Iv compounding robot ampoule anti-fracture clamp

Abstract

The utility model relates to intravenous preparation component technical field, and disclose ampoule anti -crack clamp of intravenous preparation robot, including ascending module, motion module, and bottle setting plate, and the inner wall of bottle setting plate is equipped with ampoule, motion module includes movable element, and the movable element is equipped with clamping module, and clamping module includes chuck module, and chuck module includes main chuck and vice chuck. Through the restriction of chuck module's limit groove, while the pressure is applied to the ampoule peripheral surface, using the way that the longest diameter of bottle head groove is greater than the longest diameter of bottle neck groove, ensure that ampoule does not slip down in the movement process, bottle head groove, bottle neck groove and bottle body groove can make the pressure even to ampoule surface, and the rubber layer of limit groove inner wall fills the gap to further even pressure, and provides the buffer to prevent sharp edge from causing ampoule fragmentation, and bottle body groove can further ensure that ampoule is stable in the movement process after clamping, prevent the breakage of bottle neck caused by shaking.

Description

Technical Field

[0001] This utility model belongs to the field of intravenous dispensing component technology, and specifically relates to an anti-breakage clamp for ampoules used in intravenous dispensing robots. Background Technology

[0002] An intravenous medication preparation robot is a medical device that can automatically and accurately complete the task of preparing intravenous medications. An ampoule is a sealable glass pharmaceutical bottle commonly used to store injectable drugs, vaccines, serums, etc. It has scratches on the neck; the neck can be broken off for use.

[0003] In existing technologies, glass ampoules are prone to bursting or breaking at the neck due to uneven force during robotic arm grasping, breaking, or mixed operations, leading to leakage of the liquid or even complete scrapping. This not only wastes expensive drugs, especially biological agents, but also contaminates the internal environment of the equipment, increasing cleaning difficulty and the risk of cross-infection. Furthermore, the amount of medication is difficult to control precisely after the ampoule breaks. This is especially true for high-alert medications that require strict measurement, which can lead to dosage deviations for patients. This can affect the efficacy of the medication or even cause medical accidents and personal injury. Meanwhile, if an ampoule breaks, the operation must be stopped for cleaning, which is time-consuming and labor-intensive, and consumables such as suction heads and tubing need to be replaced, further reducing overall work efficiency. Utility Model Content

[0004] The purpose of this invention is to address the shortcomings of existing technologies by proposing a shatterproof clamp for intravenous dispensing robot ampoules.

[0005] To achieve the above objectives, this utility model adopts the following technical solution: an anti-breakage clamp for ampoules used in intravenous dispensing robots, comprising a lifting module, a motion module, and a bottle placement plate. Ampoules are disposed on the inner wall of the bottle placement plate. The lifting module, motion module, bottle placement plate, and ampoules are all disposed on the inner wall of the dispensing device. The motion module includes a moving component, and a clamping module is provided at the moving component. The clamping module includes a clamping head module, which includes a main clamping head and a secondary clamping head. A limiting clamping groove is provided on one side of each of the main clamping head and the secondary clamping head. The limiting clamping groove includes a bottle head groove corresponding to the bottle head, a bottle neck groove corresponding to the bottle neck, and a bottle body groove corresponding to the bottle body diameter. The longest diameter of the bottle head groove is greater than the longest diameter of the bottle neck groove. The height of the bottle body groove is not less than 1.5 cm. Multiple anti-slip grooves are linearly arrayed on the inner wall of the bottle body groove. The inner wall of the limiting clamping groove is covered with a rubber layer.

[0006] Preferably, the anti-slip groove is annular, and the groove opening direction of the anti-slip groove faces the bottleneck groove direction.

[0007] Preferably, positioning plugs are fixed on both sides of the bottleneck groove of the limiting groove on the side of the main clamp facing the secondary clamp. One side of the positioning plug is an arc surface that conforms to the bottleneck groove, and the other side of the positioning plug is vertical. A positioning slot is provided at the corresponding position of the secondary clamp and the positioning plug.

[0008] Preferably, the main chuck and the auxiliary chuck each have multiple weight-reducing grooves on their opposite top sides.

[0009] Preferably, both the main clamp and the auxiliary clamp have beveled sides near the other ampoules.

