Anti-collision and variable distance mechanism of pre-filled syringe feeding manipulator

Abstract

The utility model relates to mechanical hand variable distance technical field discloses the anti -collision variable distance mechanism of pre -filled syringe feeding manipulator, including mechanical hand, mechanical hand sets up in the displacement unit, and the mechanical hand includes the base plate, is provided with the cylinder on the base plate, is provided with the jaw unit on the cylinder, and the jaw unit includes clamping component no.

Description

Technical Field

[0001] This utility model relates to the field of robot arm pitch control technology, and in particular to an anti-collision pitch control mechanism for a pre-filled syringe feeding robot arm. Background Technology

[0002] Prefilled syringes, also known as pre-filled syringes, are a new type of drug packaging system that pre-fills drugs into syringes. They combine the functions of drug storage and injection. By using a quantitative method of drug dispensing, they are more accurate than manual dispensing by medical staff, reduce drug residue, ensure accurate medication, eliminate the process of transferring drugs from packaging to syringe, effectively reduce waste caused by adsorption, and avoid cross-contamination and secondary contamination of drugs.

[0003] The production of pre-filled syringes requires the syringe surface to be graduated to help medical staff or users quickly read the volume of the drug solution and ensure accurate dosage.

[0004] However, when using a robotic arm to grasp a syringe with a calibrated surface, the vibration of the syringe transport line during operation can cause the syringe to shift in position. When the robotic arm descends, it will directly impact the syringe, causing the syringe to fail to be grasped. At the same time, the surface of the syringe will be scratched due to the impact of the robotic arm. As a result, the calibrated scale on the scratched surface of the syringe will be blurred after calibration, affecting the accurate reading of the volume of the drug in the syringe by medical personnel. Utility Model Content

[0005] In view of the problems of the anti-collision variable distance mechanism of the pre-filled syringe feeding robot mentioned above, this utility model is proposed.

[0006] To solve the above-mentioned technical problems, this utility model provides the following technical solution: a collision-resistant variable-distance mechanism for a pre-filled syringe feeding robot, including a robot arm, the robot arm being mounted on a shifting unit, the robot arm including a base plate, a cylinder being mounted on the base plate, a gripper unit being mounted on the cylinder, the gripper unit including a gripping component one and a gripping component two, the gripping component one and the gripping component two being symmetrically mounted on the cylinder;

[0007] The clamping assembly one includes a clamping plate one and a clamping plate two that is engaged and slidably disposed thereon. A variable pitch unit is provided between the clamping plate one and the clamping plate two. The clamping assembly two includes a clamping plate three and a clamping plate four that is engaged and slidably disposed thereon.

[0008] The clamping plate has a rack 1 symmetrically arranged on one side. The pitch-changing unit includes a clamping plate 2 with a rack 2 and a gear 1 symmetrically arranged on one side. A balance bar is connected to the rack 2, and a rack 3 is arranged on the balance bar. A nut is engaged and rotatably arranged on the clamping plate 2. A gear 2 is sleeved on the outside of the nut. A lead screw is helically connected to the nut, and a contact plate 1 is arranged at one end of the lead screw.

[0009] As a preferred embodiment of the anti-collision variable distance mechanism of the pre-filled syringe feeding robot of the present invention, wherein: rack one is fixedly connected to clamp plate one, and rack two is engaged and slidably connected to clamp plate two.

[0010] As a preferred embodiment of the anti-collision variable distance mechanism of the pre-filled syringe feeding robot of the present invention, wherein: a limiting groove is provided on the lead screw, and a limiting frame is provided on the side of the clamping plate two away from the clamping plate one.

[0011] As a preferred embodiment of the anti-collision variable distance mechanism of the pre-filled syringe feeding robot of the present invention, wherein: the limiting frame is sleeved on the outside of the lead screw, the limiting frame is provided with a limiting block, and the limiting block is slidably disposed in the limiting groove.

[0012] As a preferred embodiment of the anti-collision variable distance mechanism of the pre-filled syringe feeding robot of the present invention, wherein: a slot is provided on the first contact plate, and an anti-slip pad is provided at the bottom of the slot.

