CN215825347U

CN215825347U - 170-degree turnover robot turnover mechanism

Info

Publication number: CN215825347U
Application number: CN202121927685.6U
Authority: CN
Inventors: 李传华; 薛浩; 卢青; 孔旺盛; 徐厚祥
Original assignee: Shanghai Solid Waste Disposal Co ltd
Current assignee: Shanghai Solid Waste Disposal Co ltd
Priority date: 2021-08-17
Filing date: 2021-08-17
Publication date: 2022-02-15
Anticipated expiration: 2031-08-17

Abstract

The utility model belongs to the technical field of medical waste treatment, and particularly discloses a robot turnover mechanism capable of being turned over for 170 degrees, which comprises a translation ground rail, a robot gripper, a full material box material taking position A, a material pouring opening A, an empty material box material placing position B, a material pouring opening B and a full material box material taking position B; the horizontal moving ground rail is positioned between the material pouring port A and the material pouring port B, a robot is arranged on the surface of the horizontal moving ground rail, a robot gripper is arranged on the surface of the robot, and the horizontal moving ground rail comprises a welding underframe, a sliding platform, a limiting stopper, a drag chain, a servo motor, a sliding rail, a gear rack and a position sensor; the welding chassis is characterized in that limiting stoppers are arranged at two ends of the surface of the welding chassis, a sliding rail is arranged on the surface of the welding chassis, and a sliding platform is arranged on the surface of the sliding rail and is in sliding connection with the sliding rail.

Description

170-degree turnover robot turnover mechanism

Technical Field

The utility model relates to the technical field of medical waste treatment, in particular to a robot turnover mechanism capable of turning over at 170 degrees.

Background

In the medical waste incineration treatment process, need pour the turnover case of medical waste into the material, current operation mode is toppled over for the manual work, nevertheless the condition that the operating personnel appears easily when toppling over and the contact of medical waste leads to the operating personnel to appear infecting, for this reason, we provide a robot tilting mechanism that can overturn 170, make medical waste's the material link of falling realize unmanned, avoided the risk of operating personnel and medical waste contact infection.

Disclosure of Invention

The utility model aims to provide a robot turnover mechanism capable of turning over for 170 degrees, so as to solve the problems in the background technology.

In order to achieve the purpose, the utility model provides the following technical scheme: a robot turnover mechanism capable of turning over for 170 degrees comprises a translation ground rail, a robot gripper, a full material box material taking position A, a material pouring opening A, an empty material box material discharging position B, a material pouring opening B and a full material box material taking position B; the horizontal moving ground rail is positioned between the material pouring port A and the material pouring port B, a robot is arranged on the surface of the horizontal moving ground rail, a robot gripper is arranged on the surface of the robot, and the horizontal moving ground rail comprises a welding underframe, a sliding platform, a limiting stopper, a drag chain, a servo motor, a sliding rail, a gear rack and a position sensor; the welding chassis is characterized in that limiting stoppers are arranged at two ends of the surface of the welding chassis, a sliding rail is arranged on the surface of the welding chassis, and a sliding platform is arranged on the surface of the sliding rail and is in sliding connection with the sliding rail.

Preferably, a servo motor is installed on one side of the surface of the sliding platform, a gear rack is fixedly connected to the output end of the servo motor, and the gear rack is fixed to the side face of the welding chassis.

Preferably, a position sensor is installed on the side surface of the sliding platform, and a drag chain is arranged on the other side of the sliding platform relative to the position sensor.

Preferably, the robot gripper comprises a material inserting box welding frame, an inserting lug, a blocking cylinder, a microswitch and a polyurethane cushion plate; and blocking cylinders are arranged at two ends of the material inserting box welding frame.

Preferably, block that the cylinder top is installed and insert the ear, insert workbin welded rack surface one side and be fixed with the polyurethane backing plate, insert workbin welded rack bottom and install micro-gap switch.

Preferably, the material taking structure is arranged on the full material box material taking position A, the full material box material taking position B, the empty material box material taking position A and the empty material box material taking position B, and comprises a rotary table conveying line and a material box; the workbin is arranged on the surface of the rotary table conveying line.

Preferably, the bin is formed by combining a bin body, a bin cover, a bin bottom and two end bin lug extending shafts.

Compared with the prior art, the utility model has the beneficial effects that: according to the utility model, through the matching of the robot, the robot gripper and the translational ground rail, the robot can realize the actions of grabbing full material boxes, dumping materials and emptying the material boxes, so that the condition that the operation personnel contact with medical wastes to cause infection is avoided, the safety of the operation personnel is ensured and the efficiency is improved.

Drawings

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

FIG. 2 is a schematic structural view of the translational ground rail of the present invention;

FIG. 3 is a schematic diagram of a robot gripper according to the present invention;

fig. 4 is a schematic view of a material taking structure according to the present invention.

