CN113548240A - Automatic packaging machine for medical instruments - Google Patents

Abstract

The invention provides an automatic packaging machine for medical instruments, which comprises a rack, and a non-woven fabric feeding module, a basket feeding module, a folding hand grip module and a packaging module which are arranged on the rack, wherein the basket feeding module is arranged on the rack; the non-woven fabric feeding module comprises a first moving assembly and a non-woven fabric sucking gripper, and the non-woven fabric sucking gripper sucks the non-woven fabric to a folding station through the first moving assembly; the basket feeding module comprises a second moving assembly and a basket gripping assembly, and the basket gripping assembly grips the basket to the folding station through the second moving assembly; the folding hand grip module comprises a third moving assembly and a folding hand grip assembly, and the folding hand grip assembly is used for gripping non-woven fabrics to perform a packaging procedure on the basketry; the packaging module comprises a track assembly and an auxiliary packaging assembly which are connected with the frame, products can be accurately packaged, the packaging quality is guaranteed, the whole packaging equipment is fully automated, and the packaging efficiency is improved.

Description

Automatic packaging machine for medical instruments

Technical Field

The invention relates to the technical field of packaging, in particular to an automatic packaging machine for medical instruments.

Background

In the field of medical equipment packaging, in order to reduce packaging cost, disposable non-woven fabrics are generally used for packaging the baskets of surgical equipment before sterilization, and the conventional packaging mode needs manual participation, so that the efficiency is low, the labor cost is increased, and therefore, full-automatic packaging equipment is needed, the labor participation is not needed, the packaging efficiency is improved, and the labor cost is reduced.

Disclosure of Invention

In order to solve the problems in the prior art, the invention provides an automatic packaging machine for medical instruments, which is free of manual operation and is fully automatic.

In order to achieve the purpose, the invention provides the following technical scheme: an automatic packaging machine for medical instruments comprises a control system, a rack, a non-woven fabric feeding module, a basket feeding module, a folding gripper module and a packaging module, wherein the non-woven fabric feeding module, the basket feeding module, the folding gripper module and the packaging module are arranged on the rack; the non-woven fabric feeding module comprises a first moving assembly and a non-woven fabric sucking gripper, and the non-woven fabric sucking gripper sucks the non-woven fabric to a folding station through the first moving assembly; the basket feeding module comprises a second moving assembly and a basket gripping assembly, and the basket gripping assembly grips the basket to the folding station through the second moving assembly; the folding hand grip module comprises a third moving assembly and a folding hand grip assembly, and the folding hand grip assembly is used for gripping non-woven fabrics to perform a packaging procedure on the basketry; the packaging module comprises a track assembly and an auxiliary packaging assembly, the track assembly is connected with the frame and fixed on the frame, the auxiliary packaging assembly is connected with the track assembly in a sliding mode and can be pulled out or pulled in from the frame through the track assembly, and the auxiliary packaging assembly is used for assisting packaging work when the folding hand grips the non-woven fabric to package the basket.

Preferably, first removal subassembly includes first Y axle connecting rod and sets up in the frame both sides, along the linear module of first X axle that the X axle direction was laid, first X axle linear module all is through a motor drive, first slider of fixing all with first Y axle connecting rod fixed connection on the linear module of first X axle, be fixed with first Z axle cylinder on the first Y axle connecting rod, the piston rod and the non-woven fabrics of first Z axle cylinder inhale material tongs fixed connection.

Preferably, the non-woven fabric suction gripper comprises a support, and a suction cup and an air claw which are arranged on the support.

Preferably, the second moving assembly comprises a second Y-axis linear module and second X-axis linear modules which are arranged on two sides of the rack and laid along the X-axis direction, the second X-axis linear modules are driven by a second motor, third sliding blocks fixed on the second X-axis linear modules are fixedly connected with the second Y-axis linear modules, the second Y-axis linear modules are driven by a third motor, fourth sliding blocks of the second Y-axis linear modules are fixedly connected with the second Z-axis linear modules, and fifth sliding blocks of the second Z-axis linear modules are fixedly connected with the basket gripper assembly; the basket grip assembly includes a basket clamping jaw that grips the basket.

Preferably, the third moving assembly comprises a third Y-axis linear module and third X-axis linear modules arranged on two sides of the frame and laid along the X-axis direction, the third X-axis linear modules are all driven by a fourth motor, sixth sliders fixed on the third X-axis linear modules are all fixedly connected with the third Y-axis linear module, the third Y-axis linear module is driven by a fifth motor, a seventh slider of the third Y-axis linear module is fixedly connected with the third Z-axis linear module, and an eighth slider of the third Z-axis linear module is fixedly connected with the folding gripper assembly; the folding hand grab assembly comprises a folding hand grab and a folding hand grab finger air cylinder for controlling the folding hand grab, a folding hand grab overturning air cylinder for overturning the folding hand grab is further fixed on the upper side of the finger air cylinder, and the overturning air cylinder drives the rotating angle through a sixth motor.

