CN109291034A - A kind of carrying mechanism of Medical Devices transfer robot - Google Patents
A kind of carrying mechanism of Medical Devices transfer robot Download PDFInfo
- Publication number
- CN109291034A CN109291034A CN201811268429.3A CN201811268429A CN109291034A CN 109291034 A CN109291034 A CN 109291034A CN 201811268429 A CN201811268429 A CN 201811268429A CN 109291034 A CN109291034 A CN 109291034A
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- Prior art keywords
- parts
- support plate
- medical devices
- transfer robot
- component
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- Granted
Links
- 230000007246 mechanism Effects 0.000 title claims abstract description 45
- 238000012546 transfer Methods 0.000 title claims abstract description 28
- 229920001971 elastomer Polymers 0.000 claims description 36
- YXFVVABEGXRONW-UHFFFAOYSA-N Toluene Chemical compound CC1=CC=CC=C1 YXFVVABEGXRONW-UHFFFAOYSA-N 0.000 claims description 21
- 239000011347 resin Substances 0.000 claims description 18
- 229920005989 resin Polymers 0.000 claims description 18
- 239000000463 material Substances 0.000 claims description 17
- GWEVSGVZZGPLCZ-UHFFFAOYSA-N Titan oxide Chemical compound O=[Ti]=O GWEVSGVZZGPLCZ-UHFFFAOYSA-N 0.000 claims description 16
- DOIRQSBPFJWKBE-UHFFFAOYSA-N dibutyl phthalate Chemical compound CCCCOC(=O)C1=CC=CC=C1C(=O)OCCCC DOIRQSBPFJWKBE-UHFFFAOYSA-N 0.000 claims description 16
- NUJOXMJBOLGQSY-UHFFFAOYSA-N manganese dioxide Chemical compound O=[Mn]=O NUJOXMJBOLGQSY-UHFFFAOYSA-N 0.000 claims description 16
- 235000012424 soybean oil Nutrition 0.000 claims description 16
- 239000003549 soybean oil Substances 0.000 claims description 16
- -1 alkylbenzene sulfonate Chemical class 0.000 claims description 15
- 239000002253 acid Substances 0.000 claims description 13
- 239000004593 Epoxy Substances 0.000 claims description 12
- CPLXHLVBOLITMK-UHFFFAOYSA-N Magnesium oxide Chemical compound [Mg]=O CPLXHLVBOLITMK-UHFFFAOYSA-N 0.000 claims description 12
- LLMLGZUZTFMXSA-UHFFFAOYSA-N 2,3,4,5,6-pentachlorobenzenethiol Chemical compound SC1=C(Cl)C(Cl)=C(Cl)C(Cl)=C1Cl LLMLGZUZTFMXSA-UHFFFAOYSA-N 0.000 claims description 11
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims description 11
- 235000021355 Stearic acid Nutrition 0.000 claims description 11
- 239000006229 carbon black Substances 0.000 claims description 11
- 239000004927 clay Substances 0.000 claims description 11
- 239000003623 enhancer Substances 0.000 claims description 11
- QIQXTHQIDYTFRH-UHFFFAOYSA-N octadecanoic acid Chemical compound CCCCCCCCCCCCCCCCCC(O)=O QIQXTHQIDYTFRH-UHFFFAOYSA-N 0.000 claims description 11
- OQCDKBAXFALNLD-UHFFFAOYSA-N octadecanoic acid Natural products CCCCCCCC(C)CCCCCCCCC(O)=O OQCDKBAXFALNLD-UHFFFAOYSA-N 0.000 claims description 11
- 239000008117 stearic acid Substances 0.000 claims description 11
- VILCJCGEZXAXTO-UHFFFAOYSA-N 2,2,2-tetramine Chemical compound NCCNCCNCCN VILCJCGEZXAXTO-UHFFFAOYSA-N 0.000 claims description 10
- KVBYPTUGEKVEIJ-UHFFFAOYSA-N benzene-1,3-diol;formaldehyde Chemical compound O=C.OC1=CC=CC(O)=C1 KVBYPTUGEKVEIJ-UHFFFAOYSA-N 0.000 claims description 10
- 235000014113 dietary fatty acids Nutrition 0.000 claims description 10
- 239000000194 fatty acid Substances 0.000 claims description 10
- 229930195729 fatty acid Natural products 0.000 claims description 10
- 238000002360 preparation method Methods 0.000 claims description 10
- 229920002379 silicone rubber Polymers 0.000 claims description 10
- 125000000999 tert-butyl group Chemical group [H]C([H])([H])C(*)(C([H])([H])[H])C([H])([H])[H] 0.000 claims description 9
- KPAPHODVWOVUJL-UHFFFAOYSA-N 1-benzofuran;1h-indene Chemical compound C1=CC=C2CC=CC2=C1.C1=CC=C2OC=CC2=C1 KPAPHODVWOVUJL-UHFFFAOYSA-N 0.000 claims description 8
- 229920000459 Nitrile rubber Polymers 0.000 claims description 8
- FMRLDPWIRHBCCC-UHFFFAOYSA-L Zinc carbonate Chemical compound [Zn+2].[O-]C([O-])=O FMRLDPWIRHBCCC-UHFFFAOYSA-L 0.000 claims description 8
- 125000005600 alkyl phosphonate group Chemical group 0.000 claims description 8
- 239000010445 mica Substances 0.000 claims description 8
- 229910052618 mica group Inorganic materials 0.000 claims description 8
- 239000000843 powder Substances 0.000 claims description 8
- 239000004408 titanium dioxide Substances 0.000 claims description 8
- 239000011667 zinc carbonate Substances 0.000 claims description 8
- 229910000010 zinc carbonate Inorganic materials 0.000 claims description 8
- 235000004416 zinc carbonate Nutrition 0.000 claims description 8
- PEDCQBHIVMGVHV-UHFFFAOYSA-N Glycerol Natural products OCC(O)CO PEDCQBHIVMGVHV-UHFFFAOYSA-N 0.000 claims description 7
- 235000011187 glycerol Nutrition 0.000 claims description 7
- 239000012948 isocyanate Substances 0.000 claims description 7
