WO2023066312A1 - 配药设备的末端执行器 - Google Patents

配药设备的末端执行器 Download PDF

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Publication number
WO2023066312A1
WO2023066312A1 PCT/CN2022/126242 CN2022126242W WO2023066312A1 WO 2023066312 A1 WO2023066312 A1 WO 2023066312A1 CN 2022126242 W CN2022126242 W CN 2022126242W WO 2023066312 A1 WO2023066312 A1 WO 2023066312A1
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WO
WIPO (PCT)
Prior art keywords
clamping
end effector
driving device
frame
base
Prior art date
Application number
PCT/CN2022/126242
Other languages
English (en)
French (fr)
Inventor
陈康
曹青
Original Assignee
上海交通大学医学院附属瑞金医院
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Filing date
Publication date
Application filed by 上海交通大学医学院附属瑞金医院 filed Critical 上海交通大学医学院附属瑞金医院
Publication of WO2023066312A1 publication Critical patent/WO2023066312A1/zh

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61J—CONTAINERS SPECIALLY ADAPTED FOR MEDICAL OR PHARMACEUTICAL PURPOSES; DEVICES OR METHODS SPECIALLY ADAPTED FOR BRINGING PHARMACEUTICAL PRODUCTS INTO PARTICULAR PHYSICAL OR ADMINISTERING FORMS; DEVICES FOR ADMINISTERING FOOD OR MEDICINES ORALLY; BABY COMFORTERS; DEVICES FOR RECEIVING SPITTLE
    • A61J1/00—Containers specially adapted for medical or pharmaceutical purposes
    • A61J1/14—Details; Accessories therefor
    • A61J1/20—Arrangements for transferring or mixing fluids, e.g. from vial to syringe
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
    • B01F—MIXING, e.g. DISSOLVING, EMULSIFYING OR DISPERSING
    • B01F35/00—Accessories for mixers; Auxiliary operations or auxiliary devices; Parts or details of general application
    • B01F35/80—Forming a predetermined ratio of the substances to be mixed

Definitions

  • the present application relates to the technical field of medical equipment, in particular to an end effector of a dispensing equipment.
  • the dispensing process of medical intravenous drugs is as follows: first extract a certain amount of solvent with a syringe, then inject it into other solute bottles, and retrieve the solution from the fully mixed solute bottle, and then inject it into the solvent bottle to complete the dispensing process.
  • Intravenous drug dispensing in general hospitals basically relies on medical staff to complete the dispensing action manually in a relatively closed and clean environment.
  • manual dispensing by medical staff will inevitably lead to misoperation, and because medical staff are not completely isolated from the medicine, the direct contact of medical staff with the medicine bottle increases the probability of contamination of the medicine.
  • there are many steps in the dispensing process which makes the manual dispensing process not convenient for medical staff.
  • the purpose of the utility model is to solve the problems of insufficient safety and convenience in the medical intravenous drug preparation process in the prior art.
  • an embodiment of the present utility model provides an end effector of a dispensing device, including a syringe clamping device, a medicine bottle clamping device, a first driving device, a second driving device and a frame.
  • the syringe clamping device includes an outer cylinder clamping part and a piston rod clamping part, one end of the piston rod clamping part is provided with a piston rod clamping part, and the other end is in transmission connection with the first driving device.
  • the clamping part of the outer cylinder includes a first fixing assembly and a second fixing assembly arranged at intervals along the length direction of the end effector.
  • the first fixing component includes a clamping part and an elastic part, one end of the clamping part is rotatably connected with the frame, and the other end extends away from the frame along the thickness direction of the end effector.
  • the elastic part is arranged on the clamping part and can provide clamping force to the clamping part.
  • One end of the second fixing component is fixedly connected to the frame, and the other end extends away from the frame along the thickness direction of the end effector.
  • One end of the medicine bottle clamping device is provided with a medicine bottle clamping part, and the other end is in transmission connection with the second driving device.
  • the outer cylinder fixing component is used to fix the outer cylinder of the syringe
  • the first fixing component of the outer cylinder fixing component is used to clamp the outer cylinder side wall of the syringe
  • the second fixing component of the outer cylinder fixing component is used to fix An open end is provided on the outer cylinder of the syringe.
  • the piston rod clamping part is used for fixing the piston rod of the syringe.
  • the medicine bottle buckling part is used for fixing the medicine bottle.
  • the first driving device can provide driving force to the clamping part of the piston rod, so that the clamping part of the piston rod can drive the piston rod of the syringe to move along the length direction of the end effector
  • the second driving device can provide driving force to the clamping part of the medicine bottle , so that the clamping part of the medicine bottle can drive the medicine bottle to move along the length direction of the end effector.
  • the end effector of the dispensing equipment does not require manual dispensing by medical staff during the dispensing process, which avoids misoperations in the manual dispensing process of medical staff and pollution caused by direct contact with medicine bottles by medical staff. Therefore, the end of the dispensing equipment
  • the actuator has the advantage of being safer and more convenient in the dispensing process.
  • the first fixing component further includes a support member
  • the clamping member includes two clamping blocks.
  • One end of the support is fixedly connected to the frame, and the other end extends away from the frame along the thickness direction of the end effector.
  • the two clamping blocks are respectively rotatably connected to the two sides of the supporting member.
  • the elastic piece is arranged between the two clamping blocks, and the two ends of the elastic piece are respectively fixedly connected with the two clamping blocks.
  • the supporting member and the clamping block can form an accommodation space for placing the side wall of the outer cylinder of the syringe, and the elastic member is used to provide clamping force to the two clamping blocks, thereby fixing the side wall of the outer cylinder of the syringe.
  • the elastic member is used to provide clamping force to the two clamping blocks, thereby fixing the side wall of the outer cylinder of the syringe.
  • the supporting member includes two supporting plates, and a bushing is arranged on the clamping block.
  • One ends of the two support plates are respectively fixedly connected to the frame at intervals along the length direction of the end effector, and the other ends extend away from the frame along the thickness direction of the end effector, so that a second support plate is formed between the two support plates.
  • the two clamping blocks are both located in the first accommodation space, and one end of the two clamping blocks is rotatably connected to both sides of the support plate through the first rotating pin, and the other ends are respectively formed with grooves, and the bushes are arranged in the grooves.
  • the bushing of one of the clamping blocks is rotatably connected to the corresponding clamping block through the second rotating pin.
  • the first accommodating space formed between the two supporting plates and the two clamping blocks is used for placing the side wall of the outer cylinder of the syringe.
  • the side wall of the outer cylinder of the syringe is disassembled or installed, the side wall of the bush and the side wall of the outer cylinder of the syringe can contact each other, so that the bush can guide the side wall of the outer cylinder of the syringe.
  • the clamping part of the medicine bottle includes a base, two claws and two claw driving parts, and the base is connected to the second driving device by transmission. superior. Both claws include a connecting part and a clamping part. One end of the connecting part is slidably connected to the base, and the other end extends away from the base along the thickness direction of the end effector. One side of the connecting part is connected to the side of the clamping part. One side is vertically connected, and the other side of the clamping part is set as a clamping surface for clamping the medicine bottle.
  • the two claw driving parts are both arranged in the base, and are connected to the two claws in transmission respectively.
  • the claw driver can drive the claws to move, so that the claws can slide on the base to adjust the distance between the two claws, so that medicine bottles of different calibers can be clamped on two The clamping surface provided between the jaws.
  • the clamping surface includes two inclined surfaces, and the two inclined surfaces gradually move away from the connecting part from the middle of the clamping surface to the two ends of the clamping surface. , so that the clamping surface is "K" shaped.
  • One end of the connecting part and one of the base is provided with a protrusion, and the other is provided with a sliding groove, and the protrusion and the sliding groove cooperate with each other so that one end of the connecting part is slidably connected to the base.
  • the setting of the clamping surface can facilitate the clamping of the medicine bottle.
  • the arrangement of the protrusion and the sliding groove can facilitate the sliding connection of the claw to the base.
  • the second fixing component includes two clamping parts arranged at intervals along the width direction of the end effector, and one end of the two clamping parts is respectively connected to the
  • the frame is fixedly connected, and the other ends respectively extend away from the frame along the thickness direction of the end effector.
  • the opposite sides of the two clips are respectively provided with clipping slots, and the clipping slots are connected with the outer cylinder of the syringe. The end with the opening is provided to fit.
  • the end of the outer cylinder of the syringe provided with the opening can be clamped on the clamping member through the clamping groove.
  • the clamping piece and the first fixing component can fix the two positions of the syringe, thereby further ensuring the stability of the connection between the syringe and the end effector of the dispensing device.
  • the arrangement of the clamping groove enables the medical personnel to only need to push the corresponding position of the syringe into the clamping groove, thereby increasing the convenience of fixing the syringe.
