CN214870620U - Automatic medical robot clamping device and automatic medical robot - Google Patents
Automatic medical robot clamping device and automatic medical robot Download PDFInfo
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- CN214870620U CN214870620U CN202121112229.6U CN202121112229U CN214870620U CN 214870620 U CN214870620 U CN 214870620U CN 202121112229 U CN202121112229 U CN 202121112229U CN 214870620 U CN214870620 U CN 214870620U
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- gripper
- guide rails
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- automated medical
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Abstract
The utility model provides an automatic change medical robot clamping device, clamping device includes at least: a body; the transmission element is arranged on the body and comprises a transmission gear with a fixed rotation center position and two movable parallel guide rails meshed with the transmission gear, and when the transmission gear rotates, the parallel guide rails move in the opposite direction or move in the opposite direction; a clamping element comprising two clamping arms that can be butted against each other; the two clamping arms are respectively connected with the two parallel guide rails, and the clamping arms can be opened or closed under the driving of the parallel guide rails. The clamping device of the utility model has smaller size and smaller requirement on the whole space of the medical apparatus; the cost is saved, the space requirement for installing a quick-change disc is saved, the special requirement on software development can be reduced, and the integrated design stability is stronger; the consistency of grabbing, taking and placing irregular objects is optimal, the structure is more stable, and the efficiency is higher.
Description
Technical Field
The utility model relates to the field of medical equipment, especially, relate to an automatic change medical robot clamping device and automatic medical robot.
Background
The gene detection has been widely applied to various scenes such as clinical examination, disease prevention and control, food safety detection, import and export quarantine detection and the like due to the characteristics of strong detection specificity, high sensitivity, short window period and the like. The requirements of full-automatic, rapid and accurate gene diagnosis for the prevention and control of infectious diseases are more outstanding. The multi-axis robot is very suitable for the full-automatic detection of diseases such as infectious diseases and the like due to the outstanding stability, ultrahigh operation precision, flexible multi-joint multi-angle operation and fully-closed automatic operation, and is especially suitable for the fulminating highly pathogenic infectious diseases.
However, in the industry, the multi-axis robot is mostly a large machine, which is not convenient for the work development in the medical compact environment; moreover, generally, the robot gripper used in the industry has a large load and a large volume, which is more unfavorable for the full-automatic operation in the independent airtight negative pressure space, because the gripper with a large volume can form more space interference in the narrow operation, so that the independent airtight negative pressure space generally needs a larger volume; moreover, genetic diagnosis is often troubled by aerosol and the like, gloves need to be changed frequently, new and old materials are operated carefully, the difficulty is high for a single industrial robot, a common solution is to use a quick-change disc to grab the hand more quickly when the new and old materials are used, but the hand needs to be switched at any time when the whole robot runs, the working rhythm of the robot is completely disordered, the quick-change disc is usually expensive, and particularly the quick-change disc invisibly increases a lot of installation space requirements and increases special requirements for software development. Therefore, a convenient gripper with integrated double grippers and small size, which does not need to switch the quick-change disk, is urgently needed to match the flexible stability of the medical robot, improve the efficiency of field detection and reduce the workload of an inspection technician.
SUMMERY OF THE UTILITY MODEL
In view of the above-mentioned shortcomings of the prior art, an object of the present invention is to provide an automatic medical robot clamping device and an automatic medical robot.
The utility model discloses a first aspect provides an automatic change medical robot clamping device, clamping device includes at least:
a body;
the transmission element is arranged on the body and comprises a transmission gear with a fixed position and two movable parallel guide rails meshed with the transmission gear, and when the transmission gear rotates, the parallel guide rails move in the opposite direction or move in the opposite direction;
a clamping element comprising two clamping arms that can be butted against each other; the two clamping arms are respectively connected with the two parallel guide rails, and the clamping arms can be opened or closed under the driving of the parallel guide rails.
The utility model discloses the second aspect provides an automatic medical robot, be equipped with aforementioned automatic medical robot clamping device on the automatic medical robot.