Preferably, the track assembly comprises a guide rail, and the auxiliary packaging assembly comprises a ninth slider, and the ninth slider is slidably connected with the guide rail.

Preferably, the auxiliary packaging assembly comprises a fixed frame, and a positioning device and a pressing plate device which are arranged on the fixed frame, wherein the positioning device is used for positioning the center of the basket; the pressing plate device comprises a first pressing plate structure, a second pressing plate structure, a third pressing plate structure and a fourth warping plate structure, wherein the first pressing plate structure is arranged on the right side of the folding station and can move in the vertical and horizontal directions, the second pressing plate structure is arranged on the left side of the folding station and can move in the vertical and horizontal directions, the third pressing plate structure is fixedly connected with the basket gripping component, and the fourth warping plate structure is arranged on the front side of the folding station.

Preferably, the first pressing plate structure comprises a first pressing plate fixing plate arranged on the fixing frame, a first Z-axis pressing plate linear module is arranged on the first pressing plate fixing plate, a tenth sliding block of the first Z-axis pressing plate linear module is fixedly connected with a first Y-axis pressing plate linear module, and an eleventh sliding block of the first Y-axis pressing plate linear module is fixedly connected with the first pressing plate; the second pressing plate structure comprises a second pressing plate fixing plate arranged on the fixing frame, a second Z-axis pressing plate linear module is arranged on the second pressing plate fixing plate, a twelfth sliding block of the second Z-axis pressing plate linear module is fixedly connected with a second Y-axis pressing plate linear module, and a thirteenth sliding block of the second Y-axis pressing plate linear module is fixedly connected with the second pressing plate; the third pressure plate structure comprises a third pressure plate and a swing air cylinder fixedly connected with the third pressure plate, and the swing air cylinder is fixedly connected with the basket gripper assembly; the fourth wane structure is including fixing the wane cylinder on the mount, the wane cylinder passes through elbow joint and wane connecting plate fixed connection, wane connecting plate and wane fixed connection.

Preferably, the positioning device comprises a first positioning component arranged at the rear side of the fixing frame and a second positioning component arranged at the front side of the fixing frame; the first positioning component comprises a first positioning plate arranged on the fixing frame, a first positioning motor is fixed on the first positioning plate, an output shaft of the first positioning motor is fixedly connected with a first positioning screw rod, a first positioning slide block sleeved on the first positioning screw rod is fixedly connected with a second positioning plate, a first positioning cylinder and a second positioning cylinder which are positioned at two sides of the surface of the second positioning plate are fixed on the second positioning plate, and piston rods of the first positioning cylinder and the second positioning cylinder are fixedly connected with a first ejector block; fifth positioning screw rods are fixed on two sides of the second positioning plate, second positioning slide blocks sleeved on the fifth positioning screw rods are fixedly connected with a first positioning swing cylinder, and a first pressure rod is mounted on the first positioning swing cylinder; the second positioning assembly comprises a third positioning plate, a second positioning motor is fixed on the third positioning plate, the output shaft of the second positioning motor is fixedly connected with a second positioning screw rod arranged in the X-axis direction, a third positioning slide block sleeved on the second positioning screw rod is fixedly connected with a fourth positioning plate, the fourth positioning plate is provided with a third positioning screw rod and a fourth positioning screw rod which are arranged along the Y-axis direction, the third positioning screw rod is driven by a third positioning motor, the fourth positioning screw rod is driven by a fourth positioning motor, the third positioning screw rod in the Y-axis direction is connected with the sixth positioning screw rod in the Z-axis direction through a fourth positioning slide block, the fourth screw rod in the Y-axis direction is fixedly connected with the seventh positioning screw rod in the Z-axis direction through a fifth positioning slide block, a second ejector block and a second pressing rod are fixed at the tops of the sixth screw rod and the seventh screw rod; first pressure is leaned on the pole and is all set up with the slope of second pressure.

Preferably, a distance sensor is fixed on the bracket and used for detecting the distance between the suction cup and the non-woven fabric; and a clamp plate position detector is fixed on the folding grab handle.

Compared with the prior art, the invention has the following beneficial effects:

the automatic packaging machine for medical instruments can accurately package products, ensures the packaging quality, realizes full automation of the whole packaging equipment and improves the packaging efficiency.