- AGXUVMPSUKZYDT-UHFFFAOYSA-L barium(2+);octadecanoate Chemical compound [Ba+2].CCCCCCCCCCCCCCCCCC([O-])=O.CCCCCCCCCCCCCCCCCC([O-])=O AGXUVMPSUKZYDT-UHFFFAOYSA-L 0.000 claims description 6
- 239000000395 magnesium oxide Substances 0.000 claims description 6
- 230000008859 change Effects 0.000 claims description 5
- IOJUPLGTWVMSFF-UHFFFAOYSA-N cyclobenzothiazole Natural products C1=CC=C2SC=NC2=C1 IOJUPLGTWVMSFF-UHFFFAOYSA-N 0.000 claims description 5
- HRPVXLWXLXDGHG-UHFFFAOYSA-N Acrylamide Chemical compound NC(=O)C=C HRPVXLWXLXDGHG-UHFFFAOYSA-N 0.000 claims description 3
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 claims description 3
- 238000005660 chlorination reaction Methods 0.000 claims description 3
- 238000001816 cooling Methods 0.000 claims description 3
- 230000000694 effects Effects 0.000 claims description 3
- 150000002148 esters Chemical class 0.000 claims description 3
- 229910021389 graphene Inorganic materials 0.000 claims description 3
- 239000003208 petroleum Substances 0.000 claims description 3
- 238000010583 slow cooling Methods 0.000 claims description 3
- 238000003756 stirring Methods 0.000 claims description 3
- RSWGJHLUYNHPMX-UHFFFAOYSA-N 1,4a-dimethyl-7-propan-2-yl-2,3,4,4b,5,6,10,10a-octahydrophenanthrene-1-carboxylic acid Chemical compound C12CCC(C(C)C)=CC2=CCC2C1(C)CCCC2(C)C(O)=O RSWGJHLUYNHPMX-UHFFFAOYSA-N 0.000 claims description 2
- FYYHWMGAXLPEAU-UHFFFAOYSA-N Magnesium Chemical compound [Mg] FYYHWMGAXLPEAU-UHFFFAOYSA-N 0.000 claims description 2
- UTGQNNCQYDRXCH-UHFFFAOYSA-N N,N'-diphenyl-1,4-phenylenediamine Chemical compound C=1C=C(NC=2C=CC=CC=2)C=CC=1NC1=CC=CC=C1 UTGQNNCQYDRXCH-UHFFFAOYSA-N 0.000 claims description 2
- 229910052788 barium Inorganic materials 0.000 claims description 2
- DSAJWYNOEDNPEQ-UHFFFAOYSA-N barium atom Chemical compound [Ba] DSAJWYNOEDNPEQ-UHFFFAOYSA-N 0.000 claims description 2
- 229910052749 magnesium Inorganic materials 0.000 claims description 2
- 239000011777 magnesium Substances 0.000 claims description 2
- IANQTJSKSUMEQM-UHFFFAOYSA-N 1-benzofuran Chemical compound C1=CC=C2OC=CC2=C1 IANQTJSKSUMEQM-UHFFFAOYSA-N 0.000 claims 2
- XLOMVQKBTHCTTD-UHFFFAOYSA-N Zinc monoxide Chemical compound [Zn]=O XLOMVQKBTHCTTD-UHFFFAOYSA-N 0.000 claims 2
- 240000007594 Oryza sativa Species 0.000 claims 1
- 235000007164 Oryza sativa Nutrition 0.000 claims 1
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 claims 1
- KVNRLNFWIYMESJ-UHFFFAOYSA-N butyronitrile Chemical compound CCCC#N KVNRLNFWIYMESJ-UHFFFAOYSA-N 0.000 claims 1
- 235000009508 confectionery Nutrition 0.000 claims 1
- 150000004665 fatty acids Chemical class 0.000 claims 1
- 239000007788 liquid Substances 0.000 claims 1
- 230000004048 modification Effects 0.000 claims 1
- 238000012986 modification Methods 0.000 claims 1
- 239000003921 oil Substances 0.000 claims 1
- 235000019198 oils Nutrition 0.000 claims 1
- 229910052760 oxygen Inorganic materials 0.000 claims 1
- 239000001301 oxygen Substances 0.000 claims 1
- 235000009566 rice Nutrition 0.000 claims 1
- 239000011787 zinc oxide Substances 0.000 claims 1
- 238000000034 method Methods 0.000 description 7
- 238000002156 mixing Methods 0.000 description 5
- QAZLUNIWYYOJPC-UHFFFAOYSA-M sulfenamide Chemical compound [Cl-].COC1=C(C)C=[N+]2C3=NC4=CC=C(OC)C=C4N3SCC2=C1C QAZLUNIWYYOJPC-UHFFFAOYSA-M 0.000 description 5
- 230000000052 comparative effect Effects 0.000 description 4
- 238000007654 immersion Methods 0.000 description 4
- HEMHJVSKTPXQMS-UHFFFAOYSA-M Sodium hydroxide Chemical compound [OH-].[Na+] HEMHJVSKTPXQMS-UHFFFAOYSA-M 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 description 3
- VEXZGXHMUGYJMC-UHFFFAOYSA-N Hydrochloric acid Chemical compound Cl VEXZGXHMUGYJMC-UHFFFAOYSA-N 0.000 description 2
- 150000001412 amines Chemical class 0.000 description 2
- SRSXLGNVWSONIS-UHFFFAOYSA-M benzenesulfonate Chemical compound [O-]S(=O)(=O)C1=CC=CC=C1 SRSXLGNVWSONIS-UHFFFAOYSA-M 0.000 description 2
- 229940077388 benzenesulfonate Drugs 0.000 description 2
- 238000005266 casting Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 229920000642 polymer Polymers 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 238000010792 warming Methods 0.000 description 2
- MTZUIIAIAKMWLI-UHFFFAOYSA-N 1,2-diisocyanatobenzene Chemical compound O=C=NC1=CC=CC=C1N=C=O MTZUIIAIAKMWLI-UHFFFAOYSA-N 0.000 description 1
- RAHZWNYVWXNFOC-UHFFFAOYSA-N Sulphur dioxide Chemical group O=S=O RAHZWNYVWXNFOC-UHFFFAOYSA-N 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 150000001298 alcohols Chemical class 0.000 description 1
- 150000001335 aliphatic alkanes Chemical class 0.000 description 1
- 150000004996 alkyl benzenes Chemical class 0.000 description 1
- 125000000217 alkyl group Chemical group 0.000 description 1