  • the clamping part of the piston rod includes two connecting plates and two clamping plates, and one end of the two clamping plates is along the length of the end effector.
  • the ones with intervals in the directions are respectively connected to the first driving device in transmission, and the other ends respectively extend along the thickness direction of the end effector toward the direction away from the frame.
  • the two connecting plates are located on both sides of the two clamping plates, and the two ends of the two connecting plates respectively connect with the two sides of the two clamping plates to form a second accommodation space, and the second accommodation space is located on the piston of the syringe.
  • One end outside the outer cylinder is suitable.
  • the end effector also includes a first transmission device and a second transmission device.
  • One end of the first transmission device is respectively connected to one end of two clamping plates. connected, and the other end is connected to the output end of the first driving device.
  • One end of the second transmission device is connected with the base, and the other end is connected with the output end of the second drive device.
  • the first driving device can provide driving force to the piston rod clamping part through the first transmission device, so as to drive the piston rod clamping part to drive the syringe piston rod to move along the length direction of the end effector.
  • the second driving device can provide driving force to the medicine bottle clamping part through the second transmission device, so as to drive the medicine bottle clamping part to drive the medicine bottle to move along the length direction of the end effector.
  • the first transmission device includes a first rod part and a second rod part.
  • the other end extends along the length direction of the end effector and is vertically connected to one end of the second rod, and the other end of the second rod is connected to the output end of the first driving device.
  • the second transmission device includes a slideway and a sliding part, the slideway is arranged on the outer wall of the second driving device, one end of the slide part is slidably connected to the slideway, and the other end is fixedly connected to the base.
  • the other end of the sliding part is also provided with a fixed plate extending along the thickness direction of the end effector toward the direction close to the second driving device, and the output end of the second driving device is fixedly connected with the fixed plate.
  • the arrangement of the first transmission device and the second transmission device makes the components of the end effector of the drug dispensing equipment as close together as possible, reducing the overall volume of the end effector of the drug dispensing equipment, thereby The end effector of the dispensing equipment is made smaller and more convenient to use.
  • the frame includes a supporting frame and two connecting rods arranged at both ends of one side of the supporting frame.
  • the supporting frame is sleeved on the first driving device. , and is fixedly connected with the first driving device.
  • the connecting rod includes a base and an extension, one end of the base is fixedly connected to the support frame, the other end extends away from the frame along the thickness direction of the end effector, and vertically connects with one end of the extension, and the two connecting rods
  • the opposite sides on the base of the base are respectively fixedly connected with the two side walls of the second driving device. Rotating parts are arranged on the side of the support frame away from the connecting rod.
  • the other end of the extension part extends along the length direction of the end effector, and is respectively fixedly connected with one end of the two support plates and one end of the clamping piece.
  • the end effector also includes a control device, and the control device is respectively connected in communication with the first drive device, the second drive device, and the claw driving member.
  • the arrangement of the rack makes the components of the end effector of the drug dispensing equipment as close together as possible, further reducing the overall volume of the end effector of the drug dispensing equipment, so that the end of the drug dispensing equipment
  • the actuator is smaller and more convenient to use.
  • the rotating member provided on the side of the support frame away from the connecting rod can facilitate the connection of the end effector of the drug dispensing device with other components.
  • the arrangement of the control device increases the degree of automation of the end effector of the dispensing device.
  • the end effector of the dispensing equipment provided by the utility model includes a syringe clamping device, a medicine bottle clamping device, a first driving device, a second driving device and a frame.
  • the syringe clamping device includes an outer cylinder clamping part and a piston rod clamping part
  • the outer cylinder fixing assembly is used to fix the outer cylinder of the syringe
  • the piston rod locking part is used to fix the piston rod of the syringe.
  • One end of the piston rod clamping part is provided with a piston rod clamping part, and the other end is in transmission connection with the first driving device.
  • the clamping part of the outer cylinder includes a first fixing assembly and a second fixing assembly arranged at intervals along the length direction of the end effector, the first fixing assembly is used to clamp the side wall of the outer cylinder of the syringe, and the second fixing assembly is used to fix the side wall of the syringe
  • An open end is provided on the outer cylinder.
  • the first fixing component includes a clamping part and an elastic part, one end of the clamping part is rotatably connected with the frame, and the other end extends away from the frame along the thickness direction of the end effector.
  • the elastic part is arranged on the clamping part and can provide clamping force to the clamping part.
  • One end of the second fixing component is fixedly connected to the frame, and the other end extends away from the frame along the thickness direction of the end effector.
  • One end of the medicine bottle clamping device is provided with a medicine bottle clamping part, and the other end is in transmission connection with the second driving device.
  • the medicine bottle buckling part is used for fixing the medicine bottle.
  • the first driving device can provide driving force to the clamping part of the piston rod, so that the clamping part of the piston rod can drive the piston rod of the syringe to move along the length direction of the end effector
  • the second driving device can provide driving force to the clamping part of the medicine bottle , so that the clamping portion of the medicine bottle can drive the medicine bottle to move along the length direction of the end effector, thereby completing the dispensing process.
  • the end effector of the dispensing equipment does not require manual dispensing by medical staff during the dispensing process, which avoids misoperations in the manual dispensing process of medical staff and pollution caused by direct contact with medicine bottles by medical staff. Therefore, the end of the dispensing equipment
  • the actuator has the advantage of being safer and more convenient in the dispensing process.
  • Fig. 1 is a schematic structural view of the end effector of the dispensing equipment provided by the embodiment of the present invention
  • Fig. 2 is another structural schematic diagram of the end effector of the dispensing equipment provided by the embodiment of the present utility model
  • Fig. 3 is a schematic structural view of the outer cylinder clamping part of the end effector of the dispensing device provided by the embodiment of the present utility model.
  • 110 first fixing component
  • 111 clip block
  • 111a groove
  • 112 elastic member
  • 113 support plate
  • 114 bushing
  • 115 first rotating pin
  • 116 second rotating pin
  • 210 clamping part of the medicine bottle; 211: base; 212: claw; 212a: connecting part; 212b: clamping part; 212b1: clamping surface;
  • 60 the first transmission device; 610: the first rod part; 620: the second rod part;
  • 70 second transmission device; 710: slideway; 720: sliding part; 721: fixed plate;
  • A the length direction of the end effector
  • This embodiment provides an end effector of a dispensing device, as shown in Fig. Rack 50.
  • the syringe clamping device 10 includes an outer cylinder clamping part and a piston rod clamping part, one end of the piston rod clamping part is provided with a piston rod locking part 130 , and the other end is in transmission connection with the first driving device 30 .
  • the clamping part of the outer cylinder includes a first fixing assembly 110 and a second fixing assembly 120 arranged at intervals along the length direction A of the end effector.
  • the first fixing assembly 110 includes a clamping member and an elastic member 112 , one end of the clamping member is rotatably connected to the frame 50 , and the other end extends away from the frame 50 along the thickness direction C of the end effector.
  • the elastic member 112 is disposed on the clamping component and can provide clamping force to the clamping component.
  • One end of the second fixing component 120 is fixedly connected to the frame 50 , and the other end extends away from the frame 50 along the thickness direction C of the end effector.
  • One end of the medicine bottle clamping device 20 is provided with a medicine bottle clamping part 210 , and the other end is in transmission connection with the second driving device 40 .
  • first driving device 30 and the second driving device 40 can be configured as components such as cylinders, electric telescopic rods, etc., which can be set according to actual design and usage requirements, which is not specifically limited in this embodiment.
  • the elastic member 112 can be configured as an elastic member such as a spring or elastic rubber.
  • the elastic member 112 in this embodiment is configured as a spring.
  • connection manner between the second fixing component 120 and the frame 50 will be described in detail later, and will not be repeated here.
  • the outer cylinder fixing assembly is used to fix the outer cylinder of the syringe
  • the first fixing assembly 110 of the outer cylinder fixing assembly is used to clamp the outer cylinder side wall of the syringe
  • the second fixing assembly 120 of the outer cylinder fixing assembly is used for One end with an opening is arranged on the outer cylinder of the fixed syringe.
  • the piston rod locking part 130 is used to fix the piston rod of the syringe.
  • the medicine bottle clamping part 210 is used for fixing the medicine bottle.
  • the first driving device 30 can provide driving force to the piston rod clamping part 130, so that the piston rod clamping part 130 can drive the piston rod of the syringe to move along the length direction A of the end effector, and the second driving device 40 can clamp the medicine bottle
  • the connecting part 210 provides a driving force, so that the medicine bottle clamping part 210 can drive the medicine bottle to move along the length direction A of the end effector.
  • the end effector of the dispensing equipment does not require manual dispensing by medical staff during the dispensing process, which avoids misoperations in the manual dispensing process of medical staff and pollution caused by direct contact with medicine bottles by medical staff. Therefore, the end of the dispensing equipment
  • the actuator has the advantage of being safer and more convenient in the dispensing process.
