A robot

Abstract

The utility model discloses a mechanical hand, include: fixed seat, clamping jaw drive part is located fixed seat, and clamping jaw drive part has the sliding part, two clamping jaws, clamping jaw drive part respectively with two clamping jaws transmission connection, and two clamping jaws are connected with the sliding part in the mode of movable along the first direction, and clamping jaw drive part is used for driving two clamping jaws relative movement along the first direction to the liquid pipe of clamping liquid bag, prong part is connected with clamping jaw drive part, and prong part extends along the second direction, and prong part includes the limiting slot, and the limiting slot is used for the liquid pipe of jointing, and the first direction with the second direction intersection, magnetic component is connected with clamping jaw drive part, and magnetic component is used for attracting liquid bag hanger's actuating part, and liquid bag can move relative to liquid bag hanger. The utility model can realize the mechanical hand automatic clamping and taking liquid bag, need not operator manual operation, avoid the phenomenon of the occurrence of the phenomenon of the harm of personnel health of drug solution pollution.

Description

Technical Field

[0001] This utility model relates to the field of automatic liquid preparation equipment technology, and in particular to a robotic arm. Background Technology

[0002] The hospital's drug preparation process involves drawing the liquid (such as sodium chloride solution) from the infusion bag into a syringe, injecting the liquid from the syringe into a vial, shaking it to fully mix the liquid and powder in the vial, and then drawing the mixed liquid back into the infusion bag through the syringe.

[0003] Currently, the transportation of infusion bags in hospitals is mainly done manually by medical staff. Since the demand for intravenous drugs in various departments of the hospital is relatively large, manual operation not only consumes a lot of human and material resources of the hospital, but also increases the risk of harming the health of nursing staff and drug contamination. Utility Model Content

[0004] The purpose of this invention is to solve the problem that the transportation of infusion bags in existing drug dispensing methods relies on manual operation, which is labor-intensive and resource-intensive, and poses risks to human health and drug contamination. This invention provides a robotic arm that can automatically grasp infusion bags, eliminating the need for manual operation and preventing drug contamination and harm to human health.

[0005] To solve the above-mentioned technical problems, the present invention discloses a robotic arm, comprising: a fixed base; a gripper drive unit disposed on the fixed base, the gripper drive unit having a sliding portion; two grippers, the gripper drive unit being respectively pulsatorically connected to the two grippers, the two grippers being movably connected to the sliding portion in a first direction, the gripper drive unit being used to drive the two grippers to move relative to each other in the first direction to grip the liquid tube of the liquid bag; a fork portion connected to the gripper drive unit, the fork portion extending in a second direction, the fork portion including a limiting groove for engaging the liquid tube, the first direction intersecting the second direction; and a magnetic component connected to the gripper drive unit, the magnetic component being used to attract the actuating portion of the liquid bag holder, so that the liquid bag can move relative to the liquid bag holder.

[0006] Using the above technical solution, the robotic arm of this application embodiment can be movably connected to the sliding part of the gripper drive unit through two grippers. That is, the two grippers can move towards or away from each other in a first direction relative to the sliding part, so that the two grippers can switch between a clamping state and an open state to grip the liquid tube of the liquid bag, and engage with the liquid tube through the limiting groove of the fork to enhance the stability of the robotic arm in gripping the liquid bag, so that the fork and the two grippers respectively grip the liquid tube of the liquid bag, which makes it easier for the robotic arm to grip and drive the liquid bag to move.

[0007] In addition, the robotic arm in this embodiment can also attract and actuate the actuator of the liquid bag holder through a magnetic component, so that one of the liquid bags can move relative to the liquid bag holder, thereby realizing that the robotic arm can automatically remove the liquid bag from the liquid bag holder without the need for manual operation by the operator, avoiding the occurrence of drug contamination and harm to personnel health, saving labor costs and improving the efficiency of automated operation.

[0008] According to another specific embodiment of the present invention, a robotic arm is disclosed. The sliding part includes two sliding grooves along a third direction. The two sliding grooves are spaced apart and parallel to each other. Each sliding groove extends along a first direction. The third direction intersects the first direction and the third direction intersects the second direction. The gripper driving part includes two sliders. The two sliders correspond one-to-one with the two sliding grooves. The sliders are adapted to the sliding grooves. The two grippers are correspondingly connected to the two sliders. The gripper driving part is used to drive the two sliders to slide relative to the sliding grooves along the first direction, so as to drive the two grippers to move relative to each other along the first direction.

[0009] By adopting the above technical solution, the robotic arm in this embodiment of the application achieves precise sliding control of the gripper drive unit through the cooperation of the slider and the groove, thereby improving the stability of the gripper movement and the repeatability of the positioning accuracy.

