An electric gripper, a manipulator and a medical transfer device

Abstract

The utility model discloses a kind of electric clamping jaw, manipulator and medical transfer equipment, wherein electric clamping jaw includes end mechanism, middle end mechanism and front end mechanism connected in sequence, and front end mechanism includes clamping jaw mechanism, and driving device drives transmission mechanism and drives clamping jaw mechanism to perform grabbing action;Clamping jaw mechanism includes oppositely arranged first clamp group and second clamp group, and first clamp includes first V-shaped clamping block and first clamping plate, and second clamp includes second V-shaped clamping block and second clamping plate, and the clamping structure of the article with arc outer wall surface is formed between first V-shaped clamping block and second V-shaped clamping block. By setting V-shaped clamping block, clamping plate can be respectively realized to the clamping of multiple specifications sampling tube and sampling tube frame, reduce the process of replacing multiple clamping tooling, effectively simplify clamping jaw structure, reduce clamping jaw weight, to satisfy more application under the scene of automation.

Description

Technical Field

[0001] This utility model relates to the field of medical automation technology, specifically to an electric gripper, a robotic arm, and a medical transport device, which is applicable to medical automation equipment. Background Technology

[0002] In the field of medical automation, sample pretreatment workstations place extremely high demands on the automated gripping of sampling tubes. Traditional gripping solutions mainly include pneumatic grippers and vacuum adsorption. Pneumatic grippers are simple in structure and move quickly, but they rely on an air source, becoming limited in the absence of one. Furthermore, the difficulty in precisely controlling pneumatic movements results in low actual gripping accuracy, making high-precision gripping impossible. Vacuum adsorption is only suitable for gripping items with relatively flat surfaces; it easily fails to grip cylindrical materials or other irregularly shaped materials with undulations, depressions, or protrusions due to insufficient sealing at the contact surface. Existing conventional industrial electric grippers are large and bulky, occupying significant space and easily limiting their application in medical automation.

[0003] Existing technologies also include electric grippers / clamps designed for the medical field. For example, Chinese patent CN213791758U discloses a fully automatic test tube clamp, which uses a motor to drive a slider to slide on a slide rail, thereby moving a semi-circular clamp to adjust the clamping of test tubes of different sizes. Chinese patent CN222273408U discloses a three-dimensional platform test tube gripping system, in which the gripper mechanism includes a gripper body and a gripper mechanism. The gripper mechanism includes a gripper support, on which a gear rotates and engages. Two racks are meshed on the gear, and grippers for gripping test tubes are fixedly installed at the bottom of the two racks. A gripping motor for driving the gear to rotate is installed on the gripper support. Although the above-mentioned existing patents can achieve automatic gripping of medical devices such as test tubes and sampling tubes, their functions are relatively limited, and they can usually only grip and transfer one test tube or sampling tube at a time. If multiple test tubes / sampling tubes are to be gripped at a time, the number of gripping mechanisms needs to be increased, resulting in a complex equipment structure and increased size.

[0004] This shows that existing technologies still have certain shortcomings. Utility Model Content

[0005] The purpose of this utility model is to provide an electric gripper, a robotic arm, and a medical transport device. By setting V-shaped gripping blocks and clamping plates, it can respectively grasp test tubes / sampling tubes of various specifications and test tube racks / sampling tube racks, reducing the process of changing multiple clamping fixtures. At the same time, the servo motor drive is changed to a servo motor drive, which effectively simplifies the gripper structure and greatly reduces the gripper weight, so as to meet the application needs of more automation scenarios.

[0006] To achieve the above objectives, this application adopts the following technical solution: In a first aspect, this application provides an electric gripper, which includes an end mechanism, a middle mechanism and a front mechanism connected in sequence. The end mechanism includes a housing and a drive device disposed inside the housing. The middle mechanism includes a transmission mechanism that drives the drive device and a guide mechanism that drives the transmission mechanism. The front mechanism includes a gripper mechanism connected to the transmission mechanism. The drive device drives the transmission mechanism and drives the gripper mechanism to perform a gripping action. The gripper mechanism includes a first clamp group and a second clamp group arranged opposite to each other. The first clamp includes a first V-shaped clamping block and a first clamping plate, and the second clamp includes a second V-shaped clamping block and a second clamping plate. The first V-shaped clamping block and the second V-shaped clamping block form a clamping structure adapted to an item with an arc-shaped outer wall surface.

