A gripping mechanism

Abstract

The utility model discloses a kind of clamping mechanisms, comprising: first gripper, with first clamping wall;Second gripper, with second clamping wall, along first direction, first clamping wall and second clamping wall are spaced apart, and define the clamping space for clamping the clamped piece;Electric drive part, with first gripper and second gripper connection, electric drive part is used to increase or reduce clamping space;Or comprising: first gripper, with first clamping wall;Second gripper, with second clamping wall, along first direction, first clamping wall and second clamping wall are spaced apart;Deformation mechanism, along first direction, deformation mechanism protrudes first clamping wall to be spaced apart with second clamping wall and define clamping space, and clamping space is used to clamp the clamped piece.The utility model has self-adapting clamping, force distribution optimization and accurate positioning, can avoid fragile container breakage or deformation, and can be applicable to different size containers, with better operating stability.

Description

Technical Field

[0001] This utility model relates to the field of medical device technology, and in particular to a clamping mechanism. Background Technology

[0002] In the medical field, ampoules and infusion bags are common medicine containers. Ampoules are usually made of glass, while infusion bags are made of soft materials. Currently, traditional clamping devices mostly use rigid grippers, which have the following problems: First, the positioning accuracy is low; a large clamping force can easily cause the ampoule to break or the infusion bag to deform, while a small clamping force can easily cause shaking or even detachment. Second, they are difficult to adapt to ampoules or infusion bags of different sizes, resulting in poor versatility. Utility Model Content

[0003] The purpose of this invention is to solve the problems of low positioning accuracy and poor versatility of existing clamping devices. This invention provides a clamping mechanism that combines adaptive clamping, optimized force distribution, and precise positioning, which can prevent fragile containers from breaking or deforming, and is applicable to containers of different sizes, with better operational stability.

[0004] To solve the above-mentioned technical problems, an embodiment of this utility model discloses a clamping mechanism, comprising:

[0005] The first gripper has a first gripping wall;

[0006] The second gripper has a second clamping wall. Along the first direction, the first clamping wall and the second clamping wall are spaced apart and define a clamping space for clamping the part to be clamped.

[0007] An electric drive unit is connected to the first gripper and the second gripper, and the electric drive unit is used to increase or decrease the clamping space based on the size of the object to be clamped;

[0008] or,

[0009] The first gripper has a first gripping wall;

[0010] The second gripper has a second gripping wall, and the first gripping wall and the second gripping wall are spaced apart along the first direction;

[0011] A deformation mechanism, along the first direction, protrudes from the first clamping wall to be spaced apart from the second clamping wall and to define a clamping space, the clamping space being used to clamp the part to be clamped.

[0012] Using the above technical solution, the clamping mechanism of this application embodiment forms a clamping space through the clamping walls of the first and second jaws (i.e., the first clamping wall and the second clamping wall), and adjusts the size of the clamping space through an electric drive unit, or forms a clamping space through a deformation mechanism provided on the first jaw and the second clamping wall of the second jaw, which can stably clamp the object to be clamped (e.g., ampoule or infusion bag).

[0013] The use of an electrically driven unit to adjust the clamping space defined by the first and second clamping walls means that it can clamp items of different sizes (such as ampoules or infusion bags), offering high versatility and a simple, reliable structure. Furthermore, when clamping the same ampoule or infusion bag, the clamping space can be fine-tuned via the electrically driven unit to prevent breakage of the same ampoule or deformation of the same infusion bag.

[0014] When a deformation mechanism (i.e., the elastic plunger or spring and lever mentioned below) is used, it can adapt to ampoules or infusion bags of different sizes or shapes through elastic deformation, thereby improving versatility; at the same time, the elastic deformation of the deformation mechanism can automatically adjust the amount of deformation according to the size change of the ampoule (or infusion bag), effectively improving the accuracy of clamping and positioning.

[0015] For example, when the size of the ampoule or infusion bag is large, on the one hand, the deformation mechanism retracts after being squeezed. At this time, the clamping space defined by the deformation mechanism and the second clamping wall becomes larger, which can be applied to large-sized ampoules or infusion bags, improving the versatility of the clamping mechanism. On the other hand, as the amount of retraction of the deformation mechanism after being squeezed increases, its rebound force increases simultaneously, thereby dynamically adjusting the clamping force. This prevents the ampoule or infusion bag from shaking or falling off due to insufficient clamping force, or prevents the ampoule from breaking or the infusion bag from deforming due to excessive clamping force.

[0016] According to another specific embodiment of the present invention, the first clamping wall and the second clamping wall are respectively arc-shaped. Along the first direction, the arc-shaped first clamping wall and the arc-shaped second clamping wall are spaced apart and define the clamping space.

[0017] By employing the above technical solution, when the first and second clamping walls are respectively designed in an arc shape, they can form surface contact with the cylindrical body of the ampoule or the arc-shaped flange of the infusion bag, effectively dispersing the clamping pressure. This avoids the problem of line contact stress concentration caused by traditional rigid clamps, effectively reducing the risk of ampoule breakage or infusion bag deformation. Furthermore, the arc-shaped clamping walls facilitate faster positioning of the ampoule or infusion bag.