[0010] According to another specific embodiment of the present invention, an embodiment of the present invention discloses a robotic hand, wherein the grippers are C-shaped, each gripper includes a first extension, a second extension and a third extension, the first extension and the second extension are set at an angle, the third extension and the second extension are set at an angle, one end of the first extension is connected to one end of the second extension, the slider is fixed to the first extension, and one end of the third extension is connected to the other end of the second extension.

[0011] By adopting the above technical solution, the robotic arm in this embodiment of the application, on the one hand, uses two C-shaped grippers to facilitate the placement of the fork between the two grippers, which not only enhances the synergistic effect of the fork and the two grippers in gripping the liquid bag, but also reduces the overall size of the robotic arm, making it easier to miniaturize; on the other hand, the angled arrangement of the first extension, the second extension and the third extension enhances the gripping stability and adaptability of the grippers, enabling it to adapt to the gripping requirements of liquid tubes of different sizes and improve the gripping effect on the liquid bag.

[0012] According to another specific embodiment of the present invention, an embodiment of the present invention discloses a robotic hand in which the third extensions of the two grippers are both located on the same plane along the third direction, and the plane is parallel to the horizontal plane.

[0013] According to another specific embodiment of the present invention, an embodiment of the present invention discloses a robotic hand, wherein each of the grippers is provided with a gripping portion, the gripping portion is provided on the third extension portion, the inner inclined surface of the gripping portion extends along a fourth direction and is disposed toward the fork portion, the fourth direction intersects with the first direction; along the first direction, the inner inclined surfaces of the gripping portions of the two grippers are disposed opposite to each other and together with the fork portion define a gripping space, the gripping space being used to grip the liquid tube of the liquid bag.

[0014] By adopting the above technical solution, the robotic arm in this embodiment of the application achieves precise clamping of the liquid tube and improves the reliability of clamping by coordinating the inner inclined surface of the clamping part and the fork part to jointly limit the clamping space.

[0015] According to another specific embodiment of the present invention, an embodiment of the present invention discloses a robotic arm, wherein the inner inclined surface of the clamping part has a protrusion, the protrusion extends along the fourth direction, the inner inclined surface of the clamping part is used to abut against the side wall of the annular flange of the liquid tube, and the top wall of the protrusion is used to abut against the side wall of the liquid tube.

[0016] By adopting the above technical solution, the robotic arm in this embodiment of the application further improves the reliability of clamping by having the protrusion on the inner inclined surface of the clamping part cooperate with the liquid tube and the annular flange.

[0017] According to another specific embodiment of the present invention, an embodiment of the present invention discloses a robotic arm, wherein the number of forks includes two, the two forks are spaced apart along the first direction and located between the two grippers; each fork includes a first protrusion and a second protrusion, the first protrusion and the second protrusion are spaced apart along the third direction to form the limiting groove, the limiting groove is recessed inward along the second direction toward the direction close to the fixed seat and penetrates the fork along the first direction, the end face of the first protrusion is disposed opposite to the inner inclined surface of the corresponding clamping part, and the end faces of the first protrusion and the second protrusion, together with the inner inclined surface of the corresponding clamping part, define the clamping space.

[0018] By adopting the above technical solution, the robotic arm in this embodiment of the application achieves the limiting and clamping of the liquid tube through the synergistic effect of the limiting groove of the fork and the clamping space, thereby improving the compactness and functionality of the overall structure of the robotic arm.

[0019] According to another specific embodiment of the present invention, an embodiment of the present invention discloses a robotic arm, wherein along the third direction, the first protrusion is located above the second protrusion; along the second direction, the length of the second protrusion is greater than the length of the first protrusion, the upper surface of the second protrusion is used to abut against the lower surface of the annular flange of the liquid tube, and the shapes of the end faces of the first protrusion and the end faces of the second protrusion are adapted to the sidewall of the liquid tube to abut against the sidewall of the liquid tube.

[0020] By adopting the above technical solution, the robot arm in this application embodiment designs the length of the second protrusion to be greater than the length of the first protrusion, so that the second protrusion can abut against the annular flange of the liquid tube, thereby optimizing the clamping and limiting effect of the liquid tube and further improving the clamping stability.

[0021] According to another specific embodiment of the present invention, an embodiment of the present invention discloses a robotic arm, the robotic arm further comprising a detection component, the detection component being connected to the gripper drive unit, the detection component being configured to be disposed opposite to the body of the liquid bag along the second direction.