- 150000003851 azoles Chemical class 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 239000003795 chemical substances by application Substances 0.000 description 1
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000001035 drying Methods 0.000 description 1
- 125000000816 ethylene group Chemical class [H]C([H])([*:1])C([H])([H])[*:2] 0.000 description 1
- 239000003292 glue Substances 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 150000002513 isocyanates Chemical class 0.000 description 1
- 230000003647 oxidation Effects 0.000 description 1
- 238000007254 oxidation reaction Methods 0.000 description 1
- 239000002994 raw material Substances 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 150000003839 salts Chemical class 0.000 description 1
- 230000007723 transport mechanism Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
- B25J9/144—Linear actuators
-
- C—CHEMISTRY; METALLURGY
- C08—ORGANIC MACROMOLECULAR COMPOUNDS; THEIR PREPARATION OR CHEMICAL WORKING-UP; COMPOSITIONS BASED THEREON
- C08L—COMPOSITIONS OF MACROMOLECULAR COMPOUNDS
- C08L9/00—Compositions of homopolymers or copolymers of conjugated diene hydrocarbons
- C08L9/02—Copolymers with acrylonitrile
-
- C—CHEMISTRY; METALLURGY
- C08—ORGANIC MACROMOLECULAR COMPOUNDS; THEIR PREPARATION OR CHEMICAL WORKING-UP; COMPOSITIONS BASED THEREON
- C08L—COMPOSITIONS OF MACROMOLECULAR COMPOUNDS
- C08L2205/00—Polymer mixtures characterised by other features
- C08L2205/03—Polymer mixtures characterised by other features containing three or more polymers in a blend
- C08L2205/035—Polymer mixtures characterised by other features containing three or more polymers in a blend containing four or more polymers in a blend
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Health & Medical Sciences (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Medicinal Chemistry (AREA)
- Polymers & Plastics (AREA)
- Organic Chemistry (AREA)
- Compositions Of Macromolecular Compounds (AREA)
Abstract
The invention discloses a kind of carrying mechanisms of Medical Devices transfer robot, including mechanism body, the bottom end of the mechanism body is equipped with idler wheel, the centre of the mechanism body is equipped with dual-rod hydraulic cylinder, the both ends of the dual-rod hydraulic cylinder are separately installed with parallel expansion bracket, the both ends of the parallel expansion bracket are respectively arranged with fixed plate, the side of one of them parallel expansion bracket is provided with hydraulic lifting arm, the other side of the parallel expansion bracket is equipped with roller, support plate is installed above the mechanism body, and support plate is connected by parallel expansion bracket with mechanism body.A kind of carrying mechanism of this practical Medical Devices transfer robot, it is provided with balance lifting frame, unloads support plate and sucker, the height of support board can be changed according to Medical Devices different location, facilitate the placement of equipment, it unloads support plate to rotate around hinge, support board angle can be changed, conveniently remove Medical Devices, sucker is set, the damaged surfaces to some precision instruments can be prevented.
Description
Technical field
The present invention relates to transfer robot field, in particular to a kind of carrying mechanism of Medical Devices transfer robot.
Background technique
Transfer robot is the industrial robot that can carry out automated handling operation, and transport operation refers to a kind of equipment
Workpiece is held, refers to from a Working position and moves on to another Working position, the mountable different end of transfer robot executes
Device is worked with the workpiece handling for completing various different shapes and state, significantly reduces the heavy manual labor of the mankind, carrying implement
Device people is the new and high technology that modern age automation field occurs, and has been related to each door ambit, it has also become modern mechanical
Manufacture an important component in production system.But existing Medical Devices transfer robot structure is single, Zhi Nengtong
It crosses manually to get in stocks and unload goods just and can be carried out carrying, need more manpower, and for some precision equipments, transfer robot
Manipulator is easily damaged equipment surface, may influence the use of equipment, it is proposed that a kind of Medical Devices transfer robot is removed
Transport mechanism.
Summary of the invention
The main purpose of the present invention is to provide a kind of carrying mechanisms of Medical Devices transfer robot, can effectively solve
The problems in background technique.
