CN113510091A - Nuclide automatic production cooperative robot - Google Patents
Nuclide automatic production cooperative robot Download PDFInfo
- Publication number
- CN113510091A CN113510091A CN202110397612.9A CN202110397612A CN113510091A CN 113510091 A CN113510091 A CN 113510091A CN 202110397612 A CN202110397612 A CN 202110397612A CN 113510091 A CN113510091 A CN 113510091A
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- China
- Prior art keywords
- nuclide
- base body
- rotating motor
- fixed connection
- mechanical
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- 238000004519 manufacturing process Methods 0.000 title claims abstract description 32
- 210000000078 claw Anatomy 0.000 claims abstract description 35
- 238000003860 storage Methods 0.000 claims abstract description 24
- 210000003437 trachea Anatomy 0.000 claims description 4
- 230000005611 electricity Effects 0.000 claims description 3
- 239000003814 drug Substances 0.000 abstract description 51
- 229940079593 drug Drugs 0.000 abstract description 27
- 238000009434 installation Methods 0.000 abstract description 7
- 238000000034 method Methods 0.000 description 10
- 230000003014 reinforcing effect Effects 0.000 description 8
- 238000012423 maintenance Methods 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 229960000074 biopharmaceutical Drugs 0.000 description 1
- 201000011510 cancer Diseases 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 210000000056 organ Anatomy 0.000 description 1
- 238000012856 packing Methods 0.000 description 1
- 230000002062 proliferating effect Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 238000001179 sorption measurement Methods 0.000 description 1
- 238000005728 strengthening Methods 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
- B07C5/362—Separating or distributor mechanisms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/02—Measures preceding sorting, e.g. arranging articles in a stream orientating
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/38—Collecting or arranging articles in groups
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- Manipulator (AREA)
Abstract
The invention discloses a nuclide automatic production cooperative robot which comprises a base, a mechanical arm, a carrying assembly and a control cabinet, wherein the base comprises a base body and an electric storage box, the mechanical arm comprises a first rotating motor, a mechanical arm, a lifting rod, an installation plate, a mechanical claw, a screw rod and a second rotating motor, and the carrying assembly comprises a hydraulic cylinder, a plug board and a moving wheel. The extension of the lifting rod enables the mechanical claw to descend to be close to nuclide medicines, the second rotating motor rotates to enable the screw to rotate to open the mechanical claw, the medicines are made to enter the mechanical claw, the second rotating motor rotates the mechanical claw in a reverse mode to close and clamp the medicines, the lifting rod contracts the mechanical claw to grab the medicines, the first rotating motor rotates to enable the mechanical arm to rotate to the position above the pallet, the lifting rod moves the mechanical claw downwards to place the medicines on the pallet, the moving wheel rotates to enable the base to be close to the pallet, the plugboard is inserted into the pallet, and the hydraulic cylinder lifts the plugboard to lift the pallet to carry the medicines. The problem of when traditional nuclide production was sorted, the repeated unloading transport of going up of manual labor produced the damage to workman's musculoskeletal is solved.
Description
Technical Field
The invention relates to the technical field of cooperative robots, in particular to a nuclide automatic production cooperative robot.
Background
The pharmaceutical industry makes an important contribution to the national people. Wherein, the nuclide treatment has obvious effect on malignant tumors and other abnormal proliferative diseases, and the production efficiency of the nuclide is also a great problem in the pharmaceutical industry. The production of nuclide is including making, packing, letter sorting etc, and most tasks still adopt artifical work, lead to the manpower manufacturing cost high, and during the nuclide production letter sorting, repeated unloading or transport produce the damage to workman's musculoskeletal, so need collect a nuclide automatic production cooperation robot urgently, cooperation workman goes up the unloading transport, alleviates workman's work burden.
Disclosure of Invention
The invention aims to provide a nuclide automatic production cooperative robot, and aims to solve the problem that muscle and skeleton of workers are damaged due to repeated feeding and discharging and carrying of manual labor during production and sorting of traditional nuclides.