[0022] According to another specific embodiment of the present invention, the present invention discloses a robotic arm, which further includes a first connector and a second connector. Along the third direction, the first connector and the second connector are fixed on opposite sides of the gripper drive portion. The fork portion and the detection component are connected to the first connector, and the magnetic component is connected to the second connector.

[0023] By adopting the above technical solution, the robotic arm in this embodiment optimizes the modularity and integration of the robotic arm through the structural design of the first connector and the second connector, which facilitates the disassembly and assembly of the fork, detection components and magnetic components, and improves the stability and maintainability of the overall structure.

[0024] According to another specific embodiment of the present invention, an embodiment of the present invention discloses a robotic arm, wherein the detection component includes a first bracket and a sensor, the first bracket is fixed to the first connector and forms a through hole with the first connector, the sensor is accommodated in the through hole, and along the second direction, the sensor is arranged in a direction away from the fixed base.

[0025] According to another specific embodiment of the present invention, a robotic arm is disclosed, wherein the magnetic component includes a second bracket and an electromagnet, the second bracket is fixed to the second connector, the second bracket has a receiving cavity, the electromagnet is received in the receiving cavity, and along the second direction, the electromagnet is arranged in a direction away from the fixed base.

[0026] To make the above-mentioned contents of this utility model more obvious and understandable, preferred embodiments are described in detail below with reference to the accompanying drawings. Attached Figure Description

[0027] Figure 1A A perspective view of the robotic arm, robotic hand, and liquid bag hanger in some embodiments of the present invention is shown;

[0028] Figure 1B A perspective view of the robotic arm, robotic hand, and moving tooling in some embodiments of the present invention is shown;

[0029] Figure 2 A perspective view of the robotic arm according to an embodiment of the present invention is shown;

[0030] Figure 3 A side view of the robotic arm according to an embodiment of the present invention is shown, in which a gripper is omitted;

[0031] Figure 4 A perspective view of the robotic arm according to an embodiment of the present invention is shown, wherein a gripper, a magnetic component, and a detection component are omitted.

[0032] Figure 5 A perspective view of the two grippers and two sliders of the robotic arm according to an embodiment of the present invention is shown.

[0033] Figure 6 Show Figure 3 A magnified view of a portion of area A in the middle. Detailed Implementation

[0034] The following specific embodiments illustrate the implementation of this utility model. Those skilled in the art can easily understand other advantages and effects of this utility model from the content disclosed in this specification. Although the description of this utility model will be presented in conjunction with preferred embodiments, this does not mean that the features of this utility model are limited to this embodiment. On the contrary, the purpose of describing the utility model in conjunction with the embodiments is to cover other options or modifications that may be derived based on the claims of this utility model. To provide a deep understanding of this utility model, many specific details will be included in the following description. This utility model may also be implemented without using these details. Furthermore, to avoid confusion or obscuring the focus of this utility model, some specific details will be omitted in the description. It should be noted that, without conflict, the embodiments and features in the embodiments of this utility model can be combined with each other.

[0035] It should be noted that in this specification, similar reference numerals and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0036] In the description of this embodiment, it should be noted that the terms "upper", "lower", "inner", "bottom", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship that the utility model product is usually placed in during use. They are only for the convenience of describing the utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the utility model.

[0037] The terms “first”, “second”, etc., are used only to distinguish descriptions and should not be interpreted as indicating or implying relative importance.

[0038] In the description of this embodiment, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set up," "connected," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this embodiment based on the specific circumstances.

[0039] To make the objectives, technical solutions, and advantages of this utility model clearer, the embodiments of this utility model will be described in further detail below with reference to the accompanying drawings.

[0040] Figure 1A A perspective view of a robotic arm, robotic hand, and liquid bag holder is shown according to some embodiments of this application. Figure 1B A perspective view of a robotic arm, robotic hand, and actuator tooling is shown according to some embodiments of this application.

[0041] like Figure 1A As shown, a plurality of liquid bags 200 are provided on the liquid bag holder 300. Each liquid bag 200 includes a bag body 210 and a liquid tube 220. Along the third direction Z, the liquid tube 220 is located at the top of the bag body 210. The liquid bag holder 300 also includes an actuator 310, which can move along the length direction (i.e., the second direction Y) of the liquid bag holder 300 under the action of an external force, so that the liquid bags 200 on the liquid bag holder 300 can move relative to the liquid bag holder 300. Figure 1B As shown, the moving tool 500 is used to place the liquid bag 200 removed from the liquid bag hanger 300. The moving tool 500 is provided with a slot 510, which can be engaged with the liquid tube 220 of the liquid bag 200.

[0042] Figure 2 A perspective view of a robotic arm is shown according to some embodiments of this application.

