CN206288685U - Robot gripper and go out stockline using the medical bed of the robot gripper - Google Patents
Robot gripper and go out stockline using the medical bed of the robot gripper Download PDFInfo
- Publication number
- CN206288685U CN206288685U CN201621264593.3U CN201621264593U CN206288685U CN 206288685 U CN206288685 U CN 206288685U CN 201621264593 U CN201621264593 U CN 201621264593U CN 206288685 U CN206288685 U CN 206288685U
- Authority
- CN
- China
- Prior art keywords
- robot gripper
- station
- support
- medical bed
- streamline
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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- Accommodation For Nursing Or Treatment Tables (AREA)
Abstract
The utility model provides robot gripper.The robot gripper includes the support that six-joint robot and the six-joint robot are connected, rotary cylinder, lift cylinder, sucking disc mechanism, Gou Chuan mechanisms and hydraulic machine, the sucking disc mechanism and the lift cylinder drive connection that are arranged on the support, the Gou Chuan mechanisms and the rotary cylinder drive connection；The utility model additionally provides a kind of medical bed of the application robot gripper and goes out stockline.The utility model closes on the piling station and the robot gripper for capturing the medical bed and the packing case for setting by station turning and the packing station that the packing station and the streamline of the feed station and the streamline end on and tool packing case that set streamline, assemble the medical bed for completing located at the streamline initiating terminal and for carrying close on setting, realize the self-emptying of medical bed, assembly space is saved, manual labor's intensity is effectively reduced, production efficiency is improve.
Description
【Technical field】
The utility model is related to medical hospital bed packaging field, and in particular to a kind of robot gripper and grabbed using the robot
The medical bed of hand goes out stockline.
【Background technology】
At present, during medical bed discharging, generally using manually installed bedstead part, then case, pack, assembled
Journey is complicated, assembling speed is slow, and hand labor intensity is big, and efficiency is low.
Therefore, it is necessary to provide a kind of robot gripper and go out stockline using the medical bed of the robot gripper.
【Utility model content】
The purpose of this utility model is that a kind of robot gripper that efficiency of assembling is high, labour intensity is small of offer and application should
The medical bed of robot gripper goes out stockline.
The technical solution of the utility model is as follows：The robot gripper includes six-joint robot and the six axles machine
The support of people's connection, the rotary cylinder being arranged on the support, lift cylinder, sucking disc mechanism, Gou Chuan mechanisms and hydraulic machine,
The sucking disc mechanism and the lift cylinder drive connection, the Gou Chuan mechanisms and the rotary cylinder drive connection.
Preferably, the Gou Chuan mechanisms include being symmetrically set in some hooks bed bar of the support both sides, the hook bed bar
Bottom includes L-type kink.
Preferably, the quantity of hook bed bar of the support per side is three.
Preferably, the sucking disc mechanism includes being symmetrically set in the support bar of the support both sides and located at the support bar bottom
Some suckers in portion.
Preferably, the sucker quantity of each support bar bottom is eight.
Preferably, the hydraulic machine includes the pressing plate and and the push rod drive connection of push rod and push rod connection
Push rod cylinder, the push rod is hinged with the support.
Preferably, located at the middle part of the support, the sucking disc mechanism is symmetrically set in the press machine to the hydraulic machine
Structure both sides, the Gou Chuan mechanisms are symmetrically set in both sides of the sucking disc mechanism away from the hydraulic machine.
The medical bed goes out stockline including streamline, located at the streamline initiating terminal and for carrying the doctor that assembling is completed
The packing station and the streamline of the feed station and the streamline end on and tool packing case for the treatment of bed close on setting
Station turning and the packing station close on the piling station and above-mentioned robot gripper of setting, the robot gripper
For capturing the medical bed and the packing case.
The beneficial effects of the utility model are：Medical bed of the present utility model goes out stockline, by setting streamline, being located at
The streamline initiating terminal and feed station and the streamline end on and tool for carrying the medical bed that assembling is completed
The packing station of packing case and the streamline close on the station turning of setting and the station of packing closes on the stacking of setting
Station and the robot gripper for capturing the medical bed and the packing case, realize the self-emptying of medical bed, save
Assembly space, effectively reduces manual labor's intensity, improves production efficiency.
【Brief description of the drawings】
Fig. 1 is the top view that the utility model medical bed goes out stockline；
Fig. 2 is the three-dimensional structure diagram of robot gripper shown in Fig. 1.
【Specific embodiment】
The utility model is described in further detail with implementation method below in conjunction with the accompanying drawings.