In order to achieve the above purpose, the invention provides a robot for automatic production and cooperation of nuclides, which comprises a base, a manipulator, a carrying assembly and a control cabinet, wherein the base comprises a base body and a storage battery box, the storage battery box is fixedly connected with the base body and positioned at one side of the base body, the manipulator comprises a first rotating motor, a mechanical arm, a lifting rod, a mounting plate, a mechanical claw, a screw rod and a second rotating motor, the first rotating motor is fixedly connected with the base body and positioned at one side of the storage battery box, the mechanical arm is fixedly connected with the first rotating motor and positioned at one side of the first rotating motor, which is far away from the base body, the lifting rod is fixedly connected with the mechanical arm and positioned at one side of the mechanical arm, the mounting plate is detachably connected with the lifting rod and positioned at one side of the lifting rod, which is far away from the mechanical arm, the second rotate the motor with mounting panel fixed connection, and be located mounting panel one side, the screw rod with the second rotates motor fixed connection, and is located the second rotates motor one side, the gripper cover is located on the screw rod, and passes the mounting panel, the transport subassembly includes pneumatic cylinder, picture peg and removal wheel, place remove the wheel with base body fixed connection, and be located base body keeps away from storage battery case one side, the pneumatic cylinder with base body fixed connection, and be located storage battery case one side, the picture peg with base body sliding connection, and with pneumatic cylinder fixed connection, and be located base body is close to remove wheel one side, the switch board with arm fixed connection, and be located arm one side.
The manipulator further comprises a rubber pad, and the rubber pad is fixedly connected with the mechanical claw and is positioned on the inner side of the mechanical claw.
The manipulator further comprises a pressure sensor, wherein the pressure sensor is fixedly connected with the mechanical claw, fixedly connected with the rubber pad and positioned between the mechanical claw and the rubber pad.
The manipulator further comprises a connector, the connector is fixedly connected with the lifting rod, the mounting plate is detachably connected with the connector, and the connector is located between the lifting rod and the mounting plate.
The mounting plate is provided with a protrusion, and the protrusion is located on one side of the mounting plate close to the second rotating motor.
Wherein, the manipulator still includes air pump and trachea, the mounting panel has the suction hole, the suction hole is located the mounting panel is kept away from second rotation motor one side, the air pump with mounting panel fixed connection, and be located second rotation motor one side, the trachea with air pump fixed connection, and with mounting panel fixed connection, and be located the air pump with between the mounting panel.
Wherein, the switch board includes shell, control electroplax and touch-sensitive screen, the shell with arm fixed connection, and be located arm one side, the control electroplax with shell fixed connection, and be located in the shell, the touch-sensitive screen with shell fixed connection, and with the control electroplax electricity is connected, and is located the shell is kept away from arm one side.
The manipulator further comprises an infrared sensor, the infrared sensor is fixedly connected with the mounting plate and located on one side of the second rotating motor, and the mounting plate is far away from the second rotating motor.
The base further comprises a reinforcing rib, and the reinforcing rib is fixedly connected with the base body and is positioned on one side, far away from the storage battery box, of the base body.
According to the robot for automatically producing and cooperating the nuclide, the base provides installation conditions and support, the manipulator completes the loading and unloading process of the nuclide drugs, the conveying process of the nuclide crude drugs of the conveying assembly is completed, and the control cabinet controls the loading and unloading and conveying process of the robot. When nuclide medicines are produced and refined, a worker controls the lifting rod to extend through the control cabinet to enable the mounting plate and the mechanical claws to descend, when the mechanical claws descend to be close to the nuclide medicines on the production line, the second rotating motor rotates to drive the screw rod to rotate, the screw rod rotates to enable the mechanical claws to move, so that the mechanical claws open the medicines to enter the space between the mechanical claws, the second rotating motor rotates in the reverse direction to enable the mechanical claws to close to clamp the medicines, the lifting rod contracts to enable the mechanical claws to grab the medicines to leave the production line, at the moment, the first rotating motor rotates to enable the mechanical arms to rotate, the mechanical arms rotate to enable the mounting plate and the mechanical claws to move to the position above a nearby pallet, the lifting rod extends to enable the mechanical claws to move, the second rotating motor rotates to enable the mechanical claws to open to place the medicines on the pallet, the operation is repeated to complete the loading and unloading process of the robot to the nuclide drugs, when the drugs on the pallet are accumulated to a certain amount, the control cabinet controls the movable wheels to rotate, the movable wheels enable the robot to move, the base body is close to the pallet, the plugboard is inserted into the groove of the pallet, the output end of the hydraulic cylinder is contracted to lift the inserting plate, so that the pallet is lifted off the ground, the moving wheel rotates again to move the robot to a designated place, the output end of the hydraulic cylinder extends to move the plugboard downwards, the pallet on the plugboard is placed in a designated area, the transportation process of nuclide drugs is realized, in the two processes, the manipulator, the control cabinet and the hydraulic cylinder are supplied with electric energy through the storage battery box, simultaneously the hydraulic cylinder with the accumulator case increases the weight of base body prevents that the robot from being turned over when transporting the medicine. The problem of when traditional nuclide production was sorted, adopt artifical work repeated unloading transport of going up, produce the damage to workman's musculoskeletal is solved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic diagram of an automated nuclide production collaboration robot of the present invention;
FIG. 2 is a side view of an automated nuclide production collaboration robot of the present invention;
FIG. 3 is a cross-sectional view taken along plane A-A of FIG. 2;
fig. 4 is a partially enlarged view B of fig. 1.
In the figure: the device comprises a base 1, a manipulator 2, a carrying assembly 3, a control cabinet 4, a base body 11, a reinforcing rib 12, an electricity storage box 13, a first rotating motor 21, a mechanical arm 22, a lifting rod 23, a mounting plate 24, a mechanical claw 25, a screw 26, a second rotating motor 27, a rubber pad 28, a pressure sensor 29, a hydraulic cylinder 31, a plug plate 32, a moving wheel 33, a shell 41, a control electric plate 42, a touch screen 43, a connector 291, a bulge 292, an infrared sensor 293, an air pump 294, an air pipe 295 and an air suction hole 296.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
In the description of the present invention, it is to be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships illustrated in the drawings, and are used merely for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention. Further, in the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
Referring to fig. 1 to 4, the present invention provides a nuclide automatic production cooperative robot: comprises a base 1, a manipulator 2, a carrying assembly 3 and a control cabinet 4, wherein the base 1 comprises a base body 11 and a storage battery box 13, the storage battery box 13 is fixedly connected with the base body 11 and is positioned on one side of the base body 11, the manipulator 2 comprises a first rotating motor 21, a mechanical arm 22, a lifting rod 23, a mounting plate 24, a mechanical claw 25, a screw 26 and a second rotating motor 27, the first rotating motor 21 is fixedly connected with the base body 11 and is positioned on one side of the storage battery box 13, the mechanical arm 22 is fixedly connected with the first rotating motor 21 and is positioned on one side of the first rotating motor 21 far away from the base body 11, the lifting rod 23 is fixedly connected with the mechanical arm 22 and is positioned on one side of the mechanical arm 22, the mounting plate 24 is detachably connected with the lifting rod 23 and is positioned on one side of the lifting rod 23 far away from the mechanical arm 22, the second rotates motor 27 with mounting panel 24 fixed connection, and is located mounting panel 24 one side, screw rod 26 with motor 27 fixed connection is rotated to the second, and is located motor 27 one side is rotated to the second, gripper 25 cover is located on screw rod 26, and passes mounting panel 24, transport subassembly 3 includes pneumatic cylinder 31, picture peg 32 and removal wheel 33, institute removal wheel 33 with base body 11 fixed connection, and be located base body 11 keeps away from storage battery case 13 one side, pneumatic cylinder 31 with base body 11 fixed connection, and be located storage battery case 13 one side, picture peg 32 with base body 11 sliding connection, and with pneumatic cylinder 31 fixed connection, and be located base body 11 is close to remove wheel 33 one side, switch board 4 with arm 22 fixed connection, and is located on the side of the robot arm 22.
In the embodiment, the base 1 provides installation conditions and support, the manipulator 2 completes the loading and unloading process of nuclide medicines, the conveying assembly 3 completes the conveying process of nuclide raw medicines, and the control cabinet 4 controls the loading and unloading and conveying process of the robot. When a nuclide drug is produced and refined, a worker controls the lifting rod 23 to extend through the control cabinet 4, so that the mounting plate 24 and the gripper 25 descend, when the gripper 25 descends to be close to a nuclide drug on a production line, the second rotating motor 27 rotates to drive the screw 26 to rotate, the screw 26 rotates to move the gripper 25, so that the gripper 25 opens the drug to enter between the grippers 25, the second rotating motor 27 rotates reversely to close the gripper 25 to clamp the drug, the lifting rod 23 contracts to enable the gripper 25 to grab the drug to leave the production line, at this time, the first rotating motor 21 rotates to rotate the mechanical arm 22, the mechanical arm 22 rotates to move the mounting plate 24 and the gripper 25 to the upper side of a pallet, and the lifting rod 23 extends to move the gripper 25, the second rotates motor 27 and rotates the messenger gripper 25 and opens and place the medicine on the pallet, and the last unloading flow of robot to the nuclide medicine is accomplished in repeated above-mentioned operation, and when the medicine on the pallet piles up a certain amount, switch board 4 control remove wheel 33 and rotate, it makes the robot remove to remove wheel 33, base body 11 is close to the pallet, makes in picture peg 32 inserts the recess of pallet, the shrink of pneumatic cylinder 31 output will picture peg 32 risees, makes the pallet lift off ground, it makes the robot remove to appointed place to remove wheel 33 rotates once more, pneumatic cylinder 31 output extension will picture peg 32 moves down, will the specified region is placed to the pallet on picture peg 32, realizes the transport flow of nuclide medicine, in two above-mentioned flows, through storage battery box 13 is right manipulator 2 control cabinet 4 with pneumatic cylinder 31 provides the electric energy, meanwhile, the hydraulic cylinder 31 and the storage battery box 13 increase the weight of the base body 11, so that the robot is prevented from being turned over when medicines are transported. The problem of when traditional nuclide production was sorted, adopt artifical work repeated unloading transport of going up, produce the damage to workman's musculoskeletal is solved.
Further, the manipulator 2 further comprises a rubber pad 28, and the rubber pad 28 is fixedly connected with the gripper 25 and is located inside the gripper 25.
In the present embodiment, the rubber pad 28 prevents the gripper 25 from damaging the package when gripping the medicine, so as to protect the nuclide medicine, and also increases the friction force between the gripper 25 and the medicine package, so as to prevent the unstable medicine from falling when the gripper 25 grips the medicine.
Further, the manipulator 2 further comprises a pressure sensor 29, and the pressure sensor 29 is fixedly connected with the gripper 25, fixedly connected with the rubber pad 28, and located between the gripper 25 and the rubber pad 28.
In this embodiment, the pressure sensor 29 is a PT124G-214 flat-film industrial control pressure sensor 29, and when the pressure sensor 29 detects a pressure, the second rotating motor 27 stops rotating, thereby preventing the gripper 25 from continuously gripping and damaging the medicine package.
Further, manipulator 2 still includes connector 291, connector 291 with lifter 23 fixed connection, and with mounting panel 24 is dismantled and is connected, and is located lifter 23 with between the mounting panel 24.
In this embodiment, through connector 291 will lifter 23 with mounting panel 24 dismantles the connection, gripper 25 with will when second rotating electrical machines 27 breaks down mounting panel 24 is dismantled, and the maintenance is dismantled to the master electrical organ of being convenient for.
Further, the mounting plate 24 has a protrusion 292, and the protrusion 292 is located on a side of the mounting plate 24 close to the second rotating motor 27.
In this embodiment, the mechanical claw 25 is further limited by the protrusion 292, so that the mechanical claw 25 is prevented from slipping off the screw 26.
Further, the manipulator 2 further includes an air pump 294 and an air pipe 295, the mounting plate 24 has an air suction hole 296, the air suction hole 296 is located on a side of the mounting plate 24 away from the second rotating motor 27, the air pump 294 is fixedly connected to the mounting plate 24 and located on a side of the second rotating motor 27, and the air pipe 295 is fixedly connected to the air pump 294, fixedly connected to the mounting plate 24 and located between the air pump 294 and the mounting plate 24.
In this embodiment, the air pump 294 operates to suck air to generate an adsorption force, and the air pipe 295 and the air suction hole 296 cooperate with each other to adsorb a medicine, thereby preventing the medicine held by the gripper 2 from dropping.
Further, the control cabinet 4 includes a housing 41, a control electric board 42 and a touch screen 43, the housing 41 is fixedly connected to the robot arm 22 and located on one side of the robot arm 22, the control electric board 42 is fixedly connected to the housing 41 and located in the housing 41, the touch screen 43 is fixedly connected to the housing 41 and electrically connected to the control electric board 42 and located on one side of the robot arm 22 away from the housing 41.
In the present embodiment, the control board 42 and the touch screen 43 are provided with installation conditions through the housing 41, the control board 42 controls the work flow of the robot, and the touch screen 43 facilitates the setting of parameters by a worker and the use of the robot.
Further, the manipulator 2 further includes an infrared sensor 293, and the infrared sensor 293 is fixedly connected to the mounting plate 24 and located on one side of the mounting plate 24 away from the second rotating motor 27.
In the present embodiment, the infrared sensor 293 is a D204S infrared sensor 293, and the infrared sensor 293 detects the distance between the mounting plate 24 and the horizontal plane, thereby preventing the gripper 25 from falling down to the bottom and becoming unable to open.
Further, the base 1 further comprises a reinforcing rib 12, and the reinforcing rib 12 is fixedly connected with the base body 11 and is located on one side of the base body 11, which is far away from the storage battery box 13.
In this embodiment, the rigidity and hardness of the base body 11 are enhanced by the reinforcing ribs 12, so that the pallet is prevented from crushing the base body 11 during carrying, and the robot cannot be used.
The working principle and the using process of the invention are as follows: after the device is installed, the device comprises a base 1, a manipulator 2, a carrying assembly 3 and a control cabinet 4, wherein the base 1 comprises a base body 11, a reinforcing rib 12 and an accumulator box 13, the manipulator 2 comprises a first rotating motor 21, a mechanical arm 22, a lifting rod 23, an installation plate 24, a mechanical claw 25, a screw 26, a second rotating motor 27, rubber pads 28 and 29, a connector 291, a protrusion 292 and an infrared sensor 293, the carrying assembly 3 comprises a hydraulic cylinder 31, an inserting plate 32 and a moving wheel 33, and the control cabinet 4 comprises a shell 41, a control electric plate 42 and a touch screen 43. Through base 1 provides installation condition and support, the last unloading flow of nuclide medicine is accomplished to manipulator 2, the transport flow of the 3 nuclide biopharmaceuticals of transport subassembly, through shell 41 is right control electroplax 42 with touch-sensitive screen 43 provides installation condition, control electroplax 42 control robot's work flow, touch-sensitive screen 43 is convenient for the workman to set up the parameter and use the robot, through connector 291 will lifter 23 with mounting panel 24 dismantles the connection, gripper 25 with will when second rotating electrical machines 27 breaks down mounting panel 24 dismantles, and the maintenance is dismantled to the electric master of being convenient for, strengthening rib 12 reinforcing base body 11's rigidity and hardness prevent the pallet crushes during the transport base body 11 makes the robot can't use. When nuclide medicine production and separation are performed, a worker controls the lifting rod 23 to extend through the control cabinet 4, so that the mounting plate 24 and the gripper 25 descend, when the infrared sensor 293 detects that the gripper 25 approaches to nuclide medicines on a production line, the second rotating motor 27 rotates to drive the screw 26 to rotate, the screw 26 rotates to drive the gripper 25 to move, so that medicines are opened by the gripper 25 to enter between the grippers 25, and when the gripper 25 is opened, the protrusion 292 continues to limit the gripper 25, so that the gripper 25 is prevented from slipping off the screw 26. The second rotating motor 27 rotates reversely to close the mechanical claw 25 to clamp the medicine, and when the mechanical claw 25 clamps the medicine, the pressure sensor 29 detects the pressure of the rubber pad 28 to stop the rotation of the second rotating motor 27, so that the mechanical claw 25 is prevented from continuously clamping and damaging the medicine package. The lifter 23 shrink makes the gripper 25 grab the medicine and leaves the assembly line, at this moment, first rotation motor 21 rotates and makes the gripper 22 rotate, the gripper 22 rotate will mounting panel 24 with the gripper 25 removes the pallet top on next door, lifter 23 extension makes the gripper 25 removes, the second rotates motor 27 and rotates the messenger gripper 25 to open and places the medicine on the pallet, repeats the last unloading flow of robot to the nuclide medicine is accomplished in above-mentioned operation, when the medicine on the pallet piles up a certain amount, switch board 4 control the removal wheel 33 rotates, removal wheel 33 makes the robot remove, base body 11 is close to the pallet, makes in the recess that picture peg 32 inserted the pallet, pneumatic cylinder 31 output shrink will picture peg 32 risees, makes the pallet lift up and leaves ground, removal wheel 33 rotates once more and makes the robot move appointed place, the extension of 31 output ends of pneumatic cylinder will the picture peg 32 moves down, will the specified region is placed to the pallet on the picture peg 32, realizes the transport flow of nuclide medicine, in above-mentioned two flows, through storage battery box 13 is right manipulator 2 the switch board 4 with pneumatic cylinder 31 provides the electric energy, simultaneously pneumatic cylinder 31 with storage battery box 13 increases base body 11's weight prevents that the robot is turned over by the pressure during the transportation medicine. The problem of when traditional nuclide production was sorted, adopt artifical work repeated unloading transport of going up, produce the damage to workman's musculoskeletal is solved.