[0010] Preferably, the clamping module includes a limiting member, the top of which is fixed to the top of the moving member. Multiple irregularly shaped gears are rotatably connected to the inner wall of the limiting member. A connecting member is rotatably connected to the toothless portion of each irregularly shaped gear. A pusher is rotatably connected to one end of the connecting member. A push rod is fixed to the top of the pusher. The side of the push rod is slidably connected to the inner wall of the limiting member. The push rod is driven by a power cylinder, which is fixed to the inner wall of the moving member. A sliding rack meshes with the teeth of each irregularly shaped gear. The side of the sliding rack is slidably connected to the inner wall of the limiting member. A clamping module is fixed to the bottom of the sliding rack.

[0011] Preferably, a rubber plate is fixed to the inner wall of the limiting member, the rubber plate having a thickness of not less than three millimeters, and the rubber plate is disposed between multiple sliding racks.

[0012] Preferably, the top of the pusher and the top of the push rod are set as arc ends, and the inner wall of the limiting member in contact with the arc ends is set as a corresponding arc surface.

[0013] In summary, this utility model has the following beneficial effects: 1. This utility model applies pressure to the circumference of the ampoule through the limiting groove of the clamping module. By utilizing the fact that the longest diameter of the head groove is greater than the longest diameter of the neck groove, it ensures that the ampoule does not slip down during movement. At the same time, the head groove, neck groove, and body groove, which conform to the ampoule head, neck, and body, can apply pressure evenly to the ampoule surface. The rubber layer covering the inner wall of the clamping groove further evens the pressure and provides cushioning to prevent the ampoule from breaking due to sharp edges. The body groove can further ensure the stability of the ampoule during movement after clamping and prevent the neck from breaking due to shaking. In this way, the ampoule can maintain stability during clamping and transfer, and can prevent other components from colliding with the fragile head and neck, preventing the ampoule from breaking. This ensures a clean internal environment of the equipment, accurate dosage, and high work efficiency. 2. This utility model, by setting both sides of the main clamp and auxiliary clamp near other ampoules as side slopes, ensures that when the main clamp and auxiliary clamp move intersecting with the bottle placement plate, the clamp module can always maintain a large contact area with the ampoules on both sides of the target ampoule while keeping the fixed area of ​​the top of the clamp module and the top of the sliding rack constant. This prevents the clamp module from colliding with other ampoules due to vibrations during equipment operation, thus preventing ampoule breakage. This also helps maintain a good integrity rate for other ampoules besides the target ampoule, improving the yield rate. 3. This utility model uses a power cylinder to drive the push rod upward, causing the pusher to rise and pull the connecting piece to rotate. The irregular gears, pulled by the connecting piece, rotate clockwise via a shaft that is rotatably connected to the inner wall of the limiting piece. The meshing action of the irregular gears on both sides causes the sliding racks on both sides to move closer to the center of the limiting piece, thereby allowing the clamping module to hold the ampoule. In this way, the driving distance required by the power cylinder is reduced, achieving miniaturization of the equipment in configuration. At the same time, the rubber plate prevents the clamping module from applying excessive pressure to the ampoule due to overly tight sliding racks, which could lead to breakage, thus improving the yield rate. Attached Figure Description

[0014] Figure 1 This is a three-dimensional structural diagram of the present invention; Figure 2 This is a schematic diagram of the clamp module of this utility model; Figure 3 This is a schematic diagram of the moving part of this utility model; Figure 4 This is a cross-sectional view of the sliding rack of this utility model; Figure 5 This is a cross-sectional view of the positioning plug-in of this utility model; Figure 6 This is a schematic diagram of the anti-slip groove of this utility model; Figure 7 This is a schematic diagram of the weight reduction groove of this utility model; Figure 8 This is a schematic diagram of the limiting groove of this utility model.

[0015] Figure label: 1. Equipment configuration; 101. Lifting module; 102. Motion module; 103. Bottle placement plate; 104. Ampoule; 2. Clamping module; 201. Moving part; 202. Restricting part; 203. Sliding rack; 204. Irregular gear; 205. Connecting part; 206. Pushing part; 207. Push rod; 208. Power cylinder; 3. Chuck module; 301. Main chuck; 302. Secondary chuck; 303. Restriction groove; 304. Bottle body groove; 305. Anti-slip groove; 4. Positioning plug-in; 401. Positioning slot; 5. Weight reduction tank; 6. Side slope; 8. Rubber sheet; 9. Arc end. Detailed Implementation

[0016] To make the technical means, creative features, and achieved objectives and effects of this utility model easier to understand, the present utility model is further described below with reference to specific embodiments and accompanying drawings. However, the following embodiments are merely preferred embodiments of this utility model and not all of them. Other embodiments obtained by those skilled in the art based on the embodiments described in the implementation plan without creative effort are all within the protection scope of this utility model.

