CN114524285A

CN114524285A - Automatic loading and unloading system and method for medical waste

Info

Publication number: CN114524285A
Application number: CN202011322132.8A
Authority: CN
Inventors: 张志文
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-11-23
Filing date: 2020-11-23
Publication date: 2022-05-24

Abstract

The invention belongs to the technical field of medical waste treatment, and particularly relates to a medical waste loading and unloading system and a loading and unloading method. The loading and unloading system comprises a truck, an AGV car, a truss manipulator, a full-box roller conveyor, an empty-box roller conveyor, a bidirectional roller conveyor and a truck roller conveyor, wherein the truss manipulator conveys material boxes on the AGV car to the full-box roller conveyor, empty boxes on the empty-box roller conveyor are conveyed to the AGV car, the bidirectional roller conveyor conveys the material boxes conveyed by the full-box roller conveyor to the truck roller conveyor, and empty boxes on the truck roller conveyor are pushed to the empty-box roller conveyor. The invention can realize automatic carrying, loading and unloading of medical wastes without manual contact, thereby packaging the safety of personnel and improving the working efficiency.

Description

Automatic loading and unloading system and method for medical waste

Technical Field

The invention belongs to the technical field of medical waste treatment, and particularly relates to a medical waste loading and unloading system and a loading and unloading method.

Background

With the progress and development of society, the number of hospitals increases, medical wastes also increase rapidly, the demand of the current society cannot be met by simply manually loading and unloading wastes, and the manual loading and unloading of wastes have the following defects:

1. the efficiency is influenced by manual operation, and the problem of discontinuous loading and unloading can occur;

2. the requirement on manpower is high, and isolation equipment such as protective clothing and the like needs to be worn for a long time;

3. the waste may contain harmful substances to human body, and the manual operation cannot be completely avoided from being harmed.

Disclosure of Invention

The invention aims to solve the technical problems of low efficiency and easy injury risk of manual loading and unloading of medical wastes, and provides an automatic loading and unloading system and an automatic loading and unloading method for medical wastes.

Medical discarded object auto-control handling system, including the freight train that is used for transporting the workbin, still include:

the AGV comprises an AGV, a first positioning device and a second positioning device, wherein the AGV is used for conveying a bin filled with medical wastes from a preset second position to a preset first position and conveying an empty bin from the preset first position to a preset third position;

the truss manipulator is positioned on the right sides of the empty box roller conveyor and the full box roller conveyor, conveys the material boxes on the AGV to the full box roller conveyor, and conveys the empty boxes on the empty box roller conveyor to the AGV;

the full-box roller conveyor comprises a full-box roller moving left and right, and pushes the material box from the right side to the bidirectional roller conveyor through a mechanical transition device;

the empty box roller conveyor is positioned at the front side of the full box roller conveyor, comprises an empty box roller moving left and right, and conveys empty boxes from the left side to the right side;

the bidirectional roller conveyor comprises a left roller and a right roller which move left and right and a front and back conveying belt which moves front and back, is positioned on the left side of the empty box roller conveyor and the full box roller conveyor, conveys a material box conveyed by the full box roller conveyor to the freight car roller conveyor, pushes an empty box on the freight car roller conveyor to the empty box roller conveyor through a mechanical transition device, and the height of the front and back conveying belt is not higher than that of the left and right rollers;

the truck roller conveyor is arranged on the truck, comprises a truck roller moving left and right, conveys the material box conveyed by the bidirectional roller conveyor into the truck, and conveys the empty box in the truck to the bidirectional roller conveyor.

Further comprising:

and the lifting mechanism is used for lifting and is arranged below the bidirectional roller conveyor, so that the front and rear conveying belts are lifted to be in butt joint with the truck roller conveyor, or the front and rear conveying belts are lowered to be in butt joint with the empty box roller conveyor. So that the purpose of automatic loading and unloading can be realized for trucks with different heights.

Further comprising:

the intelligent warehouse has the functions of intelligent constant temperature adjustment and spraying, spraying and spraying disinfection;

the truss manipulator, the full-box roller conveyor, the empty-box roller conveyor and the bidirectional roller conveyor are all arranged in the intelligent warehouse. So that the whole set of system runs in the intelligent warehouse.

