JP5531777B2 - Clamping method and clamping mechanism - Google Patents

Description

  The present invention relates to a clamp mechanism for holding a drug container or the like in the field of medicine or the like.

  When a medicine is applied to a hospitalized patient or the like at a hospital or the like, a mixture of several kinds of medicines taken out from different medicine containers is often applied. The work to mix the drug taken out from the drug container often relies on the hands of a nurse or pharmacist, and the drug is sucked by inserting an injection needle into the drug container. However, it is a heavy work load such as aspiration of a medicine and a medicine from a vial container that requires internal pressure adjustment. In addition, some drugs that are applied in hospitals, such as anti-cancer drugs, should be handled with due consideration to safety, and development of injectable drug mixing devices that can be handled safely and reduce the work burden Is desired.

  On the other hand, when the substantially cylindrical drug container is viewed by cutting along a plane perpendicular to the central axis of the cylindrical shape, the diameter of the circular cross section generally differs between the upper part and the lower part. However, in order to handle the drug container safely with the above-described injection drug mixing apparatus or the like, a mechanism that reliably holds the two locations with different diameters in the drug container is necessary.

  FIGS. 9A and 9B are schematic configuration diagrams showing a main part of a conventional robot device hand that can convey various workpieces having asymmetric shapes in the vertical and horizontal directions between a pair of chucking mechanisms. (A) is a front view, and (b) is a plan view with a workpiece sandwiched therebetween.

  As shown in FIG. 9A, the chucking mechanisms 10 a and 10 b are provided on the arm 1 led out from the robot apparatus with the driving units 2 and 3 and a gripping claw that opens and closes by driving the driving units 2 and 3. 4a, 4b, 5a, 5b. The chucking mechanisms 10a and 10b are arranged in parallel at a predetermined distance. Among the pair of chucking mechanisms 10a and 10b, a slide mechanism 6 is provided for sliding one chucking mechanism 10a while maintaining a parallel state with respect to the other chucking mechanism 10b. The slide mechanism 6 can move along the slide rail 8 in the directions of the widths K1 and K2 shown in FIG. 9B.

  With such a configuration having the chucking mechanisms 10a and 10b and the slide mechanism 6, it has an asymmetrical shape in the vertical and horizontal directions as shown in FIG. 9B, and the center points C1 and C2 of each gripping position are a distance α. Only the workpieces 7 that are different from each other can be reliably chucked and conveyed. Here, the surface side of the work 7 includes a width K1 sandwiched between the gripping claws 4a and 4b and an A1 portion including the center point C1, a width K3 sandwiched between the gripping claws 5a and 5b, and an A2 portion including the center point C2. It is comprised by. When the work 7 is turned over and the back side of the work 7 is held, the positions of the gripping claws 5a and 5b are not changed, but the positions of the gripping claws 4a and 4b are as shown in FIG. 9B. Therefore, the A1 portion having the width K2 is gripped by being shifted downward by the distance x.

  Since the chucking mechanism 10a including the gripping claws 4a and 4b can be easily moved by the slide mechanism 6, the gripping claws 4a, 4b, There is no need to replace 5a, 5b, etc. Therefore, the setup work is easy and the effect of shortening the cycle time is obtained (for example, refer to Patent Document 1).

Japanese Utility Model Publication No. 5-85583

  However, in the conventional technology described above, since a slide mechanism or the like is used when gripping various workpieces having an asymmetric shape, the upper and lower positions of the drug container and the like are shifted before and after the slide, In some cases, the container may be tilted, and it is difficult to keep gripping stably.

  The present invention solves these problems, and an object of the present invention is to provide a clamping method and a clamping mechanism that keeps a drug container and the like stably held.

In order to achieve the above object, the clamping method of the present invention comprises a first claw portion and a second claw portion each having two claws, and the container is formed by the first claw portion and the second claw portion. a clamping method for gripping the container, a cylindrical shape der outer shape of that has a second cylindrical portion big diameter than the first cylindrical portion and said first cylindrical portion Rutotomoni, the first cylindrical portion An opening at a position adjacent to the first claw portion, and after the first claw portion grips the first cylindrical portion, the second claw portion differentially cooperates with the second claw portion to hold the second claw portion. The cylindrical portion is gripped.