[0017] The specific embodiments of this utility model are described below with reference to the accompanying drawings: Example

[0018] refer to Figures 1-8 A shatterproof clamp for ampoules used in intravenous fluid preparation robots includes a lifting module 101, a motion module 102, and a bottle placement plate 103. Ampoules 104 are mounted on the inner wall of the bottle placement plate 103. The lifting module 101, motion module 102, bottle placement plate 103, and ampoules 104 are all located on the inner wall of a configuration device 1. The configuration device 1 includes an intelligent identification and positioning system, a motion control unit, a liquid handling workstation, and an ultraviolet disinfection module. The motion module 102 includes a moving part 201, and a clamping module 2 is located at the moving part 201. The clamping module 2 includes... The clamp module 3 includes a main clamp 301 and a secondary clamp 302. Each of the main clamp 301 and the secondary clamp 302 has a limiting groove 303 on one side. The limiting groove 303 includes a bottle head groove corresponding to the bottle head, a bottle neck groove corresponding to the bottle neck, and a bottle body groove 304 corresponding to the bottle body diameter. The longest diameter of the bottle head groove is greater than the longest diameter of the bottle neck groove. The height of the bottle body groove 304 is not less than 1.5 cm. Multiple anti-slip grooves 305 are linearly arrayed on the inner wall of the bottle body groove 304. The inner wall of the limiting groove 303 is covered with a rubber layer. The anti-slip grooves 305 are annular, and their opening direction faces the bottle neck groove direction.

[0019] Specifically, the clamping module 3, through its limiting groove 303, applies pressure to the circumference of the ampoule 104 while simultaneously providing support and increasing friction by utilizing the fact that the longest diameter of the head groove is greater than the longest diameter of the neck groove and the anti-slip groove 305 is oriented towards the neck groove. This ensures that the ampoule 104 does not slip downwards during movement. At the same time, the head groove, neck groove, and body groove 304, which conform to the head, neck, and body of the ampoule 104, allow pressure to be applied evenly to the surface of the ampoule 104, thus limiting the clamping groove 303. The rubber layer covering the inner wall further evens out the pressure and provides cushioning to prevent sharp edges from causing the ampoule 104 to break. The bottle groove 304 further ensures the stability of the ampoule 104 during movement after clamping, preventing the neck from breaking due to shaking. In this way, the ampoule 104 can maintain stability during clamping and transfer, and prevent other components from colliding with the fragile bottle head and neck, preventing the ampoule 104 from breaking, ensuring a clean inner wall environment, accurate dosage, and high work efficiency.

[0020] The main chuck 301 has a limiting groove 303 on one side facing the auxiliary chuck 302. Positioning inserts 4 are fixed to both sides of the bottleneck groove. One side of the positioning insert 4 is an arc surface conforming to the bottleneck groove, and the other side is vertical. A positioning slot 401 is provided at the corresponding position of the auxiliary chuck 302 and the positioning insert 4. Multiple weight-reducing grooves 5 are provided at the top of the opposite side of both the main chuck 301 and the auxiliary chuck 302.

[0021] Specifically, the positioning plug 4 ensures the stability of the fit between the main chuck 301 and the auxiliary chuck 302, prevents deviations in height or angle between them, and prevents them from shifting when subjected to vibration, thereby further ensuring the stability of the ampoule 104 during transfer.

[0022] The main clamp 301 and the auxiliary clamp 302 are both configured with side slopes 6 on both sides near the other ampoules 104.

[0023] Specifically, by setting both sides of the main clamp 301 and the auxiliary clamp 302 near other ampoules 104 as side slopes 6, when the main clamp 301 and the auxiliary clamp 302 move in an intersecting motion with the bottle placement plate 103, the clamp module 3 can always maintain a large area with the ampoules 104 on both sides of the target ampoule 104 while keeping the fixed area of ​​the top of the clamp module 3 and the top of the sliding rack 203 unchanged. This prevents the clamp module 3 from colliding with other ampoules 104 due to vibration during equipment operation, thus preventing the ampoules 104 from breaking. This also helps to prevent other ampoules 104 outside the target from maintaining a good integrity rate and improve the yield.

