CN117163421B - Multi-arm cooperation intelligent packaging robot for disinfection supply center - Google Patents
Multi-arm cooperation intelligent packaging robot for disinfection supply center Download PDFInfo
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- CN117163421B CN117163421B CN202311451760.XA CN202311451760A CN117163421B CN 117163421 B CN117163421 B CN 117163421B CN 202311451760 A CN202311451760 A CN 202311451760A CN 117163421 B CN117163421 B CN 117163421B
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- 238000004659 sterilization and disinfection Methods 0.000 title claims abstract description 24
- 238000009450 smart packaging Methods 0.000 title claims abstract description 15
- 230000007246 mechanism Effects 0.000 claims abstract description 90
- 239000004745 nonwoven fabric Substances 0.000 claims abstract description 87
- 238000000034 method Methods 0.000 claims abstract description 24
- 230000009471 action Effects 0.000 claims abstract description 19
- 238000002372 labelling Methods 0.000 claims abstract description 18
- 238000004806 packaging method and process Methods 0.000 claims abstract description 16
- 230000001954 sterilising effect Effects 0.000 claims abstract description 12
- 239000004744 fabric Substances 0.000 claims description 109
- 230000000007 visual effect Effects 0.000 claims description 25
- 230000002457 bidirectional effect Effects 0.000 claims description 24
- 239000000463 material Substances 0.000 claims description 19
- 239000002390 adhesive tape Substances 0.000 claims description 11
- 238000003825 pressing Methods 0.000 claims description 11
- 238000001514 detection method Methods 0.000 claims description 10
- 230000008569 process Effects 0.000 claims description 7
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 6
- 239000011521 glass Substances 0.000 claims description 3
- 229910052742 iron Inorganic materials 0.000 claims description 3
- 210000003813 thumb Anatomy 0.000 claims description 3
- 230000005389 magnetism Effects 0.000 claims description 2
- 238000012856 packing Methods 0.000 abstract description 26
- 238000012858 packaging process Methods 0.000 abstract description 7
- 238000004140 cleaning Methods 0.000 abstract description 5
- 230000006870 function Effects 0.000 description 3
- 239000002184 metal Substances 0.000 description 3
- 229910052751 metal Inorganic materials 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 230000035800 maturation Effects 0.000 description 1
- 239000005022 packaging material Substances 0.000 description 1
- 210000000225 synapse Anatomy 0.000 description 1
- 239000002759 woven fabric Substances 0.000 description 1
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Abstract
The invention discloses a multi-arm cooperation intelligent packaging robot for a disinfection supply center, belongs to the technical field of medical appliances, and solves the problems of complex packaging process of disinfection objects, high labor intensity of operators and low efficiency in the prior art. The sterilizing tray comprises a main body frame, a cleaning tray cache table, a sterilizing tray cache table and an instrument basket, wherein a fixed support is arranged on the outer side of the main body frame, and a non-woven fabric feeding mechanism, a paper tape feeding mechanism, a label printer, a clamp cache frame, a workbench, a mechanical arm mechanism and a main control cabinet are arranged on the main body frame. According to the invention, three mechanical arms are mainly adopted to assist various special fixtures to mutually cooperate to complete the actions of packing, packaging and labeling, and the three mechanical arms mutually cooperate to complete the packing procedures, so that the non-woven fabric packing and folding actions and steps can be flexibly adjusted, and the method can adapt to the requirements of different packing modes.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a multi-arm cooperation intelligent packaging robot for a disinfection supply center.
Background
The current hospital disinfection supply center has entered the times of basic reasonable layout, advanced equipment, scientific management trend and basically controllable quality, but with the increasing scarcity of the current social labor force, the occurrence of the problems of gradually increasing labor cost and the like and the continuous maturation and application of the intelligent, automatic and other technologies, the labor cost is reduced by the intelligent equipment, the management efficiency is improved, the intelligent of the hospital disinfection supply center has been realized, and the realization of the intelligent packaging of the final sterilized articles is an important link in the intelligent disinfection supply center.
At present, a medical non-woven fabric is mostly adopted as a packaging material of a final sterilized article, but manual operation is still needed at present when the final sterilized article is packaged by using the medical non-woven fabric, most of the final sterilized articles are metal products and are basically loaded in a metal instrument basket, the quality and the size are large, the packaging process is complicated, the packaging quality is uneven due to the technical level problem of operators, and the operators are in contact with the final sterilized article in the packaging process, so that secondary pollution risks exist.
The application with the publication number of CN115196073A in the prior art discloses an intelligent packaging robot for a disinfection supply center, which comprises a main body frame, a packaging table, a 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 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, and the picking and distributing device comprises a bracket, a material tray, a first linear module, a cylinder, a cross beam, a connecting rod, a hook and a sucker; but it adopts single arm control and fixed point output, realizes the operation such as getting the material of non-woven fabrics, folding, the package, rubberizing through multiaxis straight line module cooperation special fixture, and is bulky, the flexibility is not enough.
The product can be according to the non-woven fabrics of the size automatic selection suitable size of the used apparatus basket of article of waiting to sterilize, carry out operations such as folding, the package, labeling, realize automatic packing to can put the apparatus package that the packing was accomplished to the assigned position, this product can effectively practice thrift the labour, improves packing efficiency and packaging quality, reduces operating personnel's intensity of labour, effectively avoids secondary pollution risk when manual operation.
Disclosure of Invention
The invention aims to provide a multi-arm cooperative intelligent packaging robot for a disinfection supply center, which solves the problems of complicated packaging process of sterilized articles, high labor intensity of operators and low efficiency in the prior art.