[0018] According to another specific embodiment of the present invention, the first clamping wall and the second clamping wall are respectively bent. Along the second direction, the bent first clamping wall has two first clamping segments spaced apart and arranged at an angle, and the bent second clamping wall has two second clamping segments spaced apart and arranged at an angle. Along the first direction, the two first clamping segments and the corresponding two second clamping segments are spaced apart and define the clamping space. The second direction intersects with the first direction.

[0019] Using the above technical solution, the first and second clamping walls are both designed in a bent shape. That is, the bent first clamping wall has two angled first clamping sections, and the bent second clamping wall has two angled second clamping sections. This means that the first clamping wall can clamp one side of the ampoule or infusion bag from two directions, and the second clamping wall can clamp the other side of the ampoule or infusion bag from two directions. In other words, the clamping mechanism can clamp the ampoule or infusion bag from multiple sides, and the clamping area with the ampoule or infusion bag is small, increasing friction and effectively improving clamping stability.

[0020] According to another specific embodiment of the present invention, along the first direction, the first clamping segment and the corresponding second clamping segment are arranged in a figure-eight shape.

[0021] According to another specific embodiment of the present invention, the electric drive unit includes a drive motor and a transmission component connected to each other. The first gripper and the second gripper are connected to the transmission component. The drive motor is used to drive the transmission component to drive the first gripper and the second gripper to move towards each other or away from each other.

[0022] According to another specific embodiment of the present invention, the drive motor includes a housing and a motor shaft, the motor shaft being disposed inside the housing, and the housing having a first groove and a second groove extending along the first direction respectively; the transmission component includes:

[0023] A gear is rotatably disposed inside the housing and connected to the motor shaft;

[0024] The first slider has one side connected to the first gripper, and the other side is provided with a first rack that meshes with the gear and is slidably connected to the first groove.

[0025] The second slider has one side connected to the second gripper, and the other side is provided with a second rack that meshes with the gear and is slidably connected to the second groove.

[0026] The drive motor is used to drive the gear to rotate, so as to drive the first slider to slide along the first slide groove and drive the second slider to slide along the second slide groove.

[0027] According to another specific embodiment of the present invention, the deformation mechanism includes an elastic plunger; the first gripper has a first through hole, the elastic plunger is accommodated in the first through hole, and the elastic plunger protrudes relative to the first clamping wall of the first gripper, so as to be spaced apart from the second clamping wall of the second gripper and to define the clamping space.

[0028] By adopting the above technical solution and using an elastic plunger, on the one hand, the elastic deformation of the elastic plunger can adapt to ampoules or infusion bags of different sizes or shapes, thus improving versatility; on the other hand, the elastic deformation of the elastic plunger can automatically adjust the amount of deformation according to the size change of the ampoule (or infusion bag), effectively improving the accuracy of clamping and positioning.

[0029] For example, when the size of the ampoule or infusion bag is large, on the one hand, the elastic plunger retracts after being squeezed. At this time, the clamping space defined by the elastic plunger and the second clamping wall becomes larger, which can be applied to large-sized ampoules or infusion bags, improving the versatility of the clamping mechanism. On the other hand, as the amount of retraction of the elastic plunger after being squeezed increases, its rebound force increases simultaneously, thereby dynamically adjusting the clamping force. This prevents the ampoule or infusion bag from shaking or falling off due to insufficient clamping force, or prevents the ampoule from breaking or the infusion bag from deforming due to excessive clamping force.

[0030] According to another specific embodiment of the present invention, along the first direction, the distance from the protruding portion of the elastic plunger relative to the first clamping wall to the second clamping wall is less than the outer diameter of the member to be clamped.

[0031] According to another specific embodiment of the present invention, the first gripper further has a first top wall, which is connected to the upper edge of the first clamping wall in a third direction; the second gripper further has a second top wall, which is connected to the upper edge of the second clamping wall in a third direction; the first top wall and the second top wall are used for the flange of the object to be clamped to abut against each other.

[0032] According to another specific embodiment of the present invention, it further includes:

[0033] The first positioning claw, along a third direction, is located on top of the first gripper, and the first positioning claw has a first positioning wall;

[0034] The second positioning claw, along a third direction, is located on top of the second gripper, and the second positioning claw has a second positioning wall;

[0035] Along the third direction, the first positioning wall, the first top wall, the second positioning wall, and the second top wall together define a positioning space, which is used to restrict the movement of the flange of the clamping member along the third direction.

[0036] According to another specific embodiment of the present invention, the deformation mechanism includes a spring and a lever; the first gripper further has a second positioning wall, the second positioning wall being connected to the lower edge of the first gripping wall along a third direction; wherein:

[0037] Along the third direction, the paddle is in contact with or spaced from the second positioning wall, and the paddle is rotatably connected to the second positioning wall;

[0038] Along the first direction, the side of the paddle closest to the first clamping wall is provided with a snap-fit ​​groove, and the paddle protrudes relative to the first clamping wall of the first jaw, so that the inner wall of the snap-fit ​​groove is spaced apart from the second clamping wall of the second jaw and defines the clamping space.