[0007] In the above solution, by setting V-shaped clamping blocks and clamping plates, it is possible to clamp test tubes / sampling tubes of various specifications and test tube racks / sampling tube racks respectively, reducing the process of changing multiple clamping fixtures. At the same time, the above-mentioned driving device is preferably a servo motor. By replacing the conventional servo motor drive with a servo motor drive, the gripper structure can be effectively simplified, the gripper weight and procurement cost can be reduced, so as to meet the application needs of more automation scenarios.

[0008] In a preferred embodiment of this application, a mounting base plate is provided on the side of the housing facing the middle mechanism, the driving device is connected to the side of the mounting base plate facing the inside of the housing, and the transmission mechanism and the guiding mechanism are disposed on the other side of the mounting base plate relative to the driving device.

[0009] This configuration facilitates the installation of the drive unit, transmission mechanism, and guide mechanism, and makes full use of the installation space on both sides of the mounting base plate. It also provides isolation and protection for the drive unit, ensuring its safe operation.

[0010] In a preferred embodiment of this application, the mounting base plate has an opening for the output shaft of the drive device to extend out, and the transmission mechanism includes a rack assembly that meshes with the gear connected to the output shaft. The rack assembly includes two racks arranged radially opposite to each other on the upper and lower sides of the gear.

[0011] In the above scheme, the gear and rack meshing transmission structure has the advantages of simple structure, convenient installation and small size, which facilitates the miniaturization design of the entire electric gripper. In addition, the gear and rack meshing itself has the advantages of high precision and reliable transmission, which helps to ensure the stable clamping of the electric gripper.

[0012] In a preferred embodiment of this application, the guiding mechanism includes two guide rails disposed opposite to each other on both sides of the mounting base plate and two sliders disposed on the two guide rails respectively. Each of the two sliders is connected to a rack, and the first clamping group and the second clamping group are respectively connected to a slider.

[0013] In the above scheme, the guide mechanism can ensure the stability of the rack movement direction, the stable operation of the transmission mechanism, and thus the stable clamping of the gripper mechanism. Moreover, the above guide structure is simple, easy to set up, and has low usage and maintenance costs.

[0014] In a preferred embodiment of this application, the guide mechanism further includes two buffer blocks, which are disposed opposite to each other on both sides of the mounting base plate and located at the mutually distant ends of the two guide rails. The buffer blocks are capable of contacting and engaging with the slider.

[0015] By setting a buffer block, the slider can avoid collision with the side wall of the mounting base plate during the slider movement, which could cause damage to the slider and / or mounting base plate and other structures, thus ensuring the precise and stable transmission of the transmission mechanism.

[0016] As a preferred embodiment of this application, a reset mechanism is also included. The reset mechanism includes two tension springs and two spring adjustment seats that are correspondingly arranged. The two tension springs are arranged parallel to the two guide rails, and the two spring adjustment seats are arranged opposite to each other on both sides of the mounting base plate. One end of each tension spring is connected to the corresponding spring adjustment seat, and the other end is connected to the rack on the same side of the spring.

[0017] In the above solution, by setting a reset mechanism, the clamping state of the gripper mechanism can be maintained when the drive device fails, so as to prevent the clamped items from falling and being damaged. Moreover, the reset mechanism has a simple structure, is easy to use, and has low operating and maintenance costs.

[0018] In a preferred embodiment of this application, the gripper mechanism further includes an adapter block and a slider adapter block. Two adapter blocks and two slider adapter blocks are provided and are arranged in a one-to-one correspondence. The two adapter blocks are respectively connected to a slider through their corresponding slider adapter blocks. The first clamping set is connected to one adapter block and the second clamping set is connected to the other adapter block.

[0019] In a preferred embodiment of this application, a buffer layer is provided on the clamping surfaces of the first V-shaped clamping block and the second V-shaped clamping block, and a self-adhesive pad is provided on the clamping surfaces of the first clamping plate and the second clamping plate.

[0020] In the above solution, by setting a buffer layer and a self-adhesive pad, damage to the surface of the clamped item can be avoided by the gripper mechanism during the clamping process. The buffer layer / self-adhesive pad can also increase the friction between the gripper and the surface of the clamped item, thereby improving the stability of the clamping.

[0021] Secondly, this application also provides a robotic arm that includes the electric gripper as described above.

