CN115196073A

CN115196073A - Intelligent packaging robot for disinfection supply center

Info

Publication number: CN115196073A
Application number: CN202210735313.6A
Authority: CN
Inventors: 吕毅; 宋伟伦
Original assignee: First Affiliated Hospital of Medical College of Xian Jiaotong University
Current assignee: First Affiliated Hospital of Medical College of Xian Jiaotong University
Priority date: 2022-06-28
Filing date: 2022-06-28
Publication date: 2022-10-18

Abstract

The invention relates to an intelligent packaging robot for a disinfection supply center. The material picking and distributing device comprises a main body frame, a packing table, a material picking and distributing device, a grabbing and conveying device and a packing device, wherein the packing table is arranged in the main body frame, a tenth linear module and an eleventh linear module are respectively arranged on the left side and the right side above the main body frame in parallel, the material picking and distributing device comprises a support, a material tray, a first linear module, an air cylinder, a cross beam, a connecting rod, a hook and a sucker, the cross beam is arranged on the first linear module, two ends of the air cylinder are respectively connected with the cross beam and the hook, the connecting rod is arranged below the cross beam, the hook is connected with the connecting rod, the sucker is arranged below the connecting rod, the material tray is arranged below the sucker, the material tray is arranged on the support, and the first linear module is transversely arranged between the tenth linear module and the eleventh linear module. The automatic packaging machine has the advantages of completely realizing the automatic packaging function, having good packaging quality and improving the working efficiency.

Description

Intelligent packaging robot for disinfection supply center

Technical Field

The invention relates to the field of medical instruments, in particular to an intelligent packaging robot for a disinfection supply center.

Background

The disinfection supply center is a supply unit for various sterile articles in a hospital, and is responsible for cleaning, packaging, disinfection and sterilization and supply of medical equipment, and each work is related to the quality of medical treatment, teaching and scientific research. Modern hospitals have a large variety of supply varieties, wide departments are involved, the use and turnover are fast, and the daily workload and the working difficulty of personnel are increased more and more. The intellectuality of disinfection supply center, reducible disinfection supply center manpower resources are equipped with, improve work efficiency, can better serve the research and development doctor. The final sterilization effect of packing quality and apparatus is inseparable among ten big standard work flows in disinfection supply center to packing work consumes a large amount of manpower resources, and artifical packing quality difference is big, so disinfection supply center needs urgent intelligent packing machine people to liberate productivity, improves work efficiency.

Disclosure of Invention

The invention provides the intelligent packaging robot for the disinfection supply center, which aims to solve the technical problems in the background technology, completely realizes the automatic packaging function, and has the advantages of good packaging quality and improved working efficiency.

The technical solution of the invention is as follows: the invention relates to an intelligent packaging robot for a disinfection supply center, which is characterized in that: the packaging robot comprises a main body frame, a packaging table, a cloth picking and distributing device, a grabbing and conveying device and a packaging device, wherein the packaging table is arranged in the main body frame, a tenth straight line module and an eleventh straight line module are respectively arranged on the left side and the right side above the main body frame in parallel, the cloth picking and distributing device comprises a material tray, a first straight line module, an air cylinder, a cross beam, a connecting rod, a hook and a sucker, the cross beam is arranged on the first straight line module, two ends of the air cylinder are respectively connected with the cross beam and the hook, the connecting rod is arranged below the cross beam, the hook is connected with the connecting rod, the sucker is arranged below the connecting rod, the material tray is arranged below the sucker, and the first straight line module is transversely arranged between the tenth straight line module and the eleventh straight line module; the grabbing and conveying device comprises a fourth linear module, a fourteenth linear module, four parallel flexible self-adaptive clamping jaws and a twelfth linear module, wherein the twelfth linear module is transversely arranged above the main body frame; the packaging device comprises a first two-finger flexible self-adaptive clamping jaw, a second two-finger flexible self-adaptive clamping jaw, a first connecting plate, a third two-finger flexible self-adaptive clamping jaw, a fourth two-finger flexible self-adaptive clamping jaw, a second linear module, a third linear module, a first lifting rod, a second lifting rod, a third lifting rod, a seventh linear module, an eighth linear module and a ninth linear module, the first two-finger flexible self-adaptive clamping jaw, the second two-finger flexible self-adaptive clamping jaw, the third two-finger flexible self-adaptive clamping jaw and the fourth two-finger flexible self-adaptive clamping jaw are arranged below the first connecting plate in a surrounding mode, the first connecting plate is connected with the second linear module, the second linear module is connected with the third linear module, the third linear module is connected with the thirteenth linear module, the seventh linear module, the eighth linear module and the ninth linear module are respectively arranged below the packaging table, the third lifting rod is arranged above the seventh linear module, the eighth linear module is provided with the first lifting rod, and the second lifting rod is arranged above the ninth linear module.