[0039] By adopting the above technical solution, when using springs and levers, on the one hand, the elastic deformation of the spring, in conjunction with the lever, can adapt to ampoules or infusion bags of different sizes or shapes, thus improving versatility; on the other hand, the elastic deformation of the spring allows the lever to automatically adjust the deformation amount according to the size changes of the ampoule (or infusion bag), effectively improving the accuracy of clamping and positioning.

[0040] For example, when the size of the ampoule or infusion bag is large, on the one hand, the spring retracts after being compressed. At this time, the clamping space defined by the locking groove of the lever connected to the spring and the second clamping wall becomes larger, which can be used for large-sized ampoules or infusion bags, improving the versatility of the clamping mechanism. On the other hand, the increased retraction of the spring after being compressed also increases its rebound force on the lever connected to the spring, thereby dynamically adjusting the clamping force. This prevents the ampoule or infusion bag from shaking or falling off due to insufficient clamping force, or prevents the ampoule from breaking or the infusion bag from deforming due to excessive clamping force.

[0041] According to another specific embodiment of the present invention, along the first direction, the distance from the inner wall of the snap-fit ​​groove of the paddle to the second clamping wall is less than the outer diameter of the part to be clamped. Attached Figure Description

[0042] Figure 1 This invention illustrates a three-dimensional view of the clamping mechanism provided in Embodiment 1 of the present invention. Figure 1 .

[0043] Figure 2A A second perspective view shows the clamping mechanism provided in Embodiment 1 of this utility model.

[0044] Figure 2B This invention illustrates a three-dimensional view of the clamping mechanism provided in Embodiment 1 of the present invention. Figure 3 .

[0045] Figure 3 This invention illustrates a three-dimensional view of the clamping mechanism provided in Embodiment 2 of the present invention. Figure 1 .

[0046] Figure 4A The second perspective view shows the clamping mechanism provided in Embodiment 2 of this utility model.

[0047] Figure 4B This invention illustrates a three-dimensional view of the clamping mechanism provided in Embodiment 2 of the present invention. Figure 3 .

[0048] Figure 5 Four perspective views of the clamping mechanism provided in Embodiment 2 of this utility model are shown.

[0049] Figure 6A The three-dimensional representation of the clamping mechanism provided in Embodiment 2 of this utility model is shown.

[0050] Figure 6B The three-dimensional six-dimensional representation of the clamping mechanism provided in Embodiment 2 of this utility model is shown.

[0051] Figure 7 This invention illustrates a three-dimensional view of the clamping mechanism provided in Embodiment 3 of the present invention. Figure 1 .

[0052] Figure 8A The second perspective view shows the clamping mechanism provided in Embodiment 3 of this utility model.

[0053] Figure 8B This invention illustrates a three-dimensional view of the paddle of the clamping mechanism provided in Embodiment 3 of the present invention. Figure 3 .

[0054] Figure 9 Four perspective views of the clamping mechanism provided in Embodiment 3 of this utility model are shown.

[0055] Figure 10 This is a perspective view of the paddle of the clamping mechanism provided in Embodiment 3 of this utility model. Detailed Implementation

[0056] 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.

[0057] 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.

[0058] 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.

[0059] The terms “first”, “second”, etc., are used only to distinguish descriptions and should not be interpreted as indicating or implying relative importance.

[0060] 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.

[0061] 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.

[0062] refer to Figure 1This application provides a gripping mechanism 100, including at least one set of first clamps, each first clamp including a first gripper 110 and a second gripper 120. The gripping mechanism 100 also includes an electric drive unit 140.

[0063] As can be seen, the first gripper 110 and the second gripper 120 are used to hold the ampoule 210, but are not limited to this. For example, Figure 1 The clamping mechanism 100 shown can also be used to clamp infusion bags (as described below). For example, Figure 1 The clamping mechanism 100 shown can also be used to clamp containers such as infusion bags, reagent bottles, blood bags, and reagent bags. In other words, Figure 1 The clamping mechanism 100 shown is used to clamp bottle-shaped and / or bag-shaped medical containers. Figure 1 The embodiments shown are illustrated using ampoule 210 as an example only.

[0064] Continue to refer to Figure 1 , Figure 1 Exemplarily shown are two sets of first jaws 110 and second jaws 120, wherein one set of first jaws 110 and the other set of second jaws 120 are located at the bottom end (e.g. Figure 1 (At the end indicated by the Z2 direction), another set of first jaws 110 and second jaws 120 are located at the top (as shown in the image). Figure 1 (The end pointed to in the Z1 direction).

[0065] It should be noted that the embodiments of this application do not impose specific limitations on the number and position of the first gripper 110 and the second gripper 120. For example, multiple sets of first grippers 110 and second grippers 120 can be provided, such as one, three, four, five, six, or ten sets. For example, multiple sets of first grippers 110 and second grippers 120 can be configured as follows: Figure 1 The arrangement is shown in the vertically spaced configuration. For example, multiple sets of first grippers 110 and second grippers 120 can be arranged as follows: Figure 3 or Figure 7 The arrangement is shown in the left-right configuration.