[0043] refer to Figure 2The present application provides a robotic arm 100, comprising: a fixed base 110, a gripper drive unit 120, two grippers 130, a fork 140, a magnetic component 150, and a detection component 160. The gripper drive unit 120 is fixed to the fixed base 110 and is connected to the two grippers 130 via transmission.

[0044] For example, the first direction X (i.e., the length direction of the gripper drive unit 120) is perpendicular to the second direction Y (i.e., the width direction of the gripper drive unit 120), the first direction X is perpendicular to the third direction Z (i.e., the height direction of the gripper drive unit 120), and the third direction Z is perpendicular to the second direction Y. It should be noted that the mutual perpendicularity in this application is not absolute. Approximate perpendicularity due to processing and assembly errors (e.g., an angle of 89.9° between two structural features) is also within the scope of mutual perpendicularity in this application. The definition of mutual perpendicularity will not be repeated below.

[0045] Specifically, such as Figure 2 and Figure 2 As shown, the fork 140, magnetic component 150, and detection component 160 are all connected to the gripper drive unit 120. The gripper drive unit 120 has a sliding portion 121 located on the side of the gripper drive unit 120 away from the fixed base 110 along the second direction Y. Two grippers 130 are connected to the sliding portion 121 in a movable manner along the first direction X. The gripper drive unit 120 can drive the two grippers 130 to move relative to the sliding portion 121 towards each other along the first direction X, so that the robot arm 100 is in a clamped state; or, the gripper drive unit 120 can drive the two grippers 130 to move relative to the sliding portion 121 away from each other along the first direction X, so that the robot arm 100 is in an open state.

[0046] Continue to refer to Figure 1B and combined Figure 2 The fork portion 140 extends along the second direction Y and has a limiting groove 142 (as described below). The limiting groove 142 can engage with the liquid tube 220 of the liquid bag 200, so that when the robot arm 100 of this embodiment grips the liquid bag 200, it can engage with the liquid tube 220 of the liquid bag 200 through the limiting groove 142 of the fork portion 140 and drive the two grippers 130 to move towards each other through the gripper drive portion 120, so that the robot arm 100 is in a clamping state, that is, the two grippers 130 and the fork portion 140 jointly grip the liquid tube 220 of the liquid bag 200, realizing the cooperative cooperation between the fork portion 140 and the two grippers 130, making the robot arm 100 grip the liquid bag 200 more stably.

[0047] Therefore, as Figure 1AAs shown, in this embodiment, the fixed base 110 is connected to the robotic arm 400 so that the robotic arm 400 can drive the robotic hand 100 of this embodiment to move between the liquid bag hanger 300 and the moving tooling 500 (see...). Figure 1B The movement between the two parts is such that the robot arm 100 removes the liquid bag 200 from the liquid bag hanger 300 and pushes the liquid tube 220 of the liquid bag 200 into the slot 510 of the moving part tool 500 through the fork 140, so that the liquid tube 220 is engaged with the slot 510, thereby placing the liquid bag 200 in the moving part tool 500.

[0048] Continue to refer to Figure 2 and combined Figure 1A Along the third direction Z, the magnetic component 150 is located above the two grippers 130. When the robotic arm 100 removes the liquid bag 200 from the liquid bag holder 300, the magnetic component 150 is attracted to the actuation part 310 of the liquid bag holder 300, and the robotic arm 400 drives the robotic arm 100 to actuate the actuation part 310, so that the liquid bag 200 can move relative to the liquid bag holder 300. Then, through the cooperation of the fork 140 and the two grippers 130, the liquid bag 200 close to the robotic arm 100 is removed from the liquid bag holder 300.

[0049] In summary, the robotic arm 100 of this embodiment can be movably connected to the sliding portion 121 of the gripper drive unit 120 via two grippers 130. That is, the two grippers 130 can move relative to the sliding portion 121 in the first direction X, either towards or away from each other, allowing them to switch between a clamped state and an open state to grip the liquid tube 220 of the liquid bag 200. The fork portion 140 engages with the liquid tube 220 via a limiting groove 142, enhancing the stability of the robotic arm 100 in gripping the liquid bag 200. The fork portion 140, together with the two grippers 130, grips the liquid tube 220 of the liquid bag 200, facilitating the robotic arm 100 in gripping and moving the liquid tube 220. Simultaneously, the fork portion 140 also helps the robotic arm 100 to engage the liquid tube 220 of the liquid bag 200 into the slot 510 of the moving tool 500.