As above, the utility model discloses an automatic change medical robot clamping device and automatic medical robot has following beneficial effect:
the clamping device of the utility model enlarges the effective stroke of the whole gripper by using a double-guide way, the size of the whole medical robot clamping device is smaller, and the requirement on the whole space of medical instruments is smaller; due to the coexistence design of the double grippers, the grippers can be switched at any time when the whole medical robot runs, a professional and expensive quick-change disc is not needed, the cost is saved, the space requirement for installing the quick-change disc is saved, the special requirement on software development is reduced, and the integrated design stability is stronger; the clamping jaw of the medical robot gripper is designed completely by adopting a biological profiling concept, the consistency of gripping, taking and placing irregular objects is optimal, the structure is more stable, and particularly, the disposable processing of multiple row consumables is realized, the stability is better, and the efficiency is higher.
Drawings
Fig. 1 is a structural view of an automated medical robot gripping device according to an embodiment of the present invention.
Fig. 2 is a state diagram of the transmission element when the clamping element of the automated medical robot according to an embodiment of the present invention is closed.
Fig. 3 is a diagram illustrating a state of the transmission element when the clamping element of the automated medical robot according to an embodiment of the present invention is opened.
Fig. 4 is a side view of an automated medical robotic gripper according to an embodiment of the present invention.
Fig. 5 is a front view of an automated medical robotic gripper according to an embodiment of the present invention.
Description of the element reference numerals
1 main body
2 drive element
21 drive gear
22 parallel guide rail
3 clamping element
31 clamping arm
32 hand grip
321 grab handle sheet
322 profile zone
4 quick-change disc connecting element
Detailed Description
The following description is provided for illustrative purposes, and other advantages and features of the present invention will become apparent to those skilled in the art from the following detailed description.
Please refer to fig. 1 to 5. It should be understood that the structure, ratio, size and the like shown in the drawings attached to the present specification are only used for matching with the content disclosed in the specification, so as to be known and read by those skilled in the art, and are not used for limiting the limit conditions that the present invention can be implemented, so that the present invention has no technical essential meaning, and any structure modification, ratio relationship change or size adjustment should still fall within the scope that the technical content disclosed in the present invention can cover without affecting the function that the present invention can produce and the purpose that the present invention can achieve. Meanwhile, the terms such as "upper", "lower", "left", "right", "middle" and "one" used in the present specification are for convenience of description, and are not intended to limit the scope of the present invention, and changes or adjustments of the relative relationship thereof may be made without substantial technical changes, and the present invention is also regarded as the scope of the present invention.
As shown in fig. 1, an automatic medical robot clamping device according to an embodiment of the present invention includes at least:
a body 1;
the transmission element 2 is arranged on the body 1, as shown in fig. 2, the transmission element 2 comprises a transmission gear 21 with a fixed rotation center position and two movable parallel guide rails 22 meshed with the transmission gear 21, and when the transmission gear 21 rotates, the parallel guide rails 22 move in opposite directions or in opposite directions;
in one embodiment of the present invention, a rack may be used as the parallel guide.
A gripping element 3, said gripping element 3 comprising two gripping arms 31 able to be reciprocally coupled; the two clamping arms 31 are respectively connected with the two parallel guide rails 22, and the clamping arms 31 can be opened or closed under the driving of the parallel guide rails 22.
Further, the transmission gear 21 is disposed between the parallel guide rails 22.
The motion stroke of single guide rail in figure 2 can be according to the load of robot, all can from 2mm ~ 400mm, adopts the utility model discloses a "double guide rail" design, then under the condition that the guide rail dead weight does not aggravate, the stroke can increase doubly, promptly from 2mm ~ 800mm all can, and clamping device's whole size can not increase, and this intermediate gear who also mainly is according to among the mechanical structure drives and realizes the motion function. It can be seen that the double guide rails can obviously increase the overall operation stroke, and meanwhile, the medical robot clamping device is smaller in size and weight and has smaller requirement on the overall space inside the equipment. However, if the stroke needs to be increased, the double-guide-rail mode can be increased into a multi-guide-rail system according to the idea.
Further, as shown in fig. 4, the clamping element further includes a gripper 32, the gripper 32 includes two gripper pieces 321 capable of abutting against each other, and each gripper piece of the same gripper is respectively disposed on two clamping arms 31.
Preferably, the number of the grips 32 is at least 2.
The switching of the two grippers is realized by operating the quick-change disc.