[0066] refer to Figure 2A and Figure 2B and combined Figure 1 The first gripper 110 has a first gripping wall 111 (e.g., Figure 2A (As shown); the second gripper 120 has a second gripping wall 121 (as shown). Figure 2B As shown), along the first direction (such as...) Figure 2A and Figure 2B As shown in the X direction, the first clamping wall 111 and the second clamping wall 121 are spaced apart.

[0067] In this embodiment, along a first direction, the first clamping wall 111 and the second clamping wall 121 define a clamping space 130, which is used to clamp the part to be clamped 200 (e.g., Figure 1 The ampoule shown is 210.

[0068] Meanwhile, reference Figures 1 to 2B The electric drive unit 140 includes a drive motor 141 and a transmission member 142 connected to each other. The first gripper 110 and the second gripper 120 are connected to the transmission member 142. The drive motor 141 can drive the transmission member 142 to drive the first gripper 110 and the second gripper 120 to move towards each other or away from each other, thereby reducing or increasing the clamping space 130 defined by the first clamping wall 111 and the second clamping wall 121.

[0069] In some possible embodiments, the drive motor 141 includes a housing 1411 and a motor shaft (not shown in the figure), the motor shaft being disposed inside the housing 1411, and the housing 1411 having respective orientations along a first direction (e.g., Figure 1 The first groove 1412 and the second groove 1413 extend in the X direction (as shown in the figure).

[0070] Meanwhile, the transmission component 142 includes: a gear (not shown in the figure), a first slider 1421, and a second slider 1422. The gear is rotatably disposed inside the housing 1411 and connected to the motor shaft of the drive motor 141; one side of the first slider 1421 is connected to the first gripper 110, and the other side is provided with a first rack (not shown in the figure) that meshes with the gear and is slidably connected to the first slide groove 1412; one side of the second slider 1422 is connected to the second gripper 120, and the other side is provided with a second rack (not shown in the figure) that meshes with the gear and is slidably connected to the second slide groove 1413.

[0071] Thus, the drive motor 141 can drive the gear to rotate, thereby causing the first slider 1421 to slide along the first slide groove 1412 and driving the second slider 1422 to slide along the second slide groove 1413. That is, so that the first slider 1421 and the second slider 1422 slide along a first direction (e.g., Figure 1 The first gripper 110 and the second gripper 120 move toward or away from each other in the X direction (as shown in the diagram) to achieve gripping and separation of the first gripper 110 and the second gripper 120.

[0072] In this embodiment, the clamping mechanism 100 forms a clamping space 130 through the clamping walls (i.e., the first clamping wall 111 and the second clamping wall 121) of the first clamping jaw 110 and the second clamping jaw 120. The size of the clamping space 130 is adjusted by the electric drive unit 140 to stably clamp the ampoule 210. In other words, using the electric drive unit 140 to adjust the clamping space 130 defined by the first clamping wall 111 and the second clamping wall 121 means that ampoules 210 of different sizes can be clamped, exhibiting high versatility and a simple and reliable structure. Furthermore, when clamping the same ampoule 210, the clamping space 130 can be adjusted by the electric drive unit 140 to prevent the same ampoule 210 from breaking.

[0073] Continue to refer to Figure 2A and Figure 2B and combined Figure 1 In some possible implementations, the first clamping wall 111 and the second clamping wall 121 are respectively bent.

[0074] Along the second direction (e.g.) Figure 2A and Figure 2B (shown in the Y direction), the bent first clamping wall 111 has two first clamping segments 1111 spaced apart and angled (as shown in the figure). Figure 2A (As exemplarily shown in the dashed box), the first clamping segment 1111 is used to contact the ampoule 210. Combined with... Figure 1 As can be seen, in this embodiment, the sum of the lengths of the two first clamping segments 1111 is less than the total length of the first clamping wall 111. That is, when clamping the ampoule 210, the corner formed by the extension lines of the two first clamping segments 1111 (that is, the corner of the first clamping wall 111, such as...) Figure 2B The corner α shown is spaced apart from the body of the ampoule 210.

[0075] Accordingly, the bent second clamping wall 121 has two second clamping segments 1211 spaced apart and angled (e.g. Figure 2B (As exemplarily shown in the dashed box), the second clamping segment 1211 is used to contact the ampoule 210. Combined Figure 1 It can be seen that in this embodiment, the sum of the lengths of the two second clamping segments 1211 is also less than the total length of the second clamping wall 122. That is to say, when clamping the ampoule 210, the corner formed by the extension lines of the two second clamping segments 1211 (that is, the corner of the second clamping wall 122, such as...) Figure 2B The corner α shown is spaced apart from the body of the ampoule 210.

