Automatic taking and placing cooperation equipment for medical membrane materials

Abstract

The invention discloses medical membrane material automatic taking and placing cooperation equipment which comprises a membrane material taking and placing mechanism, the membrane material taking and placing mechanism comprises a robot unit and a suction cup module, the suction cup module comprises a pressing part and a suction part, the pressing part correspondingly presses membrane material leftover waste, and the suction part correspondingly sucks a membrane material; the membrane material separation mechanism comprises a lifting unit, a suction separation module and a membrane material temporary storage platform, the suction separation module correspondingly sucks the membrane material surface on the suction cup module so that the upper membrane material, the partition plate and the lower membrane material can be separated, the lifting unit drives the suction separation module to move downwards so that the upper membrane material can be placed on the membrane material temporary storage platform, and the laminar flow storage mechanism comprises a storage bin; according to the scheme, the suction cup module achieves rapid removal of leftover materials of the membrane materials through cooperation of the pressing structure and the suction structure, rapid separation of an upper membrane material partition plate and a lower membrane material partition plate is achieved through up-down cooperation of the suction separation module and the suction cup module, turnover and sequential stacking of the membrane materials are completed, automatic operation is achieved, and efficiency is high.

Description

Technical Field

[0001] This application relates to the field of automation equipment technology, and more specifically to an automated medical membrane material handling and placement collaborative device. Background Technology

[0002] In medical membrane production workshops, the current industry standard for assembling 2D tote bag membranes from the film cutting machine is "manual picking and placing + simple tooling assistance". Specifically, the membrane is manually picked up from the conveyor belt of the film cutting machine, aligned and stacked. There are also attempts at semi-automatic robotic arm picking and placing solutions, but these only use general suction cups and fixed tooling without specific adaptations. This results in low work efficiency, and manual membrane picking can easily introduce particulate contamination, which does not meet the hygiene standards of medical production such as GMP and FDA, affecting product quality. Summary of the Invention

[0003] To overcome the above-mentioned shortcomings, the purpose of this application is to provide an automated medical membrane material handling and placement device, thereby effectively solving the above-mentioned technical problems.

[0004] To achieve the above objectives, this application adopts the following technical solution: This application provides an automated medical membrane material handling and placement collaborative device, including... The membrane material handling mechanism includes a robot unit and a suction cup module. The working end of the robot unit is connected to the suction cup module to drive the suction cup module to move. The suction cup module includes a pressing part and a suction part. The pressing part is used to press down waste material at the edges of the membrane material, and the suction part is used to pick up the membrane material. The membrane material separation mechanism includes a lifting unit, a suction and separation module, and a membrane material storage platform. The lifting unit is connected to the suction and separation module to move the module up and down. The membrane material storage platform is located below the suction and separation module. The suction and separation module sucks up the membrane material surface from the suction cup module to separate the membrane material from the separator. The lifting unit moves the suction and separation module down to stack the membrane material on the membrane material storage platform. A laminar flow storage mechanism includes a storage compartment, wherein a partition picked up by a suction cup module by a robot unit is placed inside the storage compartment.

[0005] Furthermore, the suction cup module includes a rectangular base plate, with outwardly extending support blocks at the four corners of the rectangular base plate. Each of the four support blocks is equipped with a set of suction cups and spring clamping rods, with the spring clamping rods located outside the suction cups. The suction cup module uses four sanitary-grade silicone suction cups, employing flat suction cups to prevent film collapse. Combined with four spring clamping mechanisms, the combination of silicone suction cups and spring clamping solves the problems of thin, easily adhered film and displacement during handling. When the clamp picks up the film, the clamping mechanism presses down the waste material at the four outer corners. When the clamp is lifted, the waste material remains pressed against the table surface, preventing film fraying and positional changes. The springs are enclosed within the structural cavity, preventing powder from falling onto the product during use. The outer shell is 3D printed from plastic material, with internal pillars reinforcing its strength.

[0006] Furthermore, a first quick-change disc is provided in the middle area of ​​the rectangular substrate surface, and a second quick-change disc is provided at the end of the robotic arm of the robot unit, with the first quick-change disc and the second quick-change disc correspondingly connected.