The invention is realized by the following technical scheme:
1. a multi-arm cooperation intelligent packing robot for disinfection supply center, includes main body frame, washs tray buffer memory platform, sterilization tray buffer memory platform and apparatus basket, its characterized in that: the main body frame is provided with a non-woven fabric feeding mechanism, a paper tape feeding mechanism, a label printer, a workbench, a mechanical arm mechanism and a main control cabinet; the mechanical arm mechanisms comprise a plurality of mechanical arm mechanisms, the mechanical arm mechanisms are arranged on the workbench, and the mechanical arm mechanisms are connected with a mechanical arm control box and a traveling system; each mechanical arm mechanism comprises a mechanical arm, a quick-change device and a working clamp, the mechanical arm is connected with the working clamp through the quick-change device to realize the switching of the working clamp, the quick-change device comprises a main disc and an auxiliary disc, the main disc and the auxiliary disc are connected and matched, the auxiliary disc is arranged on the working clamp, a motion detection mechanism is arranged between the main disc and the clamp and used for identifying whether the type of the working clamp connected with the main disc accords with the working process, and a visual identification guide system is arranged on the mechanical arm; the visual identification guide system is used for identifying the instrument basket and guiding each mechanical arm body to reach corresponding working positions; the workbench is provided with a clamping system, the clamping system comprises a plurality of clamping blocks and an electric actuator I, and the clamping blocks are connected with the electric actuator I through linkage blocks; the mechanical arm control box, the action detection mechanism, the visual identification guide system, the label printer and the bag clamping system are all connected to the total control cabinet.
Further, the clamping block comprises a cloth clamping block and a cloth collecting block, the clamping block is connected with an electric actuator I through a linkage block, and the electric actuator I is arranged below the fixed plate; the cloth collecting block is connected with a linkage block, and the linkage block is connected with an electric push rod. The clamping blocks are matched with the cloth collecting blocks, so that the instrument bags with different specifications can be clamped and fixed, the sterilized objects can be clamped by the bag clamping function, and the form position of the non-woven fabric can achieve an ideal packing effect.
Further, the workbench on be equipped with the fixed plate, press from both sides the package system and set up on the fixed plate, the material of fixed plate is glass, the material of clamp block is metallic iron, the material of linkage block is magnet, clamp block and linkage block are separated by fixed plate magnetism and are connected.
Further, the mechanical arm comprises a mechanical arm I, a mechanical arm II and a mechanical arm III, and the working procedures of taking medical non-woven fabrics, folding the non-woven fabrics, taking adhesive tapes, packaging and labeling are completed through the mutual cooperation of the mechanical arm I, the mechanical arm II and the mechanical arm III auxiliary working clamp. The mechanical arm adopts a six-degree-of-freedom mechanical arm. The three mechanical arms cooperate with each other to complete each packing procedure, and the non-woven fabric packing folding actions and steps are flexibly adjusted so as to adapt to different packing mode requirements.
Further, the working clamp comprises a cloth suction clamp, an instrument basket clamp, a long-side cloth folding clamp, a short-side cloth folding clamp, a paper adhesive tape clamp, a label clamp and a cloth pressing and inserting clamp; the device can automatically switch the tail end clamp of the mechanical arm according to the requirements of each step of working procedure.
Further, the paper adhesive tape clamp comprises an elastic piece and a fixed plate, wherein the elastic piece is connected with the fixed plate, a miniature vacuum generator is arranged on the fixed plate, and a paper adhesive tape suction nozzle is arranged on the miniature vacuum generator; the labeling fixture comprises a label suction nozzle which is connected with the auxiliary disc through a bracket; the cloth suction clamp comprises a thumb cylinder which is connected with the auxiliary disc through a bracket; the cloth pressing and inserting clamp comprises an inserting plate which is connected with the auxiliary disc through a bracket; the instrument basket clamp comprises a bidirectional cylinder, the bidirectional cylinder is connected with the auxiliary disc through a bracket, and a clamping plate is arranged on the bidirectional cylinder; the long-side cloth folding clamp comprises a bidirectional cylinder, the bidirectional cylinder is connected with the auxiliary disc through a bracket, and a long plate is arranged on the bidirectional cylinder; the short edge cloth folding clamp comprises a bidirectional cylinder, the bidirectional cylinder is connected with the auxiliary disc through a bracket, and a short plate is arranged on the bidirectional cylinder; the requirements of different procedures can automatically switch various special fixtures.
Further, the non-woven fabric feeding mechanism comprises a non-woven fabric material box and a stepping motor, wherein the non-woven fabric material box is provided with a plurality of non-woven fabric layers, and the non-woven fabric layers are respectively connected with the stepping motor through ball screws. Under the drive of the stepping motor, the automatic feeding system can stretch the non-woven fabric material box with the specified size to the cloth taking position according to the command of the whole machine dispatching system. The mechanical arm carries the corresponding cloth taking clamp to complete a series of actions such as automatic cloth suction, cloth clamping, automatic placement and the like.
Further, the paper tape feeding mechanism comprises an electric actuator III, a paper tape machine and a paper tape, wherein a paper tape clamp is arranged on the electric actuator III and is connected with one end of the paper tape, and the other end of the paper tape is connected in the paper tape machine; the paper tape feeding mechanism provides paper tape with proper size for the packaging process according to the requirement.
Further, the instrument basket is provided with a bar code label, the visual recognition guide system comprises a camera, the camera is matched with the bar code label, the camera is connected with a main control cabinet, and the main control cabinet is connected with a label printer; the device can automatically position the instrument basket and automatically identify bar code information through the visual identification guiding system, and is accurate and efficient.