[0076] And, along the first direction (such as...) Figure 2A and Figure 2B(As shown in the X direction), the first clamping segment 1111 and the second clamping segment 1211 are correspondingly and spaced apart. For example, it can be seen that the first clamping segment 1111 and the second clamping segment 1211 corresponding to it along the first direction are arranged in a V-shape. Thus, along the first direction, the two first clamping segments 1111 and the corresponding two second clamping segments 1211 are spaced apart, defining a clamping space 130.

[0077] Continue to refer to Figure 2A and Figure 2B and combined Figure 1 In this embodiment, the first clamping wall 111 and the second clamping wall 121 are respectively designed in a bent shape. That is, the bent first clamping wall 111 has two first clamping sections 1111 set at corners α, and the bent second clamping wall 121 has two second clamping sections 1211 set at corners α. This means that the first clamping wall 111 can clamp one side of the ampoule 210 from two directions, and the second clamping wall 121 can clamp the other side of the ampoule 210 from two directions. In other words, the clamping mechanism 100 can clamp the ampoule 210 or the infusion bag 220 from multiple sides, effectively improving the clamping stability.

[0078] In other possible embodiments, the first clamping wall 111 and the second clamping wall 121 may also be arc-shaped, with the arc-shaped first clamping wall 111 and the arc-shaped second clamping wall 121 spaced apart along the first direction, defining a clamping space 130. When the first clamping wall 111 and the second clamping wall 121 are respectively arc-shaped, they can form surface contact with the cylindrical body of the ampoule 210 (or the arc-shaped flange of the infusion bag 220), effectively dispersing the clamping pressure. This avoids the problem of line contact stress concentration caused by traditional rigid grippers, effectively reducing the risk of ampoule 210 breakage or infusion bag 220 deformation. Furthermore, the arc-shaped clamping walls facilitate rapid positioning of the ampoule 210 or infusion bag 220.

[0079] refer to Figure 3 , Figure 3 Another embodiment of the gripping mechanism 100 is shown as an example, which also includes the first gripper 110 and the second gripper 120 described above.

[0080] refer to Figure 4A Unlike the above embodiments, in this embodiment, the clamping mechanism 100 further includes a deformation mechanism 150.

[0081] refer to Figure 4A and combined Figure 3 and Figure 4BAs can be seen, the deformation mechanism 150 is disposed on the first clamping wall 111 of the first gripper 110, along the first direction (e.g., Figure 4A (shown in the X direction), the deformation mechanism 150 protrudes from the first clamping wall 111 to engage with the second clamping wall 121 (as shown in the image). Figure 4B As shown, a clamping space 130 is set and defined at intervals, which is used to clamp the infusion bag 220. It can be seen that the infusion bag 220 includes a port assembly 221 and a bag body 222. The port assembly 221 includes an extension tube 2212 and a flange 2211 connected to the extension tube 2212. The bag body 222 is used to contain the medicine solution.

[0082] In other words, the deformation mechanism 150 and the second gripper 120 are used to hold the infusion bag 220, but are not limited to this. For example, Figures 3 to 4B The clamping mechanism 100 shown can also be used to clamp ampoules as described above. For example, Figures 3 to 4B The clamping mechanism 100 shown can also be used to clamp containers such as infusion bags, reagent bottles, blood bags, and reagent bags. In other words, Figures 3 to 4B The clamping mechanism 100 shown is used to clamp bottle-shaped and / or bag-shaped medical containers. Figures 3 to 4B In the embodiments shown, only the infusion bag 220 is used as an example for illustration.

[0083] refer to Figure 4A and combined Figure 3 In this embodiment, the deformation mechanism 150 is an elastic plunger 151, and the elastic plunger 151 and the second gripper 120 together hold the extension tube 2212 of the infusion bag 220.

[0084] For example, Figure 4A The elastic plunger shown is made of cylindrical resin, but it is not limited to this. For example, other shapes and materials of elastomers such as cylindrical silicone or conical spring steel can also be used.

[0085] refer to Figure 4A and Figure 4B and combined Figure 3 The first gripper 110 has a first through hole 112 (e.g., Figure 4B As shown), the elastic plunger 151 moves along the first direction (e.g. Figure 4A The elastic plunger 151 extends and is accommodated in the first through hole 112 (shown in the X direction) and is fixed to the first through hole 112, thereby enabling the elastic plunger 151 to extend and retract relative to the first through hole 112 along the first direction. This application embodiment does not impose specific limitations on the fixing method of the elastic plunger 151 and the first through hole 112; for example, the elastic plunger 151 can be installed in the first through hole 112 by means of threaded connection, interference fit, etc.

[0086] Furthermore, it can be seen that the elastic plunger 151 protrudes relative to the first clamping wall 111 of the first jaw 110, and is spaced apart from the second clamping wall 121 of the second jaw 120, defining a clamping space 130, which is used to clamp such as Figure 3 The infusion bag 220 shown.

[0087] It should be noted that in this embodiment, the middle gripper is the second gripper 120 of the left first gripper, and also serves as the first gripper 110 of the right first gripper; this is only one possible implementation. Furthermore, in this embodiment, the infusion bag 220 includes two port assemblies 221, but it is not limited to this; the infusion bag 220 may also include one, three, or more port assemblies 221. When the infusion bag 220 includes only one port assembly 221, Figure 3 The clamping mechanism 100 shown can clamp two infusion bags at the same time.