[0013] As a preferred embodiment of the anti-collision variable distance mechanism of the pre-filled syringe feeding robot of the present invention, wherein: an elastic sheet is provided on the third clamping plate and an elastic plate is provided on the fourth clamping plate.

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

[0015] 1. By setting up clamping plates one and two, and setting a variable pitch unit between clamping plates one and two, the lead screw of the robot arm will push the contact plate one to gradually contact the syringe during the descent. The contact plate one will push multiple syringes, so that multiple syringes are neatly arranged. At the same time, the contact plate one and clamping plate four cooperate to grasp the syringes on the conveyor line, avoiding the robot arm from hitting the syringes during the descent, which would cause scratches on the surface of the syringes. This improves the clarity of the scale lines on the surface of the syringe after the scale processing, ensures that medical personnel can accurately read the volume of the drug in the syringe, and ensures the accuracy of the drug dosage.

[0016] 2. By setting up a variable pitch unit, the direct impact of the robotic arm on the syringe is avoided, ensuring the integrity of the syringe surface;

[0017] 3. By setting up elastic sheets and plates, the stability of the robotic arm in grasping the syringe is improved, preventing the syringe from falling. Attached Figure Description

[0018] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Among them:

[0019] Figure 1 This is a schematic diagram of the overall structure of the anti-collision variable pitch mechanism of the pre-filled syringe feeding robot of this utility model.

[0020] Figure 2 This is a schematic diagram of the overall structure of the anti-collision variable-distance mechanism clamping component one and clamping component two of the pre-filled syringe feeding robot of this utility model.

[0021] Figure 3 This is a schematic diagram of the exploded structure of the anti-collision variable-distance clamping component of the pre-filled syringe feeding robot of this utility model.

[0022] Figure 4 This utility model provides an anti-collision and pitch-changing mechanism for a pre-filled syringe feeding robot. Figure 3 Enlarged structural diagram at point A in the middle.

[0023] Figure 5 This utility model provides an anti-collision and pitch-changing mechanism for a pre-filled syringe feeding robot. Figure 3 Enlarged structural diagram at point B.

[0024] Figure 6 This is a schematic diagram of the explosion-proof variable-distance mechanism clamping component 2 of the pre-filled syringe feeding robot of this utility model.

[0025] Explanation of reference numerals in the attached figures:

[0026] 1. Base plate; 11. Cylinder;

[0027] 2. Clamping assembly one; 21. Clamping plate one; 22. Clamping plate two; 23. Rack one;

[0028] 3. Clamping component two; 31. Clamping plate three; 32. Clamping plate four; 33. Elastic sheet; 34. Elastic plate;

[0029] 4. Pitch control unit; 41. Rack II; 42. Gear I; 43. Balance bar; 44. Rack III; 45. Nut; 46. Gear II; 47. Lead screw; 471. Limiting groove; 472. Limiting bracket; 473. Limiting block; 48. Contact plate I; 481. Slot; 482. Anti-slip pad. Detailed Implementation

[0030] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, the specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings. Example 1

[0031] Reference Figure 1-5 This is the first embodiment of the present invention, which provides an anti-collision variable distance mechanism for a pre-filled syringe loading robot. The anti-collision variable distance mechanism for the pre-filled syringe loading robot includes a robot, which is mounted on a shifting unit. The shifting unit is used to drive the robot to move vertically and horizontally within the same horizontal plane. The robot includes a base plate 1, on which a cylinder 11 is mounted. The cylinder 11 is fixedly mounted on the base plate 1. The cylinder 11 is a bidirectional cylinder with two piston ends that can be synchronously extended and retracted. A gripper unit is mounted on the cylinder 11. The gripper unit includes a first gripping component 2 and a second gripping component 3. The first gripping component 2 and the second gripping component 3 are symmetrically mounted on the cylinder 11.