[0022] Thirdly, this application also provides a medical transport device, which includes the robotic arm described above. Attached Figure Description

[0023] The accompanying drawings, which are included to provide a further understanding of the present invention and constitute a part of this invention, illustrate exemplary embodiments of the present invention and, together with the description thereof, serve to explain the present invention and do not constitute an undue limitation thereof. In the drawings: Figure 1 This is a schematic diagram of the structure of the electric gripper in one embodiment of the present invention; Figure 2 This is an exploded diagram of the end structure in an example; Figure 3 An exploded view of the guide mechanism and reset mechanism in an example; Figure 4 An exploded view of a transmission mechanism in an example; Figure 5 This is an exploded schematic diagram of a gripper mechanism in an example.

[0024] List of components and reference numerals: 1. Guide rail, 2. Slider, 3. Buffer block, 4. Self-adhesive gasket, 5. Side plate, 6. Base plate, 7. Adapter block, 8. Slider adapter block, 9. Servo adapter plate, 10. First V-shaped clamp, 11. Mounting base plate, 12. Front cover, 13. First servo mounting plate, 14. Second servo mounting plate, 15. Second V-shaped clamp, 16. Rack, 17. Gear, 18. First clamp plate, 19. Second clamp plate, 20. Wear-resistant block, 21. Tension spring, 22. Spring adjustment seat, 23. Servo. Detailed Implementation

[0025] To more clearly illustrate the overall concept of this utility model, a detailed description will be provided below with reference to the accompanying drawings.

[0026] It should be noted that many specific details are set forth in the following description in order to provide a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the scope of protection of the present invention is not limited to the specific embodiments disclosed below.

[0027] like Figures 1-5 As shown, this application first provides an electric gripper, which includes an end mechanism, a middle mechanism, and a front mechanism connected in sequence. The end mechanism includes a housing and a drive device disposed inside the housing. The middle mechanism includes a transmission mechanism that drives the drive device and a guide mechanism that drives the transmission mechanism. The front mechanism includes a gripper mechanism connected to the transmission mechanism. The drive device drives the transmission mechanism and causes the gripper mechanism to perform a gripping action. A mounting base plate 11 is provided on the side of the housing facing the middle mechanism. The drive device is connected to the side of the mounting base plate 11 facing the inside of the housing. The transmission mechanism and the guide mechanism are disposed on the other side of the mounting base plate 11 opposite to the drive device. This arrangement facilitates the placement of the drive device, transmission mechanism, and guide mechanism, makes full use of the mounting space on both sides of the mounting base plate 11, and also isolates and protects the drive device, ensuring its safe operation.

[0028] Furthermore, referring to Figure 5 As shown, the gripper mechanism includes a first clamping unit and a second clamping unit arranged opposite to each other. The first clamping unit includes a first V-shaped clamping block and a first clamping plate 18, and the second clamping unit includes a second V-shaped clamping block and a second clamping plate 19. The first V-shaped clamping block and the second V-shaped clamping block form a clamping structure adapted to items with curved outer walls. In the above solution, by setting the V-shaped clamping block and clamping plate, it is possible to clamp test tubes / sampling tubes and test tube racks / sampling tube racks of various specifications, reducing the process of changing multiple clamping fixtures. At the same time, the above-mentioned driving device is preferably a servo motor 23. By replacing the conventional servo motor drive with the servo motor 23 drive, the gripper structure can be effectively simplified, the gripper weight and procurement cost can be reduced, so as to meet the application needs of more automation scenarios.