[0050] For example, such as Figure 1A and Figure 2 As shown, the robotic arm 100 in this embodiment of the application also includes a detection component 160. Along the third direction Z, the detection component 160 is located below the two grippers 130. The detection component 160 is configured to be positioned relative to the bag body 210 of the liquid bag 200 along the second direction Y, so as to achieve precise positioning of the robotic arm 100 relative to the liquid bag 200, so that the two grippers 130 and the fork 140 can grip the liquid tube 220 of the liquid bag 200.

[0051] Therefore, the robotic arm 100 in this embodiment can also achieve accurate positioning of the robotic arm 100 and the liquid bag 200 through the detection component 160, and attract and actuate the actuator 310 of the liquid bag hanger 300 through the magnetic component 150, so that the robotic arm 100 can automatically remove the liquid bag 200 from the liquid bag hanger 300 without the need for manual operation by the operator, avoiding the occurrence of drug contamination and damage to personnel health, saving labor costs and improving the efficiency of liquid preparation.

[0052] The specific structure of the robotic arm 100 according to the embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0053] refer to Figure 3 The sliding part 121 in this embodiment includes two sliding grooves 121a along the third direction Z. The two sliding grooves 121a are spaced apart and parallel to each other. The gripper driving part 120 also includes two sliders 122, each corresponding to one of the two sliding grooves 121a. The two grippers 130 are connected to each of the two sliders 122. Exemplarily, the structures of the two sliding grooves 121a and the two sliders 122 in this embodiment are the same. For ease of understanding, the following detailed description uses one sliding groove 121a, one corresponding slider 122, and one corresponding gripper 130 as an example.

[0054] Specifically, such as Figure 4 As shown, the slide groove 121a extends along the first direction X, and the slide groove 121a is recessed inward along the second direction Y towards the fixed base 110. The slider 122 is adapted to the slide groove 121a, and the gripper 130 is fixed to another part of the slider 122. That is, a part of the slider 122 is accommodated in the slide groove 121a and can slide in the slide groove 121a along the extending direction of the slide groove 121a (i.e., the first direction X). The gripper 130 is fixed to another part of the slider 122 and can follow the slider 122 relative to the slide groove 121a along the first direction X.

[0055] For example, in this embodiment of the application, the gripper drive unit 120 is a drive motor, and the gripper drive unit 120 is connected to the slider 122 in a transmission connection. Thus, the gripper drive unit 120 can drive the slider 122 to slide in the slide groove 121a along the first direction X, and drive the gripper 130 to move relative to the slide groove 121a along the first direction X. Through the cooperation between the slider 122 and the slide groove 121a, the gripper drive unit 120 can achieve precise sliding control, thereby improving the stability and repeatability of the gripper 130's movement.

[0056] This application embodiment does not limit the type of the gripper drive unit 120. For example, in other possible embodiments, the gripper drive unit 120 may also be a cylinder, etc. Furthermore, this application embodiment does not specifically limit the structure of the slide groove 121a and the slider 122. In the above embodiments, such as... Figure 3As shown, the cross section of the slide groove 121a along the third direction Z is a T-shaped groove, and the cross section of the slider 122 along the third direction Z is correspondingly T-shaped, but not limited to this. For example, in other possible embodiments, the cross-sectional shapes of the slide groove 121a and the slider 122 can also be mutually compatible square, circular or other shapes.

[0057] The present application does not limit the connection method between the gripper 130 and the slider 122. In the above embodiment, the gripper 130 and the slider 122 are connected by a thread through the fixing hole 122a, but it is not limited to this. As long as the gripper 130 and the slider 122 can be fixedly connected, for example, the gripper 130 and the slider 122 can also be connected by welding.

[0058] Furthermore, this application does not limit the transmission connection method between the gripper 130 and the gripper drive unit 120 via the sliding part 121. In the above embodiment, the gripper 130 and the gripper drive unit 120 are slidably connected via the slider 122 and the sliding groove 121a, but it is not limited to this, as long as the gripper drive unit 120 can drive the two grippers 130 to move relative to each other. For example, in other possible embodiments, the gripper 130 and the gripper drive unit 120 can also be transmitted through a lead screw or the like.

[0059] For example, refer to Figure 5 In this embodiment, the gripper 130 is C-shaped. Specifically, as shown... Figure 5 As shown, the gripper 130 includes a first extension 131, a second extension 132, and a third extension 133. The first extension 131 extends along a first direction X, the second extension 132 extends along a second direction Y, and the third extension 133 extends along the first direction X. That is, the first extension 131 is perpendicular to the second extension 132, and the third extension 133 is perpendicular to the second extension 132. Furthermore, one end of the first extension 131 is connected to one end of the second extension 132, and the slider 122 is fixed to the first extension 131. The connection between the first extension 131 and the second extension 132 is rounded. One end of the third extension 133 is connected to the other end of the second extension 132, and the connection between the third extension 133 and the second extension 132 is also rounded.