[0032] Clamping assembly 2 includes clamping plate 21 and clamping plate 22 which is engaged and slidably disposed thereon. A spring is provided between clamping plate 21 and clamping plate 22. A pitch-changing unit 4 is provided between clamping plate 21 and clamping plate 22. Clamping assembly 3 includes clamping plate 31 and clamping plate 42 which is engaged and slidably disposed thereon. The piston end of one end of cylinder 11 is connected to clamping plate 21, and the other piston end of cylinder 11 is connected to clamping plate 31. Both clamping plate 21 and clamping plate 31 are engaged and slidably disposed on base plate 1 to improve the stability of clamping plate 21 and clamping plate 31 when they move relative to each other under the action of cylinder 11.

[0033] A rack 23 is symmetrically arranged on one side of clamping plate 21. The rack 23 is located on the side of clamping plate 21 near clamping plate 22. The pitch-changing unit 4 includes a rack 41 and a gear 42 symmetrically arranged on one side of clamping plate 22. The rack 41 and gear 42 are located on the side of clamping plate 22 near clamping plate 21. The gear 42 meshes with rack 23 and rack 41 respectively. A balance bar 43 is connected to rack 41, and a balance block is provided in the middle of the balance bar 43. The balance block is engaged and slidably mounted on the clamping plate 22. The balance bar 43 is equipped with a rack 3 44. The clamping plate 22 is engaged and rotatably mounted with a nut 45. A gear 2 46 is sleeved on the outside of the nut 45. The gear 2 46 can rotate synchronously with the nut 45. The rack 3 44 meshes with the gear 2 46. The nut 45 is helically connected to a lead screw 47. One end of the lead screw 47 is equipped with a contact plate 1 48. The contact plate 1 48 is located on the side of the clamping plate 21 away from the clamping plate 22.

[0034] Rack 23 is fixedly connected to clamp 21, and rack 41 is engaged and slidably connected to clamp 22. When clamp 22 moves on clamp 21, rack 23 can drive gear 42 to rotate, and the rotation of gear 42 can drive rack 41 to move linearly on clamp 22.

[0035] A limiting groove 471 is provided on the lead screw 47, and a limiting frame 472 is provided on the side of the clamping plate 22 away from the clamping plate 21. The limiting frame 472 is fixedly connected to the clamping plate 22.

[0036] The limiting frame 472 is sleeved on the outside of the lead screw 47, and the limiting frame 472 is provided with a limiting block 473, which is slidably disposed in the limiting groove 471.

[0037] The contact plate 48 is provided with a slot 481, and the bottom of the slot 481 is provided with an anti-slip pad 482. The side of the anti-slip pad 482 away from the contact plate 48 is provided with anti-slip texture. The anti-slip pad 482 is preferably made of rubber.

[0038] During use, the conveyor line first transports the syringe to be gripped to the appropriate position, then the shifting unit drives the robot arm to the top of the syringe, and then shifts it in the direction of the syringe. During the descent of the robot arm, clamping plate 22 and clamping plate 32 will first contact the conveyor line. During the above process, the two piston ends of cylinder 11 are in the extended state.

[0039] When clamping plate 22 and clamping plate 32 come into contact with the conveyor line, as the robot continues to descend, clamping plate 22 begins to slide on clamping plate 21. During the movement of clamping plate 22, gear 42 will start to rotate under the action of rack 23. The rotation of gear 42 will drive rack 41 to slide on clamping plate 22.

[0040] When rack 2 41 moves on clamp 2 22, rack 2 41 will drive balance bar 43 to move, balance bar 43 will drive rack 3 44 to move synchronously, rack 3 44 will drive gear 2 46 to rotate, gear 2 46 will drive nut 45 to rotate.