To achieve the above object, the clamping mechanism of the present invention, the first pawl portion consisting of two pawls respectively and the second claw portions, a large first diameter than the first cylindrical portion and said first cylindrical portion A mechanism for holding a container having two cylindrical portions and having an opening at a position adjacent to the first cylindrical portion ,
A first drive shaft engaged with the first claw portion and a second drive shaft engaged with the second claw portion, and a gripping movement of the second claw portion after a gripping operation of the first claw portion It is characterized by having a differential section that differentially links the work .

  According to the clamping method and the clamping mechanism of the present invention, various workpieces having asymmetric shapes can be held stably and reliably.

The perspective view which shows schematic structure of the clamp mechanism concerning Embodiment 1 of this invention. The front view which shows the principal part of the clamp mechanism concerning Embodiment 1 of this invention. 1 is a schematic configuration diagram of a differential portion of a clamp mechanism according to a first embodiment of the present invention. The front view which shows the principal part of the clamp mechanism provided with the position control part concerning Embodiment 1 of this invention. Operation flowchart of clamp mechanism according to embodiment 1 of the present invention. (A), (b), (c) Front view which shows operation | movement of the clamp mechanism concerning Embodiment 1 of this invention. (A) The front view which shows the principal part of the clamp mechanism concerning Embodiment 1 of this invention, (b) The front view which shows the principal part of the other clamp mechanism concerning Embodiment 1 of this invention. The top view which shows the principal part of another clamp mechanism concerning Embodiment 1 of this invention. (A) Front view showing the main part of a conventional robot device hand, (b) Plan view with a workpiece sandwiched using the conventional robot device hand

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In addition, the same code | symbol is attached | subjected to the same component and description may be abbreviate | omitted. Further, the drawings schematically show the respective constituent elements mainly for easy understanding.

(Embodiment 1)
FIG. 1 is a perspective view showing a schematic configuration of a clamp mechanism 10 according to a first embodiment of the present invention. FIG. 2 is a front view showing a main part of the clamp mechanism 10 according to the first embodiment of the present invention. FIG. 3 is a schematic configuration diagram of a differential portion of the clamp mechanism 10 according to the first embodiment of the present invention.

  As shown in FIG. 1, the clamp mechanism 10 shown in the first embodiment has a structure for holding a container (not shown) including a coaxial cylindrical portion having a plurality of outer diameters, 1 claw part 11, second claw part 12, first interlocking part 13, and differential part 14. And the clamp mechanism 10 of this Embodiment 1 drives the differential part 14, and at least each of the nail | claws 11a, 11b, 12a, 12b of the 1st nail | claw part 11 and the 2nd nail | claw part 12 is used. One claw 11a, 11b, 12a, 12b is configured to open and close.

  Here, the 1st nail | claw part 11 consists of two mutually symmetrical nail | claws 11a and 11b, and clamps the 1st cylindrical part 15a of the container 15 as shown in FIG. Similarly, the second claw portion 12 includes two claws 12a and 12b that are symmetrical with respect to each other, and sandwiches the second cylindrical portion 15b of the container 15. For example, the container 15 is assumed to be a vial which is a typical drug container. As shown in FIG. 2, the first cylindrical portion 15a having the diameter of the arrow 11p has a smaller cross-sectional diameter than the second cylindrical portion 15b having the diameter of the arrow 11q.

  Moreover, the 1st interlocking | linkage part 13 restrains opening and closing of the nail | claw 11a, 11b of the 1st nail | claw part 11 to a symmetrical state with respect to the surface 10a of plane symmetry. The differential portion (differential mechanism) 14 includes a first drive shaft 11c engaged with the first claw portion 11 and a second drive shaft 12c engaged with the second claw portion 12, The opening angle of the first claw part 11 and the second claw part 12 is differentially linked.

  And the clamp mechanism 10 of this Embodiment 1 drives the differential part 14, and at least each of the nail | claws 11a, 11b, 12a, 12b of the 1st nail | claw part 11 and the 2nd nail | claw part 12 is used. One claw 11a, 11b, 12a, 12b is configured to open and close.