Fig. 1 and Fig. 2 is please referred to, wherein, Fig. 1 is the top view that the utility model medical bed goes out stockline；Fig. 2 is Fig. 1
The three-dimensional structure diagram of shown robot gripper.The medical bed goes out stockline 100 including streamline 1, located at the starting of the streamline 1
End and the packing for carrying the feed station 2 and the end on of the streamline 1 and tool packing case of the medical bed that assembling is completed
The station turning 4 and the packing station 3 that station 3 and the streamline 1 close on setting close on the piling station 5 of setting and use
In the robot gripper 6 for capturing the medical bed and the packing case.
The robot gripper 6 includes the support 62 that six-joint robot 61 and the six-joint robot 61 connect, is arranged at
Rotary cylinder 63, lift cylinder 64, sucking disc mechanism 66, Gou Chuan mechanisms 67 and hydraulic machine 68 on the support 62, the suction
Disc mechanism 66 and the drive connection of the lift cylinder 64, the Gou Chuan mechanisms 67 and the drive connection of the rotary cylinder 63.
In the present embodiment, located at the middle part of the support 62, the sucking disc mechanism 66 symmetrically sets the hydraulic machine 68
In the both sides of the hydraulic machine 68, the Gou Chuan mechanisms 67 are symmetrically set in the sucking disc mechanism 66 away from the hydraulic machine 68
Both sides.
Specifically, the hydraulic machine 68 be located at the bottom center of the support 62, it include push rod 681 and with the push rod
The push rod cylinder 682 of 681 drive connections, the push rod 681 is hinged with the support 62.
The sucking disc mechanism 66 includes positioned at the bottom of the support 62 and is symmetrically set in the branch of the both sides of the hydraulic machine 68
Strut 661 and some suckers 662 located at the bottom of the support bar 661, the sucker 662 of each bottom of the support bar 661
Quantity is eight.
The Gou Chuan mechanisms 67 include being located at the bottom of the support 62, and are symmetrically set in the sucking disc mechanism 66 away from described
Some hooks bed bar 671 of the both sides of hydraulic machine 68, the bottom of the hook bed bar 671 bends including L-type；Hook bed described in per side
The quantity of bar 671 is three.
The invention also discloses the method for work that above-mentioned medical bed goes out stockline, including：
First, the medical bed that will be assembled is positioned over the feed station 2, and the robot gripper 6 picks up medical bed
And the station turning 4 is put into, the station turning 4 completes upset operation；
Then, the robot gripper 6 picks up the initiating terminal of the medical bed to the streamline 2, the flowing water again
Line 2 starts, and the medical bed is delivered in the packing case with the packing station 3 of the end on of the streamline 2；
Finally, the packing station 3 completes packaging process of the packing case to the medical bed, the robot gripper
6 pick up the packing case of completion packaging and inside with medical bed and are put into station 5 described in stacking.
The method that medical bed is picked up and be put into the station turning 4 by the robot gripper 6, including：The six axles machine
Device people 61 controls the support 62 slowly to fall in the top of the medical bed, after hook bed bar 671 is below medical bed
Stop falling, the control hook bed bar 671 of the rotary cylinder 63 rotates forward 90 °, and the six-joint robot 61 controls the support
62 rise and lift medical bed by hook bed bar 671, the push rod 681 is pushed away under the push rod cylinder 682 and compresses medical bed；
After the support 62 overturns 180 ° through the six-joint robot 61, it is placed on the station turning 4, the rotary cylinder 63 is controlled
Hook bed bar 671 reversely rotates 90 °, and after after the release of the hydraulic machine 68, the Gou Chuan mechanisms 67 exit.
The method that the robot gripper 6 picks up the medical bed to the streamline 2 again, including：The six axles machine
Device people 61 controls the support 62 slowly to fall in the top of the medical bed, after hook bed bar 671 is below medical bed
Stop falling, the control hook bed bar 671 of the rotary cylinder 63 rotates forward 90 °, and the six-joint robot 61 controls the support
62 rise and lift medical bed by hook bed bar 671, and the six-joint robot 61 controls the support 62 to put medical bed
In on the streamline 2, the control hook bed bar 671 of the rotary cylinder 63 reversely rotates 90 °, treats that the hydraulic machine 68 unclamps
Afterwards, the Gou Chuan mechanisms 67 exit.