  • the first fixing component 110 further includes a support member, and the clamping member includes two clamping blocks 111 .
  • One end of the support is fixedly connected to the frame 50 , and the other end extends away from the frame 50 along the thickness direction C of the end effector.
  • the two clamping blocks 111 are respectively rotatably connected to two sides of the supporting member.
  • the elastic member 112 is disposed between the two clamping blocks 111 , and both ends of the elastic member 112 are fixedly connected to the two clamping blocks 111 respectively.
  • the two ends of the elastic member 112 can be connected to the two clamping blocks 111 through clamping, screwing and other fixed connection methods, which can be set according to actual design and use requirements, and this embodiment does not make specific details on this. limited.
  • the supporting member and the clamping block 111 can form an accommodating space for placing the side wall of the outer cylinder of the syringe, and the elastic member 112 is used to provide clamping force to the two clamping blocks 111, thereby making the side wall of the outer cylinder of the syringe be fixed.
  • at least one clamping block 111 can rotate slightly relative to the support, so that the distance between the two clamping blocks 111 is slightly increased, thereby facilitating medical personnel to disassemble and assemble the outer cylinder side of the syringe wall.
  • the supporting member includes two supporting plates 113 , and a bushing 114 is provided on the clamping block 111 .
  • One ends of the two support plates 113 are respectively fixedly connected to the frame 50 at intervals along the length direction A of the end effector, and the other ends are respectively extended in a direction away from the frame 50 along the thickness direction C of the end effector, so that the two supports A first accommodation space is formed between the plates 113 .
  • the two clamping blocks 111 are located in the first accommodation space, and one end of the two clamping blocks 111 is respectively connected to both sides of the support plate 113 through the first rotating pin 115, and the other end is respectively formed with a groove 111a, a bushing 114 It is arranged in the groove 111a, and the bushing 114 of one of the clamping blocks 111 is rotatably connected to the corresponding clamping block 111 through the second rotating pin 116 .
  • the support plate 113 and the frame 50 can be fixedly connected by welding, screwing, etc., or integrally formed, which can be set according to actual design and use requirements, and this embodiment does not specifically limit it. .
  • one bush 114 of the two bushes 114 is rotatably connected to a clamping block 111 through a second rotating pin 116 , and the other bushing 114 is interference fit with the groove 111 a of the clamping block 111 .
  • the bushing 114 that is connected to the clamping block 111 through the rotation of the second rotating pin 116 can guide the outer cylinder side wall of the syringe when disassembling the syringe; the bushing 114 that is interference fit with the groove 111a of the clamping block 111 It can move relative to the clamping block 111 when disassembling the syringe, so as to adapt to syringes of different sizes.
  • the first accommodating space formed between the two supporting plates 113 and the two clamping blocks 111 is used for placing the side wall of the outer cylinder of the syringe.
  • the side wall of the outer cylinder of the syringe is disassembled or installed, the side wall of the bushing 114 and the side wall of the outer cylinder of the syringe can contact each other, so that the bushing 114 can guide the side wall of the outer cylinder of the syringe.
  • the drug bottle clamping part 210 includes a base 211 , two claws 212 and two claws
  • the driving member, the base 211 is transmission connected to the second driving device 40 .
  • Both claws 212 include a connecting portion 212a and a locking portion 212b.
  • One end of the connecting portion 212a is slidably connected to the base 211, and the other end extends away from the base 211 along the thickness direction C of the end effector.
  • the connecting portion 212a One side of the clamping portion 212b is in vertical contact with one side of the clamping portion 212b, and the other side of the clamping portion 212b is set as a clamping surface 212b1 for clamping the medicine bottle.
  • the two claw driving parts are both disposed in the base 211 and are respectively connected to the two claws 212 in transmission.
  • the connecting portion 212a and the clamping portion 212b can be fixedly connected by welding, screwing, etc., or integrally formed.
  • the connecting portion in this embodiment 212a is integrally formed with the clamping portion 212b.
  • the claw driving member can be set as an air cylinder, a linear motor, etc., which can be set according to actual design and use requirements, which is not specifically limited in this embodiment.
  • the claw driver can drive the claw 212 to move, so that the claw 212 can slide on the base 211 to adjust the distance between the two claws 212, so that medicine bottles of different calibers can be stuck. It is connected to the engaging surface 212b1 provided between the two claws 212 .
  • the clamping surface 212b1 includes two slopes, and the two slopes start from the middle of the clamping surface 212b1 respectively. Two ends of the clamping surface 212b1 are gradually separated from the connecting portion 212a, so that the clamping surface 212b1 is in a "K" shape.
  • One end of the connecting portion 212a and the base 211 is provided with a protrusion, and the other is provided with a sliding groove, and the protrusion and the sliding groove cooperate with each other so that one end of the connecting portion 212a is slidably connected to the base 211 .
  • the shape of the protrusion can be set in a spherical shape, a block shape, etc., and correspondingly, the shape of the chute can also be set in a shape suitable for the protrusion. It can be specifically set according to actual design and use requirements, and this embodiment does not specifically limit it.
  • the "K"-shaped clamping surface 212b1 can better fit the mouth of the medicine bottle.
  • the setting of the clamping surface 212b1 can facilitate the clamping of the medicine bottle.
  • the arrangement of the protrusion and the sliding groove can facilitate the sliding connection of the claw 212 to the base 211 .
  • FIG. 1 and FIG. 121 Another implementation of this embodiment provides an end effector of a dispensing device. As shown in FIG. 1 and FIG. 121, one end of the two clips 121 is respectively fixedly connected to the frame 50, and the other end extends away from the frame 50 along the thickness direction C of the end effector, and the opposite sides of the two clips 121 are respectively A locking groove 121a is provided, and the locking groove 121a is adapted to the end of the outer cylinder of the syringe provided with an opening.
  • clamping member 121 and the frame 50 may be fixedly connected by welding, screwing, etc., which may be set according to actual design and use requirements, which is not specifically limited in this embodiment.
  • the end of the outer cylinder of the syringe provided with the opening can be locked to the locking member 121 through the locking groove 121a.
  • the clamping member 121 and the first fixing component 110 can fix two positions of the syringe, thereby further ensuring the stability of the connection between the syringe and the end effector of the dispensing device.
  • the arrangement of the locking groove 121a enables the medical staff to simply push the corresponding position of the syringe into the locking groove 121a, thereby increasing the convenience of fixing the syringe.
  • FIG. 1 and FIG. 1 Another implementation of this embodiment provides an end effector of a dispensing device. As shown in FIG. 1 and FIG. One end of each clamping plate 132 is respectively drive-connected with the first driving device 30 at intervals along the length direction A of the end effector, and the other end extends away from the frame 50 along the thickness direction C of the end effector.
  • the two connecting plates 131 are located on both sides of the two clamping plates 132, and the two ends of the two connecting plates 131 respectively connect with the two sides of the two clamping plates 132 to form a second accommodation space, and the second accommodation space is connected to the syringe
  • the end of the piston on the outside of the outer cylinder is suitable.
  • the connecting plate 131 and the clamping plate 132 can be fixedly connected by welding, screwing, etc., or can be integrally formed, which can be set according to actual design and use requirements, and this embodiment does not specify this limited.
  • One end of the second transmission device 70 is connected to the base 211 , and the other end is connected to the output end of the second driving device 40 .
  • first driving device 30 can provide driving force to the piston rod clamping part 130 through the first transmission device 60, so as to drive the piston rod clamping part 130 to drive the syringe piston rod to move along the length direction A of the end effector.
  • the second driving device 40 can provide driving force to the medicine bottle clamping part 210 through the second transmission device 70 , so as to drive the medicine bottle clamping part 210 to drive the medicine bottle to move along the length direction A of the end effector.
  • the first transmission device 60 includes a first rod part 610 and a second rod part 620, the first rod One end of the part 610 is connected with one end of the two clamping plates 132 respectively, the other end extends along the length direction A of the end effector and is vertically connected with one end of the second rod part 620 , and the other end of the second rod part 620 It is connected with the output terminal of the first driving device 30 .
  • the second transmission device 70 includes a slideway 710 and a sliding part 720. The slideway 710 is arranged on the outer wall of the second driving device 40.
  • One end of the sliding part 720 is slidably connected to the slideway 710, and the other end is fixedly connected to the base 211.
  • the other end of the sliding part 720 is further provided with a fixing plate 721 extending along the thickness direction C of the end effector toward the direction close to the second driving device 40 , and the output end of the second driving device 40 is fixedly connected to the fixing plate 721 .
  • first rod portion 610 and the two clamping plates 132 can be fixedly connected by welding, screwing, etc., or integrally formed, which can be set according to actual design and use requirements. This is not specifically limited.