To achieve the above object, the technical scheme adopted by the invention is as follows:
A kind of carrying mechanism of Medical Devices transfer robot, including mechanism body, the bottom end installation of the mechanism body
There is idler wheel, the centre of the mechanism body is equipped with dual-rod hydraulic cylinder, and the both ends of the dual-rod hydraulic cylinder are separately installed in parallel
Expansion bracket, the both ends of the parallel expansion bracket are respectively arranged with fixed plate, the side setting of one of them parallel expansion bracket
There is hydraulic lifting arm, the other side of the parallel expansion bracket is equipped with roller, is equipped with support plate above the mechanism body,
And support plate is connected by parallel expansion bracket with mechanism body, is equipped with above the support plate and is unloaded support plate, the support
Plate and the same end for unloading support plate are equipped with hinge, and unload support plate and be connected by hinge with support plate, the top for unloading support plate
Support board is installed, the surface for unloading support plate is provided with movable pulley, and the inside of the support board is provided with sliding groove, the sliding
Wheel is moved along the direction of sliding groove, and one end of the support plate is equipped with buckle and spring, and the two sides of the support board are equipped with
Several gripper jaws and sucker；
The support board (7) is made by wear-resisting acid and alkali-resistance rubber material, and the wear-resisting acid and alkali-resistance rubber material includes quality
Than (10-20): 1 rubber component and performance enhancers；Wherein, the rubber component is made of the component of following weight ratio: fourth
40-50 parts of nitrile rubber, 10-20 parts of fluorubber, 10-20 parts of silicon rubber, 20-30 parts of resorcinol formaldehyde resin, coumarone indene resin
8-10 parts, 10-20 parts of stearic acid, 5-10 parts of triethylenetetramine, 2-6 parts of pentachlorothiophenol, N- tert-butyl -2-[4-morpholinodithio time sulphonyl
8-12 parts of amine, N, 4-6 parts of N '-diphenyl-para-phenylene diamine, 8-12 parts of white carbon black, 6-10 parts of clay；The component B is by following weight
Part component be made: 10-18 parts of nano zine oxide, 17-30 parts of titanium dioxide, 11-18 parts of zinc carbonate, 10-15 parts of manganese dioxide,
9-12 parts of magnesia, 4-20 parts of toluene di-isocyanate(TDI), 10-20 parts of dibutyl phthalate, modified epoxy soybean oil 10-12
Part, 10-15 parts of alkylphosphonate, 10-18 parts of alkylbenzene sulfonate, 12-15 parts of glycerine fatty acid, 10-20 parts of mica powder and hard
4-10 parts of resin acid barium.
Preferably, one end of the spring is connected with support plate, and the other end of spring and the centre of buckle are connected,
And buckle is in contact with support board under the force of a spring.
Preferably, the roller is connected by connecting rope with one end of support board, and connecting rope passes through and unloads support plate, support
The inside of plate.
Preferably, the centre for unloading support plate is equipped with shaft, and the support plate that unloads passes through hydraulic lifting arm and mechanism body
It is flexibly connected, and the top of hydraulic lifting arm is connected with shaft.
Preferably, the support plate that unloads can be slided around the center rotating of hinge, the support board along unloading in support plate
The direction of driving wheel is mobile.
Preferably, the input terminal of the roller is connected with the output end of motor.
Preferably, the wear-resisting acid and alkali-resistance rubber material includes the rubber component and performance enhancers of mass ratio 15:1；Its
In, the rubber component is made of the component of following weight ratio: 45 parts of nitrile rubber, 15 parts of fluorubber, 15 parts of silicon rubber, isophthalic
Two 25 parts of fluosite, 9 parts of coumarone indene resin, 15 parts of stearic acid, 7 parts of triethylenetetramine, 4 parts of pentachlorothiophenol, N- tert-butyl-
10 parts of 2-[4-morpholinodithio sulfenamide, N, 5 parts of N '-diphenyl-para-phenylene diamine, 10 parts of white carbon black, 8 parts of clay；The component B by
The component of following parts by weight is made: 14 parts of nano zine oxide, 23 parts of titanium dioxide, 15 parts of zinc carbonate, 12 parts of manganese dioxide, oxidation
11 parts of magnesium, 16 parts of toluene di-isocyanate(TDI), 15 parts of dibutyl phthalate, 11 parts of modified epoxy soybean oil, alkylphosphonate
13 parts, 14 parts of alkylbenzene sulfonate, 14 parts of glycerine fatty acid, 15 parts of mica powder and 7 parts of barium stearate.
It is highly preferred that the preparation of the modified epoxy soybean oil: acrylamide, graphene and epoxidized soybean oil are mixed,
It is first heated to 80-90 DEG C, reacts 2-6h, then slow cooling to 30-40 DEG C, then adds and chlorination petroleum ester and double seasons penta is added
Four alcohol esters, stir evenly, cooling；In the modified epoxy soybean oil preparation process；Rate of temperature fall is 1-2 DEG C/min.
Compared with prior art, the invention has the following beneficial effects:
In the present invention, the device of design has parallel crane, can be pushed by the piston rod of dual-rod hydraulic cylinder and be stretched in parallel
The fixed plate of contracting frame can raise the height of support plate, equipment is facilitated to be put on support board, unload support plate in hydraulic lifting arm
It can be rotated around hinge under effect, change the angle of support board, realized and unload automatically, the surface of sucker suction precision equipment,
Prevent gripper jaw from damaging equipment surface.
The support board is made by wear-resisting acid and alkali-resistance rubber material, to substantially increase its service life and using model
It encloses.Rubber material preparation process is simple, low in cost, and by the combination of different performance rubber, not only wearability is good, but also has
There is preferable acid-proof alkaline；It is further by materials such as addition nano zine oxide, titanium dioxide, zinc carbonate, magnesia simultaneously
Its acid-proof alkaline is enhanced, its wear-resisting property is further enhanced by addition manganese dioxide, mica powder and barium stearate etc.；
Pass through addition toluene di-isocyanate(TDI), dibutyl phthalate, alkylphosphonate, alkylbenzene sulfonate, glycerine fatty acid etc.