[0060] In other words, the included angle between the first extension 131 and the second extension 132 of the gripper 130 is 90°, and the included angle between the third extension 133 and the second extension 132 is 90°. However, it is not limited to this. In the embodiments of this application, the included angle between the first extension 131 and the second extension 132, and the included angle between the third extension 133 and the second extension 132 are not limited. They can be any angle from 0° to 180°, such as 0°, 30°, 45°, 60°, 120°, 180°, etc.

[0061] Therefore, the robotic arm 100 of this application embodiment, on the one hand, facilitates the placement of the fork 140 between the two C-shaped grippers 130, which not only enhances the synergistic effect of the fork 140 and the two grippers 130 in gripping the liquid bag 200, but also reduces the overall volume of the robotic arm 100, making it easier to miniaturize the robotic arm 100; on the other hand, the embodiment of this application, combined with the angled arrangement of the first extension 131, the second extension 132 and the third extension 133, enhances the gripping stability and adaptability of the grippers 130, enabling it to adapt to the gripping requirements of liquid tubes 220 of different sizes, and improving the gripping effect of the robotic arm 100 on the liquid bag 200.

[0062] For example, since the two grooves 121a are at different heights along the third direction Z, and the third extensions 133 of the two grippers 130 in this embodiment are both on the same plane (e.g. Figure 5 As shown in plane M), plane M and the horizontal plane (as shown in plane M). Figure 5 Parallel to the plane shown in the middle O, the sides of the first extension 131 and the second extension 132 of the gripper 130 in this embodiment are L-shaped.

[0063] In one gripper 130, the side of the first extension 131 is L-shaped and the side of the second extension 132 is inverted L-shaped. In the other gripper 130, the side of the first extension 131 is inverted L-shaped and the side of the second extension 132 is L-shaped.

[0064] For example, such as Figure 5 As shown, the gripper 130 of this embodiment is provided with a gripping portion 134, which is disposed on the third extension 133. The inner inclined surface of the gripping portion 134 is along the fourth direction (e.g., Figure 5 The fourth direction (as shown in the middle E direction) extends towards the fork 140. For example, the fourth direction E intersects the first direction X.

[0065] Specifically, along the first direction X, the inner inclined surfaces 134a of the clamping portions 134 of the two grippers 130 are arranged opposite to each other, and a clamping space 134b is defined between the inner inclined surfaces 134a of the two clamping portions 134 and the fork portion 140 (see...). Figure 4 and Figure 5 When the robotic arm 100 of this embodiment grips the liquid bag 200, the liquid tube 220 of the liquid bag 200 is accommodated in the gripping space 134b, so that the gripping portion 134 and the fork portion 140 of the two grippers 130 can jointly grip the liquid tube 220 of the liquid bag 200.

[0066] For example, such as Figure 5 As shown, the inner inclined surface 134a of the clamping part 134 is provided with a protrusion 134c, which is combined with... Figure 6The side wall 221 of the liquid tube 220 of the liquid bag 200 is provided with an annular flange 222. The protrusion 134c extends along the fourth direction E, so that when the clamping part 134 and the fork part 140 jointly clamp the liquid tube 220, the inner inclined surface 134a of the clamping part 134 abuts against the side wall of the annular flange 222, and the top wall of the protrusion 134c abuts against the side wall 221 of the liquid tube 220.

[0067] However, this application does not limit the specific structure of the gripper 130 and the clamping part 134. For example, in other possible embodiments, the gripper 130 may also be L-shaped, and the inner side of the clamping part 134 may also be an arc surface adapted to the outer surface of the liquid tube 220 of the liquid bag 200. Alternatively, the inner side of the clamping part 134 may also be provided with a bead plug or spring structure so that the clamping part 134 can be elastically engaged with the liquid tube 220 of the liquid bag 200.

[0068] For example, refer to Figure 6 and combined Figure 4 The number of forks 140 in this application embodiment includes two. Along the first direction X, the two forks 140 are spaced apart and located between the two grippers 130.

[0069] Specifically, such as Figure 4 As shown, each fork portion 140 includes a first protrusion 141a and a second protrusion 141b. Along the third direction Z, the first protrusion 141a and the second protrusion 141b are spaced apart, and a limiting groove 142 is formed between the first protrusion 141a and the second protrusion 141b. The limiting groove 142 is recessed inward along the second direction Y toward the direction close to the fixing base 110, and the limiting groove 142 penetrates through the fork portion 140 along the first direction X. The end face of the first protrusion 141a is opposite to the inner inclined surface 134a of the corresponding clamping portion 134, and the end faces of the first protrusion 141a and the second protrusion 141b together with the inner inclined surface 134a of the corresponding clamping portion 134 define the clamping space 134b.