The positions of the hand grips can be flexibly arranged, and the two hand grips do not interfere with each other when in use. Any angle of the extending direction of the two handles can be an acute angle, an obtuse angle or a right angle. For example, in one embodiment of the present invention, as shown in fig. 1, the extending directions of the two hand grips are perpendicular to each other.
In the industry, a quick-change disc design at the tail end of a manipulator is often used for switching different grippers to meet the requirements of different application scenes in the same space. In the medical detection equipment, considering that aerosol and the like have high probability of causing pollution, disposable consumables are generally required to be continuously replaced to avoid cross pollution, and if the medical detection equipment is converted into a full-automatic platform, a gripper for gripping materials is required to be operated separately when the gripper is used for gripping clean unused materials and used materials, so that the gripper is prevented from being polluted. The simplest mode is to change the disc on the grippers quickly, and two independent grippers are used for completing the operation of gripping the materials before and after use. However, in a narrow medical instrument, there is often no extra space to support the solution, so that the full automation is difficult to realize.
The utility model discloses utilize the coexistence design of "two tongs", when making whole medical robot move, can switch the tongs at any time, the pollution that very big reduction is direct "contact" brings does not need to replace clamping device moreover, does not need the expensive quick change dish of a plurality of professions promptly, when saving the cost, has saved the space requirement of quick change dish installation, and the beat of operation is also more smooth, reduces the special requirement to software development. The design concept of the double-grip also mainly considers the interference problem of the whole physical space.
In one embodiment, as shown in fig. 5, the gripper is provided with a contoured region 322 for the material to be gripped.
The profiling area of the material to be grabbed comprises two butting semi-profiling areas which are respectively arranged on the inner sides of the two grab hand pieces. The semi-profiling areas are of a concave design, and after the semi-profiling areas are butted, the shape of the formed profiling area 322 is the same as that of the material to be grabbed.
The design of medical robot tongs has a great influence on grabbing materials, if the object to be grabbed is in a regular planar shape, a flat tongs clamp can be used for grabbing the object with higher compatibility, and the tongs part of the clamp contains soft materials such as rubber, so that the use efficiency and cost ratio is highest. However, this method is not applicable to the design of medical instruments, because the shapes of the materials used are various and the size difference is large when one set of medical instruments are used, the application of the robot in the medical instruments is simple, and complicated operation actions are performed, so that multiple sets of robots with simple actions are often used to coordinate and complete, the operation cost is increased and the flexibility of the whole system is reduced virtually and greatly.
The utility model discloses in the design of robot tongs, adopt the theory of biological profile modeling completely, to the gripping of anomalous detection material, get, put multiple nested formula profile modeling design on same set of tong, reach the operation uniformity optimum, the effect that the structure is more firm, especially to the disposable processing of row's consumptive material that ally oneself with more, stability is better, and efficiency is higher.
In one embodiment, the profiling zone 322 comprises a reagent tube profiling zone or a reagent strip profiling zone.
In one embodiment, the gripper is detachably connected with the clamping arm, so that different types of grippers can be replaced conveniently.
In one embodiment, the two grip pieces 321 are spaced apart from each other by a distance of 2mm to 800mm in the same grip.
In one embodiment, the body 1 is further provided with a quick-change disk connection element 4.
The quick-change disc coupling element 4 is used for coupling with an externally adapted quick-change disc. The quick-change disc and the quick-change disc connecting element can be common products on the market.
Further, the clamping device further comprises a power element which is connected with the transmission element 2 and provides power for the transmission element 2.
The power element comprises a rotating shaft and a motor, the rotating shaft is connected with the transmission gear in a nested mode, and the transmission gear can be driven to rotate.
The motor can realize forward rotation and reverse rotation, and is a tin-free three-pole 42HS40ES motor.
The power element can be connected with an external controller, and the control of the power element is realized through the external controller.
The controller can be a single chip microcomputer which can be an 8-bit minimum system. The controller may also be a different brand and model, or a higher number of controllers or processors. The controller may be used to install the associated control program. After the relevant control programs are installed, the controller is electrically connected with the motor and can adjust the control of the rotating speed and the direction of the motor according to the requirement, so that the control of the rotating speed and the direction of the gear is realized.
The utility model discloses an automatic medical robot of embodiment is equipped with aforementioned automatic medical robot clamping device.