[0029] In one example, refer to Figures 1-4 As shown, the drive unit is preferably a servo motor 23. The housing includes side plates 5, a base plate 6, a servo motor adapter plate 9, a mounting base plate 11, a first servo motor mounting plate 13, and a second servo motor mounting plate 14. The servo motor 23 is connected and fixed on both sides using the servo motor adapter plate 9, and the servo motor adapter plate 9 is fixed to the mounting base plate 11 with screws. The first servo motor mounting plate 13 and the second servo motor mounting plate 14 are located on the upper and lower sides of the servo motor 23 and are fixedly connected to the mounting base plate 11. The left and right side plates 5 are fixed to the left and right ends of the first servo motor mounting plate 13 and the second servo motor mounting plate 14 respectively with screws. The base plate 6 and the mounting base plate 11 are also fixed to the front and rear sides of the first servo motor mounting plate 13 and the second servo motor mounting plate 14 with screws. (Continue referring to...) Figure 2 and Figure 3As shown, the mounting base plate 11 has an opening for the output shaft of the drive device to extend out. The transmission mechanism includes a gear 17 connected to the output shaft and a rack 16 assembly meshing with the gear 17. The rack 16 assembly includes two racks 16 arranged radially opposite to each other on the upper and lower sides of the gear 17. The guide structure includes two guide rails 1 arranged opposite to each other on both sides of the mounting base plate 11 and two sliders 2 correspondingly arranged on the two guide rails 1. Each of the two sliders 2 is connected to one rack 16. The first clamping group and the second clamping group are respectively connected to one slider 2. Preferably, the guide structure also includes two wear-resistant blocks 20, which are fixed on the mounting base plate 11 and used for auxiliary guidance and clamping when the rack 16 moves. The guide mechanism also includes two buffer blocks 3 made of polyurethane material, which are arranged opposite to each other on both sides of the mounting base plate 11 and located at the far ends of the two guide rails 1. The buffer blocks 3 can contact and cooperate with the sliders 2.

[0030] In the above scheme, the gear 17 and rack 16 meshing transmission structure has the advantages of simple structure, convenient installation, and small size, which facilitates the miniaturization design of the entire electric gripper. Furthermore, the gear 17 and rack 16 meshing itself has the advantages of high precision and reliable transmission, which helps ensure stable clamping of the electric gripper. The guide mechanism ensures the stability of the rack 16's movement direction, the stable operation of the transmission mechanism, and thus the stable clamping of the gripper mechanism. The guide structure is simple, easy to set up, and has low operating and maintenance costs. The buffer block 3 prevents the slider 2 from colliding with the side wall of the mounting base plate 11 during movement, thus avoiding damage to the slider 2 and / or the mounting base plate 11, ensuring precise and stable transmission of the transmission mechanism.

[0031] Furthermore, as a preferred embodiment of this example, the electric gripper in this application also includes a reset mechanism. This reset mechanism includes two tension springs 21 and two spring adjusting seats 22, respectively. The two tension springs 21 are arranged parallel to the two guide rails 1, and the two spring adjusting seats 22 are arranged opposite each other on both sides of the mounting base 11. One end of each tension spring 21 is connected to its corresponding spring adjusting seat 22, and the other end is connected to the rack 16 on the same side. By providing a reset mechanism, the gripper mechanism can maintain its clamping state even when the drive device fails, preventing the clamped item from falling and being damaged. Moreover, the reset mechanism has a simple structure, is easy to use, and has low operating and maintenance costs.

[0032] Continue to refer to Figure 5As shown, the housing in this example also includes a front cover 12, and the gripper mechanism includes a transition block 7 and a slider transition block 8. Two transition blocks 7 and two slider transition blocks 8 are provided, each corresponding to the other. A sliding groove is provided on the front cover 12. The two transition blocks 7 are respectively connected to a slider 2 via their corresponding slider transition blocks 8 passing through the sliding groove. One transition block 7 is connected to the aforementioned first clamping set, and the other transition block 7 is connected to the aforementioned second clamping set. By providing the front cover 12, dust and other debris can be prevented from entering the housing and causing damage or malfunctions to the transmission mechanism / guide mechanism / drive device, thus ensuring the normal and safe operation of the entire electric gripper. When in use, the servo motor 23 starts rotating in the forward direction, and the output shaft rotates, thereby driving the gear 17 to rotate, which in turn meshes and drives the rack 16 to move. The rack 16 then drives the connected slider adapter block 8, adapter block 7, and the first V-shaped clamping block, first clamping plate 18, second V-shaped clamping block and second clamping plate 19 connected to the adapter block 7 to move, so as to realize the opening action of the gripper mechanism. When the servo motor 23 rotates in the reverse direction, the gripper mechanism clamps.

[0033] As a preferred embodiment of this application, refer to Figure 5 As shown, a buffer layer is provided on the opposing clamping surfaces of the first V-shaped clamping block and the second V-shaped clamping block, and a self-adhesive pad 4 is provided on the opposing clamping surfaces of the first clamping plate 18 and the second clamping plate 19. In the above solution, by providing the buffer layer and the self-adhesive pad 4, damage to the surface of the clamped item can be avoided during the clamping process, and the friction between the buffer layer / self-adhesive pad 4 and the surface of the clamped item can be increased, thereby improving the clamping stability.