Furthermore, the charging tray is arranged on the bracket.

Further, the packing robot further comprises an automatic adhesive tape packing device, the automatic adhesive tape packing device comprises an automatic adhesive tape packing machine, a second connecting plate, a fifth straight line module and a sixth straight line module, the automatic adhesive tape packing machine is connected with the fifth straight line module through the second connecting plate, the fifth straight line module is connected with the sixth straight line module, and the sixth straight line module is connected with the thirteenth straight line module.

Further, packing machine people still includes input conveyer belt and two-dimensional code bar code scanner, and the input conveyer belt sets up in packing platform left side, and two-dimensional code bar code scanner sets up on the conveyer belt.

Furthermore, a proximity switch sensor is integrated on the two-dimensional code scanner.

Further, the packing robot further comprises an output conveyor belt and an automatic labeling machine, wherein the output conveyor belt is arranged on the right side of the packing table, and the automatic labeling machine is arranged on the output conveyor belt.

Furthermore, a proximity switch sensor is integrated on the automatic labeling machine.

Furthermore, the packaging table is provided with a first groove, a second groove and a third groove, the first lifting rod penetrates through the first groove, the second lifting rod penetrates through the second groove, and the third lifting rod penetrates through the third groove.

Furthermore, a fourth groove is formed in the packing table and is arranged right opposite to the first groove.

The intelligent packaging robot for the disinfection supply center comprises a main body frame, a packaging table, a cloth picking and distributing device, a grabbing and conveying device, a packaging device, an automatic adhesive tape packaging device, a two-dimensional code scanner and an automatic labeling machine, can realize automation of the whole flow in the packaging process, and has the advantages of good packaging quality and improvement of working efficiency.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a side view of the first embodiment of the present invention;

FIG. 3 is a side view of the present invention schematically illustrating the second embodiment;

FIG. 4 is a side view of the present invention schematically illustrating the third embodiment;

FIG. 5 is a schematic bottom view of the present invention;

FIG. 6 is a schematic view of the structure of the holder and tray of the present invention;

FIG. 7 is a schematic view of the construction of the baling station of the present invention;

FIG. 8 is a first packing diagram of the present invention;

FIG. 9 is a second packing diagram of the present invention;

FIG. 10 is a third packing diagram of the present invention;

FIG. 11 is a fourth packing schematic of the present invention;

FIG. 12 is a schematic view of a sterilization indicator tape package of the present invention;

FIG. 13 is a schematic view of the labeling of the present invention.

The reference numerals are explained below:

1. a first linear module; 2. a cylinder; 3. a cross beam; 4. a connecting rod; 5. hooking; 6. a suction cup; 7. a material tray; 8. a support; 9. a packing table; 10. an automatic labeling machine; 11. an output conveyor; 12. packaging the labels; 13. packaging to be sterilized; 14. a first two-finger flexible self-adaptive clamping jaw; 15. a second two-finger flexible self-adaptive clamping jaw; 16. a first connecting plate; 17. a third two-finger flexible self-adaptive clamping jaw; 18. a fourth two-finger flexible self-adaptive clamping jaw; 19. a second linear module; 20. a third linear module; 21. a fourth linear module; 22. a fourteenth linear module; 23. four-finger parallel flexible self-adaptive clamping jaw; 24. an automatic tape packer; 25. a second connecting plate; 26. a fifth linear module; 27. a sixth linear module; 28. an input conveyor belt; 29. a box to be scanned; 30. packaging the box; 31. a two-dimensional code scanner; 32. a first groove; 33. a first lifting rod; 34. a second groove; 35. a second lifting rod; 36. a third groove; 37. a third lifting rod; 38. a fourth groove; 39. a seventh linear module; 40. an eighth linear module; 41. a ninth linear module; 42. a tenth straight line module; 43. an eleventh linear module; 44. a main body frame; 45. a twelfth linear module; 46. a thirteenth linear module.