The robot gripper 6 is picked up and completes the packing case of packaging and inside with medical bed and be put into the piling station
Method in 5, including：
The six-joint robot 61 controls the support 62 slowly to fall in the top of the packing case, when hook bed bar
671 below packing case after stop fall, the rotary cylinder 63 control hook bed bar 671 rotate forward 90 °, the six axles machine
People 61 controls the support 62 to rise and lifts packing case by hook bed bar 671, and the six-joint robot 61 controls described
After packing case is moved to the top of the piling station 5 by support 62, the lift cylinder 64 drives the sucker 662 to hold packaging
Case, the control hook bed bar 671 of the rotary cylinder 63 reversely rotates 90 °, and the six-joint robot 61 controls the support 62 to move
After packing case is placed on designated area, the sucker 662 unclamps, and the six-joint robot 61 controls the support 62 to exit.
The beneficial effects of the utility model are：Medical bed of the present utility model goes out stockline, by setting streamline, being located at
The streamline initiating terminal and feed station and the streamline end on and tool for carrying the medical bed that assembling is completed
The packing station of packing case and the streamline close on the station turning of setting and the station of packing closes on the stacking of setting
Station and the robot gripper for capturing the medical bed and the packing case, realize the self-emptying of medical bed, save
Assembly space, effectively reduces manual labor's intensity, improves production efficiency.
Above-described is only implementation method of the present utility model, it should be noted here that for the ordinary skill of this area
For personnel, on the premise of the utility model creation design is not departed from, improvement can also be made, but these belong to this practicality
New protection domain.
Claims (8)
1. a kind of robot gripper, it is characterised in that the support that is connected including six-joint robot and the six-joint robot, set
The rotary cylinder, lift cylinder, sucking disc mechanism, Gou Chuan mechanisms and hydraulic machine, the sucking disc mechanism that are placed on the support with
The lift cylinder drive connection, the Gou Chuan mechanisms and the rotary cylinder drive connection.
2. robot gripper according to claim 1, it is characterised in that：The Gou Chuan mechanisms include being symmetrically set in the branch
Some hooks bed bar of frame both sides, the bottom of the hook bed bar includes L-type kink.
3. robot gripper according to claim 2, it is characterised in that：The number of hook bed bar of the support per side
Measure is three.
4. robot gripper according to claim 1, it is characterised in that：The sucking disc mechanism includes being symmetrically set in the branch
The support bar of frame both sides and some suckers located at the support bar bottom.
5. robot gripper according to claim 4, it is characterised in that：The sucker quantity of each support bar bottom
It is eight.
6. robot gripper according to claim 1, it is characterised in that：The hydraulic machine includes push rod and described pushes away
The pressing plate and the push rod cylinder with the push rod drive connection of bar connection, the push rod are hinged with the support.
7. robot gripper according to claim 1, it is characterised in that：The hydraulic machine is in the support
Portion, the sucking disc mechanism is symmetrically set in the hydraulic machine both sides, the Gou Chuan mechanisms be symmetrically set in the sucking disc mechanism away from
The both sides of the hydraulic machine.
8. a kind of medical bed goes out stockline, it is characterised in that filled including streamline, located at the streamline initiating terminal and for carrying
Packing station and the flowing water with the feed station of the medical bed for completing and the streamline end on and tool packing case
The station turning and the packing station that line closes on setting close on any one of piling station and claim 1 to 7 of setting institute
The robot gripper stated, the robot gripper is used to capture the medical bed and the packing case.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621264593.3U CN206288685U (en) | 2016-11-22 | 2016-11-22 | Robot gripper and go out stockline using the medical bed of the robot gripper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621264593.3U CN206288685U (en) | 2016-11-22 | 2016-11-22 | Robot gripper and go out stockline using the medical bed of the robot gripper |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206288685U true CN206288685U (en) | 2017-06-30 |
Family
ID=59099921
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621264593.3U Expired - Fee Related CN206288685U (en) | 2016-11-22 | 2016-11-22 | Robot gripper and go out stockline using the medical bed of the robot gripper |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206288685U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106395377A (en) * | 2016-11-22 | 2017-02-15 | 中山市合赢智能装备有限公司 | Robot grabbing hand and medical bed discharging line using robot grabbing hand and discharging method of medical bed discharging line |
-
2016
- 2016-11-22 CN CN201621264593.3U patent/CN206288685U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106395377A (en) * | 2016-11-22 | 2017-02-15 | 中山市合赢智能装备有限公司 | Robot grabbing hand and medical bed discharging line using robot grabbing hand and discharging method of medical bed discharging line |
| CN106395377B (en) * | 2016-11-22 | 2019-01-08 | 中山市合赢智能装备有限公司 | The medical bed of robot gripper and the application robot gripper goes out stockline and its discharging method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170630 Termination date: 20201122 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |