected by temperature. In addition, during transportation, the test tube can be prevented from being invaded and contaminated by dust, microorganisms, and chemicals in the surrounding environment while also being prevented from being affected by temperature, which is beneficial to improving the stability of the blood sample tube during transportation.

[0033] After the grabbing arm 3 is attached to the test tube box for clamping and the flexible film 4 covers the test tube box and the test tubes for protection, the moving component 1 is started to drive the test tube box and the test tubes to the predetermined blood testing location.

[0034] The flexible and retractable member 41 is fixed to the surface of the grabbing arm 3 via a plurality of fixing members 5. The plurality of fixing members 5 enable a plurality of fixed points to be formed between the flexible and retractable member 41 and the grabbing arm 3, thereby enabling the flexible and retractable member 41 to better fit the surface of the test tube box by virtue of its own ductility.

[0035] The fixing member 5 comprises short wires, and one end of multiple short wires is fixedly connected to the edge of the flexible and retractable member 41, the other ends of which are fixedly connected to the grabbing arm 3. As a result, when the grabbing arm 3 is gripping the test tube box, the extended size of the flexible and retractable member 41 is smaller than the grabbing arm 3 and the test tube box. This allows the flexible and retractable member 41 and the flexible membrane 4 to more closely adhere to the surface of the test tube box for protection, improving the coverage of the flexible membrane 4 on the test tube rack and further enhancing the coverage and fixing effect of the flexible membrane 4 on the test tube rack.

[0036] A first telescopic member 22 is fixedly installed between the manipulator and the base wall 21. The first telescopic member 22 can adjust the height of the base wall 21 and the grabbing arm 3, thereby cooperating with the manipulator to flexibly adjust the position of the grabbing arm 3, making it easier for the grabbing arm 3 to approach and grab the test tube box.

[0037] One end of a second telescopic member 23 is fixedly mounted around the base wall 21, and a grabbing arm 3 is fixedly mounted on the other end of the second telescopic member 23. The first and second telescopic members 22 and 23 are pneumatic cylinders, and the second telescopic member 23 is capable of driving the grabbing arm 3 to move horizontally. This allows the grabbing arm 3 to move horizontally to grip the test tube cassette when it moves downward and approaches the cassette. Furthermore, the horizontal movement of the grabbing arm 3 allows the grabbing arm 3 to grasp test tube cassettes of different sizes, improving applicability.

[0038] The gripping arm 3 has a suction hole 31 formed on its surface, located below the flexible telescopic member 41. A negative pressure generator 32, connected to the suction hole 31, is fixedly mounted on the side of the gripping arm 3. A solenoid valve is installed in the suction hole 31. When the gripping arm 3 is pressed against the test tube box to clamp it, the solenoid valve is opened, and the negative pressure generator 32 generates a negative pressure in the suction hole 31. Once the negative pressure is formed in the suction hole 31, the solenoid valve is closed, allowing the suction hole 31 to absorb the test tube box under negative pressure, thereby improving the gripping stability of the gripping arm 3 on the test tube box.

[0039] It should be noted that the adsorption hole 31 is located below the flexible telescopic member 41 , and the adsorption hole 31 performs negative pressure adsorption on the test tube box when grabbing.

[0040] It should be noted that to ensure the negative pressure adsorption effect in the adsorption hole 31, a rubber pad can be placed around the adsorption hole 31. This rubber pad improves the contact between the grabbing arm 3 and the test tube box, which helps maintain the airtightness of the negative pressure adsorption. When extracting air, the solenoid valve is opened to activate the vacuum generator, and then the solenoid valve is closed to maintain the negative pressure adsorption of the adsorption hole 31 on the test tube box. To release the clamping and support of the test tube box and the test tube, the solenoid valve is opened and air is introduced to restore the pressure in the adsorption hole 31 to normal pressure.

[0041] A toothed flexible body 33 is fixedly mounted on the side wall of the grabbing arm 3. This toothed flexible body 33 is deformed by force during the grabbing process, allowing it to adhere more closely to the surface texture of the test tube box. This increases the friction between the grabbing arm 3 and the test tube box, thereby improving the gripping stability of the grabbing arm 3. The toothed flexible body 33 has a toothed surface structure, which increases elastic potential energy or deformation, further enhancing the gripping force of the grabbing arm 3 on the test tube box.

[0042] After the operator completes blood collection and places the test tube into the test tube rack, the moving assembly 1 drives the manipulator grasping assembly to move to the front of the test tube rack. Then, the manipulator drives the grasping arm 3 to be located above the test tube box and activates the first telescopic member 22 to drive the grasping arm 3 to move down smoothly close to the test tube box. After the grasping arm 3 moves down close to the test tube box, the second telescopic member 23 can drive the grasping arm 3 to move horizontally, so that the grasping arm 3 clamps the test tube box.

[0043] During the process of gripping the test tube box by the gripping arm 3, the surface of the gripping arm 3 is fixedly connected to a flexible telescopic member 41 and a flexible membrane 4 via multiple short lines, so that the extended size of the flexible telescopic member 41 is smaller than that of the gripping arm 3 and the test tube box, allowing the flexible telescopic member 41 and the flexible membrane 4 to more closely fit the surface of the test tube box for protection. On the one hand, the flexible membrane 4 fixes the test tube box and the test tube. On the other hand, the flexible membrane 4 can also provide physical protection for the test tube, thereby preventing dust, microorganisms, chemicals and other pollutants from the surrounding environment from invading the test tube and affecting the blood sample, thus avoiding contamination of the blood test tube during transportation. In addition, the flexible membrane 4 can be made of polyurethane film or polyvinyl chloride film, which has high ductility and thermal insulation properties. Thus, it can fit and cover the test tube during transportation while protecting the test tube from temperature effects. Furthermore, it can prevent the test tube from being contaminated by dust, microorganisms, and chemicals from the surrounding environment while also preventing it from being affected by temperature, which is beneficial to improving the stability of the blood sample test tube during transportation.

[0044] After the gripping arm 3 grips the test tube box and the flexible membrane 4 covers the test tube, the vacuum generator is activated and the solenoid valve is opened, so that the adsorption holes 31 adsorb the test tube box under negative pressure, thereby enhancing the gripping stability of the gripping arm 3 on the test tube box.

[0045] After the gripping arm 3 grips the test tube box and the flexible film 4 covers the test tube, the moving assembly 1 starts to move to a predetermined blood testing location for testing blood.

[0046] Those skilled in the art should understand that the present invention is not limited to the above-described embodiments. The above-described embodiments and the specification are merely illustrative of the principles of the present invention. Various changes and improvements may be made to the present invention without departing from the spirit and scope of the present invention. Such changes and improvements are intended to fall within the scope of the present invention. The scope of protection claimed in the present invention is defined by the appended claims and their equivalents.

Claims

1. A medical manipulator tube grasping device, comprising a moving assembly (1) and a manipulator grasping assembly, wherein the manipulator grasping assembly is mounted on the moving assembly (1), and is characterized in that: The manipulator grasping assembly comprises a manipulator arm (2), a grasping arm (3) and a flexible membrane (4); the manipulator arm (2) is rotatably mounted on the moving assembly (1); a base wall (21) is fixedly mounted on the side of the manipulator arm (2) away from the moving assembly (1); grasping arms (3) are mounted around the base wall (21); at least four grasping arms (3) are arranged in an array along a rectangular path; a flexible membrane (4) is fixedly mounted on the inner wall of the opposite side of the grasping arm (3); a flexible telescopic member (41) is fixedly mounted at the edge of the flexible membrane (4); and the flexible telescopic member (41) is fixedly mounted on the surface of the grasping arm (3).

2. A medical manipulator tube grasping device according to claim 1, characterized in that: The flexible telescopic member (41) is fixedly mounted on the surface of the grabbing arm (3) via a plurality of fixing members (5).

3. The medical manipulator tube grasping device according to claim 2, characterized in that: A first adsorption hole (31) is provided on the surface of the grabbing arm (3), and the first adsorption hole (31) is located below the flexible telescopic member (41). A negative pressure generator (32) connected to the first adsorption hole (31) is fixedly installed on the side of the grabbing arm (3), and a solenoid valve is fixedly installed in the adsorption hole (31).

4. The medical manipulator tube grasping device according to claim 3, characterized in that: The fixing member (5) comprises short wires, one end of a plurality of short wires is fixedly connected to the edge of the flexible telescopic member (41), and the other ends of the plurality of short wires are fixedly connected to the grabbing arm (3).

5. The medical manipulator tube grasping device according to claim 4, characterized in that: A first telescopic member (22) is fixedly installed between the manipulator and the base wall (21).

6. The medical manipulator tube grasping device according to claim 5, characterized in that: A second telescopic member (23) is fixedly installed between the base wall (21) and the grabbing arm (3).

7. The medical manipulator tube grasping device according to claim 6, characterized in that: A tooth-shaped flexible body (33) is fixedly mounted on the side wall of the grabbing arm (3).

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