Detailed Description

The general aspects of the invention will be described in further detail below with reference to the following figures and specific examples:

referring to fig. 1, 2, 3, 4, 5, 6, and 7, the structure of the embodiment of the invention includes a main frame 44, a packing table 9, a material picking and distributing device, a grabbing and conveying device, and a packing device, where the packing table 9 is arranged in the main frame 44, a tenth linear module 42 and an eleventh linear module 43 are respectively arranged in parallel on the left and right sides above the main frame 44, the material picking and distributing device includes a bracket 8, a material tray 7, a first linear module 1, a cylinder 2, a beam 3, a connecting rod 4, a hook 5, and a suction cup 6, the beam 3 is arranged on the first linear module 1, two ends of the cylinder 2 are respectively connected with the beam 3 and the hook 5, the connecting rod 4 is arranged below the beam 3, the hook 5 is connected with the connecting rod 4, the suction cup 6 is arranged below the connecting rod 4, the material tray 7 is arranged below the suction cup 6, the material tray 7 is arranged on the bracket 8, and the first linear module 1 is transversely arranged between the tenth linear module 42 and the eleventh linear module 43; the grabbing and conveying device comprises a fourth straight line module 21, a fourteenth straight line module 22, four-finger parallel flexible self-adaptive clamping jaws 23 and a twelfth straight line module 45, the twelfth straight line module 45 is transversely arranged above the main body frame 44, the four-finger parallel flexible self-adaptive clamping jaws 23 are connected with the fourth straight line module 21 through the fourteenth straight line module 22, the fourth straight line module 21 is connected with the twelfth straight line module 45, and a thirteenth straight line module 46 is transversely arranged on the lower side above the main body frame 44; the packing device comprises a first two-finger flexible self-adaptive clamping jaw 14, a second two-finger flexible self-adaptive clamping jaw 15, a first connecting plate 16, a third two-finger flexible self-adaptive clamping jaw 17, a fourth two-finger flexible self-adaptive clamping jaw 18, a second linear module 19, a third linear module 20, a first lifting rod 33, a second lifting rod 35, a third lifting rod 37, a seventh linear module 39, an eighth linear module 40 and a ninth linear module 41, wherein the two-finger flexible self-adaptive clamping jaw 14, the second two-finger flexible self-adaptive clamping jaw 15, the third two-finger flexible self-adaptive clamping jaw 17 and the fourth two-finger flexible self-adaptive clamping jaw 18 are arranged below the first connecting plate 16 in a surrounding mode, the first connecting plate 16 is connected with the second linear module 19, the second linear module 19 is connected with the third linear module 20, the third linear module 20 is connected with the thirteenth linear module 46, the seventh linear module 39, the eighth linear module 40 and the ninth linear module 41 are respectively arranged below the packing table 9, the third linear module 39 is arranged above the eighth linear module 37, the eighth linear module 40 is arranged above the first lifting rod 35.

The packaging robot further comprises an automatic adhesive tape packaging device, the automatic adhesive tape packaging device comprises an automatic adhesive tape packaging machine 24, a second connecting plate 25, a fifth straight line module 26 and a sixth straight line module 27, the automatic adhesive tape packaging machine 24 is connected with the fifth straight line module 26 through the second connecting plate 25, the fifth straight line module 26 is connected with the sixth straight line module 27, and the sixth straight line module 27 is connected with a thirteenth straight line module 46.