  • first rod part 610 and the second rod part 620 can be fixedly connected by welding, screwing, etc., or integrally formed, which can be set according to actual design and use requirements. In this embodiment, This is not specifically limited.
  • connection between the second rod portion 620 and the output end of the first driving device 30 can be fixed connection methods such as clip connection and screw connection, which can be set according to actual design and use requirements. This is not specifically limited.
  • the shape of the sliding part 720 can be set as a cuboid, a cube or other shapes, which can be set according to actual design and use requirements, which is not specifically limited in this embodiment.
  • one of the sliding part 720 and the slideway 710 is provided with a protrusion, and the other is provided with a groove 111a.
  • the protrusion is matched with the groove 111 a, so that the sliding part 720 is slidably connected to the slideway 710 .
  • the two ends of the slideway 710 are also provided with limiting parts, so as to prevent the sliding part 720 from sliding out relative to the slideway 710 .
  • the number of slideways 710 provided on the outer wall of the second driving device 40 can be set to one, two, three, etc., which can be set according to actual design and use requirements, which is not discussed in this embodiment. Be specific.
  • the sliding part 720 and the base 211 can be connected through fixed connection methods such as welding, screwing, snapping, etc., which can be set according to actual design and use requirements, and this embodiment does not specifically limit it. .
  • the output end of the second driving device 40 can be connected to the fixed plate 721 by means of fixed connections such as welding, screwing, snapping, etc., which can be set according to actual design and use requirements. This is not specifically limited.
  • first transmission device 60 and the second transmission device 70 makes the components of the end effector of the drug dispensing device as close together as possible, reducing the overall volume of the end effector of the drug dispensing device , so that the end effector of the dispensing equipment is smaller and more convenient to use.
  • FIG. 1 and FIG. The rod 520 and the supporting frame 510 are sheathed on the first driving device 30 and fixedly connected with the first driving device 30 .
  • the connecting rod 520 includes a base 521 and an extension 522. One end of the base 521 is fixedly connected to the support frame 510, and the other end extends away from the frame 50 along the thickness direction C of the end effector and is perpendicular to one end of the extension 522.
  • the opposite sides of the bases 521 of the two connecting rods 520 are respectively fixedly connected with the two side walls of the second driving device 40 .
  • a rotating member (not shown in the figure) is provided on the side of the support frame 510 away from the connecting rod 520 .
  • the other end of the extension part 522 extends along the length direction A of the end effector, and is respectively fixedly connected with one end of the two support plates 113 and one end of the clip 121 .
  • the end effector also includes a control device, which is respectively connected in communication with the first driving device 30 , the second driving device 40 and the claw driving member.
  • the support frame 510 and the first driving device 30 can be connected through fixed connection methods such as welding, screwing, clamping, etc., which can be set according to actual design and use requirements, and this embodiment does not specifically limit it. .
  • the base 521 and the support frame 510 can be connected by welding, screwing, clipping and other fixed connection methods, which can be set according to actual design and use requirements, which is not specifically limited in this embodiment.
  • the base portion 521 and the extension portion 522 can be fixedly connected by welding, screwing, etc., or integrally formed.
  • the base portion 521 in this embodiment Formed integrally with the extension part 522 .
  • the base 521 and the second driving device 40 can be connected by fixed connection methods such as welding, screwing, snapping, etc., which can be set according to actual design and use requirements, and this embodiment does not make specific details about it. limited.