[0070] For example, continue to refer to Figure 4 and Figure 6The protrusion 141 includes a first protrusion 141a and a second protrusion 141b. Along the third direction Z, the first protrusion 141a is located above the second protrusion 141b. Furthermore, along the second direction Y, the length of the second protrusion 141b is greater than the length of the first protrusion 141a. Thus, when the liquid tube 220 is engaged with the limiting groove 142 between the first protrusion 141a and the second protrusion 141b, the upper surface of the second protrusion 141b abuts against the lower surface of the annular flange 222 of the liquid tube 220. This allows the fork 140 to support the liquid tube 220 of the liquid bag 200, making the gripper 100 more stable in holding the liquid bag 200. It also facilitates the gripper 100 to insert the liquid tube 220 of the liquid bag 200 into the slot of the moving tool through the fork 140.

[0071] For example, such as Figure 4 As shown, the end faces of the first protrusion 141a and the second protrusion 141b are both arc-shaped surfaces, and these arc-shaped surfaces are adapted to the shape of the liquid tube 220 of the liquid bag 200, so that when the limiting groove 142 engages the liquid tube 220, the end faces of the first protrusion 141a and the second protrusion 141b abut against the side wall 221 of the liquid tube 220. However, the specific structure of the fork 140 is not limited in this embodiment, as long as it can engage the liquid tube 220 of the liquid bag 200 and support the liquid tube 220.

[0072] For example, such as Figure 2 As shown, the robotic arm 100 in this embodiment further includes a first connector 171 and a second connector 172. Along the third direction Z, the first connector 171 and the second connector 172 are fixed to opposite upper and lower sides of the gripper drive unit 120. The fork portion 140 and the detection component 160 are connected to the first connector 171, and the magnetic component 150 is connected to the second connector 172. Exemplarily, both the first connector 171 and the second connector 172 are frame-shaped connectors and are threadedly connected to the gripper drive unit 120. Therefore, through the structural design of the first connector 171 and the second connector 172, the robotic arm 100 in this embodiment optimizes the modularity and integration of the robotic arm 100, facilitates the assembly and disassembly of the fork portion 140, the detection component 160, and the magnetic component 150, and improves the stability and maintainability of the overall structure.

[0073] For example, such as Figure 2As shown, the detection component 160 includes a first bracket 161 and a sensor 162. Specifically, the first bracket 161 is fixed to the first connector 171 and forms a through hole 161a with the first connector 171. The sensor 162 is mounted on the first bracket 161 and accommodated in the through hole 161a. Along the second direction Y, the sensor 162 is oriented away from the fixed base 110, so that when the robot arm 100 grasps the liquid bag 200, the robot arm 100 can automatically and accurately position the liquid bag 200 through the sensor 162. The embodiments of this application do not limit the structure of the first bracket 161 and the sensor 162. In the above embodiment, the first bracket 161 is a frame with a square cross-section, and the sensor 162 is a detection unit, but it is not limited to this. In other possible embodiments, for example, the detection unit of the detection component 160 can also be a camera, etc.

[0074] For example, such as Figure 2 As shown, the magnetic component 150 includes a second bracket 151 and an electromagnet 152. The second bracket 151 is fixed to the second connector 172 and has a receiving cavity 151a. The electromagnet 152 is received in the receiving cavity 151a and is arranged in the second direction Y toward the direction away from the fixed base 110. When the robot arm 100 picks up the liquid bag 200 from the liquid bag holder 300, the electromagnet 152 can be positioned opposite to the actuation part 310 of the liquid bag holder 300. The electromagnet 152 attracts the actuation part 310, actuating the actuation part 310 so that the liquid bag 200 near the robot arm 100 can move relative to the liquid bag holder 300. This allows the robot arm 100 to automatically remove the liquid bag 200 from the liquid bag holder 300 without the need for manual operation of the liquid bag holder 300 by the operator, avoiding contamination of the liquid and harm to personnel health, saving labor costs and improving the efficiency of liquid preparation.

[0075] Although the present invention has been illustrated and described with reference to certain preferred embodiments, those skilled in the art should understand that the above description is a further detailed explanation of the present invention in conjunction with specific embodiments, and should not be construed as limiting the specific implementation of the present invention to these descriptions. Those skilled in the art can make various changes in form and detail, including some simple deductions or substitutions, without departing from the spirit and scope of the present invention.

