Dexterous hand quick disconnect sterile connector

Abstract

The application relates to the field of robot sealing, and discloses a dexterous hand quick-release sterile connector, a spherical fixing block is fixedly connected in front of the proximal phalanx connector, a spherical sliding groove is formed in the inner side of the spherical fixing block, a spherical connecting cylinder is slidably connected to the inner side of the spherical sliding groove, a distal phalanx connecting cylinder is fixedly connected to the front end of the spherical connecting cylinder, a distal phalanx connecting cylinder neodymium magnet is fixedly connected to the front of the distal phalanx connecting cylinder, a sealing rubber ring is fixedly connected to the back side of the spherical connecting cylinder, and the sealing rubber ring is slidably connected to the inner side of the spherical sliding groove. The device can be conveniently mounted and dismounted. The internal distal phalanx right side connecting transmission wire harness is connected to the power device mounted in the proximal phalanx through the wire hole formed in the inner side of the spherical fixing block, the internal relative sealing can be maintained, the wear of the internal gears and the wire harness is reduced, the leakage of particulate matters is reduced, and the external sterile environment is prevented from being polluted.

Description

Technical Field

[0001] This application belongs to the field of robotic sealing technology, specifically a dexterous hand quick-release sterile connector. Background Technology

[0002] In pharmaceutical clean environments, dexterous hand aseptic sealing technology is crucial. It integrates aseptic techniques, sealing technology, cleanroom design, and robotics to ensure that drug production processes are free from microbial contamination and to guarantee the safe handling of highly active substances. As a key component, the dexterous hand must possess high flexibility and precise control. However, leakage of particulate matter from the joints poses a potential risk, potentially contaminating the cleanroom environment and affecting drug quality. To address this challenge, sealing technology must employ highly efficient sealing materials and designs. Simultaneously, modular, quick-assembly systems help reduce the risk of exposure to contamination within the cleanroom.

[0003] However, the common dexterous hand sterile sealing quick-release interface is bolt-fastened, which is complicated to install and disassemble, resulting in low equipment efficiency. In addition, the bolt-fastened structure cannot form an effective dynamic seal during joint movement, which can easily lead to particulate leakage. Utility Model Content

[0004] The purpose of this application is to provide a dexterous, quick-release sterile connector in order to solve the problems mentioned above.

[0005] The technical solution adopted in this application is as follows: A dexterous hand quick-release sterile connector includes a proximal finger connector, a spherical fixing block is fixedly connected to the front of the proximal finger connector, a spherical sliding groove is formed on the inner side of the spherical fixing block, a spherical connecting cylinder is slidably connected to the inner side of the spherical sliding groove, a distal finger connecting cylinder is fixedly connected to the front end of the spherical connecting cylinder, a neodymium magnet of the distal finger connecting cylinder is fixedly connected to the front end of the distal finger connecting cylinder, a sealing rubber ring is fixedly connected to the back side of the spherical connecting cylinder, and the sealing rubber ring is slidably connected to the inner side of the spherical sliding groove.

[0006] By adopting the above technical solution, during the operation of the equipment, the neodymium magnet of the proximal joint connecting sleeve, which is fixedly connected to the front of the proximal joint finger, is inserted into the groove of the proximal joint connecting sleeve opened on the right side of the proximal joint finger connector. The equipment is held in place by the magnetic attraction between the neodymium magnet inside the groove and the neodymium magnet in the proximal joint connecting sleeve. Then, the distal joint connecting sleeve, which is fixedly connected to the left side of the spherical connecting sleeve, is inserted into the groove of the distal joint connecting sleeve opened on the right side of the distal joint finger. It is held in place by the magnetic attraction between the neodymium magnet inside the groove and the neodymium magnet in the distal joint connecting sleeve. This facilitates the installation and disassembly of the equipment. The internal distal joint right-side connecting drive harness is connected to the power unit installed inside the proximal joint finger through the wire passage hole opened on the inner side of the spherical fixing block. The operation of this device maintains a relatively sealed interior, reducing particulate leakage caused by wear of internal gears and harnesses, thus preventing contamination of the external sterile environment.

[0007] In a preferred embodiment, the proximal joint connector has a proximal joint connecting sleeve groove on its back side. A neodymium magnet built into the proximal joint connecting sleeve groove is fixedly connected to the left side of the groove. A neodymium magnet of the proximal joint connecting sleeve is magnetically connected to the right side of the neodymium magnet. A proximal joint connecting sleeve is fixedly connected to the right side of the neodymium magnet. A proximal joint finger is fixedly connected to the back side of the proximal joint connecting sleeve.