Enable each component is organic to cooperate, while significantly improving the mechanical property of rubber.
Detailed description of the invention
Fig. 1 is a kind of overall structure diagram of the carrying mechanism of Medical Devices transfer robot of the present invention；
Fig. 2 is a kind of hydraulic lifting arm schematic diagram of the carrying mechanism of Medical Devices transfer robot of the present invention；
Fig. 3 is that a kind of present invention carrying mechanism of Medical Devices transfer robot unloads support plate scheme of installation
In figure: 1, mechanism body；2, dual-rod hydraulic cylinder；3, parallel expansion bracket；4, fixed plate；5, support plate；6, support plate is unloaded；
7, support board；8, gripper jaw；9, sucker；10, hydraulic lifting arm；11, connecting rope；12, roller；13, idler wheel；14, hinge；15,
Sliding groove；16, movable pulley；17, spring；18, it buckles；19, shaft.
Specific embodiment
To be easy to understand the technical means, the creative features, the aims and the efficiencies achieved by the present invention, below with reference to
Specific embodiment, the present invention is further explained.
In the description of the present invention, it should be noted that term " on ", "lower", "inner", "outside" " front end ", " rear end ",
The orientation or positional relationship of the instructions such as " both ends ", " one end ", " other end " is to be based on the orientation or positional relationship shown in the drawings, only
It is that for the convenience of describing the present invention and simplifying the description, rather than the device or element of indication or suggestion meaning must have specifically
Orientation is constructed and operated in a specific orientation, therefore is not considered as limiting the invention.In addition, term " first ", " the
Two " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation " " is set
Be equipped with ", " connection " etc., shall be understood in a broad sense, such as " connection ", may be a fixed connection, may be a detachable connection or one
Connect to body；It can be mechanical connection, be also possible to be electrically connected；It can be directly connected, it can also be indirect by intermediary
It is connected, can be the connection inside two elements.For the ordinary skill in the art, on being understood with concrete condition
State the concrete meaning of term in the present invention.
Embodiment 1
Wear-resisting acid and alkali-resistance rubber material, rubber component and performance enhancers including mass ratio 15:1；Wherein, the rubber
Component is made of the component of following weight ratio: 45 parts of nitrile rubber, 15 parts of fluorubber, 15 parts of silicon rubber, resorcinol formaldehyde tree
25 parts of rouge, 9 parts of coumarone indene resin, 15 parts of stearic acid, 7 parts of triethylenetetramine, 4 parts of pentachlorothiophenol, N- tert-butyl -2-[4-morpholinodithio
10 parts of sulfenamide, N, 5 parts of N '-diphenyl-para-phenylene diamine, 10 parts of white carbon black, 8 parts of clay；The component B is by following parts by weight
Component be made: 14 parts of nano zine oxide, 23 parts of titanium dioxide, 15 parts of zinc carbonate, 12 parts of manganese dioxide, 11 parts of magnesia, first
16 parts of phenylene diisocyanate, 15 parts of dibutyl phthalate, 11 parts of modified epoxy soybean oil, 13 parts of alkylphosphonate, alkyl
14 parts of benzene sulfonate, 14 parts of glycerine fatty acid, 15 parts of mica powder and 7 parts of barium stearate.
The preparation of the modified epoxy soybean oil: acrylamide, graphene and epoxidized soybean oil are mixed, are first heated to
80-90 DEG C, 2-6h, then slow cooling are reacted to 30-40 DEG C, then adds and chlorination petroleum ester and pentaerythritol fatty acid ester is added,
It stirs evenly, it is cooling；In the modified epoxy soybean oil preparation process；Rate of temperature fall is 1-2 DEG C/min.
The preparation method of wear-resisting acid and alkali-resistance rubber material, comprising the following steps:
(1) weigh rubber component various raw materials, by nitrile rubber, fluorubber, silicon rubber, resorcinol formaldehyde resin,
Coumarone indene resin mixes, and obtains just mixing；The each component of performance enhancers is weighed in proportion, is mixed, performance enhancers mixing is obtained；
(2) first mixing is added in autoclave, reacts 20-30min at 70-80 DEG C；Again by stearic acid, three ethylenes four
Height is added in amine, pentachlorothiophenol, N tert butyl benzothiazole 2 sulfenamide, N, N '-diphenyl-para-phenylene diamine, white carbon black, clay
It presses in kettle, at 70-80 DEG C, the reaction was continued 3-4h；It is cooled to room temperature, obtains performed polymer；
(3) the performance enhancers mixing of performed polymer and 1/3 is uniformly mixed；It is added in casting machine batch can, is warming up to 60-70
DEG C, constant temperature 5-10min；Continuously add 1/3 performance enhancers mixing be uniformly mixed, be warming up to 75-80 DEG C, constant temperature 10-
15min；It is cooled to 55-60 DEG C, continuously adds remaining 1/3 component B, constant temperature 15-20min；
(4) by step (3) product coating release agent, drying, casting on mold, keep the temperature 10-12min, demoulding to get.
Embodiment 2
Wear-resisting acid and alkali-resistance rubber material, rubber component and performance enhancers including mass ratio 10:1；Wherein, the rubber
Component is made of the component of following weight ratio: 40 parts of nitrile rubber, 20 parts of fluorubber, 10 parts of silicon rubber, resorcinol formaldehyde tree
30 parts of rouge, 8 parts of coumarone indene resin, 20 parts of stearic acid, 5 parts of triethylenetetramine, 6 parts of pentachlorothiophenol, N- tert-butyl -2-[4-morpholinodithio
8 parts of sulfenamide, N, 6 parts of N '-diphenyl-para-phenylene diamine, 8 parts of white carbon black, 6 parts of clay；The component B is by following parts by weight
Component is made: 10 parts of nano zine oxide, 30 parts of titanium dioxide, 11 parts of zinc carbonate, 15 parts of manganese dioxide, 9 parts of magnesia, toluene two
4 parts of isocyanates, 20 parts of dibutyl phthalate, 10 parts of modified epoxy soybean oil, 15 parts of alkylphosphonate, alkyl benzene sulphonate
10 parts of salt, 15 parts of glycerine fatty acid, 10 parts of mica powder and 10 parts of barium stearate.
Preparation method is substantially the same manner as Example 1.
Embodiment 3
Wear-resisting acid and alkali-resistance rubber material, rubber component and performance enhancers including mass ratio 20:1；Wherein, the rubber
Component is made of the component of following weight ratio: 50 parts of nitrile rubber, 10 parts of fluorubber, 20 parts of silicon rubber, resorcinol formaldehyde tree
20 parts of rouge, 10 parts of coumarone indene resin, 10 parts of stearic acid, 10 parts of triethylenetetramine, 2 parts of pentachlorothiophenol, N- tert-butyl -2- benzo thiophene
12 parts of azoles sulfenamide, N, 4 parts of N '-diphenyl-para-phenylene diamine, 12 parts of white carbon black, 10 parts of clay；The component B is by following weight
Part component be made: 18 parts of nano zine oxide, 17 parts of titanium dioxide, 18 parts of zinc carbonate, 10 parts of manganese dioxide, 12 parts of magnesia,
20 parts of toluene di-isocyanate(TDI), 10 parts of dibutyl phthalate, 12 parts of modified epoxy soybean oil, 10 parts of alkylphosphonate, alkane
18 parts of base benzene sulfonate, 12 parts of glycerine fatty acid, 20 parts of mica powder and 4 parts of barium stearate.
Preparation method is substantially the same manner as Example 1.
Comparative example 1
Rubber material is made of the component of following weight ratio: 45 parts of nitrile rubber, 15 parts of fluorubber, silicon rubber 15 part,
25 parts of resorcinol formaldehyde resin, 9 parts of coumarone indene resin, 15 parts of stearic acid, 7 parts of triethylenetetramine, 4 parts of pentachlorothiophenol, the tertiary fourth of N-
Base -10 parts of 2-[4-morpholinodithio sulfenamide, N, 5 parts of N '-diphenyl-para-phenylene diamine, 10 parts of white carbon black, 8 parts of clay.
Comparative example 2
Rubber material is made of the component of following weight ratio: 75 parts of fluorubber, 25 parts of resorcinol formaldehyde resin, ancient horse
9 parts of grand resin, 15 parts of stearic acid, 7 parts of triethylenetetramine, 4 parts of pentachlorothiophenol, N tert butyl benzothiazole 2 sulfenamide 10
Part, N, 5 parts of N '-diphenyl-para-phenylene diamine, 10 parts of white carbon black, 8 parts of clay.
Comparative example 3
Rubber material is made of the component of following weight ratio: 75 parts of silicon rubber, 25 parts of resorcinol formaldehyde resin, ancient horse
9 parts of grand resin, 15 parts of stearic acid, 7 parts of triethylenetetramine, 4 parts of pentachlorothiophenol, N tert butyl benzothiazole 2 sulfenamide 10
Part, N, 5 parts of N '-diphenyl-para-phenylene diamine, 10 parts of white carbon black, 8 parts of clay.
The rubber performance of testing example 1 to 3 and comparative example 1 to 3, the results are shown in Table 1.
(1) acid and alkali-resistance is tested
Detect solution:
A) concentration is the hydrochloric acid solution of 6.0kmol/m3；
B) concentration is the sodium hydroxide solution of 6.1kmol/m3；
Detecting step:
Weigh the quality before three groups of rubbery samples impregnate respectively in air.Rubber is measured according to GB/T 6031-1998 method
Hardness before the immersion of glue sample.The tensile strength before rubbery sample does not impregnate is measured according to GB/T 528-1998 method and is pulled apart
Elongation.
According to 1690 method of GB/T, rubbery sample is respectively enterd into a, in tri- kinds of detection solution of b, c, detection temperature is 23
℃.Rubbery sample is taken out after 70h, is rinsed with flowing water, then dries sample with filter paper and adjusts 30min at room temperature, is weighed respectively
Quality after three groups of rubbery samples immersions.
Rubbery sample after immersion is in 30min, according to the hardness of GB/T 6031-1998 method measurement rubbery sample.It presses
According to the tensile strength and elongation at break of GB/T 528-1998 method measurement rubbery sample.
Test results in the following table: (wherein numerical value is the average value of same group of variation, and hardness is shore A)
It is less than ± 2% relative to mass change before impregnating after rubbery sample immersion it can be seen from following table, firmness change
It is less than ± 10IRHD, the reduction of tensile strength is also less than 15%, and the variation of elongation at break is less than 20%.