The bidirectional roller conveyor includes:

the left and right roller conveying mechanisms comprise left and right rollers moving left and right;

and the front and rear conveying belt mechanism comprises the front and rear conveying belts which move back and forth, and at least one front and rear conveying belt is arranged between every two adjacent left and right rollers.

A first position sensor is arranged on the full-box roller conveyor, and a signal output end of the first position sensor is connected with a control end of the full-box roller conveyor;

and when the first position sensor detects that the bin is full, the first position sensor sends a driving signal to the full-bin roller conveyor, and the full-bin roller conveyor conveys batches of bins to the bidirectional roller conveyor.

A signal output end of the second position sensor is connected with a control end of the bidirectional roller conveyor;

when the second position sensor detects that the bidirectional roller conveyor is successfully butted with the truck roller conveyor, the bidirectional roller conveyor receives empty boxes sent out by the truck roller conveyor, and the bidirectional roller conveyor conveys full boxes to the truck roller conveyor.

A signal output end of the third position sensor is connected with a control end of the lifting mechanism;

when the third position sensor detects that the bidirectional roller conveyor is conveyed by a feeding box, a descending driving signal is sent to the lifting mechanism, and the lifting mechanism descends the front and rear conveying belts;

and when the third position sensor detects that a bin exists on the bidirectional roller conveyor, a lifting driving signal is sent to a lifting mechanism, and the lifting mechanism lifts the front and rear conveying belts.

The full case cylinder on full case cylinder conveyer includes:

the full-box turnover roller is used for stacking and placing the material boxes sent by the truss manipulator;

the full-box conveying roller conveys the superposed bins with preset number to the bidirectional roller conveyor on the left side from the right side;

the full-box turnover roller is positioned on the right side of the full-box conveying roller.

The empty case cylinder on the empty case cylinder conveyer includes:

the empty box conveying roller conveys the empty boxes conveyed by the bidirectional roller conveyor from the left side to the right side;

the empty box transferring roller is used for placing the empty boxes conveyed by the empty box conveying roller and taking the empty boxes by the truss manipulator;

the empty box turnover roller is positioned on the right side of the empty box conveying roller.

The automatic loading and unloading method of medical waste comprises the following steps:

s1, conveying the bin from the second preset position to the first preset position by the AGV, and returning from the first preset position to the third preset position after staying for a preset time;

s2, the truss manipulator transports the material box on the AGV to the full box roller conveyor, and transports the empty box on the empty box roller conveyor to the AGV;

s3, when the bins are stacked by a preset number and height, the full-bin roller conveyor conveys the batched bins to the bidirectional roller conveyor;

s4, lifting the front and rear conveying belts by the lifting mechanism, and butting the front and rear conveying belts with the truck roller conveyor;

s5, the bidirectional roller conveyor receives the empty boxes sent out by the truck roller conveyor, and then the bidirectional roller conveyor sends the bins to the truck roller conveyor;

s6, the front and rear conveyer belts are lowered by the lifting mechanism and are butted with the empty box roller conveyer; the left and right rollers are butted with the full-box roller conveyor to wait for the full-box roller conveyor to convey the material box;

and S7, conveying the empty boxes to the empty box roller conveyor by the bidirectional roller conveyor, conveying the empty boxes to one side by the empty box roller conveyor in batches, and carrying by the manipulator to be trussed.

The positive progress effects of the invention are as follows: the invention adopts the automatic medical waste handling system and the handling method, can realize the automatic handling and handling of the medical waste without manual contact, and can package the safety of personnel and improve the working efficiency.

Drawings

FIG. 1 is a schematic view of an overall structure of the present invention;

FIG. 2 is a schematic diagram of the internal structure of the intelligent warehouse according to the present invention;

FIG. 3 is a schematic view of an initial loading and unloading configuration of the present invention;

FIG. 4 is a schematic view of a part of the structure of the bidirectional roller conveyor of the present invention;

FIG. 5 is a bottom view of FIG. 4;

FIG. 6 is a partial structural view of the bidirectional drum of the present invention.

Detailed Description

In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific drawings.

Referring to fig. 1 to 6, the automatic medical waste handling system comprises a truck 1 for transporting bins, an AGV truck 2, a truss manipulator 3, a full-bin roller conveyor 4, an empty-bin roller conveyor 5, a bidirectional roller conveyor 6, a lifting mechanism 7 and an intelligent warehouse 8.