In the figure: 1. translating the ground rail; 1.1, welding a bottom frame; 1.2, sliding a platform; 1.3, limiting the stopper; 1.4, drag chain; 1.5, a servo motor; 1.6, a slide rail; 1.7, gear racks; 1.8, a position sensor; 2. a robot; 3. a robot gripper; 3.1, inserting a material box welding frame; 3.2, inserting lugs; 3.3, blocking the air cylinder; 3.4, a microswitch; 3.5, polyurethane cushion plates; 4. taking a material level A from the full material box; 4.1, conveying the turntable; 4.2, a box body; 4.3, a box cover; 4.4, extending the box lug out of the shaft; 4.5, the bottom of the box; 5. pouring a material port A; 6. an empty box discharge position A; 7. an empty bin level B; 8. pouring a material hole B; 9. and taking the material level B from the full material box.

Detailed Description

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

In the description of the present invention, it should be noted that the terms "vertical", "upper", "lower", "horizontal", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.

In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

Referring to fig. 1-2, the present invention provides a technical solution: a robot turnover mechanism capable of turning over for 170 degrees comprises a translation ground rail 1, a robot 2, a robot gripper 3, a full material box material taking position A4, a material pouring opening A5, an empty material box material discharging position A6, an empty material box material discharging position B7, a material pouring opening B8 and a full material box material taking position B9; the horizontal moving ground rail 1 is positioned between a material pouring port A5 and a material pouring port B8, a robot 2 is arranged on the surface of the horizontal moving ground rail 1, a robot gripper 3 is arranged on the surface of the robot 2, and the horizontal moving ground rail 1 comprises a welding underframe 1.1, a sliding platform 1.2, a limiting stopper 1.3, a drag chain 1.4, a servo motor 1.5, a sliding rail 1.6, a gear rack 1.7 and a position sensor 1.8; the welding chassis is characterized in that limiting stoppers 1.3 are arranged at two ends of the surface of the welding chassis 1.1, sliding rails 1.6 are arranged on the surface of the welding chassis 1.1, sliding platforms 1.2 are arranged on the surfaces of the sliding rails 1.6, and the sliding platforms 1.2 are connected with the sliding rails 1.6 in a sliding mode.

Furthermore, a servo motor 1.5 is installed on one side of the surface of the sliding platform 1.2, a gear rack 1.7 is fixedly connected to the output end of the servo motor 1.5, and the gear rack 1.7 is fixed on the side face of the welding chassis 1.1.

Further, a position sensor 1.8 is installed on the side surface of the sliding platform 1.2, and a drag chain 1.4 is arranged on the other side of the sliding platform 1.2 relative to the position sensor 1.8.

Further, the robot gripper 3 comprises a material inserting box welding frame 3.1, an inserting lug 3.2, a blocking cylinder 3.3, a microswitch 3.4 and a polyurethane cushion plate 3.5; the two ends of the inserting box welding frame 3.1 are provided with blocking cylinders 3.3.

Further, block that cylinder 3.3 top is installed and insert ear 3.2, insert workbin welded rack 3.1 surface one side and be fixed with polyurethane backing plate 3.5, insert workbin welded rack 3.1 bottom and install micro-gap switch 3.4.

Further, the full bin material taking position A4, the full bin material taking position B9, the empty bin material taking position A6 and the empty bin material taking position B7 are all provided with material taking structures, and the material taking structures comprise a turntable conveying line 4.1 and a bin; the workbin sets up in revolving stage transfer chain 4.1 surface.

Furthermore, the feed box is formed by combining a box body 4.2, a box cover 4.3, a box bottom 4.5 and box lug extending shafts 4.4 at two ends.

The working principle is as follows: as shown in fig. 1: the translation ground rail 1 is located the intermediate position of material pouring port A, B, is equipped with robot 2 and robot tongs 3 on it, and robot 2 drives robot tongs 3 and inserts and get full workbin and get the workbin on the material level A4, moves to material pouring port A5's position after, and robot 2 drives robot tongs 3 upset 170 degrees, realizes moving to empty workbin material discharging port A6's position after the material is poured again and realizes emptying workbin, exports by the transfer chain on the revolving stage again. Similarly, the translation ground rail is with robot 2 and robot tongs translation to the position of pouring hole B8, and robot 2 drives robot tongs 3 and inserts and get full workbin and get the workbin on the material level B9, moves to the position of pouring hole B8 after, and robot 2 drives robot tongs 3 upset 170 degrees, realizes moving again after the material is poured = to realize unloading the workbin to the position of empty workbin discharge position B7, again by the transfer chain output on the revolving stage.

Fig. 2 is a schematic view of the translational ground rail, which mainly realizes the switching of A, B material pouring ports by driving the robot and the gripper. The servo motor 1.5 drives the gear rack 1.6 to reciprocate back and forth, so that the sliding platform 1.2 is driven to move back and forth. A sliding rail 1.6 is arranged below the sliding platform 1.2 and is integrally arranged on the welding underframe 1.1. The two ends of the welding underframe 1.1 are provided with limiting stoppers 1.3 for limiting the limit position of the sliding platform 1.2, and the working position of the sliding platform 1.2 is controlled by a position sensor 1.8.