[0041] Because the limiting block 473 is set in the limiting groove 471, the lead screw 47 cannot rotate under the friction of the nut 45. At this time, the lead screw 47 will start to move linearly. The movement of the lead screw 47 will push the contact plate 48. The contact plate 48 will gradually contact one end of the syringe on the conveyor line. Then, the multiple syringes on the conveyor line will be neatly arranged under the pushing action of the contact plate 48. The slot 481 can limit the syringe being clamped, and the rubber anti-slip pad 482 can prevent the syringe end face from being worn due to excessive clamping force when the syringe is clamped. Example 2

[0042] Reference Figure 1-6 This is the second embodiment of the present invention, which differs from the first embodiment in that:

[0043] An elastic sheet 33 is provided on the clamping plate 31, and an elastic plate 34 is provided on the clamping plate 42. The elastic sheet 33 is provided on the side of the clamping plate 31 close to the clamping plate 42, and the elastic plate 34 is provided on the side of the clamping plate 42 away from the clamping plate 31. The elastic plate 34 is fixedly connected to the clamping plate 42, and the elastic sheet 33 can contact the elastic plate 34. The elastic plate 34 can deform appropriately under the action of the elastic sheet 33.

[0044] During use, as the robotic arm descends, clamping plate 4 32 will be blocked by the conveyor line, and then clamping plate 4 32 will begin to slide on clamping plate 3 31. When clamping plate 4 32 moves to the limit position, elastic sheet 33 will contact elastic plate 34. Elastic plate 34 will deform under the action of elastic sheet 33, and elastic sheet 33 itself will also deform appropriately.

[0045] Then the two piston ends of cylinder 11 retract, and contact plate 48 contacts clamping plate 32 and holds the syringe. At this time, elastic sheet 33 will deform further.

[0046] The remaining structure is the same as that in Example 1.

[0047] It should be noted that the above embodiments are only used to illustrate the technical solution of this utility model and are not intended to limit it. Although this utility model has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solution of this utility model without departing from the spirit and scope of the technical solution of this utility model, and all such modifications or substitutions should be covered within the scope of the claims of this utility model.

Claims

1. A collision-resistant variable-distance mechanism for a pre-filled syringe feeding robot, comprising a robot arm mounted on a shifting unit, the robot arm including a base plate (1), on which a cylinder (11) is disposed, characterized in that, The cylinder (11) is provided with a gripper unit, which includes a gripping component one (2) and a gripping component two (3). The gripping component one (2) and the gripping component two (3) are symmetrically arranged on the cylinder (11). The clamping assembly one (2) includes a clamping plate one (21) and a clamping plate two (22) that is engaged and slidably disposed thereon. A variable pitch unit (4) is provided between the clamping plate one (21) and the clamping plate two (22). The clamping assembly two (3) includes a clamping plate three (31) and a clamping plate four (32) that is engaged and slidably disposed thereon. The clamping plate (21) is symmetrically provided with a rack (23) on one side. The variable pitch unit (4) includes a clamping plate (22) symmetrically provided with a rack (41) and a gear (42) on one side. A balance bar (43) is connected to the rack (41). A rack (44) is provided on the balance bar (43). A nut (45) is engaged and rotatably provided on the clamping plate (22). A gear (46) is sleeved on the outside of the nut (45). A lead screw (47) is screwed and connected to the nut (45). A contact plate (48) is provided at one end of the lead screw (47).

2. The anti-collision variable distance mechanism of the pre-filled syringe feeding robot according to claim 1, characterized in that: The first rack (23) is fixedly connected to the first clamp (21), and the second rack (41) is engaged and slidably connected to the second clamp (22).

3. The anti-collision variable distance mechanism of the pre-filled syringe feeding robot according to claim 1, characterized in that: A limiting groove (471) is provided on the lead screw (47), and a limiting bracket (472) is provided on the side of the clamping plate two (22) away from the clamping plate one (21).

4. The anti-collision variable distance mechanism of the pre-filled syringe feeding robot according to claim 3, characterized in that: The limiting frame (472) is sleeved on the outside of the lead screw (47), and a limiting block (473) is provided on the limiting frame (472). The limiting block (473) is slidably disposed in the limiting groove (471).

5. The anti-collision variable distance mechanism of the pre-filled syringe feeding robot according to claim 1, characterized in that: The contact plate (48) is provided with a slot (481), and the bottom of the slot (481) is provided with an anti-slip pad (482).

6. The anti-collision variable distance mechanism of the pre-filled syringe feeding robot according to claim 1, characterized in that: An elastic sheet (33) is provided on the third clamping plate (31), and an elastic plate (34) is provided on the fourth clamping plate (32).

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