CN109291034B - Handling mechanism of medical equipment handling robot - Google Patents
Handling mechanism of medical equipment handling robot Download PDFInfo
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- CN109291034B CN109291034B CN201811268429.3A CN201811268429A CN109291034B CN 109291034 B CN109291034 B CN 109291034B CN 201811268429 A CN201811268429 A CN 201811268429A CN 109291034 B CN109291034 B CN 109291034B
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- 230000007246 mechanism Effects 0.000 title claims abstract description 49
- 229920001971 elastomer Polymers 0.000 claims description 44
- -1 alkyl phosphate Chemical compound 0.000 claims description 27
- IANQTJSKSUMEQM-UHFFFAOYSA-N 1-benzofuran Chemical compound C1=CC=C2OC=CC2=C1 IANQTJSKSUMEQM-UHFFFAOYSA-N 0.000 claims description 22
- 239000011347 resin Substances 0.000 claims description 22
- 229920005989 resin Polymers 0.000 claims description 22
- 239000000463 material Substances 0.000 claims description 21
- 239000003623 enhancer Substances 0.000 claims description 17
- GWEVSGVZZGPLCZ-UHFFFAOYSA-N Titan oxide Chemical compound O=[Ti]=O GWEVSGVZZGPLCZ-UHFFFAOYSA-N 0.000 claims description 16
- XLOMVQKBTHCTTD-UHFFFAOYSA-N Zinc monoxide Chemical compound [Zn]=O XLOMVQKBTHCTTD-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
- VILCJCGEZXAXTO-UHFFFAOYSA-N 2,2,2-tetramine Chemical compound NCCNCCNCCN VILCJCGEZXAXTO-UHFFFAOYSA-N 0.000 claims description 11
- 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
- KVBYPTUGEKVEIJ-UHFFFAOYSA-N benzene-1,3-diol;formaldehyde Chemical compound O=C.OC1=CC=CC(O)=C1 KVBYPTUGEKVEIJ-UHFFFAOYSA-N 0.000 claims description 11
- 239000006229 carbon black Substances 0.000 claims description 11
- 239000004927 clay Substances 0.000 claims description 11
- 238000001816 cooling Methods 0.000 claims description 11
- IUJLOAKJZQBENM-UHFFFAOYSA-N n-(1,3-benzothiazol-2-ylsulfanyl)-2-methylpropan-2-amine Chemical compound C1=CC=C2SC(SNC(C)(C)C)=NC2=C1 IUJLOAKJZQBENM-UHFFFAOYSA-N 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
- 229960001124 trientine Drugs 0.000 claims description 11
- 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 10
- 229920001973 fluoroelastomer Polymers 0.000 claims description 10
- 238000002360 preparation method Methods 0.000 claims description 10
- 229920002379 silicone rubber Polymers 0.000 claims description 10
- 229920000459 Nitrile rubber Polymers 0.000 claims description 9
- 239000004945 silicone rubber Substances 0.000 claims description 9
- PEDCQBHIVMGVHV-UHFFFAOYSA-N Glycerol Natural products OCC(O)CO PEDCQBHIVMGVHV-UHFFFAOYSA-N 0.000 claims description 8
- 229910019142 PO4 Inorganic materials 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
- AGXUVMPSUKZYDT-UHFFFAOYSA-L barium(2+);octadecanoate Chemical compound [Ba+2].CCCCCCCCCCCCCCCCCC([O-])=O.CCCCCCCCCCCCCCCCCC([O-])=O AGXUVMPSUKZYDT-UHFFFAOYSA-L 0.000 claims description 8
- 235000014113 dietary fatty acids Nutrition 0.000 claims description 8
- 239000000194 fatty acid Substances 0.000 claims description 8
- 229930195729 fatty acid Natural products 0.000 claims description 8
- 235000011187 glycerol Nutrition 0.000 claims description 8
- 239000000395 magnesium oxide Substances 0.000 claims description 8
- CPLXHLVBOLITMK-UHFFFAOYSA-N magnesium oxide Inorganic materials [Mg]=O CPLXHLVBOLITMK-UHFFFAOYSA-N 0.000 claims description 8
- AXZKOIWUVFPNLO-UHFFFAOYSA-N magnesium;oxygen(2-) Chemical compound [O-2].[Mg+2] AXZKOIWUVFPNLO-UHFFFAOYSA-N 0.000 claims description 8
- 239000010445 mica Substances 0.000 claims description 8
- 229910052618 mica group Inorganic materials 0.000 claims description 8
- 239000010452 phosphate Substances 0.000 claims description 8
- 239000000843 powder Substances 0.000 claims description 8
- 239000004408 titanium dioxide Substances 0.000 claims description 8
- DVKJHBMWWAPEIU-UHFFFAOYSA-N toluene 2,4-diisocyanate Chemical compound CC1=CC=C(N=C=O)C=C1N=C=O DVKJHBMWWAPEIU-UHFFFAOYSA-N 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
- 239000011787 zinc oxide Substances 0.000 claims description 8
- 238000002156 mixing Methods 0.000 claims description 7
- 210000000078 claw Anatomy 0.000 claims description 6
- 239000004593 Epoxy Substances 0.000 claims description 5
- 238000010438 heat treatment Methods 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
- VEXZGXHMUGYJMC-UHFFFAOYSA-M Chloride anion Chemical compound [Cl-] VEXZGXHMUGYJMC-UHFFFAOYSA-M 0.000 claims description 3