[0088] It should be further noted that four grippers can also be provided, that is, a first gripper 110, a second gripper 120, a first gripper 110 and a second gripper 120 are provided in sequence, and the above four grippers are respectively along the first direction (e.g. Figure 4A and Figure 4B The intervals are arranged in the X direction (as shown). In this embodiment, there is no specific limitation on the number of infusion bags 220 or the number of port assemblies 221 for each infusion bag 220.

[0089] It should be further noted that, in this embodiment, a second through hole 123 can also be formed on the second gripper 120, that is, the elastic plunger 151 can also be installed in the second through hole 123 of the second gripper 120. In this case, the elastic plunger 151 and the first gripping wall 111 of the first gripper 110 are spaced apart and define a gripping space 130 for gripping the infusion bag 220. In other words, in this embodiment, the elastic plunger 151 can protrude from the first gripper 110 or the second gripper 120.

[0090] It should be noted that in the unclamped state of the infusion bag 220 (i.e., the initial state), the elastic plunger 151 protrudes relative to the first clamping wall 111 and is already in a pre-compressed state. Using the elastic plunger 151 has two advantages: firstly, the elastic deformation of the elastic plunger 151 can adapt to infusion bags 220 (or ampoules) of different sizes or shapes, improving versatility; secondly, the elastic deformation of the elastic plunger 151 can automatically adjust the amount of deformation according to changes in the size of the infusion bag 220 (or ampoule), effectively improving the accuracy of clamping and positioning.

[0091] For example, when the size of the infusion bag 220 (or ampoule) is large, on the one hand, the elastic plunger 151 retracts after being squeezed (i.e., along...). Figure 4A As shown in the X1 direction (retracting), the volume of the clamping space 130 defined by the elastic plunger 151 and the second clamping wall 121 increases, making it suitable for large-sized infusion bags 220 (or ampoules), thus improving the versatility of the clamping mechanism 100. On the other hand, as the elastic plunger 151 retracts more after being squeezed, its rebound force f increases synchronously, thereby dynamically adjusting the clamping force to prevent the infusion bag 220 (or ampoule) from shaking or falling off due to insufficient clamping force, or to prevent the infusion bag 220 from deforming (or the ampoule from breaking) due to excessive clamping force.

[0092] refer to Figure 5 For example, along the first direction, the distance L1 from the protrusion of the elastic plunger 151 relative to the first clamping wall 111 to the second clamping wall 121 is less than the outer diameter D of the tube to be clamped in the infusion bag 220.

[0093] refer to Figure 6A and combined Figure 5 In some possible implementations, in this embodiment, the first gripper 110 further has a first top wall 113, the first top wall 113 and the first gripping wall 111 being aligned in a third direction (e.g., ...). Figure 6A The upper edge of the second gripper 120 is connected to the upper edge of the second gripping wall 121 in the Z direction (as shown in the diagram). The second gripper 120 also has a second top wall 124, which is connected to the second gripping wall 121 in the third direction (as shown in the diagram). Figure 6A The upper edge of the infusion bag 220 (shown in the Z direction) is connected. It can be seen that the flange 2211 of the infusion bag 220 abuts against the first top wall 113 and the second top wall 124.

[0094] refer to Figure 6A and Figure 6B and combined Figure 5 In some possible implementations, in this embodiment, the gripping mechanism 100 further includes a second gripper, which is used to cooperate with the first gripper (i.e. the first gripper 110 and the second gripper 120) to limit the flange 2211 of the infusion bag 220 in a third-party upward direction.

[0095] Specifically, the second clamp includes a first positioning claw 160 and a second positioning claw 170.

[0096] Among them, along the third direction (such as Figure 6A and Figure 6B (shown in the Z direction), the first positioning claw 160 is located on top of the first gripper 110, and the first positioning claw 160 has a first positioning wall 161 (as shown in the figure). Figure 6B As shown). Along a third direction (such as...) Figure 6A and Figure 6B(shown in the Z direction), the second positioning claw 170 is located on top of the second gripper 120, and the second positioning claw 170 has a second positioning wall 171 (as shown in the figure). Figure 6B (As shown).

[0097] As can be seen, along the third direction, the first positioning wall 161, the first top wall 113, the second positioning wall 171, and the second top wall 124 together define the positioning space 180. The positioning space 180 is used to restrict the flange 2211 along the third direction (e.g., Figure 6A and Figure 6B The movement (in the Z direction shown in the figure) further prevents the infusion bag 220 from falling off in the third direction.

[0098] refer to Figure 7 , Figure 7 Another embodiment of the gripping mechanism 100 is shown as an example, which also includes the first gripper 110, the second gripper 120 and the deformation mechanism 150 described above.