[0007] Furthermore, the suction cup module includes multiple suction cup modules of different specifications. The suction cup module is assembled and disassembled with the robotic arm of the robot unit through the cooperation of the first quick-change plate and the second quick-change plate. The quick-change plate structure supports quick assembly and disassembly of the clamps, realizes the rapid switching of clamps of multiple specifications of film materials, and greatly shortens the product changeover time. Each product is designed with a dedicated suction cup clamp, and quick replacement is performed manually using the quick-change plate.

[0008] Furthermore, the lifting unit includes a closed screw drive module, and the suction and separation module includes a lifting plate and a separation suction cup disposed on the lifting plate. The suction nozzle on the separation suction cup is arranged downwards, and the working end of the closed screw drive module is connected to the lifting plate. The separation suction cup is a customized suction cup clamp equipped with a quick-change plate for rapid switching. The modular closed structure of the screw module is easy to clean and prevents debris contamination.

[0009] Furthermore, the membrane material handling mechanism includes a first trolley, on which the robot unit and the suction cup module are mounted. The membrane material separation mechanism includes a second trolley, on which the lifting unit, the suction separation module, and the membrane material temporary storage platform are mounted. The first trolley and the second trolley are detachably connected by a pin. The first trolley and the second trolley adopt a split design to avoid the single unit being too long and inconvenient for personnel to move. The trolleys are connected by a pin, and when in place, personnel can quickly connect and separate by vertically inserting and removing the pin.

[0010] Furthermore, the laminar flow storage mechanism includes a third trolley, on which the storage compartment is mounted. The third trolley is positioned to one side of the first trolley. Color mark sensors are installed at the bottom of the first, second, and third trolleys, with one color mark sensor at the bottom of each trolley. When the trolley is in the correct position, the color mark sensor identifies the color block on the ground and sends a signal to the PLC. When the trolley is accidentally displaced, the PLC receives a signal and stops. This multi-dimensional approach ensures the positioning accuracy of the equipment / material cart and resolves the risk of displacement during production. A composite positioning and anti-displacement technology using color mark sensors, fuma wheels, and cylinder pins is employed to construct a multi-dimensional positioning and anti-displacement system: the color mark sensor identifies the color block on the ground to calibrate the equipment's reference position; the fuma wheel rotates to support the ground and fix the equipment; and the cylinder pin is inserted into the laminar flow cart's pin hole to lock the material cart.

[0011] Furthermore, the second trolley is also equipped with a cantilevered human-machine interface mechanism, which includes a cantilever fixedly mounted on the frame of the second trolley and a human-machine interface system mounted on the cantilever. The cantilever HMI is mounted on the side, and the cantilever can be moved to a comfortable position for operation. Except for the fixed lead screw module in the middle, observation windows are opened on the side to facilitate observation by personnel when the equipment is moved.

[0012] Furthermore, the second trolley is also equipped with a dynamic safety light curtain mechanism, which can automatically activate protection during operation and shield when not in operation (to avoid obstructing the robot's operation), balancing operational safety and robot operating space, and preventing the protective structure from obstructing the equipment's movement.

[0013] Furthermore, a laminar flow fan is installed on the top of the storage chamber to ensure the environment inside the membrane material storage chamber.

[0014] Beneficial effects This solution provides an automated medical membrane material handling and placement collaborative device. The suction cup module, through the cooperation of the pressing and suction structures, enables the rapid removal of membrane material edge waste. The upper and lower membrane material partitions are quickly separated by the cooperation of the suction separation module and the suction cup module, and the membrane material is flipped and stacked sequentially. The automated operation is highly efficient. The silicone suction cup and spring pressing mechanism work together. The silicone suction cup is adapted to the curved surface characteristics of the membrane material to prevent collapse, and the spring pressing mechanism simultaneously presses the membrane material edge waste during membrane handling. This solution overcomes the industry pain points of thin and easily sticky medical membrane materials and easy displacement during handling and placement, and avoids the problems of membrane material displacement and wrinkling during manual / general suction cup handling. Attached Figure Description

[0015] The accompanying drawings are provided to illustrate the technical solutions of this disclosure and form part of the specification. They are used together with the embodiments of this disclosure to explain the technical solutions of this disclosure and do not constitute a limitation on the technical solutions of this disclosure. The shapes and sizes of the components in the drawings do not reflect actual proportions and are only intended to illustrate the content of this application.