[0024] The clamping module 2 includes a limiting member 202, the top of which is fixed to the top of the moving member 201. Multiple irregularly shaped gears 204 are rotatably connected to the inner wall of the limiting member 202. A connecting member 205 is rotatably connected to the toothless portion of each irregularly shaped gear 204. A pusher 206 is rotatably connected to one end of the connecting member 205. A push rod 207 is fixed to the top of the pusher 206. The side of the push rod 207 is slidably connected to the inner wall of the limiting member 202. The push rod 207 is driven by a power cylinder 208, which is fixed to the inner wall of the moving member 201. A sliding rack 203 meshes with the teeth of the irregularly shaped gears 204. The side of the sliding rack 203 is slidably connected to the inner wall of the limiting member 202. A clamping module 3 is fixed to the bottom of the sliding rack 203. A rubber plate 8, with a thickness of not less than three millimeters, is fixed to the inner wall of the limiting member 202 and is positioned between the multiple sliding racks 203.

[0025] Specifically, the push rod 207 is driven to rise by the power cylinder 208, which causes the pusher 206 to rise and pull the connecting piece 205 to rotate. The irregular gear 204 is pulled by the connecting piece 205 and rotates clockwise by the shaft that is rotatably connected to the inner wall of the limiting piece 202. The meshing action of the irregular gears 204 on both sides causes the sliding racks 203 on both sides to move closer to the center of the limiting piece 202, so that the clamping module 3 clamps the ampoule 104. In this way, the driving distance required by the power cylinder 208 is reduced, and the equipment is miniaturized in the configuration equipment 1. At the same time, the rubber plate 8 prevents the clamping module 3 from applying too much pressure to the ampoule 104 due to the sliding racks 203 being too tight, which could cause breakage and improve the yield.

[0026] The top of pusher 206 and the top of push rod 207 are set as arc ends 9, and the inner wall of limiter 202 in contact with arc ends 9 is set as a corresponding arc surface; Specifically, by reducing the sharp edges of the contact surfaces between the two by using the arc end 9, wear between them is reduced, thereby increasing their service life. At the same time, the contact area is increased, the pressure per unit area is reduced, and deformation caused by high pressure per unit area due to small contact area is prevented. Example

[0027] refer to Figures 1-8 Staff members used the structure disclosed in this utility model in the intravenous medication preparation center of a tertiary hospital: Technicians installed this shatterproof gripper on the ApoteCary automated dispensing system. When the robot needs to transfer a 5ml transparent ampoule (9mm head diameter, 5mm neck diameter), the power cylinder drives the push rod to rise 15mm. This pusher then drives the connecting piece to rotate the irregular gear 28 degrees. The two sliding racks on both sides move synchronously towards the center 12mm. During the closing process of the main and auxiliary grippers: the head groove (9.5mm diameter) precisely holds the enlarged head of the ampoule, the neck groove (5.2mm diameter) gently covers the fragile neck, and the 32 annular anti-slip grooves (0.2mm deep) on the inner wall of the 1.8cm high body groove, combined with a 1.5mm thick silicone rubber layer, evenly distribute the pressure (measured contact pressure 0.15MPa). At the same time, the main gripper positioning plug is inserted into the auxiliary gripper positioning slot to eliminate assembly deviations. During the transfer, the 15-degree side slope on the outside of the gripper maintains a 2mm safe distance in the dense array of medicine bottles. When reaching the breakage station, the anti-slip structure of the body groove ensures that the neck is subjected to vertical force. After tens of thousands of tests, the ampoule integrity rate is 100%, which is a significant reduction in the breakage rate compared to traditional clamps, and the daily production capacity has been increased to 1,500 ampoules.

[0028] The working principle of this utility model is as follows: When it is necessary to clamp the ampoule 104, the power cylinder 208 drives the push rod 207 to move upward, which drives the pusher 206 fixed on its top to move upward synchronously; the pusher 206 pulls the special gear 204 to rotate clockwise around its rotation axis on the inner wall of the restrictor 202 through the connecting piece 205 rotatably connected to it; the teeth of the special gear 204 mesh with the sliding racks 203 on both sides, forcing them to slide horizontally towards the center along the guide rail on the inner wall of the restrictor 202; the main clamp 301 and the auxiliary clamp 302 at the bottom of the sliding rack 203 close accordingly, so that the restricting clamping grooves 303 opened on the opposite sides of the two precisely cover the target ampoule 104, wherein the bottle head groove matches the largest diameter of the bottle head, the neck groove fits the smaller diameter of the neck curvature, and the bottle body groove 304 is not less than 1.5cm high and surrounds the bottle body; The design of the bottle head groove having a larger diameter than the bottle neck groove creates a mechanical limit. This, combined with the annular anti-slip groove 305 with a linear array of grooves on the inner wall of the bottle body groove 304 facing the bottle neck, and the overall rubber layer, increases friction while evenly distributing the clamping pressure to the bottle surface, preventing local stress concentration that could cause the glass to break. The positioning plug 4 is embedded in the positioning slot 401 to ensure no misalignment when the main and auxiliary clamps are closed. The rubber plate 8 on the inner wall of the limiting component 202 provides elastic cushioning when the sliding rack 203 moves too far inward, preventing clamping overload. When the side slope 6 structure on the outside of the clamp passes through the densely arranged bottle holders 103, it avoids collisions with adjacent ampoules 104 by using the inclined surface; ultimately achieving stable damage prevention control of ampoules throughout the entire process of clamping, lifting, transferring and breaking operations.