[0008] By adopting the above technical solution, the installation and disassembly of the proximal finger connector and the proximal finger are facilitated.

[0009] In a preferred embodiment, the inner side of the spherical fixing block is provided with a through-hole for wires.

[0010] By adopting the above technical solution, it is convenient for the wire harness to pass through the internal transmission.

[0011] In a preferred embodiment, a distal joint finger connecting cylinder is fixedly connected to the front of the spherical connecting cylinder, a distal joint finger connecting cylinder neodymium magnet is fixedly connected to the front of the distal joint finger connecting cylinder, and a distal joint finger connecting cylinder groove-embedded neodymium magnet is magnetically connected to the front of the distal joint finger connecting cylinder neodymium magnet.

[0012] By adopting the above technical solution, the installation and disassembly of the distal joint finger and the spherical connecting cylinder are facilitated.

[0013] In a preferred embodiment, a distal phalanx connecting cylinder groove is slidably connected to the outer side of the distal phalanx connecting cylinder. The distal phalanx connecting cylinder groove is a groove opened on the right side of the distal phalanx. A neodymium magnet built into the distal phalanx connecting cylinder groove is fixedly connected to the left side of the distal phalanx connecting cylinder groove.

[0014] By adopting the above technical solution, the connection between the distal joint finger and the spherical connecting cylinder is kept tight and firm through the magnetic adsorption of the neodymium magnet built into the groove of the distal joint finger connecting cylinder and the neodymium magnet of the distal joint finger connecting cylinder.

[0015] In a preferred embodiment, the inner side of a spherical sliding groove is slidably connected to the inner and outer sides of the spherical connecting cylinder.

[0016] By adopting the above technical solution, the spherical connecting cylinder can be kept sliding within the spherical sliding groove, thereby improving the mobility and flexibility of the joint.

[0017] In a preferred embodiment, the outer side of the proximal phalanx connecting tube is slidably connected to the inner side of the proximal phalanx connecting tube groove.

[0018] By adopting the above technical solution, the connection between the proximal finger and the proximal finger connector can be made secure.

[0019] In summary, due to the adoption of the above technical solution, the beneficial effects of this application are:

[0020] 1. During the operation of the equipment, the neodymium magnet of the proximal joint connecting cylinder, which is fixedly connected to the front of the proximal joint finger, is inserted into the groove of the proximal joint connecting cylinder on the right side of the proximal joint finger connector. The equipment is fixed by the magnetic attraction between the neodymium magnet inside the groove of the proximal joint connecting cylinder and the neodymium magnet of the proximal joint connecting cylinder. Then, the distal joint connecting cylinder, which is fixedly connected to the left side of the spherical connecting cylinder, is inserted into the groove of the distal joint connecting cylinder on the right side of the distal joint finger. It is fixed by the magnetic attraction between the neodymium magnet inside the groove of the distal joint connecting cylinder and the neodymium magnet of the distal joint connecting cylinder. This facilitates the installation and disassembly of the equipment.

[0021] 2. The transmission harness connected to the right side of the internal distal phalanx is passed through the wire hole opened on the inside of the spherical fixing block, and then connected to the power unit installed in the proximal phalanx. The operation of this device can maintain the internal relative seal, reduce the leakage of particulate matter caused by wear of gears and harnesses inside the equipment, and prevent the external sterile environment from being contaminated. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the overall structure of the device in this application;

[0023] Figure 2 This is a schematic diagram of the proximal segmental structure of the device in this application;

[0024] Figure 3 This is a schematic diagram of the proximal finger connector structure of the device in this application;

[0025] Figure 4 This is a schematic diagram of the spherical connecting cylinder structure of the device in this application;

[0026] Figure 5This is a schematic diagram of the distal segment structure of the device in this application;

[0027] Figure 6 This is a schematic diagram of the connection structure between the proximal joint finger connector and the ball joint cylinder in the device of this application;

[0028] Figure 7 This is a schematic cross-sectional view of the device in this application.