- 229910021389 graphene Inorganic materials 0.000 claims description 3
- 239000003208 petroleum Substances 0.000 claims description 3
- 238000003756 stirring Methods 0.000 claims description 3
- 239000012744 reinforcing agent Substances 0.000 claims description 2
- 241000252254 Catostomidae Species 0.000 claims 1
- 238000012546 transfer Methods 0.000 abstract description 8
- 230000008859 change Effects 0.000 abstract description 4
- 239000002585 base Substances 0.000 description 8
- 238000001514 detection method Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 239000003513 alkali Substances 0.000 description 4
- 230000000052 comparative effect Effects 0.000 description 4
- 238000002791 soaking Methods 0.000 description 4
- HEMHJVSKTPXQMS-UHFFFAOYSA-M Sodium hydroxide Chemical compound [OH-].[Na+] HEMHJVSKTPXQMS-UHFFFAOYSA-M 0.000 description 3
- 239000002253 acid Substances 0.000 description 3
- 230000009471 action Effects 0.000 description 3
- 238000012360 testing method Methods 0.000 description 3
- VEXZGXHMUGYJMC-UHFFFAOYSA-N Hydrochloric acid Chemical compound Cl VEXZGXHMUGYJMC-UHFFFAOYSA-N 0.000 description 2
- 238000005266 casting Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000002035 prolonged effect Effects 0.000 description 2
- 238000005303 weighing Methods 0.000 description 2
- UXKQNCDDHDBAPD-UHFFFAOYSA-N 4-n,4-n-diphenylbenzene-1,4-diamine Chemical compound C1=CC(N)=CC=C1N(C=1C=CC=CC=1)C1=CC=CC=C1 UXKQNCDDHDBAPD-UHFFFAOYSA-N 0.000 description 1
- 241000282414 Homo sapiens Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000000861 blow drying 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
- 238000004891 communication Methods 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000002994 raw material Substances 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 carrying mechanism of a medical equipment carrying robot, which comprises a mechanism main body, wherein rollers are arranged at the bottom end of the mechanism main body, a double-rod hydraulic cylinder is arranged in the middle of the mechanism main body, parallel telescopic frames are respectively arranged at two ends of the double-rod hydraulic cylinder, fixed plates are respectively arranged at two ends of the parallel telescopic frames, a hydraulic lifting rod is arranged at one side of one of the parallel telescopic frames, a roller is arranged at the other side of the parallel telescopic frame, a supporting plate is arranged above the mechanism main body, and the supporting plate is connected with the mechanism main body through the parallel telescopic frames. A handling mechanism of medical equipment transfer robot, be provided with balanced crane, uninstallation board and sucking disc, can change the height of carrying the thing board according to medical equipment different positions, make things convenient for the placing of equipment, the uninstallation board rotates round the hinge, changeable carrying thing board contained angle, conveniently takes off medical equipment, sets up the sucking disc, can prevent the surface damage to some precision instruments.
Description
Technical Field
The invention relates to the field of transfer robots, in particular to a transfer mechanism of a medical equipment transfer robot.
Background
The handling robot is an industrial robot capable of carrying out automatic handling operation, the handling operation refers to holding a workpiece by one device, the workpiece is moved from one processing position to another processing position, the handling robot can be provided with different end effectors to finish the handling operation of workpieces in different shapes and states, the heavy manual labor of human beings is greatly reduced, the handling robot is a high-tech technology in the modern automatic control field, the subject field of each gate is involved, and the handling robot becomes an important component part in the modern mechanical manufacturing production system. But current medical equipment transfer robot simple structure can only go up goods and go down goods through the manual work and just carry, needs more manpowers, and to some precision equipment, transfer robot's manipulator damages equipment surface easily, probably influences the use of equipment moreover, we propose a medical equipment transfer robot's handling mechanism.
Disclosure of Invention
The invention mainly aims to provide a conveying mechanism of a medical equipment conveying robot, which can effectively solve the problems in the background technology.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
The utility model provides a handling mechanism of medical equipment transfer robot, includes the mechanism main part, the gyro wheel is installed to the bottom of mechanism main part, the double-pole pneumatic cylinder is installed to the centre of mechanism main part, parallel expansion brackets are installed respectively at the both ends of double-pole pneumatic cylinder, the both ends of parallel expansion brackets are provided with the fixed plate respectively, one side of one of them parallel expansion brackets is provided with hydraulic lifting rod, the cylinder is installed to the opposite side of parallel expansion brackets, the backup pad is installed to the top of mechanism main part, and the backup pad is connected with the mechanism main part through parallel expansion brackets, the uninstallation board is installed to the top of backup pad, the hinge is installed to the same end of backup pad and uninstallation board, and the uninstallation board is connected with the backup pad through the hinge, the carrier board is installed to the top of uninstallation board, the surface of uninstallation board is provided with the movable pulley, the inside of carrier board is opened has the sliding tray, the movable pulley moves along the direction of sliding tray, buckle and spring are installed to one end of backup pad, both sides of carrier board are equipped with a plurality of clamping claws and sucking disc;
the carrier plate (7) is made of wear-resistant acid-base-resistant rubber material, and the wear-resistant acid-base-resistant rubber material comprises rubber components and performance reinforcing agents in a mass ratio of (10-20): 1; wherein the rubber component is prepared from the following components in percentage by weight: 40-50 parts of nitrile rubber, 10-20 parts of fluororubber, 10-20 parts of silicone rubber, 20-30 parts of resorcinol formaldehyde resin, 8-10 parts of coumarone resin, 10-20 parts of stearic acid, 5-10 parts of triethylene tetramine, 2-6 parts of pentachlorothiophenol, 8-12 parts of N-tertiary butyl-2-benzothiazole sulfenamide, 4-6 parts of N, N' -diphenyl-p-phenylenediamine, 8-12 parts of white carbon black and 6-10 parts of clay; the performance enhancer is prepared from the following components in parts by weight: 10-18 parts of nano zinc oxide, 17-30 parts of titanium dioxide, 11-18 parts of zinc carbonate, 10-15 parts of manganese dioxide, 9-12 parts of magnesium oxide, 4-20 parts of toluene diisocyanate, 10-20 parts of dibutyl phthalate, 10-12 parts of modified epoxidized soybean oil, 10-15 parts of alkyl phosphate, 10-18 parts of alkylbenzene sulfonate, 12-15 parts of glycerin fatty acid, 10-20 parts of mica powder and 4-10 parts of barium stearate.
Preferably, one end of the spring is connected with the supporting plate, the other end of the spring is connected with the middle of the buckle, and the buckle is contacted with the carrying plate under the acting force of the spring.
Preferably, the roller is connected with one end of the carrying plate through a connecting rope, and the connecting rope penetrates through the unloading plate and the inside of the supporting plate.
Preferably, a rotating shaft is arranged in the middle of the unloading plate, the unloading plate is movably connected with the mechanism main body through a hydraulic lifting rod, and the top end of the hydraulic lifting rod is connected with the rotating shaft.
Preferably, the unloading plate is rotatable about the centre of the hinge and the carrier plate is movable in the direction of the sliding wheels in the unloading plate.
Preferably, the input end of the roller is connected with the output end of the motor.
Preferably, the wear-resistant acid-base-resistant rubber material comprises a rubber component and a performance enhancer in a mass ratio of 15:1; wherein the rubber component is prepared from the following components in percentage by weight: 45 parts of nitrile rubber, 15 parts of fluororubber, 15 parts of silicone rubber, 25 parts of resorcinol formaldehyde resin, 9 parts of coumarone resin, 15 parts of stearic acid, 7 parts of triethylene tetramine, 4 parts of pentachlorothiophenol, 10 parts of N-tertiary butyl-2-benzothiazole sulfenamide, 5 parts of N, N' -diphenyl-p-phenylenediamine, 10 parts of white carbon black and 8 parts of clay; the performance enhancer is prepared from the following components in parts by weight: 14 parts of nano zinc oxide, 23 parts of titanium dioxide, 15 parts of zinc carbonate, 12 parts of manganese dioxide, 11 parts of magnesium oxide, 16 parts of toluene diisocyanate, 15 parts of dibutyl phthalate, 11 parts of modified epoxy soybean oil, 13 parts of alkyl phosphate, 14 parts of alkylbenzene sulfonate, 14 parts of glycerin fatty acid, 15 parts of mica powder and 7 parts of barium stearate.
More preferably, the preparation of the modified epoxidized soybean oil: mixing acrylamide, graphene and epoxidized soybean oil, heating to 80-90 ℃ for reaction for 2-6 hours, slowly cooling to 30-40 ℃, adding petroleum chloride and dipentaerythritol ester, uniformly stirring, and cooling; the preparation process of the modified epoxidized soybean oil; the cooling rate is 1-2 ℃/min.
Compared with the prior art, the invention has the following beneficial effects:
according to the invention, the designed device is provided with the parallel lifting frame, the fixing plate of the parallel lifting frame can be pushed by the piston rod of the double-rod hydraulic cylinder, the height of the supporting plate can be raised, equipment can be conveniently placed on the carrying plate, the unloading plate can rotate around the hinge under the action of the hydraulic lifting rod, the angle of the carrying plate is changed, automatic unloading is realized, the sucking disc adsorbs the surface of precision equipment, and the clamping claw is prevented from damaging the surface of the equipment.
The carrier plate is made of wear-resistant acid-alkali-resistant rubber materials, so that the service life and the application range of the carrier plate are greatly prolonged. The rubber material has the advantages of simple preparation process and low cost, and by combining the rubber with different performances, the rubber material not only has good wear resistance, but also has good acid and alkali resistance; meanwhile, the acid and alkali resistance is further enhanced by adding nano zinc oxide, titanium dioxide, zinc carbonate, magnesium oxide and other materials, and the wear resistance is further enhanced by adding manganese dioxide, mica powder, barium stearate and the like; the components can be organically matched by adding toluene diisocyanate, dibutyl phthalate, alkyl phosphate, alkylbenzene sulfonate, glycerin fatty acid and the like, and the mechanical property of the rubber is obviously improved.
Drawings
FIG. 1 is a schematic view showing the overall structure of a handling mechanism of a medical equipment handling robot according to the present invention;
FIG. 2 is a schematic view of a hydraulic lifter of a handling mechanism of a medical device handling robot according to the present invention;
FIG. 3 is a schematic view showing the mounting of an unloading plate of a handling mechanism of a medical equipment handling robot according to the present invention
In the figure: 1. a mechanism body; 2. a double-rod hydraulic cylinder; 3. a parallel expansion bracket; 4. a fixing plate; 5. a support plate; 6. an unloading plate; 7. a carrying plate; 8. clamping claws; 9. a suction cup; 10. a hydraulic lifting rod; 11. a connecting rope; 12. a roller; 13. a roller; 14. a hinge; 15. a sliding groove; 16. a sliding wheel; 17. a spring; 18. a buckle; 19. a rotating shaft.
Description of the embodiments
The invention is further described in connection with the following detailed description, in order to make the technical means, the creation characteristics, the achievement of the purpose and the effect of the invention easy to understand.
In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "upper", "lower", "inner", "outer", "front", "rear", "both ends", "one end", "the other end", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific direction, be configured and operated in the specific direction, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "provided," "connected," and the like are to be construed broadly, and may be fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
Examples
The wear-resistant acid-base-resistant rubber material comprises a rubber component and a performance enhancer in a mass ratio of 15:1; wherein the rubber component is prepared from the following components in percentage by weight: 45 parts of nitrile rubber, 15 parts of fluororubber, 15 parts of silicone rubber, 25 parts of resorcinol formaldehyde resin, 9 parts of coumarone resin, 15 parts of stearic acid, 7 parts of triethylene tetramine, 4 parts of pentachlorothiophenol, 10 parts of N-tertiary butyl-2-benzothiazole sulfenamide, 5 parts of N, N' -diphenyl-p-phenylenediamine, 10 parts of white carbon black and 8 parts of clay; the performance enhancer is prepared from the following components in parts by weight: 14 parts of nano zinc oxide, 23 parts of titanium dioxide, 15 parts of zinc carbonate, 12 parts of manganese dioxide, 11 parts of magnesium oxide, 16 parts of toluene diisocyanate, 15 parts of dibutyl phthalate, 11 parts of modified epoxy soybean oil, 13 parts of alkyl phosphate, 14 parts of alkylbenzene sulfonate, 14 parts of glycerin fatty acid, 15 parts of mica powder and 7 parts of barium stearate.
The preparation of the modified epoxidized soybean oil: mixing acrylamide, graphene and epoxidized soybean oil, heating to 80-90 ℃ for reaction for 2-6 hours, slowly cooling to 30-40 ℃, adding petroleum chloride and dipentaerythritol ester, uniformly stirring, and cooling; the preparation process of the modified epoxidized soybean oil; the cooling rate is 1-2 ℃/min.
The preparation method of the wear-resistant acid-base-resistant rubber material comprises the following steps:
(1) Weighing various raw materials of the rubber component, and uniformly mixing nitrile rubber, fluororubber, silicone rubber, resorcinol formaldehyde resin and coumarone resin to obtain a primary mixed material; weighing and uniformly mixing all components of the performance enhancer according to a proportion to obtain a performance enhancer mixture;
(2) Adding the primary mixed material into an autoclave, and reacting for 20-30min at 70-80 ℃; adding stearic acid, triethylene tetramine, pentachlorothiophenol, N-tertiary butyl-2-benzothiazole sulfenamide, N' -diphenyl-p-phenylenediamine, white carbon black and clay into an autoclave, and continuously reacting for 3-4 hours at 70-80 ℃; cooling to room temperature to obtain a prepolymer;
(3) Mixing the prepolymer and 1/3 of the performance enhancer uniformly; adding into a casting machine material tank, heating to 60-70deg.C, and keeping the temperature for 5-10min; continuously adding 1/3 of the performance enhancer, uniformly mixing, heating to 75-80 ℃, and keeping the temperature for 10-15min; cooling to 55-60deg.C, continuously adding the rest 1/3 of the performance enhancer, and keeping the temperature for 15-20min;
(4) And (3) coating a release agent on the die, blow-drying, casting, preserving heat for 10-12min, and demoulding to obtain the product.
Examples
The wear-resistant acid-base-resistant rubber material comprises a rubber component and a performance enhancer in a mass ratio of 10:1; wherein the rubber component is prepared from the following components in percentage by weight: 40 parts of nitrile rubber, 20 parts of fluororubber, 10 parts of silicone rubber, 30 parts of resorcinol formaldehyde resin, 8 parts of coumarone resin, 20 parts of stearic acid, 5 parts of triethylene tetramine, 6 parts of pentachlorothiophenol, 8 parts of N-tertiary butyl-2-benzothiazole sulfenamide, 6 parts of N, N' -diphenyl-p-phenylenediamine, 8 parts of white carbon black and 6 parts of clay; the performance enhancer is prepared from the following components in parts by weight: 10 parts of nano zinc oxide, 30 parts of titanium dioxide, 11 parts of zinc carbonate, 15 parts of manganese dioxide, 9 parts of magnesium oxide, 4 parts of toluene diisocyanate, 20 parts of dibutyl phthalate, 10 parts of modified epoxy soybean oil, 15 parts of alkyl phosphate, 10 parts of alkylbenzene sulfonate, 15 parts of glycerin fatty acid, 10 parts of mica powder and 10 parts of barium stearate.
The preparation method is basically the same as that of example 1.
Examples
The wear-resistant acid-base-resistant rubber material comprises a rubber component and a performance enhancer in a mass ratio of 20:1; wherein the rubber component is prepared from the following components in percentage by weight: 50 parts of nitrile rubber, 10 parts of fluororubber, 20 parts of silicone rubber, 20 parts of resorcinol formaldehyde resin, 10 parts of coumarone resin, 10 parts of stearic acid, 10 parts of triethylene tetramine, 2 parts of pentachlorothiophenol, 12 parts of N-tertiary butyl-2-benzothiazole sulfenamide, 4 parts of N, N' -diphenyl-p-phenylenediamine, 12 parts of white carbon black and 10 parts of clay; the performance enhancer is prepared from the following components in parts by weight: 18 parts of nano zinc oxide, 17 parts of titanium dioxide, 18 parts of zinc carbonate, 10 parts of manganese dioxide, 12 parts of magnesium oxide, 20 parts of toluene diisocyanate, 10 parts of dibutyl phthalate, 12 parts of modified epoxy soybean oil, 10 parts of alkyl phosphate, 18 parts of alkylbenzene sulfonate, 12 parts of glycerin fatty acid, 20 parts of mica powder and 4 parts of barium stearate.