[0099] As can be seen, the deformation mechanism 150 and the second gripper 120 are used to hold the infusion bag 220, but are not limited to this. For example, Figure 7 The clamping mechanism 100 shown can also be used to clamp ampoules as described above. For example, Figure 7 The clamping mechanism 100 shown can also be used to clamp containers such as infusion bags, reagent bottles, blood bags, and reagent bags. In other words, Figure 7 The clamping mechanism 100 shown is used to clamp bottle-shaped and / or bag-shaped medical containers. Figure 7 In the embodiments shown, only the infusion bag 220 is used as an example for illustration.

[0100] It should be noted that in this embodiment, the first gripper 110 and the second gripper 120 differ from the above embodiment only in shape. The first gripper 110 and the second gripper 120 in this application embodiment are configured in the same way.

[0101] refer to Figure 7 The middle gripper is the second gripper 120 of the first gripper on the left, and also serves as the second gripper 120 of the first gripper on the right. This is only one possible implementation. It is understood that four grippers can also be provided, that is, one first gripper 110, one second gripper 120, one first gripper 110, and one second gripper 120 can be provided in sequence. Furthermore, the above four grippers are respectively along the first direction (e.g., Figure 7 The X-direction interval setting is shown.

[0102] Continue to refer to Figure 7Unlike the embodiments described above, in this embodiment, the deformation mechanism 150 is an elastic component 152, which includes a spring 1521 and a lever 1522 connected to each other. It can be seen that the spring 1521 extends along a first direction (e.g., ...). Figure 7 Extending in the X direction (as shown in the diagram), one end of the spring 1521 is connected to the paddle 1522.

[0103] It should be noted that this application embodiment does not impose specific limitations on the connection relationship between the spring 1521 and the lever 1522. For example, one end of the spring 1521 can be connected to the lever 1522 by means of hooking, welding, riveting, etc. Similarly, this application embodiment does not impose specific limitations on the method of fixing the spring 1521, such as... Figure 7 As shown, the other end of the spring 1521 can be fixed to the workpiece to which the clamping mechanism 100 is applied. For example, a hole (not shown in the figure) is made in the workpiece. The hole has two ends, one end of which has a smaller opening (referred to as opening A) and the other end of which has a larger opening (referred to as opening B). A steel ball is inserted into opening A. The diameter of the steel ball is larger than the diameter of opening A but smaller than the diameter of opening B, so that the steel ball can be confined in the hole. Then, the other end of the spring 1521 is put into opening B, and a screw is screwed into opening B so that the head of the screw presses against the spring 1521, thereby completing the fixation of the other end of the spring 1521 to the workpiece.

[0104] refer to Figure 7 and Figure 8A The first gripper 110 also has a second positioning wall 114, along a third direction (such as...). Figure 7 and Figure 8A (As shown in the Z direction), the second positioning wall 114 is the bottom wall of the first gripper 110. It can be seen that the second positioning wall 114 is connected to the lower edge of the first gripping wall 111 along the third direction.

[0105] Along a third direction (such as) Figure 7 and Figure 8A (shown in the Z direction), the paddle 1522 is in contact with or spaced from the second positioning wall 114, and the paddle 1522 is rotatably connected to the second positioning wall 114.

[0106] refer to Figure 8B , Figure 9 and Figure 10 Along the first direction (e.g.) Figure 9 and Figure 10 (As shown in the X direction), the side of the paddle 1522 near the first clamping wall 111 is provided with a snap-fit ​​groove 15221 (e.g., in the X direction). Figure 10 As shown), and the paddle 1522 protrudes relative to the first clamping wall 111 of the first gripper 110, so that the inner wall 152211 of the snap-fit ​​groove 15221 and the second clamping wall 121 of the second gripper 120 (as shown) Figure 8B As shown, the spacing is set and the clamping space is defined as 130.

[0107] For example, it can be understood that, along the first direction, the distance from the inner wall 152211 of the latching groove 15221 of the paddle 1522 to the second clamping wall 121 is less than the outer diameter D of the tube to be clamped in the infusion bag 220 (e.g., Figure 9 (As shown).

[0108] It should be noted that in the state where the infusion bag 220 is not clamped (i.e., the initial state), the lever 1522 protrudes relative to the first clamping wall 111, and the spring 1521 connected to the lever 1522 is in a stretched state. Using the spring 1521 and the lever 1522 allows for the adaptation to infusion bags 220 (or ampoules) of different sizes or shapes through the elastic deformation of the spring 1521 in conjunction with the lever 1522, thus improving versatility. Furthermore, the elastic deformation of the spring 1521 enables the lever 1522 to automatically adjust its deformation according to changes in the size of the infusion bag 220 (or ampoule), effectively improving the accuracy of clamping and positioning.

[0109] For example, when the size of the infusion bag 220 (or ampoule) is large, on the one hand, the spring 1521 retracts after being squeezed. At this time, the volume of the clamping space 130 defined by the snap-fit ​​groove of the lever 1522 connected to the spring 1521 and the second clamping wall 121 increases, which can be applied to large-sized infusion bags 220 (or ampoules) and improve the versatility of the clamping mechanism 100. On the other hand, the amount of retraction of the spring 1521 after being squeezed increases, and its rebound force on the lever 1522 connected to the spring 1521 increases synchronously. This allows for dynamic adjustment of the clamping force, preventing the infusion bag 220 (or ampoule) from shaking or falling off due to insufficient clamping force of the clamping mechanism 100, or preventing the infusion bag 220 from deforming (or the ampoule from breaking) due to excessive clamping force of the clamping mechanism 100.