Further, a valve island module is arranged between the compressed air source mechanism and the quick-change device, and comprises a common valve island and a holding type valve island which are connected in series; the air source is disconnected in advance when the clamp is replaced in a serial connection mode, so that air leakage and noise are avoided.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the invention, three mechanical arms are adopted to assist various special fixtures to mutually cooperate to complete the actions of packing, packaging and labeling, and the three mechanical arms mutually cooperate to complete the packing procedures, so that the non-woven fabric packing and folding actions and steps can be flexibly adjusted, and the method can adapt to the requirements of different packing modes.
2. The invention is provided with the multi-layer non-woven fabric material box, can automatically select non-woven fabrics with proper sizes according to the sizes of the instrument basket used for the articles to be sterilized, folds the non-woven fabrics, wraps the non-woven fabrics, realizes automatic packaging, and can put the packaged instrument bag to a designated position.
3. According to the invention, the mechanical arm can be intelligently guided to grasp the instrument basket or the packaged instrument bag to the appointed position through the visual identification guiding system, the automatic identification bar code information can be carried out through the visual identification guiding system, and the labeling operation is carried out through the cooperation of the mechanical arm and the clamp.
4. The invention is provided with the paper tape feeding mechanism, and the paper tape feeding mechanism is used for providing the paper tape with proper size for the packaging process according to the requirement.
5. The invention can effectively save labor force, improve packaging efficiency and packaging quality, reduce labor intensity of operators and effectively avoid secondary pollution risk during manual operation.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic view of the external structure of the present invention;
FIG. 3 is a front isometric view of the internal structure of the present invention;
FIG. 4 is a top view of the present invention;
FIG. 5 is a schematic view of the clamp position of the present invention;
FIG. 6 is a rear isometric view of the internal structure of the present invention;
FIG. 7 is a non-woven fabric feeding mechanism of the present invention;
fig. 8 is a paper tape feeding mechanism of the present invention.
In the figure: 1. a work table; 2. cleaning a tray cache table; 3. an instrument basket; 4. a sterilization tray cache table; 11. an outer cover; 12. a non-woven fabric feeding mechanism; 13. a bag clamping system; 14. a control screen; 15. a label printer; 16. a mechanical arm mechanism; 17. a clamp buffer storage rack; 18. a visual recognition guidance system; 19. a main body frame; 110. a mechanical arm control box; 111. a fixed bracket; 112. a clamp system; 113. a vision system control cabinet; 114. a paper tape feeding mechanism; 115. a fixing plate; 116. moving the roller; 117. a main control cabinet; 118. a nonwoven fabric; 121. a nonwoven fabric layer; 122. a nonwoven fabric material box; 123. a ball screw; 124. a coupling; 125. a stepping motor; 131. collecting a cloth piece I; 132. cloth clamping block I; 133. a cloth clamping block II; 134. collecting a cloth II; 135. collecting a cloth block III; 136. a cloth clamping block III; 137. a cloth clamping block IV; 138. collecting a cloth block IV; 161. a mechanical arm I; 162. a mechanical arm II; 163. a mechanical arm III; 171. the clamp cache rack I; 172. a clamp cache rack II; 1121. a paper adhesive tape clamp; 1122. a cloth suction clamp I; 1123. pressing and inserting a cloth clamp; 1124. a long-side cloth folding clamp; 1125. a cloth suction clamp II; 1126. labeling a clamp; 1127. an instrument basket clamp; 1128. a short edge cloth folding clamp; 1141. a paper tape machine; 1142. paper tape; 1143. paper tape clips; 1144. and an electric actuator III.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
Embodiment 1, a multi-arm cooperation intelligent packaging robot for a disinfection supply center, as shown in fig. 1-2, comprises a main body frame 19, a cleaning tray buffer table 2, a sterilization tray buffer table 4 and an instrument basket 3, wherein a fixed support 111 is arranged outside the main body frame 19, an outer cover 11 is arranged outside the fixed support 111, the outer cover 11 is connected with the fixed support 111 through screws, the fixed support 111 is fixed outside the main body frame 19 through screws, and a non-woven fabric feeding mechanism 12, a paper tape feeding mechanism 114, a label printer 15, a clamp buffer frame 17, a workbench 1, a mechanical arm mechanism 16 and a total control cabinet 117 are arranged on the main body frame 19; the mechanical arm mechanisms 16 are provided with a plurality of mechanical arm mechanisms 16, and the mechanical arm mechanisms 16 are connected with a mechanical arm control box 110, as shown in fig. 3, the mechanical arm control box 110 is fixed at the bottom of the main body frame 19 and used for controlling the action of the mechanical arm; the mechanical arm mechanism 16 comprises a mechanical arm, a quick-change device and a traveling system, wherein the quick-change device is connected with the compressed air source mechanism, the quick-change device comprises a main disc and an auxiliary disc, the main disc and the auxiliary disc are connected and matched, the auxiliary disc is arranged on a clamp, a motion detection mechanism is arranged between the main disc and a working clamp and is used for identifying whether the type of the working clamp connected with the main disc accords with the working process or not, and a visual identification guide system is arranged on the mechanical arm; the clamp buffer frame 17 is provided with a clamp system 112, the clamp system 112 consists of various special clamps, and is placed in the clamp buffer frame 17, and as shown in fig. 5, the clamp system is matched with a mechanical arm to finish the appointed action; the clamp buffer rack 17 comprises a clamp buffer rack I171 and a clamp buffer rack II 172, the clamp buffer rack I171 and the clamp buffer rack II 172 are fixed on two sides of the main body frame 19, the mechanical arm is provided with a visual identification guide system 18 for identifying the instrument basket 3 and guiding the mechanical arm to reach a designated position, the visual identification guide system 18 is connected with the total control cabinet 117 through a visual system control cabinet 113, and the visual system control cabinet 113 is placed at the bottom position of the main body frame 19; the workbench 1 is provided with a fixed plate 115, the fixed plate 115 is provided with a clamping system 13, the clamping system 13 comprises a plurality of clamping blocks and an electric actuator I, and the clamping blocks are respectively connected with the electric actuator through linkage blocks; the mechanical arm control box 110, the motion detection mechanism, the visual identification guide system 18, the label printer 15 and the bag clamping system 13 are all connected to a main control cabinet 117, and the main control cabinet 117 is fixed at the middle position of the rear part of the main body frame 19 through screws, as shown in fig. 6, and is used for installing various control components and connecting with a circuit; the main control cabinet 117 is connected with a control screen 14, and the control screen 14 is hung outside the front surface of the outer cover 11 through a hook and is used for controlling the robot; the moving rollers 116 are mounted at four corners of the bottom of the main body frame 19 by screws for supporting the main body frame 19, and can be used for moving the robot. The device can improve labor efficiency, reduce labor cost and avoid secondary pollution of manual operation to articles.
