An automatic packaging machine for medical devices

Abstract

The present invention provides an automatic packaging machine for medical devices, which includes a frame and a non-woven fabric feeding module, a basket feeding module, a folding gripper module, and a packaging module arranged on the frame; the non-woven fabric feeding module includes a first moving component and a non-woven fabric suction gripper, and the non-woven fabric suction gripper sucks the non-woven fabric to the folding station through the first moving component; the basket feeding module includes a second moving component and a basket gripper assembly, and the basket gripper assembly grabs the basket to the folding station through the second moving component; the folding gripper module includes a third moving component and a folding gripper assembly, and the folding gripper assembly is used to grab the non-woven fabric to perform the packaging process on the basket; the packaging module includes a track component and an auxiliary packaging component connected to the frame, which can accurately package the product, ensuring the packaging quality, and the entire set of packaging equipment realizes full automation, improving the packaging efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of packaging, and particularly to an automatic packaging machine for medical devices. Background Art

[0002] In the field of medical device packaging, in order to reduce packaging costs, disposable non-woven fabrics are usually used to package surgical instrument baskets before disinfection. The conventional packaging method requires manual participation, which not only has low efficiency but also increases labor costs. Therefore, a fully automated packaging device is needed that does not require manual participation and can improve packaging efficiency while reducing labor costs. Summary of the Invention

[0003] To solve the above problems raised in the background art, the present invention proposes an automatic packaging machine for medical devices that is fully automated without manual operation.

[0004] To achieve the above object, the present invention provides the following technical solution: An automatic packaging machine for medical devices, comprising a control system, a frame, a non-woven fabric feeding module, a basket feeding module, a folding gripper module, and a packaging module provided on the frame; the non-woven fabric feeding module includes a first moving component and a non-woven fabric suction gripper, and the non-woven fabric suction gripper sucks the non-woven fabric to the folding station through the first moving component; the basket feeding module includes a second moving component and a basket gripper assembly, and the basket gripper assembly grabs the basket to the folding station through the second moving component; the folding gripper module includes a third moving component and a folding gripper assembly, and the folding gripper assembly is used to grab the non-woven fabric to perform the packaging process on the basket; the packaging module includes a track component and an auxiliary packaging component connected to the frame, the track component is fixed on the frame, the auxiliary packaging component is slidably connected to the track component, and can be pulled out or pulled into the frame through the track component, and the auxiliary packaging component is used for the auxiliary packaging work when the folding gripper grabs the non-woven fabric to package the basket.

[0005] Preferably, the first moving component includes a first Y-axis connecting rod and first X-axis linear modules laid along the X-axis direction on both sides of the frame, the first X-axis linear modules are both driven by a first motor, the first sliders fixed on the first X-axis linear modules are both fixedly connected to the first Y-axis connecting rod, a first Z-axis cylinder is fixed on the first Y-axis connecting rod, and the piston rod of the first Z-axis cylinder is fixedly connected to the non-woven fabric suction gripper.

[0006] Preferably, the non-woven fabric suction gripper includes a bracket and a suction cup and a pneumatic claw provided on the bracket.

[0007] Preferably, the second moving component includes a second Y-axis linear module and second X-axis linear modules arranged on both sides of the frame along the X-axis direction. The second X-axis linear modules are all driven by second motors. The third sliders fixed on the second X-axis linear modules are all fixedly connected to the second Y-axis linear module. The second Y-axis linear module is driven by a third motor. The fourth slider of the second Y-axis linear module is fixedly connected to the second Z-axis linear module. The fifth slider of the second Z-axis linear module is fixedly connected to the basket gripper assembly; the basket gripper assembly includes basket claws for gripping the basket.

[0008] Preferably, the third moving component includes a third Y-axis linear module and third X-axis linear modules arranged on both sides of the frame along the X-axis direction. The third X-axis linear modules are all driven by fourth motors. The sixth sliders fixed on the third X-axis linear modules are all fixedly connected to the third Y-axis linear module. The third Y-axis linear module is driven by a fifth motor. The seventh slider of the third Y-axis linear module is fixedly connected to the third Z-axis linear module. The eighth slider of the third Z-axis linear module is fixedly connected to the folding gripper assembly; the folding gripper assembly includes a folding gripper and a folding gripper finger cylinder for controlling the folding gripper. A folding gripper flipping cylinder for flipping the folding gripper is also fixed on the upper side of the finger cylinder. The flipping cylinder is driven by a sixth motor to rotate the angle.

[0009] Preferably, the track component includes a guide rail, and the auxiliary packaging component includes a ninth slider. The ninth slider is slidably connected to the guide rail.

[0010] Preferably, the auxiliary packaging component includes a fixed frame and a positioning device and a pressing plate device arranged on the fixed frame. The positioning device is used for positioning the center of the basket; the pressing plate device includes a first pressing plate structure that can move in the vertical and horizontal directions on the right side of the folding station, a second pressing plate structure that can move in the vertical and horizontal directions on the left side of the folding station, a third pressing plate structure fixedly connected to the basket gripper assembly, and a fourth tipping plate structure arranged in front of the folding station.

[0011] Preferably, the first pressing plate structure includes a first pressing plate fixing plate disposed on the fixed frame. A first Z-axis pressing plate linear module is provided on the first pressing plate fixing plate. The tenth slider of the first Z-axis pressing plate linear module is connected to the first Y-axis pressing plate linear module, and the eleventh slider of the first Y-axis pressing plate linear module is fixedly connected to the first pressing plate; the second pressing plate structure includes a second pressing plate fixing plate disposed on the fixed frame. A second Z-axis pressing plate linear module is provided on the second pressing plate fixing plate. The twelfth slider of the second Z-axis pressing plate linear module is fixedly connected to the second Y-axis pressing plate linear module, and the thirteenth slider of the second Y-axis pressing plate linear module is fixedly connected to the second pressing plate; the third pressing plate structure includes a third pressing plate and a swing cylinder fixedly connected to the third pressing plate. The swing cylinder is fixedly connected to the basket gripper assembly; the fourth toggle structure includes a toggle cylinder fixed on the fixed frame. The toggle cylinder is fixedly connected to the toggle connecting plate through an elbow joint, and the toggle connecting plate is fixedly connected to the toggle.