Drawings

FIG. 1 is a side view of modules of the present invention;

FIG. 2 is a schematic diagram of the location of modules of the present invention;

FIG. 3 is a side view of the first movable assembly of the present invention;

FIG. 4 is a schematic structural diagram of the moving components of the present invention;

FIG. 5 is a schematic structural view of a non-woven fabric feeding module according to the present invention;

FIG. 6 is a schematic view of the basket feeding module of the present invention;

FIG. 7 is a schematic structural view of a folding gripper module of the present invention;

FIG. 8 is a schematic structural view of a packaging module of the present invention;

fig. 9 is a schematic structural view of the auxiliary packaging assembly of the present invention;

FIG. 10 is a schematic view of a first platen configuration of the present invention;

FIG. 11 is a schematic structural view of a second platen structure of the present invention;

FIG. 12 is a schematic view of a second positioning assembly according to the present invention;

FIG. 13 is a schematic structural view of a first positioning assembly according to the present invention;

fig. 14 is a schematic structural view of a fourth rocker assembly according to the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

As described in the background of the invention, conventional packaging of medical devices requires manual intervention, which is inefficient and increases labor costs.

Therefore, the present invention is directed to the problems of the prior art, and as shown in fig. 1 to 14, an automatic packaging machine for medical instruments is provided, which includes a control system, a frame 100, and a non-woven fabric feeding module 200, a basket feeding module 300, a folding gripper module 400, and a packaging module 500 disposed on the frame 100; the control system is in signal connection with the non-woven fabric feeding module 200, the basket feeding module 300, the folding gripper module 400 and the packaging module 500.

The non-woven fabric feeding module 200 comprises a first moving assembly 210 and a non-woven fabric suction gripper 220, wherein the non-woven fabric suction gripper 220 sucks the non-woven fabric 800 to the folding station 600 through the first moving assembly 210; the basket feeding module 300 includes a second moving assembly 310 and a basket grasping assembly 320, the basket grasping assembly 320 grasping the basket 700 to the folding station 600 by the second moving assembly 310; the folding gripper module 400 comprises a third moving assembly 410 and a folding gripper assembly 420, wherein the folding gripper assembly 420 is used for gripping the non-woven fabric 800 and performing a packaging process on the basket 700; the packaging module 500 comprises a rail component 510 and an auxiliary packaging component 520, wherein the rail component 510 is connected with the frame 100, the auxiliary packaging component 520 is fixed on the frame 100, is connected with the rail component 510 in a sliding manner and can be pulled out or pulled in from the frame 100 through the rail component 510, and the auxiliary packaging component 520 is used for auxiliary packaging work when the folding hand 421 grabs the non-woven fabric 800 to package the basket 700.

Specifically, the first moving assembly 210 includes a first Y-axis connecting rod 211 and first X-axis linear modules 212 disposed at two sides of the rack 100 and laid along the X-axis direction, the first X-axis linear modules 212 are all driven by a first motor 213, first sliders 214 fixed on the first X-axis linear modules 212 are all fixedly connected with the first Y-axis connecting rod 211, a first Z-axis cylinder 215 is fixed on the first Y-axis connecting rod 211, and a piston rod of the first Z-axis cylinder 215 is fixedly connected with the non-woven fabric suction gripper 220.

It should be noted that the non-woven fabric suction gripper 220 moves on the X, Z axis through the first moving assembly 210, specifically, the first X-axis linear module 212 drives the first Y-axis connecting rod 211 to move on the X axis through the first slider 214, and the first Z-axis cylinder 215 fixed on the first Y-axis connecting rod 211 drives the non-woven fabric suction gripper to move on the Z axis, so as to move the non-woven fabric suction gripper 220 on the X and Z axes.

Specifically, the non-woven fabric suction hand grip 220 includes a holder 221 to set a suction cup 222 and a gas claw 223 on the holder 221.

It should be noted that the suction cups 222 are disposed at different positions on the support 221 for accommodating non-woven fabrics with different sizes, and the suction cups 222 are non-contact type suction cups, and negative pressure is generated between the non-woven fabric 800 and the suction cups 222 by using bernoulli's principle, so that the non-woven fabric 800 is pushed to the suction cups 222 by the atmosphere. After the suction cups 222 suck the nonwoven 800, the pneumatic claw 223 grips the edge of the nonwoven, and moves the nonwoven 800 to the folding station 600 by the first moving assembly 210.

Specifically, the second moving assembly 310 includes a second Y-axis linear module 311 and second X-axis linear modules 312 disposed at two sides of the rack 100 and laid along the X-axis direction, the second X-axis linear modules 312 are all driven by a second motor 313, third sliders 314 fixed on the second X-axis linear modules 312 are all fixedly connected with the second Y-axis linear module 311, the second Y-axis linear module 311 is driven by a third motor 315, a fourth slider 316 of the second Y-axis linear module 311 is fixedly connected with a second Z-axis linear module 317, and a fifth slider 318 of the second Z-axis linear module 317 is fixedly connected with the basket gripper assembly 320; the basket grip assembly 320 includes a basket grip 321 to grip the basket 700.

It should be noted that the basket holding jaw 321 is moved in three XYZ axes by the second moving assembly 310, specifically, the movement of the basket holding jaw 321 is controlled by the combined movement of the second X-axis linear module 312, the second Y-axis linear module 311 and the second Z-axis linear module 317, specifically, the second X-axis linear module 312 drives the movement of the second Y-axis linear module 311 in the X axis by the third slider 314, the fourth slider 316 fixed on the second Y-axis linear module 311 drives the movement of the second Z-axis linear module 317 in the Y axis, and the second Z-axis linear module 317 drives the movement of the basket holding jaw 321 in the Z axis by the fifth slider 318, thereby realizing the movement of the basket holding jaw 321 in three XYZ axes.

Specifically, the third moving assembly 410 includes a third Y-axis linear module 411 and third X-axis linear modules 412 disposed at two sides of the rack 100 and laid along the X-axis direction, the third X-axis linear modules 412 are all driven by a fourth motor 413, sixth sliders 414 fixed on the third X-axis linear modules 412 are all fixedly connected to the third Y-axis linear module 411, the third Y-axis linear module 411 is driven by a fifth motor 415, seventh sliders 416 of the third Y-axis linear module 411 are fixedly connected to a third Z-axis linear module 417, and an eighth slider 418 of the third Z-axis linear module 417 is fixedly connected to the folding gripper assembly 420.

It should be noted that the folding gripper assembly 420 realizes the movement thereof on the XYZ three axes through the third moving assembly 410, and the specific implementation steps are as the second moving assembly, which are not described herein again.

The folding hand grip assembly 420 comprises a folding hand grip 421 and a folding hand grip finger cylinder 424 for controlling the folding hand grip 421, a folding hand grip overturning cylinder 423 for overturning the folding hand grip 421 is further fixed on the upper side of the finger cylinder 424, and the overturning cylinder 423 drives the rotating angle through a sixth motor 422.

It is worth integratively still, folding tongs 421 are used for pressing from both sides the angle of getting non-woven fabrics 800, overturns and removes, folds tongs upset cylinder 423 and is used for carrying out 180 upset with the splint, overturns after pressing from both sides and getting non-woven fabrics 800.

Specifically, the rail assembly 510 includes a guide rail 511, the auxiliary packaging assembly 520 includes a ninth slider 521, the ninth slider 521 is slidably connected to the guide rail 511, and the auxiliary packaging assembly 520 is drawn out or in from the rack 100 through the sliding connection of the ninth slider 521 to the guide rail 511, so as to facilitate subsequent inspection and maintenance work.

Specifically, the auxiliary packaging assembly 520 includes a fixing frame 522, and a positioning device 523 and a pressing plate device 524 disposed on the fixing frame 522, wherein the positioning device 523 is used for centering the basket 700; the pressing plate device 524 includes a first pressing plate structure 525 disposed at the right side of the folding station 600 and movable in vertical and horizontal directions, a second pressing plate structure 526 disposed at the left side of the folding station 600 and movable in vertical and horizontal directions, a third pressing plate structure 527 fixedly connected with the basket catch assembly 320, and a fourth tilting plate structure 528 disposed at the front side of the folding station.

Specifically, the first pressing plate structure 525 includes a first pressing plate fixing plate 5251 disposed on the fixing frame 522, a first Z-axis pressing plate linear module 5252 is disposed on the first pressing plate fixing plate 5251, a tenth sliding block 5253 of the first Z-axis pressing plate linear module 5252 is fixedly connected to a first Y-axis pressing plate linear module 5254, and an eleventh sliding block 5255 of the first Y-axis pressing plate linear module 5254 is fixedly connected to a first pressing plate 5256.

It should be noted that after the first pressing plate structure 525 vertically raises the first pressing plate 5256 through the first Z-axis pressing plate linear module 5252, the first pressing plate is pushed forward through the first Y-axis pressing plate linear module 5254, thereby completing the folding process of the right side non-woven fabric 800.

The second pressing plate structure 526 includes a second pressing plate fixing plate 5261 disposed on the fixing frame 522, a second Z-axis pressing plate linear module 5262 is disposed on the second pressing plate fixing plate 5261, a twelfth sliding block 5263 of the second Z-axis pressing plate linear module 5262 is fixedly connected to a second Y-axis pressing plate linear module 5264, and a thirteenth sliding block 5265 of the second Y-axis pressing plate linear module 5264 is fixedly connected to the second pressing plate 5266.

It should be noted that after the second pressing plate structure 526 vertically raises the second pressing plate 5266 through the second Z-axis pressing plate linear module 5262, the second pressing plate 5266 is pushed forward through the second Y-axis pressing plate linear module 5264, thereby completing the process of folding the left side nonwoven fabric 800.

The third pressing plate structure 527 includes a third pressing plate 5271 and a swing cylinder 5272 fixedly connected with the third pressing plate 5271, and the swing cylinder 5272 is fixedly connected with the basket handle assembly 320.

When the nonwoven fabric 800 is tucked, the third pressing plate 5271 is in a horizontal state, and is driven by the second moving assembly 310 to move into the basket 700, and the third pressing plate 5271 is driven by the swing cylinder 5272 to rotate.

Specifically, the fourth rocker structure 528 includes a rocker cylinder 5281 fixed to the fixing frame 522, the rocker cylinder 5281 is fixedly connected to a rocker connecting plate 5283 through an elbow joint 5282, and the rocker connecting plate 5283 is fixedly connected to a rocker 5284.

Specifically, the positioning device 523 comprises a first positioning component 529 disposed at the rear side of the fixing frame 522 and a second positioning component 530 disposed at the front side of the fixing frame 522; the first positioning assembly 529 comprises a first positioning plate 5291 arranged on the fixing frame 522, a first positioning motor 5292 is fixed on the first positioning plate 5291, an output shaft of the first positioning motor 5292 is fixedly connected with a first positioning screw 5293, a first positioning slider 5294 sleeved on the first positioning screw 5293 is fixedly connected with a second positioning plate 5295, a first positioning cylinder 5296 and a second positioning cylinder 5297 positioned on two sides of the plate surface of the second positioning plate 5295 are fixed on the second positioning plate 5295, and piston rods of the first positioning cylinder 5296 and the second positioning cylinder 5297 are fixedly connected with a first top block 5298;

fifth positioning screws 5331 are fixed on two sides of the second positioning plate 5295, second positioning sliders 5299 sleeved on the fifth positioning screws 5331 are fixedly connected with the first positioning tilt cylinder 5300, and the first positioning tilt cylinder 5300 is provided with a first pressing rod 5330;

when the first ejecting block 5298 is needed to position a product to be packaged, after the control system calculates the rear position of the basket 700, the first positioning motor 5292 is started to drive the first positioning screw 5293 to rotate, so that the first positioning slider 5294 drives the first ejecting block 5298 fixed on the second positioning plate 5295 to move towards the rear direction close to the basket 700, and then the piston rods of the first positioning cylinder 5296 and the second positioning cylinder 5297 extend out to drive the first ejecting block 5298 to upwards lift around the rotating shaft to position the rear side of the basket 700.

When the first pressing rod 5330 is required to press the rear-side non-woven fabric of the product to be packaged before folding, the motor drives the fifth positioning screw 5331 to rotate, so that the second positioning slide block 52995 drives the corresponding first positioning swing cylinder 5300 to move towards the rear-side non-woven fabric 800 to be folded according to the length of the basket 700, then the first positioning swing cylinder 5300 is ventilated to drive the first pressing rod 5330 to press the two sides of the rear-side non-woven fabric 800 to be folded, and the first pressing rod 5330 and the table top form an included angle of 45 degrees.

The second positioning assembly 530 includes a third positioning plate 5301, a second positioning motor 5302 is fixed to the third positioning plate 5301, the output shaft of the second positioning motor 5302 is fixedly connected with a second positioning screw 5303 arranged in the X-axis direction, the third positioning slide block 5304 sleeved on the second positioning screw 5303 is fixedly connected with the fourth positioning plate 5305, the fourth positioning plate 5305 is provided with a third positioning screw 5306 and a fourth positioning screw 5307 arranged in the Y-axis direction, the third positioning screw 5306 is driven by a third positioning motor 5308, the fourth positioning screw 5307 is driven by a fourth positioning motor 5309, the third positioning screw 5306 in the Y-axis direction is connected to the sixth positioning screw 5312 in the Z-axis direction via a fourth positioning slider 5310, the fourth screw 5307 in the Y-axis direction is fixedly connected with the seventh positioning screw 5313 in the Z-axis direction through a fifth positioning slider 5311, a second jacking block 5316 and a second pressing rod 5317 are fixed at the tops of the sixth screw rod 5312 and the seventh screw rod 5313; the first pressing rod 5330 and the second pressing rod 5317 are both arranged at an inclination of 45 degrees.

When the basket 700 needs to be positioned according to the length, the width and the height, after the control system calculates the front side, the left side, the right side and the height of the basket 700, the second positioning motor 5302 is started, and the second positioning motor 5302 drives the second positioning screw 5303 to rotate, so that the second positioning slide 5304 drives the third positioning screw 5306 and the fourth positioning screw 5307 fixed on the fourth positioning plate 5305 to move towards the direction close to the front side of the basket 700, and drives the second top block 316 and the first top block 5298 to realize the positioning of the width of the basket 700 together; meanwhile, the third positioning motor 5308 and the fourth positioning motor 5309 are started to drive the third positioning screw 5306 and the fourth positioning screw 5307 to rotate, so that the third positioning slider 5310 and the fourth positioning slider 5313 drive the second jacking block 5316 and the second pressing rod 5317 to move on the Y axis, and the length of the basket 700 is positioned; the motor drives the sixth lead screw 5312 and the seventh lead screw 5313 to rotate, so as to drive the second pressing rod 5317 to move in the Z-axis direction, and the left side and the right side of the non-woven fabric 800 are pressed.

The first pressing rod 5330 and the second pressing rod 5317 are inclined at 45 degrees, and the first pressing rod 5330 and the second pressing rod 5317 can press the left and right sides of the nonwoven fabric 800 when folded.

Specifically, a first proximity sensor (known as a commercial product, not shown) for zero position detection is fixed to the frame 100 near the first motor 213; a second proximity sensor (known as a commercial product and not shown in the figures) for zero position detection is fixed to the frame 100 close to the second motor 313; a third proximity sensor (known as a commercial product and not shown in the figure) for zero position detection is fixed on the frame 100 near the fourth motor 413; a distance sensor 224 is fixed on the bracket 221 and used for detecting the distance between the suction cup 222 and the non-woven fabric 800; a clamp plate position detector 424 is fixed to the folding finger 421.

It should be noted that each linear module may be one or more of a belt type linear module or a screw type linear module driven by a motor, and all the screw structures not shown in the above driving structures are driven by a motor.

In the invention, when the non-woven fabric suction hand grip 220 sucks the non-woven fabric 800 to be placed at the folding station 600, then the basket clamping jaw 321 clamps the basket 700 to be placed above the non-woven fabric 800, the first top block 5298 of the first positioning assembly 529 positions the rear side of the basket 700, the folding hand grip 421 grips one corner of the front side of the non-woven fabric 800 to fold the one corner of the front side of the non-woven fabric 800 towards the rear side, at the moment, the second top block 5316 and the second pressing rod 5317 of the second positioning assembly 530 are positioned towards the front side of the basket 700 and pressed against the left side and the right side by the positioning and pressing rod 5317, the first pressing plate 5256 and the second pressing plate 5266 are respectively pushed to the left side and the right side of the bottom of the basket 700 to lift up to the height above the basket to take up the left side and the right side of the non-woven fabric 800, the folding hand grip 421 releases one corner of the front side of the non-woven fabric 800, the tilting cylinder 5281 extends to upwardly press the tilting plate 5284 to be pressed against the upper side of the basket 700 to assist the rear side of the plugging of the non-woven fabric 800, the first pressing plate 5256 and the second pressing plate 5266 are respectively pushed to fold the left side and the right side of the non-woven fabric 800, the first pressing rod 5330 presses the rear side of the non-woven fabric 800, the folding hand 421 grips one corner of the rear side of the non-woven fabric 800 and starts to fold the rear side of the non-woven fabric 800, the folding hand 421 turns and moves to the front side above the basket 700 to stop, and then the rear side of the non-woven fabric 800 is tightly plugged, so that the third pressing plate 5271 of the basket hand 320 moves to a position between the warping plate 5284 and the folding hand 421, the folding hand 421 plugs the rear side of the non-woven fabric 800 and leaves a corner, and then the packaging process is completed, and all devices are withdrawn. The basket clamping jaws 321 then grip the basket 800 with the completed first layer of nonwoven fabric wrapping exiting the station 600.

The nonwoven fabric suction grip 220 sucks the nonwoven fabric 800 again to place the folding station 600, then the basket holding jaw 321 holding the basket 700 is placed above the nonwoven fabric 800 again, and then the above processes are repeated to complete the second layer of nonwoven fabric package. The basket holding claw 321 then holds the basket 800 having completed the second layer of nonwoven fabric package to the shipment area of the medical instrument package.

The automatic packaging machine is applied to an automatic solution for packaging surgical instruments, and the whole scheme flow is as follows:

1. the nurses send the checked surgical instruments and the transmission belts connected with the basket placing and packaging machine thereof into the automatic packaging machine;

2. the automatic packaging machine automatically identifies the surgical instrument bag, automatically captures the basket and the non-woven fabric, completes two-layer packaging, and automatically sticks the fixed adhesive tape and the instrument bag label after packaging;

3. the transmission belt connected with the automatic packaging machine sends the packaged surgical bag out of the packaging machine;

4. the mechanical arm transports the packed surgical bag to a large basket for storage, and the large basket is transported to a special transfer trolley;

5, the AMR automatic navigation trolley carries the transfer trolley to a disinfection cabinet for disinfection;

6. the mechanical arm carries the sterilized large basket to a storage robot;

7. the warehousing robot transmission system automatically warehouses;

8. according to the system order, the warehousing robot automatically goes out of the warehouse;

9. the issuing robot completes automatic logistics issuing and automatic ex-warehouse operation packages in the hospital.