The end tool of the mechanical arm is a pneumatic tool, and the diversity of the functions of the working clamp is realized mainly by means of the replacement and the matching of the main disc and the auxiliary disc. The terminal clamp replacing system is characterized in that a main disc of a pneumatic quick-change device is arranged on a mechanical arm, and various types of pneumatic clamps are arranged on an auxiliary disc. When the mechanical arm needs to replace the working clamp, the original auxiliary disc is placed on the fixed station, and a new auxiliary disc is adsorbed. The main disc and the auxiliary disc are in one-to-many relation, and the same main disc can be matched with various auxiliary discs under the condition that the air source interface is sufficient. The main disk and the tool disk are connected through the action detection mechanism, the action detection mechanism comprises a hard link formed by synapses, the action detection components of the auxiliary disk are connected with the interface of the main disk, signals can be transmitted to the total control cabinet 117, the total control cabinet 117 can judge whether the currently used tool disk is correct according to different access signals, and whether the auxiliary disk action is correct can be detected through other interface connection.
Embodiment 2, a multi-arm collaborative intelligent packaging robot for a disinfection supply center, wherein a clamping block comprises a clamping block I132, a clamping block II 133, a clamping block III 136, a clamping block IV 137, a collecting block I131, a collecting block II 134, a collecting block III 135 and a collecting block IV 138, the four clamping blocks and the four collecting blocks are distributed on a fixed plate 115 in a matrix manner, the clamping block is connected with an electric actuator I through a linkage block, and the electric actuator I is arranged below the fixed plate 115; the cloth collecting block is connected with a linkage block, and the linkage block is connected with an electric push rod. The clamping blocks are matched with the cloth collecting blocks, so that the instrument bags with different specifications can be clamped and fixed, the sterilized objects can be clamped by the bag clamping function, and the shape and the position of the non-woven fabric 118 can achieve an ideal packing effect. The fixing plate 115 is made of glass, the clamping block is made of metal iron, the linkage block is made of magnet, and the clamping block and the linkage block are magnetically connected through the fixing plate 115. The fixed plate 115 is placed on top of the main body frame 19 to provide an isolated moving plane for the clamping and packing system 13 and also serves as a packing operation plane.
The action mechanism comprises an electric actuator II, the electric actuator II is connected with a mechanical arm, the mechanical arm is connected with a clamp through a quick-change device, the mechanical arm comprises a left mechanical arm, a right mechanical arm and a middle mechanical arm, the left mechanical arm, the right mechanical arm and the middle mechanical arm are respectively fixed on the left side, the right side and the middle rear side of the main body frame 19, the mechanical arm can move to a designated position to achieve various actions in cooperation with the electric actuator II, and the mechanical arm adopts a six-degree-of-freedom mechanical arm. The three mechanical arms cooperate with each other to complete each packing procedure, and the packing folding actions and steps of the non-woven fabric 118 are flexibly adjusted so as to adapt to the requirements of different packing modes;
the working jigs comprise a cloth suction jig, an instrument basket jig 1127, a long-side cloth folding jig 1124, a short-side cloth folding jig 1128, a paper tape jig 1121, a labeling jig 1126 and a cloth pressing jig 1123, as shown in fig. 5; the device can automatically switch the tail end clamp of the mechanical arm according to the requirements of each step of procedure, and the cloth suction clamp comprises a cloth suction clamp I1122 and a cloth suction clamp II 1125.
The paper adhesive tape clamp 1121 comprises an elastic piece and a fixed plate 115, wherein the elastic piece is connected with the fixed plate 115, a miniature vacuum generator is arranged on the fixed plate 115, and a paper adhesive tape 1142 suction nozzle is arranged on the miniature vacuum generator; the labeling fixture 1126 comprises a label suction nozzle connected to the auxiliary disk via a bracket; the cloth suction clamp comprises a thumb cylinder which is connected with the auxiliary disc through a bracket; the cloth pressing and inserting clamp 1123 comprises an inserting plate which is connected with the auxiliary disc through a bracket; the instrument basket clamp 1127 comprises a bidirectional cylinder, the bidirectional cylinder is connected with the auxiliary disc through a bracket, and a clamping plate is arranged on the bidirectional cylinder; the long-side cloth folding clamp 1124 comprises a bidirectional cylinder, the bidirectional cylinder is connected with the auxiliary disc through a bracket, and a long plate is arranged on the bidirectional cylinder; the short edge cloth folding clamp 1128 comprises a bidirectional cylinder, the bidirectional cylinder is connected with the auxiliary disc through a bracket, and a short plate is arranged on the bidirectional cylinder; the requirements of different procedures can automatically switch various special fixtures.