Embodiment 4
As shown in Figure 1-3, a kind of carrying mechanism of Medical Devices transfer robot, including mechanism body 1, mechanism body 1
Bottom end idler wheel 13 is installed, the centre of mechanism body 1 is equipped with dual-rod hydraulic cylinder 2, and the both ends of dual-rod hydraulic cylinder 2 are installed respectively
There is parallel expansion bracket 3, the both ends of parallel expansion bracket 3 are respectively arranged with fixed plate 4, and the side of one of them parallel expansion bracket 3 is set
It is equipped with hydraulic lifting arm 10, the other side of parallel expansion bracket 3 is equipped with roller 12, and the top of mechanism body 1 is equipped with support plate
5, and support plate 5 is connected by parallel expansion bracket 3 with mechanism body 1, the top of support plate 5, which is equipped with, unloads support plate 6, support plate
5 are equipped with hinge 14 with the same end for unloading support plate 6, and unload support plate 6 and be connected by hinge 14 with support plate 5, unload the upper of support plate 6
Side is equipped with support board 7, and the surface for unloading support plate 6 is provided with movable pulley 16, and the inside of support board 7 is provided with sliding groove 15, movable pulley
16 move along the direction of sliding groove 15, and one end of support plate 5 is equipped with buckle 18 and spring 17, the two sides of support board 7 are equipped with
Several gripper jaws 8 and sucker 9；
One end of spring 17 is connected with support plate 5, and the other end of spring 17 is connected with the centre of buckle 18, and blocks
Button 18 is in contact under the active force of spring 17 with support board 7；Roller 12 is connected by connecting rope 11 with one end of support board 7
It connects, and connecting rope 11 passes through the inside for unloading support plate 6, support plate 5；The centre for unloading support plate 6 is equipped with shaft 19, unloads support plate 6 and passes through
Hydraulic lifting arm 10 is flexibly connected with mechanism body 1, and the top of hydraulic lifting arm 10 is connected with shaft 19；Unloading support plate 6 can
With around the center rotating of hinge 14, support board 7 can be moved along the direction for unloading movable pulley 16 in support plate 6；Roller 12 it is defeated
Enter end to be connected with the output end of motor.
The support board 7 is made by wear-resisting acid and alkali-resistance rubber material, to substantially increase its service life and using model
It encloses.
It should be noted that the present invention is a kind of carrying mechanism of Medical Devices transfer robot, in use, mechanism body
The dual-rod hydraulic cylinder 2 of 1 inside works, and two piston rods of dual-rod hydraulic cylinder 2 stretch out, and pushes parallel expansion bracket 3, makes to stretch in parallel
Contracting frame 3 increase, while drive support plate 5 increase, reach suitable height, Medical Devices be placed on support board 7, and with press from both sides
The clamping of pawl 8 is held, when precision equipment is placed, or when equipment higher to surface requirements, is adsorbed using sucker 9, it is anti-to stop loss
The surface of bad equipment is influenced using then falling hydraulic lifting arm 10, transfer robot is moved to designated position, to medical treatment
Equipment is unloaded, and hydraulic lifting arm 10 increases first, makes to unload support plate 6 around the axis rotation of hinge 14, while unloading support plate 6
It is rotated around shaft 19 therein, when going to suitable angle, hydraulic lifting arm 10 stops working, at this time in the effect of gravity
Under, Medical Devices and support board 7 have the tendency that the length for then making idler wheel 13 lengthen connecting rope 11 along 15 slide downward of sliding groove
Degree, support board 7 has along 15 slide downward of sliding groove at this time, and 17 elastic force of spring of buckle 18 is not enough to clamping support board 7, when
When support board 7 slides into bottom, gripper jaw 8 or sucker 9 are unclamped, and mobile transfer robot, Medical Devices are sliding from support board 7
Under, unloading is completed, then roller 12 tightens connecting rope 11, and support board 7 is had and is pulled up along sliding groove 15, draws and arrives original position
When setting, 18 clampings under the action of spring 17 are buckled, then decline hydraulic lifting arm 10, made to unload support plate 6 and turn to original position
It sets, the carrying of next secondary device can be carried out later.
The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the above embodiments and description only describe this
The principle of invention, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these changes
Change and improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention by appended claims and its
Equivalent thereof.
Claims (8)
1. a kind of carrying mechanism of Medical Devices transfer robot, including mechanism body (1), it is characterised in that: the mechanism master
The bottom end of body (1) is equipped with idler wheel (13), and the centre of the mechanism body (1) is equipped with dual-rod hydraulic cylinder (2), the double rod liquid
The both ends of cylinder pressure (2) are separately installed with parallel expansion bracket (3), and the both ends of the parallel expansion bracket (3) are respectively arranged with fixed plate
(4), the side of one of them parallel expansion bracket (3) is provided with hydraulic lifting arm (10), the parallel expansion bracket (3) it is another
Side is equipped with roller (12), is equipped with support plate (5) above the mechanism body (1), and support plate (5) by stretching in parallel
Contracting frame (3) is connected with mechanism body (1), is equipped with and unloads support plate (6) above the support plate (5), the support plate (5) and
The same end for unloading support plate (6) is equipped with hinge (14), and unloads support plate (6) and be connected by hinge (14) with support plate (5), described
It unloads and is equipped with above support plate (6) support board (7), the surface for unloading support plate (6) is provided with movable pulley (16), the support board
(7) inside is provided with sliding groove (15), and the movable pulley (16) is mobile along the direction of sliding groove (15), the support plate (5)
One end buckle (18) and spring (17) be installed, the two sides of the support board (7) are equipped with several gripper jaws (8) and sucker (9)；
The support board (7) is made by wear-resisting acid and alkali-resistance rubber material, and the wear-resisting acid and alkali-resistance rubber material includes mass ratio
(10-20): 1 rubber component and performance enhancers；Wherein, the rubber component is made of the component of following weight ratio: butyronitrile
40-50 parts of rubber, 10-20 parts of fluorubber, 10-20 parts of silicon rubber, 20-30 parts of resorcinol formaldehyde resin, coumarone indene resin 8-
10 parts, 10-20 parts of stearic acid, 5-10 parts of triethylenetetramine, 2-6 parts of pentachlorothiophenol, N tert butyl benzothiazole 2 sulfenamide
8-12 parts, N, 4-6 parts of N '-diphenyl-para-phenylene diamine, 8-12 parts of white carbon black, 6-10 parts of clay；The component B is by following parts by weight
Component be made: 10-18 parts of nano zine oxide, 17-30 parts of titanium dioxide, 11-18 parts of zinc carbonate, 10-15 parts of manganese dioxide, oxygen
Change magnesium 9-12 parts, 4-20 parts of toluene di-isocyanate(TDI), 10-20 parts of dibutyl phthalate, modified epoxy soybean oil 10-12
Part, 10-15 parts of alkylphosphonate, 10-18 parts of alkylbenzene sulfonate, 12-15 parts of glycerine fatty acid, 10-20 parts of mica powder and hard
4-10 parts of resin acid barium.
2. a kind of carrying mechanism of Medical Devices transfer robot according to claim 1, it is characterised in that: the spring
(17) one end is connected with support plate (5), and the centre of the other end of spring (17) and buckle (18) is connected, and buckles
(18) it is in contact under the active force of spring (17) with support board (7).
3. a kind of carrying mechanism of Medical Devices transfer robot according to claim 1, it is characterised in that: the roller
(12) it is connected by connecting rope (11) with one end of support board (7), and connecting rope (11) passes through and unloads support plate (6), support plate (5)
Inside.
4. a kind of carrying mechanism of Medical Devices transfer robot according to claim 1, it is characterised in that: the unloading
The centre of plate (6) is equipped with shaft (19), and described unload support plate (6) are connected by hydraulic lifting arm (10) and mechanism body (1) activity
It connects, and the top of hydraulic lifting arm (10) is connected with shaft (19).
5. a kind of carrying mechanism of Medical Devices transfer robot according to claim 1, it is characterised in that: the unloading
Plate (6) can be around the center rotating of hinge (14), and the support board (7) can be along unloading movable pulley (16) in support plate (6)
Direction is mobile.
6. a kind of carrying mechanism of Medical Devices transfer robot according to claim 1, it is characterised in that: the roller
(12) input terminal is connected with the output end of motor.
7. a kind of carrying mechanism of Medical Devices transfer robot according to claim 1, it is characterised in that: described wear-resisting
Acid and alkali-resistance rubber material includes the rubber component and performance enhancers of mass ratio 15:1；Wherein, the rubber component is by following heavy
The component of amount ratio is made: 45 parts of nitrile rubber, 15 parts of fluorubber, 15 parts of silicon rubber, 25 parts of resorcinol formaldehyde resin, coumarone
9 parts of resin, 15 parts of stearic acid, 7 parts of triethylenetetramine, 4 parts of pentachlorothiophenol, 10 parts of N tert butyl benzothiazole 2 sulfenamide,
5 parts of N, N '-diphenyl-para-phenylene diamine, 10 parts of white carbon black, 8 parts of clay；The component B is made of the components of following parts: being received
Rice 14 parts of zinc oxide, 23 parts of titanium dioxide, 15 parts of zinc carbonate, 12 parts of manganese dioxide, 11 parts of magnesia, toluene di-isocyanate(TDI) 16
It is part, 15 parts of dibutyl phthalate, 11 parts of modified epoxy soybean oil, 13 parts of alkylphosphonate, 14 parts of alkylbenzene sulfonate, sweet
14 parts of fatty acid oil, 15 parts of mica powder and 7 parts of barium stearate.
8. a kind of carrying mechanism of Medical Devices transfer robot according to claim 1, it is characterised in that: the modification
The preparation of epoxidized soybean oil: acrylamide, graphene and epoxidized soybean oil are mixed, and are first heated to 80-90 DEG C, react 2-6h,
Again then slow cooling adds and chlorination petroleum ester and pentaerythritol fatty acid ester is added, stir evenly to 30-40 DEG C, cooling；It is described
In modified epoxy soybean oil preparation process；Rate of temperature fall is 1-2 DEG C/min.
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| CN201811268429.3A CN109291034B (en) | 2018-10-29 | 2018-10-29 | Handling mechanism of medical equipment handling robot |
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|---|---|---|---|
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008246596A (en) * | 2007-03-29 | 2008-10-16 | Ihi Corp | Transfer robot and 3-degree-of-freedom parallel link mechanism |
| CN102642199A (en) * | 2012-05-07 | 2012-08-22 | 上海电机学院 | Robot for carrying warehouses |
| CN202592381U (en) * | 2012-05-07 | 2012-12-12 | 上海电机学院 | Rail-mounted warehouse transportation robot |
| CN107336212A (en) * | 2017-07-25 | 2017-11-10 | 芜湖超源力工业设计有限公司 | A kind of transfer robot |
| CN108392346A (en) * | 2018-01-09 | 2018-08-14 | 深圳市晓控通信科技有限公司 | A kind of intelligent medical robot with carrying patient function |
-
2018
- 2018-10-29 CN CN201811268429.3A patent/CN109291034B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008246596A (en) * | 2007-03-29 | 2008-10-16 | Ihi Corp | Transfer robot and 3-degree-of-freedom parallel link mechanism |
| CN102642199A (en) * | 2012-05-07 | 2012-08-22 | 上海电机学院 | Robot for carrying warehouses |
| CN202592381U (en) * | 2012-05-07 | 2012-12-12 | 上海电机学院 | Rail-mounted warehouse transportation robot |
| CN107336212A (en) * | 2017-07-25 | 2017-11-10 | 芜湖超源力工业设计有限公司 | A kind of transfer robot |
| CN108392346A (en) * | 2018-01-09 | 2018-08-14 | 深圳市晓控通信科技有限公司 | A kind of intelligent medical robot with carrying patient function |
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