[0110] 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 clamping mechanism, characterized in that, include: The first gripper has a first gripping wall; The second gripper has a second clamping wall. Along the first direction, the first clamping wall and the second clamping wall are spaced apart and define a clamping space for clamping the part to be clamped. An electric drive unit is connected to the first gripper and the second gripper, and the electric drive unit is used to increase or decrease the clamping space based on the size of the object to be clamped; or, The first gripper has a first gripping wall; The second gripper has a second gripping wall, and the first gripping wall and the second gripping wall are spaced apart along the first direction; A deformation mechanism, along the first direction, protrudes from the first clamping wall to be spaced apart from the second clamping wall and to define a clamping space, the clamping space being used to clamp the part to be clamped.

2. The clamping mechanism according to claim 1, characterized in that, The first clamping wall and the second clamping wall are respectively arc-shaped. Along the first direction, the arc-shaped first clamping wall and the arc-shaped second clamping wall are spaced apart and define the clamping space.

3. The clamping mechanism according to claim 1, characterized in that, The first clamping wall and the second clamping wall are respectively bent. Along the second direction, the bent first clamping wall has two first clamping segments spaced apart and angled, and the bent second clamping wall has two second clamping segments spaced apart and angled. Along the first direction, the two first clamping segments and the corresponding two second clamping segments are spaced apart and define the clamping space. The second direction intersects with the first direction.

4. The clamping mechanism according to claim 3, characterized in that, Along the first direction, the first clamping segment and its corresponding second clamping segment are arranged in a figure-eight shape.

5. The clamping mechanism according to claim 1, characterized in that, The electric drive unit includes a drive motor and a transmission component connected to each other. The first gripper and the second gripper are connected to the transmission component. The drive motor is used to drive the transmission component to drive the first gripper and the second gripper to move towards each other or away from each other.

6. The clamping mechanism according to claim 5, characterized in that, The drive motor includes a housing and a motor shaft, the motor shaft being disposed inside the housing, and the housing having a first groove and a second groove extending along the first direction respectively; the transmission component includes: A gear is rotatably disposed inside the housing and connected to the motor shaft; The first slider has one side connected to the first gripper, and the other side is provided with a first rack that meshes with the gear and is slidably connected to the first groove. The second slider has one side connected to the second gripper, and the other side is provided with a second rack that meshes with the gear and is slidably connected to the second groove. The drive motor is used to drive the gear to rotate, so as to drive the first slider to slide along the first slide groove and drive the second slider to slide along the second slide groove.

7. The clamping mechanism according to claim 1, characterized in that, The deformation mechanism includes an elastic plunger; the first gripper has a first through hole, the elastic plunger is accommodated in the first through hole, and the elastic plunger protrudes relative to the first clamping wall of the first gripper, so as to be spaced apart from the second clamping wall of the second gripper and define the clamping space.

8. The clamping mechanism according to claim 7, characterized in that, Along the first direction, the distance from the protruding portion of the elastic plunger relative to the first clamping wall to the second clamping wall is less than the outer diameter of the member to be clamped.

9. The clamping mechanism according to claim 7, characterized in that, The first gripper also has a first top wall, which is connected to the upper edge of the first clamping wall in a third direction; the second gripper also has a second top wall, which is connected to the upper edge of the second clamping wall in a third direction; the first top wall and the second top wall are used for the flange of the object to be clamped to abut against.

10. The clamping mechanism according to claim 9, characterized in that, Also includes: The first positioning claw, along a third direction, is located on top of the first gripper, and the first positioning claw has a first positioning wall; The second positioning claw, along a third direction, is located on top of the second gripper, and the second positioning claw has a second positioning wall; Along the third direction, the first positioning wall, the first top wall, the second positioning wall, and the second top wall together define a positioning space, which is used to restrict the movement of the flange of the clamping member along the third direction.

11. The clamping mechanism according to claim 1, characterized in that, The deformation mechanism includes a spring and a lever; the first gripper also has a second positioning wall, which is connected to the lower edge of the first gripping wall in a third direction; wherein: Along the third direction, the paddle is in contact with or spaced from the second positioning wall, and the paddle is rotatably connected to the second positioning wall; Along the first direction, the side of the paddle closest to the first clamping wall is provided with a snap-fit ​​groove, and the paddle protrudes relative to the first clamping wall of the first jaw, so that the inner wall of the snap-fit ​​groove is spaced apart from the second clamping wall of the second jaw and defines the clamping space.

12. The clamping mechanism according to claim 11, characterized in that, Along the first direction, the distance from the inner wall of the snap-fit ​​groove of the paddle to the second clamping wall is less than the outer diameter of the part to be clamped.

Images