[0029] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0030] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely preferred examples and are not intended to limit the utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed utility model. The scope of protection of this utility model is defined by the appended claims and their equivalents.

Claims

1. A shatterproof clamp for ampoules used in intravenous dispensing robots, comprising a lifting module (101), a motion module (102), and a bottle placement plate (103), wherein ampoules (104) are disposed on the inner wall of the bottle placement plate (103), and the lifting module (101), motion module (102), bottle placement plate (103), and ampoules (104) are all disposed on the inner wall of a dispensing device (1), wherein the motion module (102) comprises a moving member (201), and a clamping module (2) is provided at the moving member (201), characterized in that: The clamping module (2) includes a clamping module (3), which includes a main clamp (301) and a secondary clamp (302). The main clamp (301) and the secondary clamp (302) are provided with a limiting clamping groove (303) on opposite sides. The limiting clamping groove (303) includes a bottle head groove that matches the bottle head, a bottle neck groove that matches the bottle neck, and a bottle body groove (304) that matches the bottle body diameter. The longest diameter of the bottle head groove is greater than the longest diameter of the bottle neck groove. The height of the bottle body groove (304) is not less than 1.5 cm. The inner wall of the bottle body groove (304) is provided with a plurality of anti-slip grooves (305) arranged in a linear array. The inner wall of the limiting clamping groove (303) is covered with a rubber layer.

2. The vial anti-fracture gripper for intravenous compounding robots of claim 1, wherein: The anti-slip groove (305) is annular, and the groove direction of the anti-slip groove (305) is towards the bottleneck groove direction.

3. The intravenous compounding robotic ampoule anti-fracture clamp of claim 1, wherein: The main chuck (301) has positioning plugs (4) fixed on both sides of the bottleneck groove (303) on the side facing the secondary chuck (302). One side of the positioning plug (4) is an arc surface that matches the bottleneck groove, and the other side of the positioning plug (4) is vertical. The secondary chuck (302) and the positioning plug (4) are provided with positioning slots (401).

4. The intravenous compounding robotic ampoule anti-fracture clamp of claim 1, wherein: The main chuck (301) and the auxiliary chuck (302) each have multiple weight-reducing grooves (5) on their opposite top sides.

5. The intravenous compounding robotic ampoule anti-fracture clamp of claim 1, wherein: The main clamp (301) and the auxiliary clamp (302) are both provided with side slopes (6) on both sides near the other ampoules (104).

6. The intravenous compounding robotic ampoule anti-fracture clamp of claim 1, wherein: The clamping module (2) includes a limiting member (202), the top of which is fixed to the top of the moving member (201). Multiple irregular gears (204) are rotatably connected to the inner wall of the limiting member (202). A connecting member (205) is rotatably connected to the toothless part of the irregular gear (204). A pusher (206) is rotatably connected to one end of the connecting member (205). A push rod (207) is fixed to the top of the pusher (206). The side of the push rod (207) is slidably connected to the inner wall of the limiting member (202). The push rod (207) is driven by a power cylinder (208), which is fixed to the inner wall of the moving member (201). The gear (204) is engaged with a sliding rack (203), the side of the sliding rack (203) is slidably connected to the inner wall of the limiting member (202), and a chuck module (3) is fixed at the bottom of the sliding rack (203).

7. The intravenous compounding robot ampoule anti-fracture clamp of claim 6, wherein: A rubber plate (8) is fixed to the inner wall of the limiting member (202). The rubber plate (8) is not less than three millimeters thick and is disposed between multiple sliding racks (203).

8. The intravenous compounding robotic ampoule anti-fracture clamp of claim 6, wherein: The top of the pusher (206) and the top of the push rod (207) are set as arc ends (9), and the inner wall of the limiting member (202) is set as a corresponding arc surface at the contact point with the arc end (9).

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