  With this configuration, even with an outer shape container 15 including a plurality of cylindrical portions 15a and 15b having a plurality of diameters, torque can be distributed by the differential mechanism and restrained by two cross sections having different diameters. Further, the differential mechanism causes the same tightening torque to act on both cross sections, and the container 15 can be held stably and reliably against changes in the attitude of the container 15 and the like. Furthermore, since the centering structure of the first claw part 11 and the second claw part 12 that grips the container is interlocked by a differential mechanism, it can be operated with a single power and can be reduced in size.

  In order to realize this centering structure, the clamping mechanism 10 according to the first embodiment includes a first cylinder of the container 15 sandwiched between the first claw portion 11 and the second claw portion 12 as shown in FIG. The central axes 15c and 15d of the part 15a and the second cylindrical part 15b are arranged so as to be coaxial. Moreover, the clamp mechanism 10 of this Embodiment 1 arrange | positions the 1st nail | claw part 11 as a lower clamp, and the 2nd claw part 12 as an upper clamp coaxially at an up-down direction, and the 1st nail | claw part 11 is made perpendicular The configuration is located below.

  With this configuration, it is possible to take out the drug as its contents stably and easily from the inverted container 15 with the access port 15e down. The first claw portion 11 and the second claw portion 12 are connected so as to operate in a differential manner, and in order to grip the container 15 safely and reliably, the respective claws 11a, 11b, 12a , 12b, rubber 15f is attached to the side surface holding the container 15.

  Further, as shown in FIGS. 1 and 2, the clamp mechanism 10 according to the first embodiment is configured to restrict the opening and closing of the claws 12a and 12b of the second claw portion 12 in a symmetrical state with respect to the plane-symmetric surface 10a. Two interlocking portions 16 are provided.

  With this configuration, the centering structures of the central axes of the plurality of cylindrical portions 15a, 15b of the container 15 are differentially interlocked, so that the container 15 can be securely gripped, and a safe and efficient injection mixing operation can be performed. Further, the position of the access port 15e is determined first by gripping the first cylindrical portion 15a first among the plurality of cylindrical portions 15a, 15b. As a result, the position of the access port 15e can be recognized from an early stage, and a higher-speed device operation can be performed. Here, the access port 15e is an opening of the container 15, and is a port for inserting and accessing a syringe (syringe) injection needle in the first embodiment.

  Next, the basic operation of the clamp mechanism 10 of the first embodiment will be described. For example, when holding the container 15 such as a vial upside down with the access port 15e facing down, the container 15 is placed on the first position restricting portion 17 that holds the access port 15e and restricts its position. Put. The motor 18 that is a driving source for driving the first claw part 11 and the second claw part 12 is turned on, and the gear 18a directly connected to the motor 18 is rotated. The power generated by this rotation is transmitted to the gear 18b, and is transmitted to the bevel gear 18c by the transmission mechanism (not shown) of the differential section 14, thereby rotating the bevel gear 18c. The power of the umbrella gear 18c is distributed and transmitted to the umbrella gears 18d and 18e as the driving force of the first claw part 11 and the second claw part 12, and the umbrella gears 18d and 18e are transmitted to the central axis of the differential part 14. Rotate around 10c. The power is transmitted to the first claw portion 11 via the gears 18f and 18g, and to the second claw portion 12 via the gears 18h and 18j to operate the respective claws 11a, 11b, 12a and 12b. The cylindrical portions 15a and 15b of the container 15 are gripped. At this time, due to the differential mechanism of the differential portion 14, the claws 11a and 11b of the first claw portion 11 as the lower clamp first hold the first cylindrical portion 15a of the container 15 and then the upper clamp. The claws 12a and 12b of the second claw part 12 as described above are configured to grip the second cylindrical part 15b. That is, by gripping the first cylindrical portion 15a first, the position of the access port 15e adjacent to the first cylindrical portion 15a is determined first. Then, the position of the access port 15e into which the injection needle (not shown) of the syringe (injector) is inserted can be recognized from the early stage of the clamping operation of the clamping mechanism 10. Thereby, since the position of the access port 15e is determined, when inserting the injection needle of a syringe, it can insert in the appropriate position of the access port 15e without hesitation, and quick suction operation | movement can be performed. That is, after the access port 15 e is positioned by the first claw portion 11, the posture control of the container 15 is appropriately performed by the second claw portion 12.