In use, as shown in fig. 2, the gripping arms are in a closed state, and the transmission gear is located between the parallel guide rails and on the center line of the parallel guide rails. The transmission gear is rotated by a power element, and the contact positions of the two parallel guide rails and the rotating gear are different by 180 degrees, so that the two parallel guide rails move reversely to drive the clamping arms connected with the two parallel guide rails to open (figure 3); in a similar way, the power element is controlled to enable the transmission gear to rotate reversely, so that the two parallel guide rails can move oppositely to drive the clamping arm connected with the parallel guide rails to close.
As shown in fig. 4, this embodiment may nest the grasping reagent tubes by direct automation.
A. Automatically grabbing unused 'clean' reagent tubes on the reagent tube rack to a use working position by means of reagent tube profiling by using a 'hand grip I';
B. after use, the used reagent tube is cleaned by using a hand grip II.
Rapid full-automatic operation of reagent strip
As shown in fig. 4, this embodiment may nest and grasp a reagent strip by direct automation profiling.
A. Automatically grabbing unused 'clean' reagent strips on the reagent strip pipe frame to a use working position by means of 'hand grip I' and reagent strip profiling;
B. after the reagent strip is used, the used reagent strip is cleaned by using a hand grip II.
Quick full-automatic operation of reagent board:
as shown in fig. 4, this embodiment can nest and grasp reagent plates by direct automation.
A. Automatically grabbing unused 'clean' reagent plates on the reagent pipe frame to a use working position by means of reagent plate profiling by using a 'hand grip I' of figure 2;
B. after use, the used reagent plate is cleaned by using a 'hand grip II'.
The above embodiments are merely illustrative of the principles and effects of the present invention, and are not to be construed as limiting the invention. Modifications and variations can be made to the above-described embodiments by those skilled in the art without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which may be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
Claims (10)
1. An automated medical robotic gripping device, the gripping device comprising at least:
a body (1);
the transmission element (2) is arranged on the body (1), the transmission element (2) comprises a transmission gear (21) with a fixed rotation center position and two movable parallel guide rails (22) meshed with the transmission gear (21), and when the transmission gear (21) rotates, the parallel guide rails (22) move in the opposite direction or in the opposite direction;
a gripping element (3), said gripping element (3) comprising two gripping arms (31) that can be reciprocally butted; the two clamping arms (31) are respectively connected with the two parallel guide rails (22), and the clamping arms (31) can be opened or closed under the driving of the parallel guide rails (22).
2. Automated medical robot gripping device according to claim 1, characterized in that the transmission gear (21) is arranged between the parallel guiding rails (22).
3. Automated medical robotic gripping device according to claim 1, wherein the gripping element further comprises a gripper (32), the gripper (32) comprising two gripper tabs (321) that can be butted against each other, each gripper tab of the same gripper being provided on two gripping arms (31), respectively.
4. Automated medical robotic gripping device according to claim 3, wherein the number of grippers (32) is at least 2.
5. Automated medical robot gripping apparatus according to claim 3, characterized in that the gripper (32) is provided with a profiling area (322) for the material to be gripped.
6. The automated medical robotic gripping apparatus of claim 5, wherein the contoured region (322) comprises a reagent tube contoured region or a reagent strip contoured region.
7. Automated medical robot gripping apparatus according to claim 3, characterized in that the relative distance of the two gripper blades (321) in the same gripper is 2mm-800 mm.
8. Automated medical robot gripping device according to claim 1, characterized in that the body (1) is further provided with a quick-change disc connection element (4).
9. Automated medical robotic gripping device according to claim 1, further comprising a power element connected to the transmission element (2) for powering the transmission element (2).
10. An automated medical robot, characterized in that the automated medical robot is provided with an automated medical robot gripping device according to any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121112229.6U CN214870620U (en) | 2021-05-21 | 2021-05-21 | Automatic medical robot clamping device and automatic medical robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121112229.6U CN214870620U (en) | 2021-05-21 | 2021-05-21 | Automatic medical robot clamping device and automatic medical robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214870620U true CN214870620U (en) | 2021-11-26 |
Family
ID=78936854
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202121112229.6U Active CN214870620U (en) | 2021-05-21 | 2021-05-21 | Automatic medical robot clamping device and automatic medical robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN214870620U (en) |
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2021
- 2021-05-21 CN CN202121112229.6U patent/CN214870620U/en active Active
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