[0016] Figure 1 This is a schematic diagram of the overall structure of the device provided in an embodiment of this application.

[0017] Figure 2 This is a side view of the overall structure of the device provided in an embodiment of this application.

[0018] Figure 3 This is a schematic diagram of a robot unit structure provided in an embodiment of this application.

[0019] Figure 4 This is a schematic diagram of a suction cup module structure provided in one embodiment of this application.

[0020] Figure 5 This is a schematic diagram of a membrane separation mechanism provided in an embodiment of this application.

[0021] In the above attached figures, 1. Membrane material handling mechanism; 11. Suction cup module; 111. Rectangular substrate; 112. Support block; 113. Suction cup; 114. Spring clamping rod; 115. First quick-change plate; 12. Robot unit; 121. Robotic arm; 122. Second quick-change plate; 13. First trolley; 2. Membrane material separation mechanism; 21. Enclosed screw drive module; 22. Suction separation module; 221. Lifting plate; 222. Separation suction cup; 23. Second trolley; 24. Cantilever human-machine operation mechanism; 25. Dynamic safety light curtain mechanism; 26. Platform.

[0022] 3. Laminar flow storage mechanism; 31. Storage bin; 32. Third trolley; 33. Laminar flow fan; 100. Membrane cutting machine. Detailed Implementation

[0023] The above-described solution will be further illustrated below with reference to specific embodiments. It should be understood that these embodiments are for illustrative purposes only and are not intended to limit the scope of this application. The implementation conditions used in the embodiments may be further adjusted according to the conditions of specific manufacturers, and the implementation conditions not specified are generally those in routine experiments.

[0024] Unless otherwise defined, the technical or scientific terms used in the embodiments of this disclosure shall have the ordinary meaning understood by one of ordinary skill in the art to which this application pertains. The terms "first," "second," and similar terms used in the embodiments of this disclosure do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" mean that the element or object preceding the word encompasses the element or object listed following the word and its equivalents, without excluding other elements or objects. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. In this document, "electrical connection" includes the situation where constituent elements are connected together by an element having some electrical function. There is no particular limitation on the "electrically functioning element," as long as it enables the transmission and reception of electrical signals between the connected constituent elements. An "electrically functioning element" can be, for example, an electrode or wiring, a switching element such as a transistor, or other functional elements such as a resistor, inductor, or capacitor. "Up," "down," "left," and "right" are only used to indicate relative positional relationships. When the absolute position of the object being described changes, the relative positional relationship may also change accordingly.

[0025] In this application, the terms "upper," "lower," "inner," "middle," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are primarily for the purpose of better describing this application and its embodiments, and are not intended to limit the indicated device, element, or component to having a specific orientation, or to be constructed and operated in a specific orientation.

[0026] Example This application provides an automated medical membrane material handling and placement collaborative device, such as... Figure 1-5 As shown, the device includes: The membrane material handling mechanism 1 includes a robot unit 12 and a suction cup module 11, such as... Figure 3 As shown, robot unit 12 is a multi-axis robot. The working end of robot unit 12 is connected to suction cup module 11 to drive suction cup module 11 to move. Suction cup module 11 includes a pressing part and a suction part. The pressing part is used to press the waste material at the edges of the membrane material, and the suction part is used to suction the membrane material. The membrane material is divided into two layers, with a baffle between the upper and lower membrane materials, such as... Figure 4As shown, the suction cup module 11 has the following specific structure: The suction cup module 11 includes a rectangular base plate 111. Support blocks 112 extending outwards are provided at the four corners of the rectangular base plate 111. A set of suction cups 113 and spring clamping rods 114 are respectively provided on each of the four support blocks 112. The suction cups 113 are the aforementioned suction parts, and the spring clamping rods 114 are the aforementioned clamping parts. The spring clamping rods 114 are located outside the suction cups. The suction cup module 11 uses four sanitary-grade silicone suction cups, and flat suction cups are selected. The tray prevents the membrane material from collapsing and is equipped with four spring-loaded clamping mechanisms. The combination of silicone suction cups and spring clamping solves the problems of thin, easily sticking membrane materials and displacement during handling. When the clamp picks up the membrane sheet, the clamping mechanism presses down the waste material on the four outer corners. When the clamp is lifted, the waste material is kept pressed against the table surface to prevent membrane stranding and positional changes. The springs are enclosed in the structural cavity to prevent powder from falling onto the product during use. The outer shell is made of plastic material using 3D printing, and internal pillars enhance the shell's strength.