The preparation method is basically the same as that of example 1.
Comparative example 1
The rubber material is prepared from the following components in parts by weight: 45 parts of nitrile rubber, 15 parts of fluororubber, 15 parts of silicone rubber, 25 parts of resorcinol formaldehyde resin, 9 parts of coumarone resin, 15 parts of stearic acid, 7 parts of triethylene tetramine, 4 parts of pentachlorothiophenol, 10 parts of N-tertiary butyl-2-benzothiazole sulfenamide, 5 parts of N, N' -diphenyl-p-phenylenediamine, 10 parts of white carbon black and 8 parts of clay.
Comparative example 2
The rubber material is prepared from the following components in parts by weight: 75 parts of fluororubber, 25 parts of resorcinol formaldehyde resin, 9 parts of coumarone resin, 15 parts of stearic acid, 7 parts of triethylene tetramine, 4 parts of pentachlorothiophenol, 10 parts of N-tertiary butyl-2-benzothiazole sulfenamide, 5 parts of N, N' -diphenyl-p-phenylenediamine, 10 parts of white carbon black and 8 parts of clay.
Comparative example 3
The rubber material is prepared from the following components in parts by weight: 75 parts of silicon rubber, 25 parts of resorcinol formaldehyde resin, 9 parts of coumarone resin, 15 parts of stearic acid, 7 parts of triethylene tetramine, 4 parts of pentachlorothiophenol, 10 parts of N-tertiary butyl-2-benzothiazole sulfenamide, 5 parts of N, N' -diphenyl-p-phenylenediamine, 10 parts of white carbon black and 8 parts of clay.
The rubber properties of examples 1 to 3 and comparative examples 1 to 3 were tested, and the results are shown in Table 1.
(1) Acid and alkali resistance test
Detection solution:
a) Hydrochloric acid solution with the concentration of 6.0 kmol/m 3;
b) A sodium hydroxide solution having a concentration of 6.1 kmol/m 3;
The detection step comprises:
The mass of the three groups of rubber samples before soaking was weighed separately in air. The hardness of the rubber sample before soaking was measured according to the method of GB/T6031-1998. The tensile strength and elongation at break of the rubber test pieces before being immersed were measured according to the method of GB/T528-1998.
According to the GB/T1690 method, rubber samples are respectively put into three detection solutions a, b and c, and the detection temperature is 23 ℃. After 70h, the rubber samples are taken out, washed by running water, wiped by filter paper, and adjusted for 30min at room temperature, and the mass of the three groups of rubber samples after being soaked is respectively weighed.
The hardness of the rubber sample after soaking was measured in accordance with the method of GB/T6031-1998 within 30 minutes. The tensile strength and elongation at break of the rubber test pieces were measured according to the method of GB/T528-1998.
The detection results are shown in the following table: (wherein the values are average values of the same set of changes, and the hardness is Shore A)
As can be seen from the following table, the mass change of the rubber sample after soaking is not more than + -2%, the hardness change is not more than + -10 IRHD, the tensile strength is not reduced by more than 15%, and the elongation at break change is not more than 20%.
Examples
As shown in fig. 1-3, a carrying mechanism of a medical equipment carrying robot comprises a mechanism main body 1, a roller 13 is installed at the bottom end of the mechanism main body 1, a double-rod hydraulic cylinder 2 is installed in the middle of the mechanism main body 1, parallel telescopic frames 3 are installed at two ends of the double-rod hydraulic cylinder 2 respectively, fixed plates 4 are arranged at two ends of the parallel telescopic frames 3 respectively, a hydraulic lifting rod 10 is arranged at one side of one parallel telescopic frame 3, a roller 12 is installed at the other side of the parallel telescopic frame 3, a supporting plate 5 is installed above the mechanism main body 1, the supporting plate 5 is connected with the mechanism main body 1 through the parallel telescopic frame 3, an unloading plate 6 is installed above the supporting plate 5, a hinge 14 is installed at the same end of the supporting plate 5 and the unloading plate 6, the unloading plate 6 is connected with the supporting plate 5 through the hinge 14, a carrying plate 7 is installed above the unloading plate 6, sliding wheels 16 are arranged on the surface of the unloading plate 6, sliding grooves 15 are formed in the inner parts of the carrying plate 7, the sliding wheels 16 move along the direction of the sliding grooves 15, a buckle 18 and a spring 17 are installed at one end of the supporting plate 5, two sides of the carrying plate 7 are provided with sucking discs 8 and 9;
One end of the spring 17 is connected with the supporting plate 5, the other end of the spring 17 is connected with the middle of the buckle 18, and the buckle 18 is contacted with the carrying plate 7 under the acting force of the spring 17; the roller 12 is connected with one end of the carrying plate 7 through a connecting rope 11, and the connecting rope 11 passes through the unloading plate 6 and the inside of the supporting plate 5; a rotating shaft 19 is arranged in the middle of the unloading plate 6, the unloading plate 6 is movably connected with the mechanism main body 1 through a hydraulic lifting rod 10, and the top end of the hydraulic lifting rod 10 is connected with the rotating shaft 19; the unloading plate 6 can rotate around the center of the hinge 14, and the carrying plate 7 can move along the direction of the sliding wheel 16 in the unloading plate 6; the input end of the drum 12 is connected with the output end of the motor.
The carrier plate 7 is made of wear-resistant acid-base-resistant rubber materials, so that the service life and the application range of the carrier plate are greatly prolonged.
In the carrying mechanism of the medical equipment carrying robot, when the carrying mechanism is used, the double-rod hydraulic cylinder 2 in the mechanism main body 1 works, two piston rods of the double-rod hydraulic cylinder 2 extend to push the parallel telescopic frame 3 to enable the parallel telescopic frame 3 to be lifted, meanwhile, the supporting plate 5 is driven to be lifted to reach a proper height, the medical equipment is placed on the carrying plate 7 and clamped by the clamping claw 8, when the accurate equipment is placed or the equipment with higher surface requirement is placed, the sucker 9 is adopted to absorb the equipment to prevent the surface of the equipment from being damaged, the equipment is influenced to use, then the hydraulic lifting rod 10 is lowered, the carrying robot is moved to a designated position to carry out unloading on the medical equipment, firstly, the hydraulic lifting rod 10 is lifted to enable the unloading plate 6 to rotate around the axis of the hinge 14, meanwhile, the unloading plate 6 also rotates around the rotating shaft 19 in the unloading plate 6, when the medical equipment and the carrying plate 7 have a downward sliding trend along the sliding groove 15 under the action of gravity when the medical equipment and the carrying plate 7 rotate to a proper included angle, the roller 13 is enabled to lengthen the connecting rope 11, the carrying plate 7 has a downward sliding motion along the sliding groove 15, the spring 17 of the buckle 18 is insufficient to clamp the carrying plate 7, when the carrying plate 7 slides to the bottom, the clamping claw 8 or the sucker 9 is loosened, the carrying robot is moved, the medical equipment slides down from the carrying plate 7 to finish unloading, the roller 12 tightens the connecting rope 11, the carrying plate 7 has an upward pulling motion along the sliding groove 15, the buckle 18 is clamped under the action of the spring 17 when the carrying plate 7 is pulled to an original position, and then the hydraulic lifting rod 10 is lowered, so that the unloading plate 6 rotates to the original position, and then the next equipment carrying can be carried out.
The foregoing has shown and described the basic principles and main features of the present invention and the advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined in the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (8)
1. A handling mechanism of a medical equipment handling robot, comprising a mechanism body (1), characterized in that: the utility model discloses a sliding mechanism, including mechanism main part (1), gyro wheel (13) are installed to the bottom of mechanism main part (1), double-rod pneumatic cylinder (2) are installed in the centre of mechanism main part (1), parallel expansion bracket (3) are installed respectively at the both ends of double-rod pneumatic cylinder (2), the both ends of parallel expansion bracket (3) are provided with fixed plate (4) respectively, one side of one of them parallel expansion bracket (3) is provided with hydraulic lifting rod (10), cylinder (12) are installed to the opposite side of parallel expansion bracket (3), backup pad (5) are installed to the top of mechanism main part (1), and backup pad (5) are connected with mechanism main part (1) through parallel expansion bracket (3), uninstallation board (6) are installed to the top of backup pad (5) and uninstallation board (6) are installed hinge (14) respectively, and uninstallation board (6) are connected with backup pad (5) through hinge (14), load board (7) are installed to the top of uninstallation board (6), the surface mounting of uninstallation board (6) has movable pulley (16), slide groove (17) are installed in the direction of sliding groove (17) and one end (17), a plurality of clamping claws (8) and suckers (9) are arranged on two sides of the carrying plate (7);