The nonwoven fabric feeding mechanism 12 comprises a nonwoven fabric material box 122 and a stepping motor 125, as shown in fig. 7, the nonwoven fabric material box 122 is provided with four nonwoven fabric layers 121, each nonwoven fabric layer 121 is connected with the stepping motor 125 through a ball screw 123, and a coupler 124 is arranged between the stepping motor 125 and the ball screw 123. The non-woven fabric feeding mechanism 12 of the medical non-woven fabric 118 is fixed at the middle position of the main body frame 19 through screws, the medical non-woven fabric 118 is stored and provided for a robot, and the automatic feeding system can stretch the non-woven fabric material box 122 with the specified size to the cloth taking position according to the command of the whole machine dispatching system under the drive of the stepping motor 125. The mechanical arm carries the corresponding cloth taking clamp to complete a series of actions such as automatic cloth suction, cloth clamping, automatic placement and the like.
The paper tape feeding mechanism 114 comprises an electric actuator III 1144, a paper tape machine 1141 and a paper tape 1142, as shown in FIG. 8, a paper tape clamp 1143 is arranged on the electric actuator III 1144, the paper tape clamp 1143 is connected with one end of the paper tape 1142, and the other end of the paper tape 1142 is connected in the paper tape machine 1141; the paper tape feeding mechanism 114 is fixed to the side of the main body frame 19 by screws for storing and feeding a paper tape 1142 of a suitable size.
The instrument basket 3 is provided with a bar code label, the visual identification guide system 18 comprises a camera, the camera is matched with the bar code label, the camera is connected with a main control cabinet 117, the main control cabinet 117 is connected with a label printer 15, and the label printer 15 is fixed on the left side of the outer cover 11 through a bottom connecting plate; the device can automatically position the instrument basket 3 and automatically identify bar code information through the visual identification guide system 18, and is accurate and efficient.
A valve island module is arranged between the compressed air source mechanism and the quick-change device, and comprises a common valve island and a holding type valve island which are connected in series; the air source is disconnected in advance when the clamp is replaced in a serial connection mode, so that air leakage and noise are avoided.
The other steps are the same as in example 1.
When the instrument basket 3 is placed on the cleaning tray buffer table 2, the visual recognition guide system 18 fixed at the tail end of the mechanical arm III 163 on the mechanical arm mechanism 16 can automatically recognize the type of the instrument basket 3, the robot control system can send out instructions according to the recognition result to instruct the non-woven fabric layer 121 filled with the medical non-woven fabric 118 with proper size to stretch out, then the mechanical arm I161 and the mechanical arm II 162 automatically judge the type of the clamp at the tail end of the mechanical arm, if the clamps at the tail end of the mechanical arm I161 and the mechanical arm II 162 are not the cloth suction clamp I1122 and the cloth suction clamp II 1125 at the moment, the electric actuators I of the mechanical arm I161 and the mechanical arm II 162 drive the clamps to move to the sides of the clamp buffer frame I171 and the clamp buffer frame II 172, the two mechanical arms respectively and automatically switch the clamps to be the cloth suction clamp I1122 and the cloth suction clamp II 1125, if the end clamps of the mechanical arm i 161 and the mechanical arm ii 162 are the suction clamp cloth clamp i 1122 and the suction clamp cloth clamp ii 1125, respectively, the mechanical arm i 161 and the mechanical arm ii 162 automatically move to the extending side of the nonwoven fabric layer 121, then the mechanical arm acts to enable the two mechanical arm end suction clamp cloth clamp i 1122 and the suction clamp cloth clamp ii 1125 to reach the designated positions, the suction clamp cloth clamp i 1122 and the suction clamp cloth clamp ii 1125 firstly suck the nonwoven fabric 118 at the same time, then the air clamp acts to clamp the nonwoven fabric 118, then the mechanical arm i 161 and the mechanical arm ii 162 move by the electric actuator i to drive the mechanical arm and the non-woven fabric 118 clamped at the end to reach the designated positions, and then the air clamps of the suction clamp cloth clamp i 1122 and the suction clamp cloth clamp ii 1125 are simultaneously released, so that the non-woven fabric 118 is placed at the center position of the workbench 1, as shown in fig. 4, and the material taking and placing process of the specific medical non-woven fabric 118 is completed.
Automatically positioning the instrument basket 3 and taking the instrument basket 3: when the instrument basket 3 is placed on the cleaning tray buffer table 2, the visual recognition guide system 18 fixed at the tail end of the mechanical arm III 163 on the mechanical arm mechanism 16 can automatically position the position of the instrument basket 3, meanwhile, the mechanical arm III 163 of the mechanical arm mechanism 16 can automatically judge whether the tail end clamp is the instrument basket clamp 1127 or not, if not, the electric actuator I of the mechanical arm mechanism 16 drives the clamp to move to the side of the clamp buffer frame II 172, the mechanical arm III 163 automatically switches the clamp to be the instrument basket clamp 1127, then the robot control system can send the position information of the instrument basket 3 to the mechanical arm mechanism 16, the mechanical arm III 163 of the mechanical arm mechanism 16 drives the tail end instrument basket clamp 1127 to a position right above the instrument basket 3, the clamp plate of the instrument basket clamp 1127 is opened, the mechanical arm drives the tail end instrument basket clamp 1127 to descend to a certain position, the clamp plate of the instrument basket clamp 1127 is closed, the instrument basket 3 is clamped, and then the mechanical arm III of the mechanical arm 16 drives the mechanical arm 163 to place the clamp the instrument basket clamp to the center position of the non-woven fabric 118 on the workbench 1, as shown in fig. 7, and the procedure of taking and placing the instrument basket 3 is completed.