  • the rotating member can be configured as a rotating pin or a rotating hole adapted to the rotating pin, so that the end effector of the drug dispensing device can be rotatably connected to other components that can cooperate with it.
  • extension part 522 is connected to the support plate 113 and the clamping member 121 by means of fixed connection such as welding, screwing, clamping, etc., which can be set according to the actual design and use requirements. This is not specifically limited.
  • control device can respectively control the actions of the first driving device 30, the second driving device 40 and the claw driving member to complete the dispensing process.
  • the dispensing process is as follows: the control device first controls the action of the jaw driving part to adjust the distance between the two jaws 212, so that the medicine bottle is clamped on the clamping part 212b through the clamping surface 212b1, and then the outer cylinder of the syringe
  • the first fixing assembly 110 and the second fixing assembly 120 are fixed at the two positions of the first fixing assembly 110 and the second fixing assembly 120 by the clamping block 111 and the snapping groove 121a of the clipping piece 121, so as to ensure the stability of the syringe installation.
  • the piston rod of the syringe can be fixed on the piston rod clamping part 130 through the second accommodation space formed by the connecting plate 131 and the clamping plate 132.
  • the control device controls the action of the second driving device 40, so that the vial clamping part 210 drives the vial to move along the length direction A of the end effector, and then inserts the needle of the syringe into the vial.
  • the control device controls the action of the first driving device 30 so that the piston rod engaging part 130 can drive the piston rod of the syringe to move along the length direction A of the end effector to complete the dispensing process.
  • a sensor may be provided on the drug bottle clamping portion 210 for detecting the position information of the drug bottle. And the sensor is communicatively connected with the control device. When the end effector of the dispensing equipment is working, the sensor can transmit the detected information about the position of the medicine bottle to the control device, and after being processed by the control device, the claw 212 is controlled to grab the medicine bottle.
  • No sensor may be provided on the clamping part 210 of the medicine bottle, and the medicine bottle is placed at a fixed position corresponding to the claw 212, so that the control device can control the claw 212 to grab the medicine bottle from the fixed position. It can be specifically set according to actual design and use requirements, which is not specifically limited in this embodiment.
  • the frame 50 is set in such a way that the components of the end effector of the drug dispensing device are gathered together as much as possible, further reducing the overall volume of the end effector of the drug dispensing device, so that the drug dispensing device The end effector is smaller and more convenient to use.
  • the rotating member provided on the side of the support frame 510 away from the connecting rod 520 can facilitate the connection of the end effector of the dispensing device with other components.
  • the arrangement of the control device increases the degree of automation of the end effector of the dispensing device.

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Abstract

一种配药设备的末端执行器，包括注射器夹持装置（10）、药瓶卡接装置（20）、第一驱动装置（30）、第二驱动装置（40）以及机架（50）。注射器夹持装置（10）包括外筒夹持部件和活塞杆夹持部件，活塞杆夹持部件的一端设置有活塞杆卡接部（130），另一端与第一驱动装置（30）传动连接。外筒夹持部件包括沿末端执行器的长度方向（A）间隔设置的第一固定组件（110）和第二固定组件（120）。第一固定组件（110）包括夹持件和弹性件（112），夹持件与机架（50）转动连接，弹性件（112）设置于夹持件上，且能够向夹持件提供夹紧力。第二固定组件（120）与机架（50）固定连接。药瓶卡接装置（20）的一端设置有药瓶卡接部（210），另一端与第二驱动装置（40）传动连接。该配药设备的末端执行器在配药过程中具有更加安全和更加便捷的优势。

Description

配药设备的末端执行器
本申请要求于2021年10月20日提交中国专利局、申请号为CN202122530611.5、申请名称为“配药设备的末端执行器”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及医用设备技术领域，尤其涉及一种配药设备的末端执行器。
背景技术
医用静脉药物配置过程为：用注射器先抽取一定量的溶剂，再注入其他溶质瓶，并从充分混合后的溶质瓶中取回溶液，再注入到溶剂瓶中完成配药过程。一般医院的静脉药物配置基本都靠医护人员在一个相对密闭的洁净环境里手工操作完成配液动作。但是，医护人员手动配药难免出现误操作，并且，由于医护人员与药物未完全隔离，医护人员直接接触药瓶增加了药品被污染的概率。另外，配药过程步骤较多，导致医护人员手动配药过程不够便捷。
因此，现有技术中的医用静脉药物配置过程存在不够安全和不够便捷的问题。
实用新型内容
本实用新型的目的在于解决现有技术中的医用静脉药物配置过程存在不够安全和不够便捷的问题。
为解决上述问题，本实用新型的一种实施方式提供了一种配药设备的末端执行器，包括注射器夹持装置、药瓶卡接装置、第一驱动装置、第二驱动装置以及机架。其中，注射器夹持装置包括外筒夹持部件和活塞杆夹持部件，活塞杆夹持部件的一端设置有活塞杆卡接部，另一端与第一驱动装置传动连接。外筒夹持部件包括沿末端执行器的长度方向间隔设置的第一固定组件和第二固定组件。第一固定组件包括夹持件和弹性件，夹持件的一端与机架转动连接，另一端沿末端执行器的厚度方向朝远离机架的方向延伸。弹性件设置于夹持件上，且能够向夹持件提供夹紧力。第二固定组件的一端与机架固定连接，另一端沿末端执行器的厚度方向朝远离机架的方向延伸。药瓶卡接装置的一端设置有药瓶卡接部，另一端与第二驱动装置传动连接。
采用上述技术方案，外筒固定组件用于固定注射器的外筒，并且外筒固定组件的第一固定组件用于夹持注射器的外筒侧壁，外筒固定组件的第二固定组件用于固定注射器的外筒上设置有开口的一端。活塞杆卡接部用于固定注射器的活塞杆。药瓶卡接部用于固定药瓶。第一驱动装置能够向活塞杆卡接部提供驱动力，使得活塞杆卡接部能够带动注射器的活塞杆沿末端执行器的长度方向移动，第二驱动装置能够向药瓶卡接部提供驱动力，使得药瓶卡接部能够带动药瓶沿末端执行器的长度方向移动。该配 药设备的末端执行器在配药过程中无需医护人员手动配药，避免了医护人员手动配药过程中出现的误操作以及医护人员直接接触药瓶对药品带来的污染，因此，该配药设备的末端执行器在配药过程中具有更加安全和更加便捷的优势。
本实用新型的另一种实施方式提供了一种配药设备的末端执行器，第一固定组件还包括支撑件，夹持件包括两个夹块。支撑件的一端与机架固定连接，另一端沿末端执行器的厚度方向朝远离机架的方向延伸。两个夹块分别转动连接于支撑件的两侧。弹性件设置于两个夹块之间，并且弹性件的两端分别与两个夹块固定连接。
采用上述技术方案，支撑件与夹块能够形成容纳空间，用于放置注射器的外筒侧壁，弹性件用于向两个夹块提供夹紧力，进而使得注射器的外筒侧壁被固定。当拆卸或者安装注射器的外筒侧壁时，至少一个夹块能够相对于支撑件微微转动，使得两个夹块之间的距离微微增大，进而便于医护人员拆装注射器的外筒侧壁。
本实用新型的另一种实施方式提供了一种配药设备的末端执行器，支撑件包括两个支撑板，夹块上设置有衬套。两个支撑板的一端沿末端执行器的长度方向有间隔的分别与机架固定连接，另一端分别沿末端执行器的厚度方向朝远离机架的方向延伸，使得两个支撑板之间形成第一容纳空间。两个夹块均位于第一容纳空间中，并且两个夹块的一端分别通过第一转动销转动连接于支撑板的两侧，另一端分别形成有凹槽，衬套设置于凹槽中，并且，其中一个夹块的衬套通过第二转动销转动连接于对应的夹块上。
采用上述技术方案，两个支撑板与两个夹块之间形成的第一容纳空间用于放置注射器的外筒侧壁。当拆卸或者安装注射器的外筒侧壁时，衬套的侧壁与注射器的外筒侧壁能够互相接触，使得衬套能够对注射器的外筒侧壁起到导向作用。
本实用新型的另一种实施方式提供了一种配药设备的末端执行器，药瓶卡接部包括基座、两个卡爪以及两个卡爪驱动件，基座传动连接于第二驱动装置上。两个卡爪均包括连接部和卡接部，连接部的一端与基座滑动连接，另一端沿末端执行器的厚度方向朝远离基座的方向延伸，连接部的一侧面与卡接部的一侧面垂直相接，卡接部的另一侧面设置为卡接面，用于卡接药瓶。两个卡爪驱动件均设置于基座内，且分别与两个卡爪传动连接。
采用上述技术方案，卡爪驱动件能够驱动卡爪动作，使得卡爪能够在基座上滑动，以调节两个卡爪之间的距离，进而使得不同口径的药瓶均可以卡接在两个卡爪之间设置的卡接面上。
本实用新型的另一种实施方式提供了一种配药设备的末端执行器，卡接面包括两个斜面，两个斜面分别从卡接面的中间起到卡接面的两端逐渐远离连接部，使得卡接面呈“K”状。连接部的一端和基座中的其中一个上设置有凸起，另一个上设置有滑槽，凸起与滑槽互相配合，使得连接部的一端滑动连接于基座上。
采用上述技术方案，卡接面的设置可以便于药瓶的卡接。凸起与滑槽的设置能够便于卡爪滑动连接于基座上。
本实用新型的另一种实施方式提供了一种配药设备的末端执行器，第二固定组件包括沿末端执行器的宽度方向间隔设置的两个卡接件，两个卡接件的一端分别与机架固定连接，另一端分别沿末端执行器的厚度方向朝远离机架的方向延伸，两个卡接件 上相对的侧面分别设置有卡接槽，并且，卡接槽与注射器的外筒上设置有开口的一端相适配。
采用上述技术方案，注射器的外筒上设置有开口的一端能够通过卡接槽卡接于卡接件上。卡接件和第一固定组件能够固定注射器的两个位置，从而进一步保证了注射器与配药设备的末端执行器之间连接的稳定性。卡接槽的设置使得医护人员只需将注射器的相应位置推入卡接槽即可，从而增加了固定注射器的便捷性。
本实用新型的另一种实施方式提供了一种配药设备的末端执行器，活塞杆卡接部包括两个连接板和两个卡接板，两个卡接板的一端沿末端执行器的长度方向有间隔的分别与第一驱动装置传动连接，另一端分别沿末端执行器的厚度方向朝远离机架的方向延伸。两个连接板位于两个卡接板的两侧，且两个连接板的两端分别与两个卡接板的两侧相接形成第二容纳空间，第二容纳空间与注射器的活塞上位于外筒外部的一端相适配。
采用上述技术方案，安装注射器时，只需将注射器的外筒侧壁和注射器的外筒上设置有开口的一端分别推入卡接槽和第一固定组件，将注射器的活塞上位于外筒外部的一端置于第二容纳空间中，即可完成整个注射器的安装过程，从而进一步增加了该配药设备的末端执行器使用的便捷性。
本实用新型的另一种实施方式提供了一种配药设备的末端执行器，末端执行器还包括第一传动装置和第二传动装置，第一传动装置的一端分别与两个卡接板的一端连接，另一端与第一驱动装置的输出端连接。第二传动装置的一端与基座连接，另一端与第二驱动装置的输出端连接。
采用上述技术方案，第一驱动装置可通过第一传动装置向活塞杆卡接部提供驱动力，从而驱动活塞杆卡接部带动注射器活塞杆沿末端执行器的长度方向移动。第二驱动装置可通过第二传动装置向药瓶卡接部提供驱动力，从而驱动药瓶卡接部带动药瓶沿末端执行器的长度方向移动。
本实用新型的另一种实施方式提供了一种配药设备的末端执行器，第一传动装置包括第一杆部和第二杆部，第一杆部的一端分别与两个卡接板的一端相接，另一端沿末端执行器的长度方向延伸、且与第二杆部的一端垂直相接，第二杆部的另一端与第一驱动装置的输出端连接。第二传动装置包括滑道和滑动部，滑道设置于第二驱动装置的外侧壁上，滑动部的一端滑动连接于滑道上，另一端与基座固定连接。并且滑动部的另一端上还设置有沿末端执行器的厚度方向朝靠近第二驱动装置的方向延伸的固定板，第二驱动装置的输出端与固定板固定连接。
采用上述技术方案，第一传动装置和第二传动装置的设置方式使得该配药设备的末端执行器的各部件尽可能的集中在一起，减小了该配药设备的末端执行器的整体体积，从而使得该配药设备的末端执行器更加小巧，使用更加便捷。
本实用新型的另一种实施方式提供了一种配药设备的末端执行器，机架包括支撑框架和设置于支撑框架一侧面的两端的两个连接杆，支撑框架套设于第一驱动装置上、且与第一驱动装置固定连接。连接杆包括基部和延伸部，基部的一端与支撑框架固定连接，另一端沿末端执行器的厚度方向朝远离机架的方向延伸、且与延伸部的一端垂直相接，并且，两个连接杆的基部上相对的侧面分别与第二驱动装置的两个侧壁固定 连接。支撑框架上远离连接杆的侧面上设置有转动件。延伸部的另一端沿末端执行器的长度方向延伸，并分别与两个支撑板的一端和卡接件的一端固定连接。末端执行器还包括控制装置，控制装置分别与第一驱动装置、第二驱动装置以及卡爪驱动件通信连接。
采用上述技术方案，机架的设置方式使得该配药设备的末端执行器的各部件尽可能的集中在一起，进一步减小了该配药设备的末端执行器的整体体积，从而使得该配药设备的末端执行器更加小巧，使用更加便捷。支撑框架上远离连接杆的侧面上设置的转动件能够便于该配药设备的末端执行器与其他部件的连接。控制装置的设置增加了该配药设备的末端执行器的自动化程度。
本实用新型的有益效果是：
本实用新型提供的配药设备的末端执行器包括注射器夹持装置、药瓶卡接装置、第一驱动装置、第二驱动装置以及机架。其中，注射器夹持装置包括外筒夹持部件和活塞杆夹持部件，外筒固定组件用于固定注射器的外筒，活塞杆卡接部用于固定注射器的活塞杆。活塞杆夹持部件的一端设置有活塞杆卡接部，另一端与第一驱动装置传动连接。外筒夹持部件包括沿末端执行器的长度方向间隔设置的第一固定组件和第二固定组件，第一固定组件用于夹持注射器的外筒侧壁，第二固定组件用于固定注射器的外筒上设置有开口的一端。第一固定组件包括夹持件和弹性件，夹持件的一端与机架转动连接，另一端沿末端执行器的厚度方向朝远离机架的方向延伸。弹性件设置于夹持件上，且能够向夹持件提供夹紧力。第二固定组件的一端与机架固定连接，另一端沿末端执行器的厚度方向朝远离机架的方向延伸。药瓶卡接装置的一端设置有药瓶卡接部，另一端与第二驱动装置传动连接。药瓶卡接部用于固定药瓶。第一驱动装置能够向活塞杆卡接部提供驱动力，使得活塞杆卡接部能够带动注射器的活塞杆沿末端执行器的长度方向移动，第二驱动装置能够向药瓶卡接部提供驱动力，使得药瓶卡接部能够带动药瓶沿末端执行器的长度方向移动，进而完成配药过程。该配药设备的末端执行器在配药过程中无需医护人员手动配药，避免了医护人员手动配药过程中出现的误操作以及医护人员直接接触药瓶对药品带来的污染，因此，该配药设备的末端执行器在配药过程中具有更加安全和更加便捷的优势。
附图说明
图1为本实用新型实施例提供的配药设备的末端执行器的结构示意图；
图2为本实用新型实施例提供的配药设备的末端执行器的另一个结构示意图；
图3为本实用新型实施例提供的配药设备的末端执行器的外筒夹持部件的结构示意图。
附图标记说明：
10：注射器夹持装置；
110：第一固定组件；111：夹块；111a：凹槽；112：弹性件；113：支撑板；114：衬套；115：第一转动销；116：第二转动销；
120：第二固定组件；121：卡接件；121a：卡接槽；
130：活塞杆卡接部；131：连接板；132：卡接板；
20：药瓶卡接装置；
210：药瓶卡接部；211：基座；212：卡爪；212a：连接部；212b：卡接部；212b1：卡接面；
30：第一驱动装置；
40：第二驱动装置；
50：机架；510：支撑框架；520：连接杆；521：基部；522：延伸部；
60：第一传动装置；610：第一杆部；620：第二杆部；
70：第二传动装置；710：滑道；720：滑动部；721：固定板；
A：末端执行器的长度方向；
B：末端执行器的宽度方向；
C：末端执行器的厚度方向。
具体实施方式
为使本实用新型的目的、技术方案和优点更加清楚，下面将结合附图对本实用新型的实施方式作进一步地详细描述。
本实施例提供了一种配药设备的末端执行器，如图1-图3所示，包括注射器夹持装置10、药瓶卡接装置20、第一驱动装置30、第二驱动装置40以及机架50。
具体地，注射器夹持装置10包括外筒夹持部件和活塞杆夹持部件，活塞杆夹持部件的一端设置有活塞杆卡接部130，另一端与第一驱动装置30传动连接。外筒夹持部件包括沿末端执行器的长度方向A间隔设置的第一固定组件110和第二固定组件120。