[0034] It should be noted that the above example is only a preferred example of this application. The structure of the electric gripper in this application is not limited to the above example. It can adopt the setting scheme in the above example or other different setting schemes. This application does not make specific limitations in this regard.

[0035] Furthermore, this application also provides a robotic arm employing the aforementioned electric gripper, with reference to... Figure 1 and Figure 2 As shown, the end effector of the aforementioned electric gripper is further provided with a connecting part for connecting to the end effector of a robotic arm, thereby facilitating connection with various types of robotic arms. This application also provides a medical transport device using the aforementioned robotic arm. Since both the aforementioned robotic arm and the medical transport device include the aforementioned electric gripper, they should also possess the same advantages and effects as the aforementioned electric gripper, and will not be described further to avoid repetition.

[0036] The technical solutions protected by this utility model are not limited to the above embodiments. It should be noted that any combination of the technical solutions of any embodiment with one or more other embodiments is within the protection scope of this utility model. Although this utility model has been described in detail above with general descriptions and specific embodiments, some modifications or improvements can be made to it, which will be obvious to those skilled in the art. Therefore, all such modifications or improvements made without departing from the spirit of this utility model are within the scope of protection claimed by this utility model.

Claims

1. An electric gripper, characterized in that, The device includes an end mechanism, a middle mechanism, and a front mechanism connected in sequence. The end mechanism includes a housing and a drive device disposed inside the housing. The middle mechanism includes a transmission mechanism that drives the drive device and a guide mechanism that drives the transmission mechanism. The front mechanism includes a gripper mechanism that is connected to the transmission mechanism. The drive device drives the transmission mechanism and causes the gripper mechanism to perform a gripping action. The gripper mechanism includes a first clamping group and a second clamping group arranged opposite to each other. The first clamping group includes a first V-shaped clamping block and a first clamping plate. The second clamping group includes a second V-shaped clamping block and a second clamping plate. The first V-shaped clamping block and the second V-shaped clamping block form a clamping structure adapted to an item with an arc-shaped outer wall surface. A mounting base plate is provided on the side of the housing facing the middle mechanism. The drive device is connected to the side of the mounting base plate facing the inside of the housing. The transmission mechanism and the guide mechanism are provided on the other side of the mounting base plate opposite to the drive device. The mounting base plate has an opening for the output shaft of the drive device to extend out. The transmission mechanism includes a gear connected to the output shaft and a rack assembly meshing with the gear. The rack assembly includes two racks arranged radially opposite to each other on the upper and lower sides of the gear. The guide mechanism includes two guide rails arranged opposite to each other on both sides of the mounting base plate and two sliders corresponding to the two guide rails. Each of the two sliders is connected to one of the racks. The first clamping group and the second clamping group are each connected to one slider. The guide mechanism also includes two buffer blocks arranged opposite to each other on both sides of the mounting base plate and located at the far ends of the two guide rails. The buffer blocks can contact and engage with the sliders.

2. The electric gripper as described in claim 1, characterized in that, It also includes a reset mechanism, which includes two tension springs and two spring adjustment seats. The two tension springs are arranged parallel to the two guide rails, and the two spring adjustment seats are arranged opposite to each other on both sides of the mounting base plate. One end of each tension spring is connected to the corresponding spring adjustment seat, and the other end is connected to the rack on the same side.

3. The electric gripper as described in claim 1, characterized in that, The gripper mechanism further includes an adapter block and a slider adapter block. Two adapter blocks and two slider adapter blocks are provided and are arranged in a one-to-one correspondence. The two adapter blocks are respectively connected to a slider through their corresponding slider adapter blocks. The first clamping set is connected to one of the adapter blocks, and the second clamping set is connected to the other adapter block.

4. The electric gripper as described in claim 1, characterized in that, A buffer layer is provided on the clamping surfaces of the first V-shaped clamping block and the second V-shaped clamping block, and a self-adhesive pad is provided on the clamping surfaces of the first clamping plate and the second clamping plate.

5. A robotic arm, characterized in that, The robotic arm includes an electric gripper as described in any one of claims 1-4.

6. A medical transport device, characterized in that, The medical transport device includes the robotic arm as described in claim 5.

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