[0029] The markings in the diagram are: 1. Proximal joint connector; 2. Spherical fixing block; 3. Spherical sliding groove; 4. Cable guide hole; 5. Spherical connecting cylinder; 6. Sealing rubber ring; 7. Distal joint connector cylinder; 8. Distal joint connector cylinder neodymium magnet; 9. Distal joint; 10. Distal joint connector cylinder groove; 11. Distal joint connector cylinder groove with built-in neodymium magnet; 12. Proximal joint connector cylinder groove; 13. Proximal joint connector cylinder groove with built-in neodymium magnet; 14. Proximal joint connector cylinder; 15. Proximal joint connector cylinder neodymium magnet; 16. Proximal joint. Detailed Implementation

[0030] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the embodiments of this application. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0031] Example:

[0032] Reference Figure 1-7 A dexterous quick-release sterile connector includes a proximal finger connector 1, a spherical fixing block 2 fixedly connected to the front of the proximal finger connector 1, a spherical sliding groove 3 formed on the inner side of the spherical fixing block 2, a spherical connecting cylinder 5 slidably connected to the inner side of the spherical sliding groove 3, a distal finger connecting cylinder 7 fixedly connected to the front end of the spherical connecting cylinder 5, a distal finger connecting cylinder neodymium magnet 8 fixedly connected to the front of the distal finger connecting cylinder 7, and a sealing rubber ring 6 fixedly connected to the back side of the spherical connecting cylinder 5. The sealing rubber ring 6 is slidably connected to the inner side of the spherical sliding groove 3.

[0033] Reference Figure 1-7During operation, the neodymium magnet 15 of the proximal joint connector 16, which is fixedly connected to the front of the proximal joint finger 16, is inserted into the proximal joint connector 12 groove on the right side of the proximal joint connector 1. The device is fixed by the magnetic attraction of the neodymium magnet 13 built into the proximal joint connector 16 groove and the neodymium magnet 15 of the proximal joint connector 16 groove. Then, the distal joint connector 7, which is fixedly connected to the left side of the spherical connector 5, is inserted into the distal joint connector 9 groove on the right side of the distal joint finger 9 groove. It is fixed by the magnetic attraction of the neodymium magnet 11 built into the distal joint connector 9 groove and the neodymium magnet 8 of the distal joint connector 9 groove, which facilitates the installation and disassembly of the device. The internal transmission harness connected to the right side of the distal joint finger 9 is passed through the wire hole 4 opened on the inner side of the spherical fixing block 2 and then connected to the power unit installed in the proximal joint finger 16. The operation of this device can maintain a relative seal inside, reducing the leakage of particulate matter caused by wear of internal gears and harnesses, which could lead to contamination of the external sterile environment.

[0034] Reference Figure 1-7 The proximal joint connector 1 has a proximal joint connector sleeve groove 12 on its back side. A neodymium magnet 13 is fixedly connected to the left side of the proximal joint connector sleeve groove 12. A neodymium magnet 15 is magnetically connected to the right side of the neodymium magnet 13. A proximal joint connector sleeve 14 is fixedly connected to the right side of the neodymium magnet 15. A proximal joint finger 16 is fixedly connected to the back side of the proximal joint connector sleeve 14. This facilitates the installation and removal of the proximal joint connector 1 and the proximal joint finger 16.

[0035] Reference Figure 1-3 The inner side of the spherical fixing block 2 has a through-hole 4 for easy passage of the internal transmission wire harness.

[0036] Reference Figure 1-6 A distal joint finger connecting cylinder 7 is fixedly connected to the front of the spherical connecting cylinder 5. A distal joint finger connecting cylinder neodymium magnet 8 is fixedly connected to the front of the distal joint finger connecting cylinder 7. A distal joint finger connecting cylinder neodymium magnet 11 with a recessed neodymium magnet 11 is magnetically connected to the front of the distal joint finger connecting cylinder neodymium magnet 8. This facilitates the installation and removal of the distal joint finger 9 and the spherical connecting cylinder 5.

[0037] Reference Figure 1-5 The distal joint connecting cylinder 7 has a slidably connected distal joint connecting cylinder groove 10, which is a groove opened on the right side of the distal joint 9. A neodymium magnet 11 built into the distal joint connecting cylinder groove 10 is fixedly connected to the left side of the distal joint connecting cylinder groove 10. The magnetic attraction between the neodymium magnet 11 built into the distal joint connecting cylinder groove and the neodymium magnet 8 of the distal joint connecting cylinder keeps the connection between the distal joint 9 and the spherical connecting cylinder 5 tight and firm.