Claims

1. A robotic arm for gripping a liquid bag, the liquid bag comprising a bag body and a liquid tube, characterized in that, include: Fixed base; A gripper drive unit is provided on the fixed base, and the gripper drive unit has a sliding part; Two grippers, the gripper drive unit is respectively connected to the two grippers in a transmission connection, the two grippers are connected to the sliding part in a movable manner along a first direction, and the gripper drive unit is used to drive the two grippers to move relative to each other along the first direction in order to grip the liquid tube of the liquid bag; The fork portion is connected to the gripper drive portion, the fork portion extends along the second direction, and the fork portion includes a limiting groove for engaging the liquid tube. The first direction intersects the second direction. A magnetic component is connected to the gripper drive unit. The magnetic component is used to attract the actuation unit of the liquid bag holder, so that the liquid bag can move relative to the liquid bag holder.

2. The robotic arm according to claim 1, characterized in that, The sliding part includes two sliding grooves along a third direction. The two sliding grooves are spaced apart and parallel to each other. Each sliding groove extends along the first direction. The third direction intersects the first direction and the third direction intersects the second direction. The gripper drive unit includes two sliders, which correspond one-to-one with the two slide grooves. The sliders are adapted to the slide grooves, and the two grippers are connected to the two sliders. The gripper drive unit is used to drive the two sliders to slide relative to the slide grooves along the first direction, so as to drive the two grippers to move relative to each other along the first direction.

3. The robotic arm according to claim 2, characterized in that, The grippers are C-shaped, and each gripper includes a first extension, a second extension, and a third extension. The first extension and the second extension are set at an angle, and the third extension and the second extension are set at an angle. One end of the first extension is connected to one end of the second extension. The slider is fixed to the first extension, and one end of the third extension is connected to the other end of the second extension.

4. The robotic arm according to claim 3, characterized in that, Along the third direction, the third extensions of the two grippers are both in the same plane, which is parallel to the horizontal plane.

5. The robotic arm according to claim 3 or 4, characterized in that, Each of the grippers is provided with a gripping portion, which is located on the third extension portion. The inner inclined surface of the gripping portion extends along a fourth direction and is disposed toward the fork portion. The fourth direction intersects with the first direction. Along the first direction, the inner inclined surfaces of the clamping portions of the two grippers are arranged opposite to each other and together with the fork portion define a clamping space, which is used to clamp the liquid tube of the liquid bag.

6. The robotic arm according to claim 5, characterized in that, The inner inclined surface of the clamping part has a protrusion that extends along the fourth direction. The inner inclined surface of the clamping part is used to abut against the side wall of the annular flange of the liquid tube, and the top wall of the protrusion is used to abut against the side wall of the liquid tube.

7. The robotic arm according to claim 5, characterized in that, The number of forks includes two, and the two forks are spaced apart along the first direction and located between the two grippers; Each of the forks includes a first protrusion and a second protrusion. Along the third direction, the first protrusion and the second protrusion are spaced apart to form the limiting groove. The limiting groove is recessed inward toward the fixing seat along the second direction and passes through the fork along the first direction. The end face of the first protrusion is disposed opposite to the inner inclined surface of the corresponding clamping part, and the end faces of the first protrusion and the second protrusion, together with the inner inclined surface of the corresponding clamping part, define the clamping space.

8. The robotic arm according to claim 7, characterized in that, Along the third direction, the first protrusion is located above the second protrusion; Along the second direction, the length of the second protrusion is greater than the length of the first protrusion, the upper surface of the second protrusion is used to abut against the lower surface of the annular flange of the liquid tube, and the shapes of the end faces of the first protrusion and the second protrusion are adapted to the sidewall of the liquid tube to abut against the sidewall of the liquid tube.

9. The robotic arm according to claim 1, characterized in that, The robotic arm also includes a detection component connected to the gripper drive unit, and the detection component is configured to be positioned opposite to the body of the liquid bag along the second direction.

10. The robotic arm according to claim 9, characterized in that, The robotic arm also includes a first connector and a second connector. Along a third direction, the first connector and the second connector are fixed to opposite sides of the gripper drive unit. The fork and the detection component are connected to the first connector, and the magnetic component is connected to the second connector.

11. The robotic arm according to claim 10, characterized in that, The detection assembly includes a first bracket and a sensor. The first bracket is fixed to the first connector and forms a through hole with the first connector. The sensor is accommodated in the through hole and is positioned in the direction away from the fixed base along the second direction.

12. The robotic arm according to claim 10, characterized in that, The magnetic component includes a second bracket and an electromagnet. The second bracket is fixed to the second connector and has a receiving cavity. The electromagnet is received in the receiving cavity and is positioned in the direction away from the fixed base along the second direction.

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