The packaging robot further comprises an input conveyor belt 28 and a two-dimensional code scanner 31, wherein the input conveyor belt 28 is arranged on the left side of the packaging table 9, the two-dimensional code scanner 31 is arranged on the conveyor belt 28, and a proximity switch sensor is integrated on the two-dimensional code scanner 31.

The packing robot still includes output conveyer belt 11 and automatic labeling machine 10 output conveyer belt 11 sets up on packing platform 9 right side, automatic labeling machine 10 sets up on output conveyer belt 11, the last integrated proximity switch sensor of automatic labeling machine 10.

The packing table 9 is provided with a first groove 32, a second groove 34, a third groove 36 and a fourth groove 38, wherein the first lifting rod 33 penetrates through the first groove 32, the second lifting rod 35 penetrates through the second groove 34, the third lifting rod 37 penetrates through the third groove 36, the fourth groove 38 is arranged right opposite to the first groove 32 and is positioned between the second groove 34 and the third groove 36, and the cloth is grabbed by the two-finger flexible self-adaptive clamping jaws 15 along the fourth groove 38, so that the cloth corner can be grabbed conveniently.

The first linear module 1, the second linear module 19, the third linear module 20, the fourth linear module 21, the fourteenth linear module 22, the fifth linear module 26, the sixth linear module 27, the seventh linear module 39, the eighth linear module 40, the ninth linear module 41, the tenth linear module 42, the eleventh linear module 43, the twelfth linear module 45 and the thirteenth linear module 46 all adopt the existing linear module structure capable of linearly moving.

The automatic labeling machine 10, the automatic tape wrapping machine 24 and the two-dimensional code scanner 31 all adopt the existing device structure.

Referring to figures 8, 9, 10 and 11,

the packing robot flow is as follows:

picking up the cloth;

a cloth placing and packing table appointed area;

scanning the instrument box to trace the two-dimensional code;

transporting the apparatus to be packaged from the input conveyor to a packaging station;

packaging;

packaging a sterilization indicator tape;

transferring the packages to be labeled to an output conveyor belt;

and (5) labeling.

The method comprises the following specific steps:

1) Pick-up cloth

Adjusting support 8 makes charging tray 7 be higher than packing platform 92cm to 3cm, charging tray 7 has the cloth of putting and instructs the wire frame, put the cloth to charging tray 7 instruction wire frame in, be the diagonal and place, first straight line module 1 drives cylinder 2, crossbeam 3, connecting rod 4, crotch 5, 6 movements of sucking disc 6 bottom surfaces to packing platform 9 surface 5cm to 6cm of sucking disc, 6 formation negative pressures of sucking disc suck up the one deck cloth, cylinder 2 is connected with crossbeam 3 and crotch 5, crotch 5 and connecting rod 4 are connected, form link mechanism, cylinder 2 extends to drive the crotch 5 movements afterwards, press from both sides the cloth between connecting rod 4 and crotch 5, sucking disc 6 still is in the negative pressure state and inhales the cloth.

Cloth placing and packing table specified area

The tenth and eleventh

linear modules

42 and 43 operate simultaneously to place the cloth in a designated area of the packing table 9. Repeating the above steps, and laying a layer of cloth.

2) Two-dimensional code is traceed back to scanning instrument box

The input conveyor belt 28 conveys the box 29 to be scanned to the two-dimensional code bar scanner 31, the two-dimensional code bar scanner 31 integrates a proximity switch sensor, the proximity switch detects the box 29 to be scanned, the two-dimensional code is traced back on the scanning box, after the scanning is successful, the box 30 to be packaged is formed, and the box is ready to be sent to the packaging table 9.

3) Transporting the apparatus to be packaged from the input conveyor to the packaging station

The sixth linear module 27 moves upward to make the automatic tape wrapping machine 24 away from the table top of the wrapping table 9, and the fifth linear module 26 moves to make the automatic tape wrapping machine 24 away from the four-finger parallel flexible self-adaptive clamping jaw 23 to avoid collision interference. Fourth straight line module 21, the cooperation motion of twelfth straight line module 45 send four fingers to input conveyer belt 28 side by side flexible self-adaptation clamping jaw 23, snatch and treat packing carton 30, and fourth straight line module 21, the motion of twelfth straight line module 45 will treat that packing carton 30 transports to packing platform 9 mesa cloth afterwards.