[0027] Combination Figure 3-4 As shown, a first quick-change disc 115 is provided in the middle area of ​​the surface of the rectangular substrate 111, and a second quick-change disc 122 is provided at the end of the robotic arm 121 of the robot unit 12. The first quick-change disc 115 and the second quick-change disc 122 are correspondingly connected. The suction cup module 11 includes multiple suction cup modules 11 of different specifications. The suction cup modules 11 are assembled and disassembled with the robotic arm 121 of the robot unit 12 through the cooperation of the first quick-change disc 115 and the second quick-change disc 122. The quick-change disc structure supports the quick assembly and disassembly of the clamps, realizes the rapid switching of clamps of multiple specifications of film materials, and greatly shortens the product changeover time. Each product is designed with a dedicated suction cup clamp, and the quick-change disc is used for rapid replacement.

[0028] The membrane separation mechanism 2 includes a lifting unit, a suction separation module 22, and a membrane storage platform 26. The lifting unit is connected to the suction separation module 22 to move the module up and down. The membrane storage platform 26 is located below the suction separation module 22. During operation, the suction separation module 22 suctions the upper membrane surface from the suction cup module 11 to separate the upper membrane from the partition and lower membrane. The lifting unit moves the suction separation module 22 down to temporarily place the upper membrane on the membrane storage platform 26. Figure 5 As shown, the lifting unit includes a closed screw drive module 21, and the suction and separation module 22 includes a lifting plate 221 and a separation suction cup 222 disposed on the lifting plate 221. The suction nozzle on the separation suction cup 222 is set downward. The working end of the closed screw drive module 21 is connected to the lifting plate 221. The separation suction cup 222 is a customized suction cup clamp with a quick-change plate for fast switching. The modular closed structure of the screw module is easy to clean and prevents debris contamination.

[0029] The laminar flow storage mechanism 3 includes a storage chamber 31 for storing membrane materials. The robot unit 12 drives the suction cup module 11 to pick up the partition and lower membrane material and place them in the storage chamber 31. Then the robot moves the suction cup module 11 to the membrane material temporary storage platform 26 again, picks up the upper membrane material stored on the membrane material temporary storage platform 26 and stacks it on top of the lower membrane material and partition that were previously put into the chamber.

[0030] In some embodiments, such as Figure 1 As shown, the membrane material handling mechanism 1 includes a first carriage 13, with a robot unit 12 and a suction cup module 11 mounted on the first carriage 13. The membrane material separation mechanism 2 includes a second carriage 23, with a lifting unit, a suction separation module 22, and a membrane material temporary storage platform 26 mounted on the second carriage 23. The first carriage 13 and the second carriage 23 are detachably connected by a pin. The first carriage 13 and the second carriage 23 adopt a split design to avoid the single unit being too long and inconvenient for personnel to move. The carriages are connected by a pin, and when in place, personnel vertically insert and remove the pin. The shaft allows for quick connection and separation; the laminar flow storage mechanism 3 includes a third trolley 32, with the storage compartment 31 mounted on the third trolley 32. The third trolley 32 is positioned to one side of the first trolley 13. Color mark sensors are installed at the bottom of the first trolley 13, the second trolley 23, and the third trolley 32, with one color mark sensor installed at the bottom of each trolley. When the trolley is in the correct position, the color mark sensor will identify the color block on the ground and send a signal to the PLC. When the trolley is accidentally displaced, the PLC will receive a signal and stop. This multi-dimensional approach ensures the positioning accuracy of the equipment / material cart and solves the risk of displacement during production. A composite positioning and anti-displacement technology of color mark sensor + fuma wheel + cylinder pin is adopted to construct a multi-dimensional positioning and anti-displacement system: the color mark sensor identifies the color block on the ground to calibrate the reference position of the equipment, the fuma wheel rotates to support the card on the ground to fix the equipment, and the cylinder pin is inserted into the pin hole of the laminar flow cart to lock the material cart.