Packaging procedure of the first layer medical nonwoven fabric 118: the electric actuator I of the mechanical arm mechanism 16 drives the mechanical arm III 163 to move to the side edge of the clamp buffer frame II 172, the mechanical arm III 163 automatically places the tail end appliance basket clamp 1127 on the clamp buffer frame II 172, then the electric actuator I of the mechanical arm mechanism 16 drives the mechanical arm III 163 to move to the middle position, the tail end of the mechanical arm III automatically moves to the position of the long-edge folding clamp 1124 and then automatically combines the two, then the mechanical arm mechanism 16 drives the tail end long-edge folding clamp 1124 to move to the right side edge position of the non-woven fabric 118, as shown in figure 4, the clamping edge of the long-edge folding clamp 1124 is inserted into the bottom of the medical non-woven fabric 118, the clamping edge is closed to clamp the medical non-woven fabric 118, the mechanical arm III 163 pulls up the right medical non-woven fabric 118, the pulling-up side of the medical non-woven fabric 118 is ensured to be attached to the right long edge of the appliance basket 3, meanwhile, the cloth collecting blocks I131, I132, II 133 and II 134 of the clamping and packing system 13 move towards the right long side edge of the instrument basket 3 at the same time along the linkage blocks on the electric actuator at the bottom of the clamping and packing system 13 under the traction of magnetic force through the fixing blocks, when the cloth collecting blocks I132 and II 133 move to the two right long side edge end parts of the instrument basket 3, the movement is stopped, the cloth clamping and packing operation is carried out, then the electric actuator I of the mechanical arm mechanism 16 drives the mechanical arm III 163 part to move to the appointed position, the long side folding clamp 1124 of the tail end of the mechanical arm mechanism 16 folds the medical non-woven fabric 118 under the action of the mechanical arm III 163, meanwhile, the mechanical arm I161 of the mechanical arm mechanism 16 automatically switches the clamp to press the cloth clamp 1123, then the mechanical arm I161 of the mechanical arm mechanism 16 drives the tail end to press the medical non-woven fabric 118 after the cloth clamp 1123, then the long side folding clamp 1124 of the tail end of the mechanical arm III 16 folds the medical non-woven fabric 118, finishing the cloth folding operation of the right long side edge of the instrument basket 3;
then the long-side cloth folding clamp 1124 at the tail end of the mechanical arm III 163 of the mechanical arm mechanism 16 moves to the left side edge position of the medical non-woven fabric 118, as shown in fig. 7, the clamping edge of the long-side cloth folding clamp 1124 is inserted into the bottom of the medical non-woven fabric 118, then the clamping edge is closed to clamp the medical non-woven fabric 118, the mechanical arm III 163 pulls up the left medical non-woven fabric 118 to ensure that the pulling-up side of the medical non-woven fabric 118 is attached to the left side long side of the instrument basket 3, simultaneously the cloth folding block III 135, the cloth clamping block III 136, the cloth clamping block IV 137 and the cloth folding block IV 138 of the clamping system 13 are pulled by magnetic force through a fixed block to follow a linkage block on an electric actuator at the bottom of the clamping system 13, and simultaneously move to the left long side edge position of the instrument basket 3, when the cloth clamping block III 136 and the cloth clamping block IV 137 move to the two ends of the left long side of the instrument basket 3, the electric actuator I of the mechanical arm 16 drives the mechanical arm III to move to the designated position, the long-side cloth folding clamp 1124 of the medical non-woven fabric 118 is attached to the tail end of the mechanical arm 163, and simultaneously the mechanical arm I of the mechanical arm 16 drives the mechanical arm I to drive the mechanical arm 163 to move to the designated position, and the long-side non-woven fabric clamp 1124 is pushed up the long-folded end of the medical non-woven fabric 118, and the long-woven fabric clamp 1124 is folded by the long-side cloth clamping device is pushed by the mechanical arm I, and the mechanical arm I is pushed to clamp 1123, and the long-folded end of the medical non-fabric clamp fabric is folded;
then the cloth collecting block I131, the cloth collecting block II 134, the cloth collecting block III 135 and the cloth collecting block IV 138 move to the middle position simultaneously along the linkage block on the electric push rod at the bottom of the clamping and packing system 13 under the traction of magnetic force through the fixing block, and the cloth collecting at the upper short side and the lower short side of the instrument basket 3 is completed;
then the mechanical arm I161 of the mechanical arm mechanism 16 drives the end cloth pressing and inserting clamp 1123 to lift, then moves to the position of the short edge on the upper side of the instrument basket 3 to be vertically inserted, the electric actuator I of the mechanical arm II 162 of the mechanical arm mechanism 16 drives the mechanical arm II to move to the side edge of the clamp buffer frame II 172, the mechanical arm II 162 automatically changes the end clamp into a short edge cloth folding clamp 1128, then moves to the position of the short edge of the upper side of the instrument basket 3, inserts the lower clamping edge of the short edge cloth folding clamp 1128 into the bottom of the medical non-woven fabric 118, then is closed, and then the mechanical arm II 162 of the mechanical arm mechanism 16 drives the short edge cloth folding clamp 1128 of the mechanical arm end to clamp the medical non-woven fabric 118 to lift first and then move downwards to carry out cloth folding operation, so as to complete the short edge cloth folding operation on the instrument basket 3;
the mechanical arm I161 of the mechanical arm mechanism 16 drives the end cloth pressing and inserting clamp 1123 to lift, then moves to the short edge of the lower side of the instrument basket 3 to be inserted in the vertical direction, the mechanical arm II 162 of the mechanical arm mechanism 16 moves to the short edge of the lower side of the instrument basket 3, the lower clamping edge of the short edge cloth folding clamp 1128 is inserted into the bottom of the medical non-woven fabric 118, then the mechanical arm I161 of the mechanical arm mechanism 16 is closed, then the mechanical arm II 162 of the mechanical arm mechanism 16 drives the mechanical arm end short edge cloth folding clamp 1128 to clamp the medical non-woven fabric 118 to lift first and then move upwards to carry out cloth folding operation, and the short edge cloth folding operation of the lower side of the instrument basket 3 is completed.