The truck roller conveyor 11 is arranged on the truck 1, the truck roller conveyor 11 comprises a truck roller moving left and right, a bin conveyed by the bidirectional roller conveyor 6 is conveyed into the truck 1 by the truck roller conveyor 11, and an empty bin in the truck 1 is conveyed onto the bidirectional roller conveyor 6. When loading and unloading the material box, the truck 1 enters the intelligent warehouse 8 and stays to the right side of the bidirectional roller conveyor 6.

The AGV vehicle 2 is pre-programmed with a delivery program for delivering bins filled with medical waste from a preset second position to a preset first position and empty bins from the preset first position to a preset third position. The preset second location and the preset third location are generally remote from the intelligent warehouse 8. The right sides of the full-box roller conveyor 4 and the empty-box roller conveyor 5 are not flush, one of the conveyors is shorter than the other, and a reserved space is arranged between the two, namely the preset first position.

Truss manipulator 3 is located the right side of empty case cylinder conveyer 5 and full case cylinder conveyer 4, and truss manipulator 3 erects in the left and right sides of empty case cylinder conveyer 5 and full case cylinder conveyer 4, and truss manipulator 3 carries the workbin on the AGV car 2 to full case cylinder conveyer 4 according to the procedure that predetermines on, carries the empty case on the empty case cylinder conveyer 5 to AGV car 2.

Referring to fig. 3, the full-bin roller conveyor 4 comprises full-bin rollers moving left and right to push bins from the right onto the bidirectional roller conveyor 6 through a mechanical transition device. The full-package rollers on the full-package roller conveyor 4 include a full-package transfer roller 41 and a full-package conveying roller 42, and the full-package transfer roller 41 is located on the right side of the full-package conveying roller 42. The full-box turnover roller 41 is used for stacking and placing the box sent by the truss manipulator 3. The full-bin conveying roller 42 conveys the bins, on which a predetermined number of bins have been stacked, from the right to the left on the bidirectional roller conveyor 6.

The empty box roller conveyor 5 is positioned at the front side of the full box roller conveyor 4 and comprises an empty box roller moving left and right, and the empty box roller conveyor 5 transports the empty box from the left side to the right side. The empty box roller on the empty box roller conveyor 5 includes an empty box conveying roller 51 and an empty box turnover roller 52, and the empty box turnover roller 52 is located on the right side of the empty box conveying roller 51. The empty box conveying roller 51 conveys the empty box conveyed by the bidirectional roller conveyor 6 from the left to the right empty box turnover roller 52. The empty box turnover roller 52 is used for placing the empty box conveyed by the empty box conveying roller 51 and waiting for taking the truss manipulator 3.

Referring to fig. 4 and 6, the bidirectional roller conveyor 6 includes left and right rollers moving left and right and front and rear conveyor belts moving front and rear, and the height of the front and rear conveyor belts is not higher than the height of the left and right rollers. The bidirectional roller conveyor 6 is positioned on the left sides of the empty box roller conveyor 5 and the full box roller conveyor 4, a work bin conveyed by the full box roller conveyor 4 is conveyed to the truck roller conveyor 11 by the front and rear conveying belts of the bidirectional roller conveyor 6, the empty box on the truck roller conveyor 11 is pushed to the empty box roller conveyor 5 by the front and rear conveying belts of the bidirectional roller conveyor 6 through the mechanical transition device, the work bin or the empty box is moved left and right by the left and right rollers of the bidirectional roller conveyor 6, and the alignment is performed on the empty box roller conveyor 4 or the empty box roller conveyor 5 and the truck roller conveyor 11. Specifically, the bidirectional roller conveyor 6 includes a left and right roller conveying mechanism and a front and rear conveying belt mechanism, the left and right roller conveying mechanism includes left and right rollers 61 moving left and right, the front and rear conveying belt mechanism includes front and rear conveying belts 62 moving front and rear, and at least one front and rear conveying belt 62 is provided between two adjacent left and right rollers 61. Preferably, the left and right roller conveying mechanisms drive the left and right rollers 61 to move left and right by using independent driving mechanisms and transmission mechanisms, and the front and rear conveying belt mechanisms drive the front and rear conveying belts 62 to move front and rear by using independent driving mechanisms and transmission mechanisms.