[0038] Reference Figure 1-3The inner and outer sides of the spherical connecting cylinder 5 are slidably connected to the inner side of the spherical sliding groove 3. This allows the spherical connecting cylinder 5 to slide within the spherical sliding groove 3, thereby enabling the joint to move and move freely.

[0039] Reference Figure 1-7 The inner side of the proximal joint connector 12 is slidably connected to the outer side of the proximal joint connector 14. This facilitates a secure connection between the proximal joint 16 and the proximal joint connector 1.

[0040] The implementation principle of the quick-release sterile connector embodiment of this application is as follows:

[0041] 1. During the operation of the equipment, the neodymium magnet 15 of the proximal joint connecting tube, which is fixedly connected to the front of the proximal joint finger 16, is inserted into the proximal joint connecting tube groove 12 opened on the right side of the proximal joint finger connector 1. The equipment is kept fixed by the magnetic attraction of the neodymium magnet 13 built into the proximal joint connecting tube groove and the neodymium magnet 15 of the proximal joint connecting tube. Then, the distal joint connecting tube 7, which is fixedly connected to the left side of the spherical connecting tube 5, is inserted into the distal joint connecting tube groove 10 opened on the right side of the distal joint finger 9. It is kept fixed by the magnetic attraction of the neodymium magnet 11 built into the distal joint connecting tube groove and the neodymium magnet 8 of the distal joint connecting tube. This facilitates the installation and disassembly of the equipment.

[0042] 2. The transmission harness connected to the right side of the internal distal phalanx 9 is passed through the wire hole 4 opened on the inner side of the spherical fixing block 2, and then connected to the power unit installed in the proximal phalanx 16. The operation of this device can maintain the internal relative seal, reduce the leakage of particulate matter caused by wear of gears and harnesses inside the equipment, and prevent the external sterile environment from being contaminated.

[0043] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A dexterous quick-release sterile connector, comprising a proximal phalanx connector (1), characterized in that: A spherical fixing block (2) is fixedly connected to the front of the proximal finger connector (1). A spherical sliding groove (3) is provided on the inner side of the spherical fixing block (2). A spherical connecting cylinder (5) is slidably connected to the inner side of the spherical sliding groove (3). A distal finger connecting cylinder (7) is fixedly connected to the front end of the spherical connecting cylinder (5). A distal finger connecting cylinder neodymium magnet (8) is fixedly connected to the front of the distal finger connecting cylinder (7). A sealing rubber ring (6) is fixedly connected to the back side of the spherical connecting cylinder (5). The sealing rubber ring (6) is slidably connected to the inner side of the spherical sliding groove (3).

2. The dexterous quick-release sterile connector as described in claim 1, characterized in that: The proximal joint connector (1) has a proximal joint connector sleeve groove (12) on its back side. A neodymium magnet (13) is fixedly connected to the left side of the proximal joint connector sleeve groove (12). A neodymium magnet (15) is magnetically connected to the right side of the neodymium magnet (13). A proximal joint connector sleeve (14) is fixedly connected to the right side of the neodymium magnet (15). A proximal joint finger (16) is fixedly connected to the back side of the proximal joint connector sleeve (14).

3. The dexterous quick-release sterile connector as described in claim 1, characterized in that: The inner side of the spherical fixing block (2) is provided with a through wire hole (4).

4. The dexterous quick-release sterile connector as described in claim 1, characterized in that: The spherical connecting tube (5) is fixedly connected to the front of the distal joint connecting tube (7), and the distal joint connecting tube (7) is fixedly connected to the front of the distal joint connecting tube neodymium magnet (8). The distal joint connecting tube neodymium magnet (8) is magnetically connected to the front of the distal joint connecting tube groove neodymium magnet (11).

5. A dexterous quick-release sterile connector as described in claim 1, characterized in that: The distal phalanx connecting tube (7) is slidably connected to a distal phalanx connecting tube groove (10), which is a groove opened on the right side of the distal phalanx (9). A neodymium magnet (11) built into the distal phalanx connecting tube groove (10) is fixedly connected to the left side of the distal phalanx connecting tube groove (10).

6. The dexterous quick-release sterile connector as described in claim 1, characterized in that: The inner side of the spherical sliding groove (3) is slidably connected to the inner and outer sides of the spherical connecting cylinder (5).

7. A dexterous quick-release sterile connector as described in claim 1, characterized in that: The outer side of the proximal finger connecting tube (14) is slidably connected to the inner side of the proximal finger connecting tube groove (12).

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