the carrier plate (7) is made of wear-resistant acid-base-resistant rubber material, and the wear-resistant acid-base-resistant rubber material comprises rubber components and performance reinforcing agents in a mass ratio of (10-20): 1; wherein the rubber component is prepared from the following components in percentage by weight: 40-50 parts of nitrile rubber, 10-20 parts of fluororubber, 10-20 parts of silicone rubber, 20-30 parts of resorcinol formaldehyde resin, 8-10 parts of coumarone resin, 10-20 parts of stearic acid, 5-10 parts of triethylene tetramine, 2-6 parts of pentachlorothiophenol, 8-12 parts of N-tertiary butyl-2-benzothiazole sulfenamide, 4-6 parts of N, N' -diphenyl-p-phenylenediamine, 8-12 parts of white carbon black and 6-10 parts of clay; the performance enhancer is prepared from the following components in parts by weight: 10-18 parts of nano zinc oxide, 17-30 parts of titanium dioxide, 11-18 parts of zinc carbonate, 10-15 parts of manganese dioxide, 9-12 parts of magnesium oxide, 4-20 parts of toluene diisocyanate, 10-20 parts of dibutyl phthalate, 10-12 parts of modified epoxidized soybean oil, 10-15 parts of alkyl phosphate, 10-18 parts of alkylbenzene sulfonate, 12-15 parts of glycerin fatty acid, 10-20 parts of mica powder and 4-10 parts of barium stearate.
2. A handling mechanism for a medical device handling robot according to claim 1, wherein: one end of the spring (17) is connected with the supporting plate (5), the other end of the spring (17) is connected with the middle of the buckle (18), and the buckle (18) is contacted with the carrying plate (7) under the acting force of the spring (17).
3. A handling mechanism for a medical device handling robot according to claim 1, wherein: the roller (12) is connected with one end of the carrying plate (7) through a connecting rope (11), and the connecting rope (11) penetrates through the unloading plate (6) and the inside of the supporting plate (5).
4. A handling mechanism for a medical device handling robot according to claim 1, wherein: the middle of the unloading plate (6) is provided with a rotating shaft (19), the unloading plate (6) is movably connected with the mechanism main body (1) through a hydraulic lifting rod (10), and the top end of the hydraulic lifting rod (10) is connected with the rotating shaft (19).
5. A handling mechanism for a medical device handling robot according to claim 1, wherein: the unloading plate (6) can rotate around the center of the hinge (14), and the carrying plate (7) can move along the direction of the sliding wheel (16) in the unloading plate (6).
6. A handling mechanism for a medical device handling robot according to claim 1, wherein: the input end of the roller (12) is connected with the output end of the motor.
7. A handling mechanism for a medical device handling robot according to claim 1, wherein: the wear-resistant acid-base-resistant rubber material comprises a rubber component and a performance enhancer in a mass ratio of 15:1; wherein the rubber component is prepared from the following components in percentage by weight: 45 parts of nitrile rubber, 15 parts of fluororubber, 15 parts of silicone rubber, 25 parts of resorcinol formaldehyde resin, 9 parts of coumarone resin, 15 parts of stearic acid, 7 parts of triethylene tetramine, 4 parts of pentachlorothiophenol, 10 parts of N-tertiary butyl-2-benzothiazole sulfenamide, 5 parts of N, N' -diphenyl-p-phenylenediamine, 10 parts of white carbon black and 8 parts of clay; the performance enhancer is prepared from the following components in parts by weight: 14 parts of nano zinc oxide, 23 parts of titanium dioxide, 15 parts of zinc carbonate, 12 parts of manganese dioxide, 11 parts of magnesium oxide, 16 parts of toluene diisocyanate, 15 parts of dibutyl phthalate, 11 parts of modified epoxy soybean oil, 13 parts of alkyl phosphate, 14 parts of alkylbenzene sulfonate, 14 parts of glycerin fatty acid, 15 parts of mica powder and 7 parts of barium stearate.
8. A handling mechanism for a medical device handling robot according to claim 1, wherein: the preparation of the modified epoxidized soybean oil: mixing acrylamide, graphene and epoxidized soybean oil, heating to 80-90 ℃ for reaction for 2-6 hours, slowly cooling to 30-40 ℃, adding petroleum chloride and dipentaerythritol ester, uniformly stirring, and cooling; the preparation process of the modified epoxidized soybean oil; the cooling rate is 1-2 ℃/min.
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| 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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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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