Referring to fig. 5, the lifting mechanism 7 is used for lifting movement, and the lifting mechanism 7 is disposed below the bidirectional roller conveyor 6 to lift the front and rear conveyor belts 62 to be abutted against the truck roller conveyor 11, or to lower the front and rear conveyor belts 62 to be abutted against the empty box roller conveyor 5. So that the purpose of automatic loading and unloading can be realized for the trucks 1 with different heights.

And the intelligent warehouse 8 has the functions of intelligent constant temperature adjustment and spraying, spraying and sterilizing. Truss manipulator 3, full case roller conveyor 4, empty case roller conveyor 5 and two-way roller conveyor 6 all set up in intelligent warehouse 8. So that the entire system operates in the intelligent warehouse 8.

In order to realize more excellent automatic loading and unloading of the bin and the empty bin, the invention is also provided with sensor devices such as a first position sensor, a second position sensor, a third position sensor and the like:

and a first position sensor is arranged on the full-box roller conveyor 4, and the signal output end of the first position sensor is connected with the control end of the full-box roller conveyor 4. When the first position sensor detects that the bin is full, a drive signal is sent to the full-bin roller conveyor 4, and the full-bin roller conveyor 4 conveys the batch of bins to the bidirectional roller conveyor 6. The first position sensor may be provided in plurality, wherein one of the first position sensors may be provided behind the right side of the full-box roller conveyor 4 to detect whether the bins of the first row are completely stacked, and if the stacking is complete, the full-box roller conveyor 4 is driven to move to a preset position so as to leave the stacking position of the second discharge box at the right side of the full-box roller conveyor 4. Another first position sensor may be provided below the left side of the full bin roller conveyor 4 to detect whether the full bin roller conveyor 4 is full and, if so, to drive the full bin roller conveyor 4 to move a predetermined position to convey the leftmost row of bins onto the bidirectional roller conveyor 6.

And a second position sensor is arranged on the bidirectional roller conveyor 6, and the signal output end of the second position sensor is connected with the control end of the bidirectional roller conveyor 6, preferably the control end of the front and rear conveying belt mechanisms. When the second position sensor detects that the two-way roller conveyor 6 is successfully butted with the truck roller conveyor 11, the front and rear conveying belt mechanisms of the two-way roller conveyor 6 are preferably used for receiving empty boxes sent out by the truck roller conveyor 11, and the front and rear conveying belt mechanisms of the two-way roller conveyor 6 are preferably used for conveying full boxes to the truck roller conveyor 11. The sensing end of the second position sensor is preferably oriented toward the left truck to facilitate sensing whether the bi-directional roller conveyor 6 is in place.

And a third position sensor is arranged on the bidirectional roller conveyor 6, and the signal output end of the third position sensor is connected with the control end of the lifting mechanism 7. When the third position sensor detects that the feeding box of the bidirectional roller conveyor 6 is conveyed, the falling driving signal is sent to the lifting mechanism 7, and the front and rear conveying belts 62 are lowered by the lifting mechanism 7. When the third position sensor detects that the bin is present on the bidirectional roller conveyor 6, a lifting drive signal is sent to the lifting mechanism 7, and the lifting mechanism 7 lifts the front and rear conveyor belts 62.

The first position sensor, the second position sensor and the third position sensor can adopt existing position sensors such as infrared reflection sensors or proximity switches.

s1, conveying the bin from the second preset position to the first preset position by the AGV car 2, and after the bin stays for a preset time, conveying the empty bin from the first preset position to the third preset position;

s2, the truss manipulator 3 carries the material box on the AGV car 2 to the full box roller conveyor 4, and carries the empty box on the empty box roller conveyor to the AGV car 2;

the truss manipulator 3 is preset with a stacking program before carrying, and the truss manipulator 3 is sequentially stacked into front and back rows of bins according to the stacking number and the stacking distance. The truss manipulator 3 carries the empty boxes in a row in front and at the back according to the carrying distance.

A fourth position sensor can also be arranged on the truss manipulator 3 so as to detect whether a bin or an empty bin is arranged below the truss manipulator 3 after the truss manipulator is in place and needs to be carried.

S3, when the bins are stacked by the preset number and height, the full-bin roller conveyor 4 conveys the batched bins to the bidirectional roller conveyor 6;

as shown in fig. 2, when the bins are stacked in a row of 4 bins and 3 bins, the full-bin roller conveyor 4 is moved a predetermined distance from right to left to set the stacking empty position of the next bin, considering that the bins are stacked in a predetermined number and height. When the full-box roller conveyor 4 is full, in the process that the full-box roller conveyor 4 moves from right to left, the left-most box row is pushed to the bidirectional roller conveyor 6 under the action of the mechanical transition device.