4) Package (I)

The fourth linear module 21 moves upward to make the four-finger parallel flexible self-adaptive clamping jaw 23 and the automatic tape packer 24 far away from the table surface of the packing table 9, and the twelfth linear module 45 moves to make the four-finger parallel flexible self-adaptive clamping jaw 23 and the automatic tape packer 24 stay above the input conveyor belt 28. The second straight line module 19 and the third straight line module 20 convey the first two-finger flexible self-adaptive clamping jaw 14, the second two-finger flexible self-adaptive clamping jaw 15, the third two-finger flexible self-adaptive clamping jaw 17 and the fourth two-finger flexible self-adaptive clamping jaw 18 to the table top of the packing table 9.

The eighth linear die set 40 moves upward to raise the first lift bar 33 to flap the cloth, the fourth and second two-finger flexible

adaptive jaws

18 and 15 grip the fold, the second and third linear die sets 19 and 20 move in concert to cover the cloth over the article, and the fold forming the flap is aligned with the cartridge edge, as shown in fig. 8.

The ninth linear module 41 moves upward to raise the second lift bar 35 to flap the cloth, the second linear module 19 and the third linear module 20 move to cover the third two finger flexible adaptive jaw 17 and the second two finger flexible adaptive jaw 15, the second linear module 19 and the third linear module 20 move in concert to cover the cloth over the article and to align the fold forming the flap with the cartridge edge, as shown in fig. 9.

The seventh linear module 39 moves upward to raise the third lift pins 37 to flap the cloth, the second linear module 19 and the third linear module 20 move to move the third two finger flexible adaptive jaw 17 and the second two finger flexible adaptive jaw 15, the second linear module 19 and the third linear module 20 cooperatively move to cover the cloth over the article and the fold forming the flap is aligned with the cartridge edge as shown in fig. 10.

Under the cooperative motion of the second linear die set 19 and the third linear die set 2, the second two-finger flexible adaptive clamping jaw 15 picks up the cloth along the fourth groove 38, and then covers the cloth on the article, as shown in fig. 11.

The second layer is packaged in the same manner.

5) Sterilization indicator tape package

The second linear module 19 and the third linear module 20 move to convey the first two-finger flexible self-adaptive clamping jaw 14, the second two-finger flexible self-adaptive clamping jaw 15, the third two-finger flexible self-adaptive clamping jaw 17 and the fourth two-finger flexible self-adaptive clamping jaw 18 to a far packing table away from the 9 table surface and to the upper space of the bag 13 to be sterilized.

The fourth linear module 21, the fourteenth linear module 22 and the twelfth linear module 45 move in a matched mode, the four-finger parallel flexible self-adaptive clamping jaw 23 is conveyed to the table surface of the packing table 9, and the package is grabbed. The coordinated movement of the fifth linear die set 26 and the sixth linear die set 27 causes the automatic tape dispenser 24 to seal the package with two strips of sterile adhesive tape, as shown in fig. 12.

6) Transferring the bag to be labeled to an output conveyor belt

The fourth linear module 21, the fourteenth linear module 22 and the twelfth linear module 45 move in a matching manner, and the packaged package 12 to be labeled is conveyed to the output conveyor belt 11.

7) Label pasting device

The automatic labeling machine 10 integrates a proximity switch sensor which detects the to-be-labeled package 12 and labels, and the labels are automatically generated according to the tracing two-dimensional codes of the scanning instrument box. As shown in fig. 13.

The present invention and the technical contents not specifically described in the above embodiments are the same as the prior art.

The above are only specific embodiments disclosed in the present invention, but the scope of the present invention is not limited thereto, and the scope of the present invention should be determined by the scope of the claims.