  With this configuration, the centering structure of the clamping mechanism 10 is differentially interlocked, and the container 15 can be restrained and gripped by two cross sections having different diameters, so that the container 15 can be gripped stably and reliably. Also, with this configuration, the clamp mechanism 10 of the first embodiment operates with a single power and can be reduced in size.

  FIG. 4 is a front view showing a main part of the clamp mechanism 10 including the first position restricting portion 17 for stabilizing the position of the container 15 according to the first embodiment of the present invention.

  In the main part of the clamping mechanism 10 shown in FIG. 4, the container 15 includes a first cylindrical portion 15 a disposed on one axial end side 15 n of the container 15, and a container 15 on the axial end surface 15 g of the first cylindrical portion 15 a. An access port 15e to 15 contents is arranged. The first claw portion 11 includes a first position restricting portion 17 that includes a restricting surface 17a that abuts a part of the access port 15e that restricts the displacement of the shaft end surface 15g in the direction of the shaft 15h of the container 15. It is set as the structure provided adjacent to.

  With this configuration, since the position of the access port 15e is reliably determined, the shaft end surface 15g of the container 15 is not displaced, and the container 15 can be reliably held. Therefore, the medicine 15j of the contents of the container 15 can be reliably sucked from the access port 15e with an injection needle (not shown) or the like, and a safe and efficient medicine mixing operation can be performed.

  Further, in the main part of the clamping mechanism 10 shown in FIG. 4, the container 15 has a first cylindrical part 15a disposed on one axial end side 15n of the container 15, and the axial end surface 15g of the first cylindrical part 15a An access port 15e to the contents of the container 15 is arranged. Here, the outer shape of the container 15 includes a third cylindrical portion 15k having a smaller cross section than the first cylindrical portion 15a between the first cylindrical portion 15a and the second cylindrical portion 15b. Of the opposing end surfaces 15m of the first cylindrical portion 15a, the second position restricting portion 17b including the restricting surface 17a for restricting axial displacement of the first cylindrical portion 15a is an end surface on the second cylindrical portion 15b side. It is set as the structure provided so that it might engage with 15m.

  With this configuration, since the first cylindrical portion 15a can be gripped more reliably, a safe and efficient drug mixing operation can be performed.

  Next, an operation flowchart of a clamping method using the clamping mechanism 10 of the first embodiment will be described. FIG. 5 shows an operation flowchart of the clamp mechanism according to the first embodiment of the present invention, and FIGS. 6A, 6B, and 6C show the operation of the clamp mechanism according to the first embodiment of the present invention. FIG.

  As shown in FIG. 5, the clamping method of the first embodiment includes step S <b> 1 for regulating the vertical position of the access port 15 e of the container 15, and the first cylindrical portion of the container 15 by the first claw portion 11. Step S2 for clamping 15a and Step S3 for clamping the second cylindrical portion 15b of the container 15 by the second claw portion 12.

  As shown in FIG. 6A, after the container 15 such as a vial is inverted, the access port 15e is pressed against the restriction surface 17a of the first position restricting portion 17 to restrict the vertical position (step S1). ). Next, the claw 11a, 11b of the first claw part 11 is driven in the direction of the arrow by a differential part (not shown) from a state where the claw 11a, 11b is opened at a predetermined angle, as shown in FIG. The claws 11a and 11b are moved closer to each other so as to sandwich the first cylindrical portion 15a, and the first cylindrical portion 15a is sandwiched (step S2). At this time, the first claw portion 11 is provided with the second position restricting portion 17b so as to engage with the end surface 15m facing the access port 15e of the first cylindrical portion 15a.

  Thereby, since axial displacement is regulated and the first cylindrical portion 15a can be gripped more reliably, a safe and efficient drug mixing operation can be performed.