更为具体地，第一固定组件110包括夹持件和弹性件112，夹持件的一端与机架50转动连接，另一端沿末端执行器的厚度方向C朝远离机架50的方向延伸。弹性件112设置于夹持件上，且能够向夹持件提供夹紧力。第二固定组件120的一端与机架50固定连接，另一端沿末端执行器的厚度方向C朝远离机架50的方向延伸。药瓶卡接装置20的一端设置有药瓶卡接部210，另一端与第二驱动装置40传动连接。
更为具体地，第一驱动装置30和第二驱动装置40可以设置为气缸、电动伸缩杆等部件，其具体可以根据实际设计和使用需求设定，本实施例对此不做具体限定。
更为具体地，机架50的具体结构在后文中进行详细描述，此处不再赘述。
更为具体地，弹性件112可以设置为弹簧、弹性橡胶等具有弹性的构件，优选地，为保证弹性件112具有较好的回弹性能，本实施例中的弹性件112设置为弹簧。
更为具体地，第二固定组件120与机架50的连接方式在后文中进行详细描述，此处不再赘述。
需要说明的是，外筒固定组件用于固定注射器的外筒，并且外筒固定组件的第一固定组件110用于夹持注射器的外筒侧壁，外筒固定组件的第二固定组件120用于固定注射器的外筒上设置有开口的一端。活塞杆卡接部130用于固定注射器的活塞杆。药瓶卡接部210用于固定药瓶。第一驱动装置30能够向活塞杆卡接部130提供驱动力，使得活塞杆卡接部130能够带动注射器的活塞杆沿末端执行器的长度方向A移动，第二驱动装置40能够向药瓶卡接部210提供驱动力，使得药瓶卡接部210能够带动药瓶沿末端执行器的长度方向A移动。该配药设备的末端执行器在配药过程中无需医护人 员手动配药，避免了医护人员手动配药过程中出现的误操作以及医护人员直接接触药瓶对药品带来的污染，因此，该配药设备的末端执行器在配药过程中具有更加安全和更加便捷的优势。
本实施例的另一种实施方式提供了一种配药设备的末端执行器，如图1和图3所示，第一固定组件110还包括支撑件，夹持件包括两个夹块111。支撑件的一端与机架50固定连接，另一端沿末端执行器的厚度方向C朝远离机架50的方向延伸。两个夹块111分别转动连接于支撑件的两侧。弹性件112设置于两个夹块111之间，并且弹性件112的两端分别与两个夹块111固定连接。
具体地，弹性件112的两端与两个夹块111之间可以通过卡接、螺接等固定连接方式连接，其具体可以根据实际设计和使用需求设定，本实施例对此不做具体限定。
需要说明的是，支撑件与夹块111能够形成容纳空间，用于放置注射器的外筒侧壁，弹性件112用于向两个夹块111提供夹紧力，进而使得注射器的外筒侧壁被固定。当拆卸或者安装注射器的外筒侧壁时，至少一个夹块111能够相对于支撑件微微转动，使得两个夹块111之间的距离微微增大，进而便于医护人员拆装注射器的外筒侧壁。
本实施例的另一种实施方式提供了一种配药设备的末端执行器，如图1和图3所示，支撑件包括两个支撑板113，夹块111上设置有衬套114。两个支撑板113的一端沿末端执行器的长度方向A有间隔的分别与机架50固定连接，另一端分别沿末端执行器的厚度方向C朝远离机架50的方向延伸，使得两个支撑板113之间形成第一容纳空间。两个夹块111均位于第一容纳空间中，并且两个夹块111的一端分别通过第一转动销115转动连接于支撑板113的两侧，另一端分别形成有凹槽111a，衬套114设置于凹槽111a中，并且，其中一个夹块111的衬套114通过第二转动销116转动连接于对应的夹块111上。
具体地，支撑板113与机架50之间可以通过焊接、螺接等固定连接方式连接，也可以一体成型，其具体可以根据实际设计和使用需求设定，本实施例对此不做具体限定。
更为具体地，两个衬套114中的一个衬套114通过第二转动销116转动连接于一个夹块111上，另一个衬套114与夹块111的凹槽111a过盈配合。通过第二转动销116转动连接于夹块111上的衬套114能够在拆装注射器时对注射器的外筒侧壁起到导向作用；与夹块111的凹槽111a过盈配合的衬套114能够在拆装注射器时相对于夹块111移动，以适应不同尺寸的注射器。
需要说明的是，两个支撑板113与两个夹块111之间形成的第一容纳空间用于放置注射器的外筒侧壁。当拆卸或者安装注射器的外筒侧壁时，衬套114的侧壁与注射器的外筒侧壁能够互相接触，使得衬套114能够对注射器的外筒侧壁起到导向作用。
本实施例的另一种实施方式提供了一种配药设备的末端执行器，如图1和图2所示，药瓶卡接部210包括基座211、两个卡爪212以及两个卡爪驱动件，基座211传动连接于第二驱动装置40上。两个卡爪212均包括连接部212a和卡接部212b，连接部212a的一端与基座211滑动连接，另一端沿末端执行器的厚度方向C朝远离基座211的方向延伸，连接部212a的一侧面与卡接部212b的一侧面垂直相接，卡接部212b的另一侧面设置为卡接面212b1，用于卡接药瓶。两个卡爪驱动件均设置于基座211 内，且分别与两个卡爪212传动连接。
具体地，连接部212a与卡接部212b之间可以通过焊接、螺接等固定连接方式连接，也可以一体成型，优选地，为便于卡爪212的加工与制造，本实施例中的连接部212a与卡接部212b一体成型。
更为具体地，卡爪驱动件可以设置为气缸、直线电机等，其具体可以根据实际设计和使用需求设定，本实施例对此不做具体限定。
需要说明的是，卡爪驱动件能够驱动卡爪212动作，使得卡爪212能够在基座211上滑动，以调节两个卡爪212之间的距离，进而使得不同口径的药瓶均可以卡接在两个卡爪212之间设置的卡接面212b1上。
本实施例的另一种实施方式提供了一种配药设备的末端执行器，如图1和图2所示，卡接面212b1包括两个斜面，两个斜面分别从卡接面212b1的中间起到卡接面212b1的两端逐渐远离连接部212a，使得卡接面212b1呈“K”状。连接部212a的一端和基座211中的其中一个上设置有凸起，另一个上设置有滑槽，凸起与滑槽互相配合，使得连接部212a的一端滑动连接于基座211上。
具体地，凸起的形状可以设置为球状、块状等形状，对应的，滑槽的形状也设置为与凸起适配的形状。其具体可以根据实际设计和使用需求设定，本实施例对此不做具体限定。
更为具体地，呈“K”状的卡接面212b1能够更好的与药瓶口部相适配。
需要说明的是，卡接面212b1的设置可以便于药瓶的卡接。凸起与滑槽的设置能够便于卡爪212滑动连接于基座211上。
本实施例的另一种实施方式提供了一种配药设备的末端执行器，如图1和图2所示，第二固定组件120包括沿末端执行器的宽度方向B间隔设置的两个卡接件121，两个卡接件121的一端分别与机架50固定连接，另一端分别沿末端执行器的厚度方向C朝远离机架50的方向延伸，两个卡接件121上相对的侧面分别设置有卡接槽121a，并且，卡接槽121a与注射器的外筒上设置有开口的一端相适配。
具体地，卡接件121与机架50之间可以通过焊接、螺接等固定连接方式连接，其具体可以根据实际设计和使用需求设定，本实施例对此不做具体限定。
需要说明的是，注射器的外筒上设置有开口的一端能够通过卡接槽121a卡接于卡接件121上。卡接件121和第一固定组件110能够固定注射器的两个位置，从而进一步保证了注射器与配药设备的末端执行器之间连接的稳定性。卡接槽121a的设置使得医护人员只需将注射器的相应位置推入卡接槽121a即可，从而增加了固定注射器的便捷性。
本实施例的另一种实施方式提供了一种配药设备的末端执行器，如图1和图2所示，活塞杆卡接部130包括两个连接板131和两个卡接板132，两个卡接板132的一端沿末端执行器的长度方向A有间隔的分别与第一驱动装置30传动连接，另一端分别沿末端执行器的厚度方向C朝远离机架50的方向延伸。两个连接板131位于两个卡接板132的两侧，且两个连接板131的两端分别与两个卡接板132的两侧相接形成第二容纳空间，第二容纳空间与注射器的活塞上位于外筒外部的一端相适配。
具体地，连接板131与卡接板132之间可以通过焊接、螺接等固定连接方式连接， 也可以一体成型，其具体可以根据实际设计和使用需求设定，本实施例对此不做具体限定。
需要说明的是，安装注射器时，只需将注射器的外筒侧壁和注射器的外筒上设置有开口的一端分别推入卡接槽121a和第一固定组件110，将注射器的活塞上位于外筒外部的一端置于第二容纳空间中，即可完成整个注射器的安装过程，从而进一步增加了该配药设备的末端执行器使用的便捷性。
本实施例的另一种实施方式提供了一种配药设备的末端执行器，如图1和图2所示，末端执行器还包括第一传动装置60和第二传动装置70，第一传动装置60的一端分别与两个卡接板132的一端连接，另一端与第一驱动装置30的输出端连接。第二传动装置70的一端与基座211连接，另一端与第二驱动装置40的输出端连接。
需要说明的是，第一驱动装置30可通过第一传动装置60向活塞杆卡接部130提供驱动力，从而驱动活塞杆卡接部130带动注射器活塞杆沿末端执行器的长度方向A移动。第二驱动装置40可通过第二传动装置70向药瓶卡接部210提供驱动力，从而驱动药瓶卡接部210带动药瓶沿末端执行器的长度方向A移动。
本实施例的另一种实施方式提供了一种配药设备的末端执行器，如图1和图2所示，第一传动装置60包括第一杆部610和第二杆部620，第一杆部610的一端分别与两个卡接板132的一端相接，另一端沿末端执行器的长度方向A延伸、且与第二杆部620的一端垂直相接，第二杆部620的另一端与第一驱动装置30的输出端连接。第二传动装置70包括滑道710和滑动部720，滑道710设置于第二驱动装置40的外侧壁上，滑动部720的一端滑动连接于滑道710上，另一端与基座211固定连接。并且滑动部720的另一端上还设置有沿末端执行器的厚度方向C朝靠近第二驱动装置40的方向延伸的固定板721，第二驱动装置40的输出端与固定板721固定连接。
具体地，第一杆部610与两个卡接板132之间可以通过焊接、螺接等固定连接方式连接，也可以一体成型，其具体可以根据实际设计和使用需求设定，本实施例对此不做具体限定。
更为具体地，第一杆部610和第二杆部620之间可以通过焊接、螺接等固定连接方式连接，也可以一体成型，其具体可以根据实际设计和使用需求设定，本实施例对此不做具体限定。
更为具体地，第二杆部620与第一驱动装置30的输出端之间可以通过卡接、螺接等固定连接方式连接，其具体可以根据实际设计和使用需求设定，本实施例对此不做具体限定。
更为具体地，滑动部720的形状可以设置为长方体形、正方体形或者是其他形状，其具体可以根据实际设计和使用需求设定，本实施例对此不做具体限定。
更为具体地，滑动部720和滑道710中的一个上设置有凸起，另一个上设置有凹槽111a。凸起和凹槽111a配合，使得滑动部720滑动连接于滑道710上。并且，滑道710的两端还设置有限位件，以避免滑动部720相对于滑道710滑出。