Packaging procedure of the second layer medical non-woven fabric 118: the electric actuator I of the mechanical arm mechanism 16 drives the mechanical arm III 163 to move to the middle position, the long-edge folding clamp 1124 at the tail end of the mechanical arm is put back to the initial position, then the electric actuator I of the mechanical arm mechanism 16 drives the mechanical arm III 163 to move to the side edge of the clamp buffer frame II 172, the mechanical arm automatically changes the tail end clamp into the instrument basket clamp 1127, then the electric actuator I of the mechanical arm mechanism 16 drives the mechanical arm III 163 to move to the middle position, then the visual identification guiding system 18 automatically positions the current instrument bag to guide the mechanical arm to move to the position right above, the instrument basket clamp 1127 at the tail end of the mechanical arm acts to clamp and lift the instrument bag to a certain height, and then the operations of feeding, folding and the like of the medical non-woven fabric 118 are repeated to finish two-layer packaging of the non-woven fabric 118.
When the packaging process needs to be performed: the electric actuator i of the mechanical arm i 161 of the mechanical arm mechanism 16 drives the mechanical arm i to move to the side of the clamp buffer frame i 171, the mechanical arm automatically replaces the tail end clamp with the paper tape clamp 1121, then moves to the upper side of the paper tape feeding mechanism 114, meanwhile, the electric actuator iii 1144 drives the paper tape clamp 1143 to the front end position of the paper tape machine 1141 to clamp the paper tape 1142, then moves backwards to pull the paper tape 1142 out of a designated length, then the mechanical arm tail end paper tape clamp 1121 on the mechanical arm i 161 of the mechanical arm mechanism 16 sucks the paper tape 1142, then the paper tape machine 1141 cuts off the paper tape 1142, meanwhile, the paper tape clamp 1143 releases the paper tape 1142, then the mechanical arm i 161 of the mechanical arm mechanism 16 drives the tail end paper tape clamp 1121 to the upper side of the designated position of the instrument basket 3, and then presses down, the paper tape 1142 is attached to the folded medical non-woven fabric 118 by the pressure provided by the spring in the paper tape clamp 1121, and the steps are repeated twice, so as to complete the packaging procedure.
Labeling: when the visual recognition guide system 18 automatically recognizes the type of the instrument basket 3, the barcode information in the instrument basket 3 is scanned at the same time, and the acquired information is sent to the label printer 15, and the label printer 15 automatically prints labels according to the instructions; when the labeling process is performed, the electric actuator i of the mechanical arm ii 162 of the mechanical arm mechanism 16 drives the mechanical arm ii 162 to move to the side edge of the clamp buffer frame ii 172, the mechanical arm ii 162 automatically changes the terminal clamp thereof to the labeling clamp 1126, then moves to the label outlet of the label printer 15, the labeling clamp 1126 at the terminal of the mechanical arm ii 162 of the mechanical arm mechanism 16 adsorbs the label, and then the mechanical arm ii 162 of the mechanical arm mechanism 16 moves the labeling clamp 1126 at the terminal of the mechanical arm thereof, and the label is attached to the middle position of the instrument package, thereby completing the labeling process.
Picking and placing the instrument package procedure: after the left long side cloth folding and the right long side cloth folding are completed, the electric actuator I of the mechanical arm mechanism 16 drives the mechanical arm III 163 to move to the middle position, the long side cloth folding clamp 1124 at the tail end of the mechanical arm III 163 is placed back to the initial position, then the electric actuator I of the mechanical arm mechanism 16 drives the mechanical arm III 163 to move to the side of the clamp buffer frame II 172, the mechanical arm III 163 automatically replaces the tail end clamp of the mechanical arm III with the instrument basket clamp 1127, then the electric actuator I of the mechanical arm mechanism 16 drives the mechanical arm III 163 to move to the middle position, then the visual recognition guide system 18 automatically positions the instrument bag to guide the mechanical arm to move to the right above, the mechanical arm tail end instrument basket clamp 1127 acts to clamp the instrument bag, then the mechanical arm mechanism 16 moves to the designated position, and the mechanical arm of the mechanical arm clamps the packaged instrument bag in the sterilization tray buffer frame 4, and the instrument bag picking and placing process is completed.