  Then, as shown in FIG. 6C, the claws 12a and 12b of the second claw part 12 opened at a predetermined angle are driven in the direction of the arrow by the differential part, and the second cylindrical part of the container 15 is driven. 15b is clamped (step S3). As a result, the container 15 can be held and held by two cross sections having different diameters, for example, the first cylindrical portion 15a and the second cylindrical portion 15b, while the container 15 is in an inverted state, so that the container 15 can be held stably and reliably. Furthermore, since the centering structure of the first claw part 11 and the second claw part 12 that grips the container 15 is differentially interlocked, it can be operated with one power and the structure can be downsized. A syringe (not shown) with an injection needle (not shown) is approached from the lower side of the position where the container 15 is gripped using the space 19 between the first position restricting portions 17, and the injection needle Can be inserted into the medicine 15j in the container 15 to suck the medicine 15j. Even in such a case, the container 15 holds the first cylindrical portion 15a and the second cylindrical portion 15b by the first claw portion 11 and the second claw portion 12, respectively. To be gripped. Therefore, an inhalation operation of an injection with a syringe or the like can be performed safely and reliably.

  As described above, the opening / closing operation of the claws 11a and 11b of the first claw part 11 and the claws 12a and 12b of the second claw part 12 is determined by the distribution ratio of the driving force by the differential part. By adjusting the distribution ratio of the driving force, the opening / closing operation of the first claw unit 11 and the second claw unit 12 is started when the differential unit is driven by a motor (not shown) for a certain period of time. There is a difference in time. Thus, after the first cylindrical portion 15a of the container 15 is first clamped by the first claw portion 11, the second cylindrical portion 15b is gripped by the second claw portion 12 after a predetermined time has elapsed. be able to. Furthermore, in order to increase the gripping force, for example, the following device can be added to a part of the first claw portion 11.

  Fig.7 (a) is a front view which shows the principal part of the clamp mechanism concerning Embodiment 1 of this invention, FIG.7 (b) shows the principal part of the other clamp mechanism concerning Embodiment 1 of this invention. FIG. FIG. 8 is a plan view showing a main part of still another clamping mechanism according to the first embodiment of the present invention.

  FIG. 7A shows the clamping mechanism 10 shown in FIG. 2 between the first claw portion 11 and the second claw portion 12 and the first cylindrical portion 15a and the second cylindrical portion 15b of the container 15. The configuration is shown with the rubber removed. In FIG. 7B, a magnet is added to the tips of the claws 11a and 11b of the first claw portion 11 to the configuration of the clamp mechanism 10 of FIG. That is, a biasing portion 20 that applies a force in the gripping direction is formed on a part of the first claw portion 11.

  With this configuration, when the first claw portion 11 and the second claw portion 12 are interlocked, the first claw portion 11 is closed in the closing operation, the second claw portion 12 is opened in the opening operation, and the lower first One cylindrical portion 15a can be held long and a safe and efficient drug mixing operation can be performed.

  Similarly, as shown in FIG. 8, each of the first claw portion 21 and the second claw portion (not shown) may have a V-shaped recess portion 22. The container 15 is held by the recess 22. The claws 21 a and 21 b of the first claw portion 21 are connected and interlocked by the connection portion 21 c, and an opening / closing operation is performed by the gear 23. Similarly to the clamp mechanism shown in FIG. 7B, an urging portion 20 including a pair of left and right magnets is formed on a part of the first claw portion 21 to open and close the first claw portion 21. In addition, the gripping force for gripping the container 15 is increased by the magnetic force of the magnet. Also, since many ordinary drug containers are made of resin, it is estimated that even if this configuration is used, the drug container is hardly moved by the magnetic force of the magnet.

  With this configuration, the container 15 can be reliably gripped in the container 15 having a plurality of cylindrical parts whose diameters are different from each other, and a safe and efficient drug mixing operation can be performed.

  In the first embodiment, an example of a clamp mechanism that holds two places with different circular diameters and holds a medicine container or the like is shown. However, the clamping mechanism of the present invention grips each diameter by a differential mechanism, even when the ratio of the diameters is different, or even when the diameters are the same in a drug container having a plurality of diameters. By distributing the driving force of the claw portion to be performed, it is possible to appropriately hold the drug container or the like. Therefore, even in a medical field where various types of drug containers are used, it is possible to grip without changing the setting of the clamp mechanism each time, which is useful in a busy medical field.

  According to the clamp mechanism of the present invention, even a container having an outer shape including a cylindrical portion having a plurality of diameters can be restrained and gripped by two cross-sections having different diameters, so that the container can be gripped stably and reliably. Furthermore, since the centering structure of the first claw portion and the second claw portion that grips the container is interlocked differentially, a small clamp mechanism that operates with one power can be realized. This is useful because pharmacists and nurses can handle medicines safely and accurately in hospitals and the like, and the workload of nurses and pharmacists can be reduced.

DESCRIPTION OF SYMBOLS 10 Clamping mechanism 10a Surface 10c Center axis | shaft 11,21 1st nail | claw part 11a, 11b, 12a, 12b, 21a, 21b Claw 11c 1st drive shaft 11p, 11q Arrow 12 2nd nail | claw part 12c 2nd drive shaft 13 First interlocking part 14 Differential part 15 Container 15a First cylindrical part 15b Second cylindrical part 15c, 15d Central axis 15e Access port 15f Rubber 15g Shaft end face 15h Shaft 15j Drug 15k Third cylindrical part 15m End face 15n Shaft End side 16 Second interlocking portion 17 First position restricting portion 17a Restricting surface 17b Second position restricting portion 18 Motor 18a, 18b, 18f, 18g, 18h, 18j, 23 Gear 18c, 18d, 18e Umbrella gear 19 Space 20 Biasing part 21c Connection part 22 Recessed part

Claims (11)

A clamp method comprising a first claw portion and a second claw portion each consisting of two claws, and gripping a container with the first claw portion and the second claw portion,
The container, cylindrical der outer shape of that has a second cylindrical portion big diameter than the first cylindrical portion and said first cylindrical portion Rutotomoni, an opening at a position adjacent to said first cylindrical portion Have
After gripping the first cylindrical portion with the first claw portion, gripping the second cylindrical portion with the second claw portion in differential cooperation with the gripping operation of the first claw portion,
Clamping method. The first claw portion is located vertically below the second claw portion;
The clamping method according to claim 1. Comprising a first position regulating portion having a restricting surface adjacent to the first pawl portion, after is brought into contact with the opening in the regulating surface, gripping the first cylindrical portion by said first teeth,
The clamping method according to claim 1 or 2. A first position regulating portion having a restricting surface adjacent to the first pawl portion, and a second position regulating portion having an end surface adjacent to the first pawl portion, the axial direction of the opening in the regulating surface Holding the first cylindrical portion with the first claw portion after contacting the surface and regulating the surface perpendicular to the axial direction of the opening with the end surface;
The clamping method according to claim 1 or 2. In the first claw portions, each consisting of two claws and the second claw portion, a position adjacent to the first cylindrical portion and having a larger second cylindrical portion of diameter than the first cylindrical portion and said first cylindrical portion A mechanism for holding a container having an opening in
A first drive shaft engaged with the first claw portion and a second drive shaft engaged with the second claw portion, and a gripping movement of the second claw portion after a gripping operation of the first claw portion Equipped with a differential part that works the work differentially,
Clamp mechanism. When the first claw portion is located vertically below the second claw portion,
A first position restricting portion including a restricting surface provided adjacent to the first claw portion;
The clamp mechanism according to claim 5. The grip center of the first claw part and the grip center of the second claw part are arranged coaxially in the vertical direction.
The clamp mechanism according to claim 6. The first claw portion is provided with a biasing portion that applies a force in the clamping direction.
The clamp mechanism according to any one of claims 5 to 7. The clamp mechanism according to claim 8, wherein the urging portion is a magnet using magnetic force. Each of the claw of the first claw part and the claw of the second claw part has a V-shaped dent,
The clamp mechanism according to any one of claims 5 to 9. Before SL container consists outer shape which includes a third cylindrical portion having a diameter smaller cross section than the first cylindrical portion between the first cylindrical portion and the second cylindrical portion,
Of the opposing end surfaces of the first cylindrical portion, a second position restricting portion including a contact restricting surface for restricting axial displacement of the first cylindrical portion engages with the end surface on the second cylindrical portion side. Provided as
The clamp mechanism according to any one of claims 5 to 10.

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