[0031] In some embodiments, such as Figure 5 As shown, the second carriage 23 is also equipped with a cantilevered human-machine interface (HMI) 24. The cantilevered HMI 24 includes a cantilever fixedly mounted on the frame of the second carriage 23 and an HMI mounted on the cantilever. The cantilevered HMI is mounted on the side, and the cantilever can be moved to a comfortable position for operation. Except for the fixed lead screw module in the middle, observation windows are opened on the side to facilitate observation by personnel when the equipment is moved. The second carriage 23 is also equipped with a dynamic safety light curtain mechanism 25. The dynamic safety light curtain mechanism 25 can automatically activate protection during operation and shield when not in operation (to avoid obstructing the robot's operation), balancing operation safety and robot operating space, and preventing the protective structure from obstructing the equipment's movement. like Figure 1 As shown, a laminar flow fan 33 is installed on the top of the storage chamber 31, which can ensure the environment inside the membrane material storage chamber 31.

[0032] Combination Figure 1-2 As shown, the working principle of this device is as follows: After the membrane material is manufactured in the membrane cutting machine 100, the robot moves the suction cup module 11 to the membrane cutting machine 100 to pick up the membrane material. The spring clamping rod 114 presses the waste material on the outer corners of the four corners of the membrane material to keep the waste material pressed on the table surface to prevent the membrane from stretching and causing positional changes. After the double-layer membrane material is picked up, the robot moves the suction cup module 11 to rotate 180 degrees and move it below the suction separation module 22. The suction cups of the suction separation module 22 pick up the upper layer of the double-layer membrane material so that the upper layer membrane is connected to the lower layer membrane. Separating from the partition, the robot drives the suction cup module 11 to place the lower membrane and partition into the storage chamber 31. At the same time, the suction separation module 22 moves down through the lifting unit to place the upper membrane on the temporary storage platform 26. After the suction cup module 11 completes the placement of the lower membrane and partition, the robot again drives the suction cup module 11 to move above the temporary storage platform 26 and picks up the upper membrane. Finally, the suction cup module 11 stacks the upper membrane on the partition and the lower membrane, completing the removal of waste, flipping and stacking of the membrane material.

[0033] This solution employs a combined silicone suction cup and spring clamping mechanism. The silicone suction cup adapts to the curved surface of the membrane material to prevent collapse, while the spring clamping mechanism simultaneously clamps the edges and corners of the membrane material during removal. This overcomes the industry pain points of thin and easily adhered medical membrane materials and their tendency to shift during handling. It avoids membrane material misalignment and wrinkling issues encountered with manual / general suction cup handling, controlling the alignment accuracy of membrane material handling within ±3.58mm and increasing the membrane material handling yield to over 99.5%, meeting the high-precision assembly requirements of medical products.

[0034] Employing a flexible adaptation technology combining quick-change trays and modular positioning blocks, both the robot and tool ends feature a combination design with pluggable positioning and limiting blocks. The quick-change trays support dedicated suction cup clamps for switching between different membrane materials within 5 seconds. The positioning and limiting blocks adapt to the placement dimensions of 5L / 10L / 20L / 50L membrane materials through plug-and-play adaptation, solving the problem of cumbersome and time-consuming process for changing multiple specifications of medical membrane materials. It replaces the inefficient method of conventional manual disassembly and assembly of tooling, reducing equipment changeover time to within 200 seconds and product changeover time to within 160 seconds. The system is compatible with more than 4 membrane material specifications, increasing production flexibility by 60%.

[0035] A multi-dimensional positioning and anti-displacement system is constructed by employing a composite positioning and anti-displacement technology combining color mark sensors, fuma wheels, and cylinder pins: the color mark sensors identify ground color blocks to calibrate the equipment's reference position; the fuma wheels rotate to secure the equipment to the ground; and the cylinder pins insert into the laminar flow cart's pin holes to lock the material cart in place. This solves the problems of easy equipment / material cart displacement and inaccurate positioning during production, avoiding membrane assembly errors caused by displacement. The equipment's positioning repeatability reaches ±0.03mm, the risk of laminar flow cart displacement is reduced to zero, and the long-term stability of membrane material handling and assembly is guaranteed.

[0036] The above embodiments are only for illustrating the technical concept and features of this application, and are intended to enable those skilled in the art to understand the content of this application and implement it accordingly. They should not be used to limit the scope of protection of this application. All equivalent changes or modifications made in accordance with the spirit and essence of this application should be included within the scope of protection of this application.

Claims

1. An automated medical film material pick-and-place collaboration device, comprising: The medical film automatic taking and placing collaborative equipment comprises a film taking and placing mechanism, a film separating mechanism and a laminar flow storage mechanism. The film taking and placing mechanism comprises a robot unit and a suction disc module, an acting end of the robot unit is connected with the suction disc module to drive the suction disc module to move, the suction disc module comprises a pressing part and a suction part, the pressing part corresponds to press the film material corner waste, and the suction part corresponds to suck the film material. The film separating mechanism comprises a lifting unit, a suction separating module and a film temporary storage platform, an acting end of the lifting unit is connected with the suction separating module to drive the suction separating module to lift, the film temporary storage platform is arranged below the suction separating module, the suction separating module corresponds to suck the film material surface on the suction disc module to separate the upper film material, the partition plate and the lower film material, and the lifting unit drives the suction separating module to descend to place the upper film material on the film temporary storage platform. The laminar flow storage mechanism comprises a storage bin, the suction disc module firstly puts the partition plate and the lower film material into the storage bin, and then stacks the upper film material on the film temporary storage platform on the corresponding partition plate and the lower film material in the storage bin.

2. The medical film automatic taking and placing collaborative equipment according to claim 1, wherein the suction disc module comprises a rectangular base plate, four corner parts of the rectangular base plate are provided with support blocks which are outwardly extended, a group of suction discs and spring pressing rods are respectively arranged on the four support blocks, and the spring pressing rods are located outside the suction discs.

3. The medical film automatic taking and placing collaborative equipment according to claim 2, wherein a first quick-change disc is arranged on the middle region of the surface of the rectangular base plate, an end of the mechanical arm of the robot unit is provided with a second quick-change disc, and the first quick-change disc is correspondingly connected with the second quick-change disc.

4. The medical film automatic taking and placing collaborative equipment according to claim 3, wherein the suction disc module comprises a plurality of suction disc modules with different specifications, and the suction disc module is disassembled and assembled with the mechanical arm of the robot unit through the cooperation of the first quick-change disc and the second quick-change disc.

5. The medical film automatic taking and placing collaborative equipment according to claim 1, wherein the lifting unit comprises a closed screw drive module, the suction separating module comprises a lifting plate and a separating suction disc arranged on the lifting plate, a suction nozzle on the separating suction disc is arranged downward, and an acting end of the closed screw drive module is connected with the lifting plate.

6. The medical film automatic taking and placing collaborative equipment according to claim 1, wherein the film taking and placing mechanism comprises a first trolley, the robot unit and the suction disc module are arranged on the first trolley, the film separating mechanism comprises a second trolley, the lifting unit, the suction separating module and the film temporary storage platform are arranged on the second trolley, the first trolley and the second trolley are detachably connected through a pin shaft.

7. The medical film automatic taking and placing collaborative equipment according to claim 6, wherein the laminar flow storage mechanism comprises a third trolley, the storage bin is arranged on the third trolley, the third trolley is arranged on one side of the first trolley, and color marker sensors are arranged on the bottoms of the first trolley, the second trolley and the third trolley. ​ ​ ​ ​ ​ ​ 8. The medical film automated pick-and-place collaboration equipment of claim 6, wherein: The second trolley is further provided with a cantilevered man-machine operation mechanism, which comprises a cantilever fixedly arranged on the second trolley frame and a man-machine operation system arranged on the cantilever.

9. The medical film automated pick-and-place collaboration equipment of claim 6, wherein: The second trolley is further provided with a dynamic safety grating mechanism.

10. The medical film automated pick-and-place collaboration equipment of claim 1, wherein: The storage bin is provided with a laminar flow fan at the top.

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