Claims (6)
1. A multi-arm cooperation intelligent packaging robot for disinfection supply center, includes main body frame (19), washs tray buffer memory platform (2), sterilization tray buffer memory platform (4) and apparatus basket (3), its characterized in that: the main body frame (19) is provided with a non-woven fabric feeding mechanism (12), a paper tape feeding mechanism (114), a label printer (15), a workbench (1), a mechanical arm mechanism (16) and a total control cabinet (117); the mechanical arm mechanism (16) is arranged on the workbench (1), and the mechanical arm mechanism (16) is connected with a mechanical arm control box (110) and a traveling system; the mechanical arm mechanism (16) comprises a mechanical arm, a quick-change device and a working clamp, the mechanical arm is connected with the working clamp through the quick-change device to realize the switching of the working clamp, the quick-change device is connected with a compressed air source mechanism, the quick-change device comprises a main disc and an auxiliary disc, the main disc is connected and matched with the auxiliary disc, the auxiliary disc is arranged on the working clamp, a motion detection mechanism is arranged between the main disc and the clamp, and the motion detection mechanism is used for identifying whether the type of the working clamp connected with the main disc accords with the working process; the mechanical arm comprises a mechanical arm I (161), a mechanical arm II (162) and a mechanical arm III (163), and the working procedures of taking medical non-woven fabrics, folding the non-woven fabrics, taking adhesive tapes, packaging and labeling are finished through the mutual cooperation of the mechanical arm I (161), the mechanical arm II (162) and the mechanical arm III (163) auxiliary working clamp; the working clamp comprises a cloth suction clamp, an instrument basket clamp (1127), a long-side cloth folding clamp (1124), a short-side cloth folding clamp (1128), a paper adhesive tape clamp (1121), a labeling clamp (1126) and a cloth pressing and inserting clamp (1123);
the tail end of the mechanical arm III (163) is automatically combined after moving to the position of the long-side folding clamp (1124), the mechanical arm III (163) drives the tail end long-side folding clamp (1124) to move to the right side position of the medical non-woven fabric (118), the mechanical arm III (163) moves to a designated position after pulling up the right-side medical non-woven fabric (118), the tail end long-side folding clamp (1124) of the mechanical arm III (163) folds the medical non-woven fabric (118) under the action of the mechanical arm III (163), meanwhile, the mechanical arm I (161) automatically switches the clamp to be a cloth pressing clamp (1123), the mechanical arm I (161) drives the tail end cloth pressing clamp (1123) to press the folded medical non-woven fabric (118), the clamp edge of the tail end long-side folding clamp (1124) of the mechanical arm III (1124) loosens the medical non-woven fabric (118) to finish the right long-side folding operation of the instrument basket (3), and then the tail end long-side folding clamp (1124) of the mechanical arm III (163) moves to the left side position of the medical non-woven fabric (118) to finish the left long-side folding operation of the instrument basket (3); the mechanical arm II (162) automatically changes the tail end clamp into a short side cloth folding clamp (1128), then moves to the short side of the upper side of the instrument basket (3), and the mechanical arm II (162) drives the short side cloth folding clamp (1128) to finish the operation of folding the short side of the upper side of the instrument basket (3); then the mechanical arm II (162) moves to the short side of the lower side of the instrument basket (3) to finish the folding operation of the short side of the lower side of the instrument basket (3);
the mechanical arm is provided with a visual identification guide system (18); the visual recognition guide system (18) is used for recognizing the instrument basket (3) and guiding each mechanical arm body to reach corresponding working positions; the workbench (1) is provided with a clamping system (13), the clamping system (13) comprises a plurality of clamping blocks and an electric actuator I, the clamping blocks comprise cloth clamping blocks and cloth collecting blocks, the clamping blocks are connected with the electric actuator I through linkage blocks, and the electric actuator I is arranged below the fixed plate (115); the mechanical arm control box (110), the motion detection mechanism, the visual identification guide system (18), the label printer (15) and the bag clamping system (13) are all connected to the total control cabinet (117); the non-woven fabric feeding mechanism (12) comprises a non-woven fabric material box (122) and a stepping motor (125), wherein the non-woven fabric material box (122) is provided with a plurality of non-woven fabric layers (121), and the non-woven fabric layers (121) are respectively connected with the stepping motor (125) through ball screws (123).
2. The multi-arm collaborative intelligent packaging robot for a sterilization supply center according to claim 1, wherein: the workbench on be equipped with fixed plate (115), press from both sides package system (13) and set up on fixed plate (115), the material of fixed plate (115) is glass, the material of clamp block is metallic iron, the material of linkage block is magnet, clamp block and linkage block are separated fixed plate (115) magnetism and are connected.
3. The multi-arm collaborative intelligent packaging robot for a sterilization supply center according to claim 1, wherein: the paper adhesive tape clamp (1121) comprises an elastic piece and a fixed plate (115), wherein the elastic piece is connected with the fixed plate (115), a miniature vacuum generator is arranged on the fixed plate (115), and a paper adhesive tape (1142) suction nozzle is arranged on the miniature vacuum generator; the cloth suction clamp comprises a thumb cylinder; the labeling fixture (1126) includes a label suction nozzle; the cloth pressing and inserting clamp (1123) comprises an inserting plate; the fixture of the instrument basket (3) comprises a bidirectional cylinder, and a clamping plate is arranged on the bidirectional cylinder; the long-side cloth folding clamp (1124) comprises a bidirectional cylinder, and a long plate is arranged on the bidirectional cylinder; the short edge cloth folding clamp (1128) comprises a bidirectional cylinder, and a short plate is arranged on the bidirectional cylinder.
4. The multi-arm collaborative intelligent packaging robot for a sterilization supply center according to claim 1, wherein: the paper tape feeding mechanism (114) comprises an electric actuator III (1144), a paper tape machine (1141) and a paper tape (1142), wherein a paper tape clamp (1143) is arranged on the electric actuator III (1144), the paper tape clamp (1143) is connected with one end of the paper tape (1142), and the other end of the paper tape (1142) is connected in the paper tape machine (1141).
5. The multi-arm collaborative intelligent packaging robot for a sterilization supply center according to claim 1, wherein: the instrument basket (3) is provided with a bar code label, the visual recognition guide system (18) comprises a camera, the camera is matched with the bar code label, the camera is connected with a main control cabinet (117), and the main control cabinet (117) is connected with a label printer (15).
6. The multi-arm collaborative intelligent packaging robot for a sterilization supply center according to claim 1, wherein: and a valve island module is arranged between the compressed air source mechanism and the quick-change device, and comprises a common valve island and a holding type valve island which are connected in series.
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