Fig. 3 is a robot gripper, namely a material pouring frame, which mainly comprises a material inserting box welding frame 3.1, two end inserting lugs 3.2, blocking cylinders 3.3 respectively arranged on the inserting lugs, a microswitch 3.4 for detecting whether the material box is provided or not and a polyurethane cushion plate 3.5. The action process is that the robot 2 drives the robot gripper 3 to insert into the bottom of the material box, and meanwhile, the two ends of the gripper 3.2 extend into the box lug extending shafts at the two ends of the material box, so that the cylinder 3.3 is prevented from extending out, and the two ends of the gripper extending shafts are prevented from extending out, so that the material box can not fall off when the robot gripper 3 drives the material box to overturn for 170 degrees, and waste in the material box can be completely poured out. Wherein the microswitch 3.4 is used for detecting whether the material box is in place or not, and gives a signal after the material box is in place, and the blocking cylinders 3.3 at the two ends start to act. The polyurethane backing plate 3.5 is used for reliably attaching the box body to the polyurethane backing plate 3.5 in the inserting and taking process, and the box body is a plastic piece, so that the polyurethane backing plate 3.5 of the plastic piece is adopted, and the box body is not damaged in the material pouring process. And the polyurethane backing plate is arranged on the material inserting box 3.1, so that the self weight of the box body can be borne.

Fig. 4 shows a full bin level a, wherein the empty bin level a, the full bin level B, and the empty bin level B are all the same as the full bin level a, so the full bin level a is taken as an example. The full-automatic feeding device consists of a turntable conveying line 4.1 and a material box, wherein the full-automatic feeding device is conveyed to the turntable conveying line through the conveying line, and the turntable conveying line can rotate 90 degrees so as to be convenient for insertion and taking of a robot. The bin itself is composed of a bin body 4.2, a bin cover 4.3, two end bin lug extending shafts 4.4 and a bin bottom 4.5.

It is worth noting that: the whole device is controlled by the master control button, and the equipment matched with the control button is common equipment, so that the device belongs to the prior art, and the electrical connection relation and the specific circuit structure of the device are not repeated.

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

Claims

1. The utility model provides a 170 robot tilting mechanism that can overturn which characterized in that: the automatic feeding device comprises a translation ground rail (1), a robot (2), a robot gripper (3), a full material box material taking position A (4), a material pouring opening A (5), an empty material box material discharging position A (6), an empty material box material discharging position B (7), a material pouring opening B (8) and a full material box material taking position B (9); the horizontal moving ground rail (1) is located between a material pouring port A (5) and a material pouring port B (8), a robot (2) is arranged on the surface of the horizontal moving ground rail (1), a robot gripper (3) is mounted on the surface of the robot (2), and the horizontal moving ground rail (1) comprises a welding chassis (1.1), a sliding platform (1.2), a limiting stopper (1.3), a drag chain (1.4), a servo motor (1.5), a sliding rail (1.6), a gear rack (1.7) and a position sensor (1.8); the welding chassis is characterized in that limiting stoppers (1.3) are arranged at two ends of the surface of the welding chassis (1.1), sliding rails (1.6) are arranged on the surface of the welding chassis (1.1), sliding platforms (1.2) are arranged on the surfaces of the sliding rails (1.6), and the sliding platforms (1.2) are connected with the sliding rails (1.6) in a sliding mode.

2. The robotic flipper of claim 1, being 170 ° reversible, wherein: sliding platform (1.2) surface one side installs servo motor (1.5), servo motor (1.5) output end fixedly connected with rack and pinion (1.7), rack and pinion (1.7) are fixed in welding chassis (1.1) side.

3. The robotic flipper of claim 1, being 170 ° reversible, wherein: sliding platform (1.2) side-mounting has position sensor (1.8), sliding platform (1.2) is provided with tow chain (1.4) for position sensor (1.8)'s opposite side.

4. The robotic flipper of claim 1, being 170 ° reversible, wherein: the robot gripper (3) comprises a material inserting box welding frame (3.1), an inserting lug (3.2), a blocking cylinder (3.3), a microswitch (3.4) and a polyurethane cushion plate (3.5); two ends of the inserting box welding frame (3.1) are provided with blocking cylinders (3.3).

5. The robotic flipper of claim 4 being 170 ° reversible, wherein: stop cylinder (3.3) top and install and insert ear (3.2), it is fixed with polyurethane backing plate (3.5) to insert workbin welded rack (3.1) surface one side, it installs micro-gap switch (3.4) to insert workbin welded rack (3.1) bottom.

6. The robotic flipper of claim 1, being 170 ° reversible, wherein: the full-bin material taking position A (4), the full-bin material taking position B (9), the empty-bin material taking position A (6) and the empty-bin material taking position B (7) are all provided with material taking structures, and each material taking structure comprises a rotary table conveying line (4.1) and a bin; the workbin is arranged on the surface of the rotary table conveying line (4.1).

7. The robotic flipper of claim 6, wherein the flipper is 170 ° reversible and further comprising: the feed box is formed by combining a box body (4.2), a box cover (4.3), a box bottom (4.5) and extension shafts (4.4) of box lugs at two ends.