The automatic packaging work of the medical instrument can be easily completed through the use of the automatic packaging machine.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims (10)

1. An automatic packaging machine for medical instruments is characterized in that: comprises a control system, a frame (100), a non-woven fabric feeding module (200), a basket feeding module (300), a folding gripper module (400) and a packaging module (500), wherein the non-woven fabric feeding module, the basket feeding module, the folding gripper module and the packaging module are arranged on the frame (100);

the non-woven fabric feeding module (200) comprises a first moving assembly (210) and a non-woven fabric sucking gripper (220), wherein the non-woven fabric sucking gripper (220) sucks the non-woven fabric (800) to a folding station (600) through the first moving assembly (210);

the basket feeding module (300) includes a second moving assembly (310) and a basket gripper assembly (320), the basket gripper assembly (320) gripping the basket (700) to the folding station (600) through the second moving assembly (310);

the folding hand grip module (400) comprises a third moving assembly (410) and a folding hand grip assembly (420), wherein the folding hand grip assembly (420) is used for gripping the non-woven fabric (800) and carrying out a packaging process on the basket (700);

the packaging module (500) comprises a track component (510) and an auxiliary packaging component (520) which are connected with the rack (100), wherein the track component (510) is fixed on the rack (100), the auxiliary packaging component (520) is connected with the track component (510) in a sliding mode and can be pulled out or pulled in from the rack (100) through the track component (510), and the auxiliary packaging component (520) is used for auxiliary packaging work when the folding grab handle (421) grabs the non-woven fabric (800) to package the basket (700).

2. The automatic packaging machine for medical instruments according to claim 1, wherein: first removal subassembly (210) include first Y axle connecting rod (211) and set up in frame (100) both sides, along the linear module of first X axle (212) that the X axle direction was laid, first X axle linear module (212) all drives through first motor (213), fixed first slider (214) all with first Y axle connecting rod (211) fixed connection on the linear module of first X axle (212), be fixed with first Z axle cylinder (215) on first Y axle connecting rod (211), the piston rod and the non-woven fabrics of first Z axle cylinder (215) are inhaled material and are grabbed hand (220) fixed connection.

3. The automatic packaging machine for medical instruments according to claim 2, wherein: the non-woven fabric suction gripper (220) comprises a support (221) and a suction cup (222) and an air claw (223) which are arranged on the support (221).

4. The automatic packaging machine for medical instruments according to claim 1, wherein: the second moving assembly (310) comprises a second Y-axis linear module (311) and second X-axis linear modules (312) which are arranged on two sides of the rack (100) and laid along the X-axis direction, the second X-axis linear modules (312) are all driven by a second motor (313), third sliders (314) fixed on the second X-axis linear modules (312) are all fixedly connected with the second Y-axis linear module (311), the second Y-axis linear module (311) is driven by a third motor (315), fourth sliders (316) of the second Y-axis linear modules (311) are fixedly connected with a second Z-axis linear module (317), and fifth sliders (318) of the second Z-axis linear module (317) are fixedly connected with the gripper basket assembly (320);

the basket gripper assembly (320) includes a basket gripper (321) to grip the basket (700).

5. The automatic packaging machine for medical instruments according to claim 1, wherein: the third moving assembly (410) comprises a third Y-axis linear module (411) and third X-axis linear modules (412) which are arranged on two sides of the rack (100) and laid along the X-axis direction, the third X-axis linear modules (412) are all driven by a fourth motor (413), sixth sliding blocks (414) fixed on the third X-axis linear modules (412) are all fixedly connected with the third Y-axis linear module (411), the third Y-axis linear module (411) is driven by a fifth motor (415), seventh sliding blocks (416) of the third Y-axis linear module (411) are fixedly connected with a third Z-axis linear module (417), and eighth sliding blocks (418) of the third Z-axis linear module (417) are fixedly connected with a folding hand grip assembly (420);

folding tongs subassembly (420) are including folding tongs (421) and folding tongs finger cylinder (424) of control folding tongs (421), folding tongs upset cylinder (423) that are used for folding tongs (421) upset are still fixed with to finger cylinder (424) upside, upset cylinder (423) are through sixth motor (422) drive rotation angle.

6. The automatic packaging machine for medical instruments according to claim 1, wherein: the rail assembly (510) comprises a guide rail (511), the auxiliary packaging assembly (520) comprises a ninth slider (521), and the ninth slider (521) is connected with the guide rail (511) in a sliding manner.