Claims

1. The utility model provides a disinfection supply center intelligence packing machine people which characterized in that: the packaging robot comprises a main body frame, a packaging table, a material picking and distributing device, a grabbing and conveying device and a packaging device, wherein the packaging table is arranged in the main body frame, a tenth straight line module and an eleventh straight line module are respectively arranged on the left side and the right side above the main body frame in parallel, the material picking and distributing device comprises a material tray, a first straight line module, an air cylinder, a cross beam, a connecting rod, a hook and a sucker, the cross beam is arranged on the first straight line module, the two ends of the air cylinder are respectively connected with the cross beam and the hook, the connecting rod is arranged below the cross beam, the hook is connected with the connecting rod, the sucker is arranged below the connecting rod, the material tray is arranged below the sucker, and the first straight line module is transversely arranged between the tenth straight line module and the eleventh straight line module; the grabbing and conveying device comprises a fourth straight line module, a fourteenth straight line module, four-finger parallel flexible self-adaptive clamping jaws and a twelfth straight line module, the twelfth straight line module is transversely arranged above the main body frame, the four-finger parallel flexible self-adaptive clamping jaws are connected with the fourth straight line module through the fourteenth straight line module, the fourth straight line module is connected with the twelfth straight line module, and a thirteenth straight line module is transversely arranged on the lower side above the main body frame; the packaging device comprises a first two-finger flexible self-adaptive clamping jaw, a second two-finger flexible self-adaptive clamping jaw, a first connecting plate, a third two-finger flexible self-adaptive clamping jaw, a fourth two-finger flexible self-adaptive clamping jaw, a second straight line module, a third straight line module, a first lifting rod, a second lifting rod, a third lifting rod, a seventh straight line module, an eighth straight line module and a ninth straight line module, wherein the first two-finger flexible self-adaptive clamping jaw, the second two-finger flexible self-adaptive clamping jaw, the third two-finger flexible self-adaptive clamping jaw and the fourth two-finger flexible self-adaptive clamping jaw are arranged below the first connecting plate in a surrounding mode, the first connecting plate is connected with the second straight line module, the second straight line module is connected with the third straight line module, the third straight line module is connected with the thirteenth straight line module, the seventh straight line module, the eighth straight line module and the ninth straight line module are arranged below the packaging table respectively, the third lifting rod is arranged above the seventh straight line module, the first lifting rod is arranged above the ninth straight line module.

2. The intelligent packaging robot of a disinfection supply center of claim 1, wherein: the material picking and distributing device further comprises a support, and the material tray is arranged on the support.

3. The intelligent packaging robot of a disinfection supply center of claim 1, wherein: the packaging robot further comprises an automatic adhesive tape packaging device, the automatic adhesive tape packaging device comprises an automatic adhesive tape packaging machine, a second connecting plate, a fifth straight line module and a sixth straight line module, the automatic adhesive tape packaging machine is connected with the fifth straight line module through the second connecting plate, the fifth straight line module is connected with the sixth straight line module, and the sixth straight line module is connected with the thirteenth straight line module.

4. The intelligent packaging robot of claim 3, wherein: the packing robot still includes input conveyer belt and two-dimensional code bar code scanner, the input conveyer belt sets up in packing platform left side, two-dimensional code bar code scanner sets up on the conveyer belt.

5. The intelligent packaging robot of claim 4, wherein: and a proximity switch sensor is integrated on the two-dimensional code scanner.

6. The intelligent packaging robot of claim 4, wherein: the packing robot still includes output conveyer belt and automatic labeling machine output conveyer belt sets up on the packing platform right side, automatic labeling machine sets up on output conveyer belt.

7. The intelligent packaging robot of claim 6, wherein: and a proximity switch sensor is integrated on the automatic labeling machine.

8. The sterilization supply center intelligent packaging robot according to any one of claims 1 to 7, wherein: the packaging table is provided with a first groove, a second groove and a third groove, the first lifting rod penetrates through the first groove, the second lifting rod penetrates through the second groove, and the third lifting rod penetrates through the third groove.

9. The intelligent packaging robot of claim 8, wherein: the packaging table is provided with a fourth groove, and the fourth groove is arranged right opposite to the first groove.