While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (7)
1. A nuclide automatic production cooperative robot, which is characterized in that,
comprises a base, a mechanical arm, a carrying assembly and a control cabinet, wherein the base comprises a base body and a storage battery box, the storage battery box is fixedly connected with the base body and is positioned on one side of the base body, the mechanical arm comprises a first rotating motor, a mechanical arm, a lifting rod, a mounting plate, a mechanical claw, a screw rod and a second rotating motor, the first rotating motor is fixedly connected with the base body and is positioned on one side of the storage battery box, the mechanical arm is fixedly connected with the first rotating motor and is positioned on one side of the base body far away from the first rotating motor, the lifting rod is fixedly connected with the mechanical arm and is positioned on one side of the mechanical arm, the mounting plate is detachably connected with the lifting rod and is positioned on one side of the lifting rod far away from the mechanical arm, the second rotating motor is fixedly connected with the mounting plate and is positioned on one side of the mounting plate, the screw rod with the second rotates motor fixed connection, and is located the second rotates motor one side, the gripper cover is located on the screw rod, and passes the mounting panel, the transport subassembly includes pneumatic cylinder, picture peg and removal wheel, institute the removal wheel with base body fixed connection, and be located base body keeps away from storage battery box one side, the pneumatic cylinder with base body fixed connection, and be located storage battery box one side, the picture peg with base body sliding connection, and with pneumatic cylinder fixed connection, and be located base body is close to remove wheel one side, the switch board with arm fixed connection, and be located arm one side.
2. A nuclide automated production collaboration robot as defined in claim 1,
the manipulator further comprises a rubber pad, and the rubber pad is fixedly connected with the mechanical claw and is positioned on the inner side of the mechanical claw.
3. A nuclide automated production collaboration robot as defined in claim 2,
the manipulator further comprises a pressure sensor, wherein the pressure sensor is fixedly connected with the mechanical claw, fixedly connected with the rubber pad and positioned between the mechanical claw and the rubber pad.
4. A nuclide automated production collaboration robot as defined in claim 1,
the manipulator still includes the connector, the connector with lifter fixed connection, and with the mounting panel is dismantled and is connected, and is located the lifter with between the mounting panel.
5. A nuclide automated production collaboration robot as defined in claim 1,
the mounting panel has the arch, the arch is located the mounting panel is close to second rotating electrical machines one side.
6. A nuclide automated production collaboration robot as defined in claim 1,
the manipulator still includes air pump and trachea, the mounting panel has the suction hole, the suction hole is located the mounting panel is kept away from second rotation motor one side, the air pump with mounting panel fixed connection, and be located second rotation motor one side, the trachea with air pump fixed connection, and with mounting panel fixed connection, and be located the air pump with between the mounting panel.
7. A nuclide automated production collaboration robot as defined in claim 1,
the switch board includes shell, control electroplax and touch-sensitive screen, the shell with arm fixed connection, and be located arm one side, the control electroplax with shell fixed connection, and be located in the shell, the touch-sensitive screen with shell fixed connection, and with the control electroplax electricity is connected, and is located the shell is kept away from arm one side.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110397612.9A CN113510091A (en) | 2021-04-14 | 2021-04-14 | Nuclide automatic production cooperative robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110397612.9A CN113510091A (en) | 2021-04-14 | 2021-04-14 | Nuclide automatic production cooperative robot |
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| CN113510091A true CN113510091A (en) | 2021-10-19 |
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| CN205471665U (en) * | 2016-01-11 | 2016-08-17 | 深圳市麦克斯泰有限公司 | Pile up neatly conveyer of cloth inspection machine |
| US20210001489A1 (en) * | 2019-07-02 | 2021-01-07 | Intelligrated Headquarters, Llc | Robotic sortation system |
| CN211895917U (en) * | 2020-03-12 | 2020-11-10 | 广州赫伽力智能科技有限公司 | Fork truck formula AGV that goes up yarn |
| CN111347405A (en) * | 2020-05-25 | 2020-06-30 | 佛山隆深智能装备有限公司 | Carrying manipulator for plate-type furniture |
| CN111559606A (en) * | 2020-06-02 | 2020-08-21 | 龙合智能装备制造有限公司 | Material distribution method and intelligent robot feeding device |
| CN112265011A (en) * | 2020-10-16 | 2021-01-26 | 刘少波 | Clamping mechanical claw for welding automobile glass |
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Application publication date: 20211019 |