更为具体地，第二驱动装置40的外侧壁上设置的滑道710数量可以设置为一个、两个、三个等，其具体可以根据实际设计和使用需求设定，本实施例对此不做具体限定。
更为具体地，滑动部720与基座211之间可以通过焊接、螺接、卡接等固定连接方式连接，其具体可以根据实际设计和使用需求设定，本实施例对此不做具体限定。
更为具体地，第二驱动装置40的输出端与固定板721之间可以通过焊接、螺接、卡接等固定连接方式连接，其具体可以根据实际设计和使用需求设定，本实施例对此不做具体限定。
需要说明的是，第一传动装置60和第二传动装置70的设置方式使得该配药设备的末端执行器的各部件尽可能的集中在一起，减小了该配药设备的末端执行器的整体体积，从而使得该配药设备的末端执行器更加小巧，使用更加便捷。
本实施例的另一种实施方式提供了一种配药设备的末端执行器，如图1和图2所示，机架50包括支撑框架510和设置于支撑框架510一侧面的两端的两个连接杆520，支撑框架510套设于第一驱动装置30上、且与第一驱动装置30固定连接。连接杆520包括基部521和延伸部522，基部521的一端与支撑框架510固定连接，另一端沿末端执行器的厚度方向C朝远离机架50的方向延伸、且与延伸部522的一端垂直相接，并且，两个连接杆520的基部521上相对的侧面分别与第二驱动装置40的两个侧壁固定连接。支撑框架510上远离连接杆520的侧面上设置有转动件(图中未示出)。延伸部522的另一端沿末端执行器的长度方向A延伸，并分别与两个支撑板113的一端和卡接件121的一端固定连接。末端执行器还包括控制装置，控制装置分别与第一驱动装置30、第二驱动装置40以及卡爪驱动件通信连接。
具体地，支撑框架510与第一驱动装置30之间可以通过焊接、螺接、卡接等固定连接方式连接，其具体可以根据实际设计和使用需求设定，本实施例对此不做具体限定。
更为具体地，基部521与支撑框架510之间可以通过焊接、螺接、卡接等固定连接方式连接，其具体可以根据实际设计和使用需求设定，本实施例对此不做具体限定。
更为具体地，基部521与延伸部522之间可以通过焊接、螺接等固定连接方式连接，也可以一体成型，优选地，为便于连接杆520的加工与制造，本实施例中的基部521与延伸部522一体成型。
更为具体地，基部521与第二驱动装置40之间可以通过焊接、螺接、卡接等固定连接方式连接，其具体可以根据实际设计和使用需求设定，本实施例对此不做具体限定。
更为具体地，转动件可以设置为转动销或者与转动销相适配的转动孔等，进而使得该配药设备的末端执行器能够转动连接于其他能与之配合的部件上。
更为具体地，延伸部522与支撑板113和卡接件121之间以通过焊接、螺接、卡接等固定连接方式连接，其具体可以根据实际设计和使用需求设定，本实施例对此不做具体限定。
更为具体地，控制装置能够分别控制第一驱动装置30、第二驱动装置40以及卡爪驱动件动作，以完成配药过程。该配药过程为：控制装置先控制卡爪驱动件动作，以调节两个卡爪212之间的距离，使得药瓶通过卡接面212b1卡接在卡接部212b上，然后将注射器的外筒通过夹块111和卡接件121的卡接槽121a固定在第一固定组件110和第二固定组件120这两个位置上，以保证注射器安装的稳固性。同时，注射器 的活塞杆会通过连接板131和卡接板132形成的第二容纳空间固定在活塞杆卡接部130上。此时，控制装置控制第二驱动装置40动作，使得药瓶卡接部210带动药瓶沿末端执行器的长度方向A移动，进而使得注射器针头插入药瓶中。然后，控制装置控制第一驱动装置30动作，使得活塞杆卡接部130能够带动注射器的活塞杆沿末端执行器的长度方向A移动，完成配药过程。
更为具体地，药瓶卡接部210上可以设置传感器，用于检测药瓶的位置信息。并且传感器与控制装置通信连接。该配药设备的末端执行器工作时，传感器能够将检测到的药瓶位置信息传递至控制装置中，经控制装置处理后控制卡爪212卡取药瓶。药瓶卡接部210上也可以不设置传感器，药瓶放置在与卡爪212相对应的固定位置处，使得控制装置能够控制卡爪212从该固定位置处卡取药瓶。其具体可以根据实际设计和使用需求设定，本实施例对此不做具体限定。
需要说明的是，机架50的设置方式使得该配药设备的末端执行器的各部件尽可能的集中在一起，进一步减小了该配药设备的末端执行器的整体体积，从而使得该配药设备的末端执行器更加小巧，使用更加便捷。支撑框架510上远离连接杆520的侧面上设置的转动件能够便于该配药设备的末端执行器与其他部件的连接。控制装置的设置增加了该配药设备的末端执行器的自动化程度。
以上所述，仅为本实用新型的具体实施方式，但本实用新型的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本实用新型揭露的技术范围内，可轻易想到变化或替换，都应涵盖在本实用新型的保护范围之内。因此，本实用新型的保护范围应以所述权利要求的保护范围为准。

Claims (10)

  1. 一种配药设备的末端执行器，其特征在于，包括注射器夹持装置、药瓶卡接装置、第一驱动装置、第二驱动装置以及机架；其中，
    所述注射器夹持装置包括外筒夹持部件和活塞杆夹持部件，所述活塞杆夹持部件的一端设置有活塞杆卡接部，另一端与所述第一驱动装置传动连接；
    所述外筒夹持部件包括沿所述末端执行器的长度方向间隔设置的第一固定组件和第二固定组件；
    所述第一固定组件包括夹持件和弹性件，所述夹持件的一端与所述机架转动连接，另一端沿所述末端执行器的厚度方向朝远离所述机架的方向延伸；所述弹性件设置于所述夹持件上，且能够向所述夹持件提供夹紧力；
    所述第二固定组件的一端与所述机架固定连接，另一端沿所述末端执行器的厚度方向朝远离所述机架的方向延伸；
    所述药瓶卡接装置的一端设置有药瓶卡接部，另一端与所述第二驱动装置传动连接。
  2. 如权利要求1所述的配药设备的末端执行器，其特征在于，所述第一固定组件还包括支撑件，所述夹持件包括两个夹块；
    所述支撑件的一端与所述机架固定连接，另一端沿所述末端执行器的厚度方向朝远离所述机架的方向延伸；两个所述夹块分别转动连接于所述支撑件的两侧；所述弹性件设置于两个所述夹块之间，并且所述弹性件的两端分别与两个所述夹块固定连接。
  3. 如权利要求2所述的配药设备的末端执行器，其特征在于，所述支撑件包括两个支撑板，所述夹块上设置有衬套；两个所述支撑板的一端沿所述末端执行器的长度方向有间隔的分别与所述机架固定连接，另一端分别沿所述末端执行器的厚度方向朝远离所述机架的方向延伸，使得两个所述支撑板之间形成第一容纳空间；
    两个所述夹块均位于所述第一容纳空间中，并且两个所述夹块的一端分别通过第一转动销转动连接于所述支撑板的两侧，另一端分别形成有凹槽，所述衬套设置于所述凹槽中，并且，其中一个所述夹块的所述衬套通过第二转动销转动连接于对应的所述夹块上。
  4. 如权利要求3所述的配药设备的末端执行器，其特征在于，所述药瓶卡接部包括基座、两个卡爪以及两个卡爪驱动件，所述基座传动连接于所述第二驱动装置上；两个所述卡爪均包括连接部和卡接部，所述连接部的一端与所述基座滑动连接，另一端沿所述末端执行器的厚度方向朝远离所述基座的方向延伸，所述连接部的一侧面与所述卡接部的一侧面垂直相接，所述卡接部的另一侧面设置为卡接面，用于卡接药瓶；
    两个所述卡爪驱动件均设置于所述基座内，且分别与两个所述卡爪传动连接。
  5. 如权利要求4所述的配药设备的末端执行器，其特征在于，所述卡接面包括两个斜面，两个所述斜面分别从所述卡接面的中间起到所述卡接面的两端逐渐远离所述连接部，使得所述卡接面呈“K”状；
    所述连接部的所述一端和所述基座中的其中一个上设置有凸起，另一个上设置有滑槽，所述凸起与所述滑槽互相配合，使得所述连接部的所述一端滑动连接于所述基座上。
  6. 如权利要求5所述的配药设备的末端执行器，其特征在于，所述第二固定组件包括沿所述末端执行器的宽度方向间隔设置的两个卡接件，两个所述卡接件的一端分别与所述机架固定连接，另一端分别沿所述末端执行器的厚度方向朝远离所述机架的方向延伸，两个所述卡接件上相对的侧面分别设置有卡接槽，并且，所述卡接槽与注射器的外筒上设置有开口的一端相适配。
  7. 如权利要求6所述的配药设备的末端执行器，其特征在于，所述活塞杆卡接部包括两个连接板和两个卡接板，两个所述卡接板的一端沿所述末端执行器的长度方向有间隔的分别与所述第一驱动装置传动连接，另一端分别沿所述末端执行器的厚度方向朝远离所述机架的方向延伸；
    两个所述连接板位于两个所述卡接板的两侧，且两个所述连接板的两端分别与两个所述卡接板的两侧相接形成第二容纳空间，所述第二容纳空间与所述注射器的活塞上位于所述外筒外部的一端相适配。
  8. 如权利要求7所述的配药设备的末端执行器，其特征在于，所述末端执行器还包括第一传动装置和第二传动装置，所述第一传动装置的一端分别与两个所述卡接板的所述一端连接，另一端与所述第一驱动装置的输出端连接；
    所述第二传动装置的一端与所述基座连接，另一端与所述第二驱动装置的输出端连接。
  9. 如权利要求8所述的配药设备的末端执行器，其特征在于，所述第一传动装置包括第一杆部和第二杆部，所述第一杆部的一端分别与两个所述卡接板的所述一端相接，另一端沿所述末端执行器的长度方向延伸、且与所述第二杆部的一端垂直相接，所述第二杆部的另一端与所述第一驱动装置的输出端连接；
    所述第二传动装置包括滑道和滑动部，所述滑道设置于所述第二驱动装置的外侧壁上，所述滑动部的一端滑动连接于所述滑道上，另一端与所述基座固定连接，并且所述滑动部的所述另一端上还设置有沿所述末端执行器的厚度方向朝靠近所述第二驱动装置的方向延伸的固定板，所述第二驱动装置的输出端与所述固定板固定连接。
  10. 如权利要求9所述的配药设备的末端执行器，其特征在于，所述机架包括支撑框架和设置于所述支撑框架一侧面的两端的两个连接杆，所述支撑框架套设于所述第一驱动装置上、且与所述第一驱动装置固定连接；
    所述连接杆包括基部和延伸部，所述基部的一端与所述支撑框架固定连接，另一端沿所述末端执行器的厚度方向朝远离所述机架的方向延伸、且与所述延伸部的一端垂直相接，并且，两个所述连接杆的所述基部上相对的侧面分别与所述第二驱动装置的两个侧壁固定连接；所述支撑框架上远离所述连接杆的侧面上设置有转动件；
    所述延伸部的另一端沿所述末端执行器的长度方向延伸，并分别与两个所述支撑板的所述一端和所述卡接件的所述一端固定连接；
    所述末端执行器还包括控制装置，所述控制装置分别与所述第一驱动装置、所述第二驱动装置以及所述卡爪驱动件通信连接。
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