7. The automatic packaging machine for medical instruments according to claim 6, wherein: the auxiliary packaging assembly (520) comprises a fixed frame (522), and a positioning device (523) and a pressing plate device (524) which are arranged on the fixed frame (522), wherein the positioning device (523) is used for centrally positioning the basket (700);

the pressing plate device (524) comprises a first pressing plate structure (525) which is arranged on the right side of the folding station (600) and can move in the vertical and horizontal directions, a second pressing plate structure (526) which is arranged on the left side of the folding station (600) and can move in the vertical and horizontal directions, a third pressing plate structure (527) fixedly connected with the basket gripper assembly (320), and a fourth warping plate structure (528) arranged on the front side of the folding station (600).

8. The automatic packaging machine for medical instruments according to claim 7, wherein: the first pressing plate structure (525) comprises a first pressing plate fixing plate (5251) arranged on a fixing frame (522), a first Z-axis pressing plate linear module (5252) is arranged on the first pressing plate fixing plate (5251), a tenth sliding block (5253) of the first Z-axis pressing plate linear module (5252) is fixedly connected with a first Y-axis pressing plate linear module (5254), and an eleventh sliding block (5255) of the first Y-axis pressing plate linear module (5254) is fixedly connected with a first pressing plate (5256);

the second pressing plate structure (526) comprises a second pressing plate fixing plate (5261) arranged on the fixing frame (522), a second Z-axis pressing plate linear module (5262) is arranged on the second pressing plate fixing plate (5261), a twelfth sliding block (5263) of the second Z-axis pressing plate linear module (5262) is fixedly connected with a second Y-axis pressing plate linear module (5264), and a thirteenth sliding block (5265) of the second Y-axis pressing plate linear module (5264) is fixedly connected with a second pressing plate (5266);

the third pressing plate structure (527) comprises a third pressing plate (5271) and a swinging cylinder (5272) fixedly connected with the third pressing plate (5271), and the swinging cylinder (5272) is fixedly connected with the basket gripper assembly (320).

Fourth wane structure (528) are including fixing wane cylinder (5281) on mount (522), wane cylinder (5281) are through elbow joint (5282) and wane connecting plate (5283) fixed connection, wane connecting plate (5283) and wane (5284) fixed connection.

9. The automatic packaging machine for medical instruments according to claim 8, wherein: the positioning device (523) comprises a first positioning component (529) arranged at the rear side of the fixed frame (522) and a second positioning component (530) arranged at the front side of the fixed frame (522);

the first positioning assembly (529) comprises a first positioning plate (5291) arranged on a fixing frame (522), a first positioning motor (5292) is fixed on the first positioning plate (5291), an output shaft of the first positioning motor (5292) is fixedly connected with a first positioning screw rod (5293), a first positioning slider (5294) and a second positioning plate (5295) which are sleeved on the first positioning screw rod (5293) are fixedly connected, a first positioning cylinder (5296) and a second positioning cylinder (5297) which are positioned on two sides of the plate surface of the second positioning plate (5295) are fixed on the second positioning plate (5295), and piston rods of the first positioning cylinder (5296) and the second positioning cylinder (5297) are fixedly connected with a first top block (5298);

fifth positioning screw rods (5331) are fixed on two sides of the second positioning plate (5295), second positioning sliding blocks (5299) sleeved on the fifth positioning screw rods (5331) are fixedly connected with a first positioning swing cylinder (5300), and first pressing rods (5330) are mounted on the first positioning swing cylinder (5300);

the second positioning assembly (530) comprises a third positioning plate (5301), a second positioning motor (5302) is fixed on the third positioning plate (5301), an output shaft of the second positioning motor (5302) is fixedly connected with a second positioning screw rod (5303) arranged in the X-axis direction, a third positioning sliding block (5304) and a fourth positioning plate (5305) which are sleeved on the second positioning screw rod (5303) are fixedly connected, a third positioning screw rod (5306) and a fourth positioning screw rod (5307) arranged in the Y-axis direction are arranged on the fourth positioning plate (5305), the third positioning screw rod (5306) is driven by a third positioning motor (5308), the fourth positioning screw rod (5307) is driven by a fourth positioning motor (5309), the third positioning screw rod (5306) in the Y-axis direction is connected with a sixth positioning screw rod (5312) in the Z-axis direction by a fourth positioning sliding block (5310), and the fifth positioning screw rod (53013) and the seventh positioning screw rod (5307) in the Y-axis direction is connected with a fifth positioning screw rod (5313) (5311) The top parts of the sixth screw rod (5312) and the seventh screw rod (5313) are both fixedly connected with a second jacking block (5316) and a second pressing rod (5317);

the first pressure lever (5330) and the second pressure lever (5317) are both arranged in an inclined manner at 45 degrees.

10. The automatic packaging machine for medical instruments according to claim 3 or 5, wherein: a distance sensor (224) is fixed on the bracket (221) and used for detecting the distance between the suction cup (222) and the non-woven fabric (800); a clamp plate position detector (424) is fixed on the folding grab handle (421).

Images