S4, the front and rear conveyer belts 62 are lifted by the lifting mechanism 7, and the front and rear conveyer belts 62 are butted with the truck roller conveyer 11;

s5, the bidirectional roller conveyor 6 receives the empty box sent out from the truck roller conveyor 11, and then the bidirectional roller conveyor 6 sends the box to the truck roller conveyor 11;

in specific implementation, after the bidirectional roller conveyor 6 and the truck roller conveyor 11 are successfully butted, because a bin is arranged on the bidirectional roller conveyor 6, the left and right rollers 61 of the bidirectional roller conveyor 6 firstly move backwards to drive an empty bin, the position of the empty bin faces the truck roller conveyor 11 to receive the empty bin sent out by the truck roller conveyor 11, then the left and right rollers 61 of the bidirectional roller conveyor 6 move forwards to move the empty bin to the left side of the empty bin roller conveyor 5, the bin just faces the truck roller conveyor 11, and finally the front and rear conveyor belts 62 of the bidirectional roller conveyor 6 convey the bin onto the truck roller conveyor 11.

S6, the front and rear conveyer belts 62 are lowered by the lifting mechanism 7, and the front and rear conveyer belts 62 are butted with the empty box roller conveyer 5; at this time, the left and right rollers 61 are butted against the full-package roller conveyor 4, and the full-package roller conveyor 4 is waited for conveying the bins.

S7, the front and rear conveyor belts 62 of the bidirectional roller conveyor 6 convey the empty boxes to the empty box roller conveyor 5, the empty box roller conveyor 5 conveys the empty boxes to one side in batches, and the manipulator 3 to be truss carries the empty boxes.

So that the loading and unloading are completed once, and the cycle is repeated, thereby realizing the purpose of automatically loading and unloading the medical waste.

The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. The utility model provides a medical waste automatic handling system, includes the freight train that is used for transporting the workbin, its characterized in that still includes:

the truck roller conveyor is arranged on the truck, comprises a truck roller moving left and right, conveys a material box conveyed by the bidirectional roller conveyor into the truck, and conveys an empty box in the truck to the bidirectional roller conveyor.

2. The medical waste robotic handling system according to claim 1, further comprising:

and the lifting mechanism is used for lifting and is arranged below the bidirectional roller conveyor and used for lifting the front and rear conveying belts to be in butt joint with the truck roller conveyor or lowering the front and rear conveying belts to be in butt joint with the empty box roller conveyor.

3. The medical waste robotic handling system according to claim 1, further comprising:

the truss manipulator, the full-box roller conveyor, the empty-box roller conveyor and the bidirectional roller conveyor are all arranged in the intelligent warehouse.

4. The automated medical waste handling system of claim 1, 2 or 3, wherein the bidirectional roller conveyor comprises:

5. The automatic medical waste handling system of claim 1, 2 or 3, wherein the full-tank roller conveyor is provided with a first position sensor, and a signal output end of the first position sensor is connected with a control end of the full-tank roller conveyor;

6. The medical waste automatic loading and unloading system according to claim 5, wherein the bidirectional roller conveyor is provided with a second position sensor, and a signal output end of the second position sensor is connected with a control end of the bidirectional roller conveyor;

7. The medical waste automatic loading and unloading system according to claim 6, wherein the bidirectional roller conveyor is provided with a third position sensor, and a signal output end of the third position sensor is connected with a control end of the lifting mechanism;

when the third position sensor detects that the feeding box of the bidirectional roller conveyor is conveyed, a descending driving signal is sent to a lifting mechanism, and the lifting mechanism descends the front and rear conveying belts;

8. The medical waste handling system of claim 1, wherein the full drum on the full drum conveyor comprises:

9. The automated medical waste handling system of claim 1 or 8, wherein the empty bin rollers on the empty bin roller conveyor comprise:

10. An automatic medical waste handling system according to any one of claims 1 to 9, comprising:

s5, the bidirectional roller conveyor receives empty boxes sent out by the truck roller conveyor, and then the bidirectional roller conveyor sends the bins to the truck roller conveyor;