[0012] Preferably, the positioning device includes a first positioning component disposed at the rear side of the fixed frame and a second positioning component disposed at the front side of the fixed frame; the first positioning component includes a first positioning plate disposed on the fixed frame. A first positioning motor is fixed on the first positioning plate. The output shaft of the first positioning motor is fixedly connected to a first positioning screw rod. A first positioning slider sleeved on the first positioning screw rod is fixedly connected to a second positioning plate. First positioning cylinders and second positioning cylinders are fixed on both sides of the second positioning plate. The piston rods of the first positioning cylinder and the second positioning cylinder are both fixedly connected to a first top block; fifth positioning screw rods are fixed on both sides of the second positioning plate. Second positioning sliders sleeved on the fifth positioning screw rods are both fixedly connected to a first positioning swing cylinder. A first pressing rod is installed on the first positioning swing cylinder; the second positioning component includes a third positioning plate. A second positioning motor is fixed on the third positioning plate. The output shaft of the second positioning motor is fixedly connected to a second positioning screw rod arranged in the X-axis direction. A third positioning slider sleeved on the second positioning screw rod is fixedly connected to a fourth positioning plate. A third positioning screw rod and a fourth positioning screw rod arranged in the Y-axis direction are provided on the fourth positioning plate. The third positioning screw rod is driven by a third positioning motor, and the fourth positioning screw rod is driven by a fourth positioning motor. The third positioning screw rod in the Y-axis direction is connected to a sixth positioning screw rod in the Z-axis direction through a fourth positioning slider. The fourth screw rod in the Y-axis direction is fixedly connected to a seventh positioning screw rod in the Z-axis direction through a fifth positioning slider. Second top blocks and second pressing rods are fixed on the tops of the sixth screw rod and the seventh screw rod; both the first pressing rod and the second pressing rod are inclined at an angle.

[0013] Preferably, a distance sensor is fixed on the bracket for detecting the distance between the suction cup and the non-woven fabric; a clamping plate position detector is fixed on the folding gripper.

[0014] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0015] The automatic packaging machine for medical devices provided by the present invention can accurately package products, ensuring the packaging quality. Moreover, the entire set of packaging equipment is fully automated, improving the packaging efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 Side view of each module of the present invention;

[0017] Figure 2 Schematic diagram of the positions of each module of the present invention;

[0018] Figure 3 Side view of the first moving component of the present invention;

[0019] Figure 4 Schematic diagram of the structures of the moving components of the present invention;

[0020] Figure 5 Schematic diagram of the structure of the non-woven fabric feeding module of the present invention;

[0021] Figure 6 Schematic diagram of the structure of the basket feeding module of the present invention;

[0022] Figure 7 Schematic diagram of the structure of the folding gripper module of the present invention;

[0023] Figure 8 Schematic diagram of the structure of the packaging module of the present invention;

[0024] Figure 9 Schematic diagram of the structure of the auxiliary packaging component of the present invention;

[0025] Figure 10 Schematic diagram of the structure of the first pressing plate structure of the present invention;

[0026] Figure 11 Schematic diagram of the structure of the second pressing plate structure of the present invention;

[0027] Figure 12 Schematic diagram of the structure of the second positioning component of the present invention;

[0028] Figure 13 Schematic diagram of the structure of the first positioning component of the present invention;

[0029] Figure 14 Schematic diagram of the structure of the fourth rocker component of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0030] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0031] As described in the background art, the conventional medical device packaging method requires manual participation, which not only has low efficiency but also increases labor costs.

[0032] Therefore, in view of the problems in the prior art, such as Figures 1-14 shown, the present invention provides an automatic medical device packaging machine, which includes a control system, a frame 100, a non-woven fabric feeding module 200, a basket feeding module 300, a folding gripper module 400, and a packaging module 500 arranged on the frame 100; the control system is in signal connection with the non-woven fabric feeding module 200, the basket feeding module 300, the folding gripper module 400, and the packaging module 500.

[0033] The non-woven fabric feeding module 200 includes a first moving component 210 and a non-woven fabric suction gripper 220. The non-woven fabric suction gripper 220 sucks the non-woven fabric 800 to the folding station 600 through the first moving component 210; the basket feeding module 300 includes a second moving component 310 and a basket gripper component 320. The basket gripper component 320 grabs the basket 700 to the folding station 600 through the second moving component 310; the folding gripper module 400 includes a third moving component 410 and a folding gripper component 420. The folding gripper component 420 is used to grab the non-woven fabric 800 to perform the packaging process on the basket 700; the packaging module 500 includes a track component 510 connected to the frame 100 and an auxiliary packaging component 520. The track component 510 is fixed on the frame 100. The auxiliary packaging component 520 is slidably connected to the track component 510 and can be pulled out or pulled into the frame 100 through the track component 510. The auxiliary packaging component 520 is used for the auxiliary packaging work when the folding gripper 421 grabs the non-woven fabric 800 to package the basket 700.

[0034] Specifically, the first moving component 210 includes a first Y-axis connecting rod 211 and first X-axis linear modules 212 arranged on both sides of the frame 100 along the X-axis direction. The first X-axis linear modules 212 are both driven by a first motor 213. The first sliders 214 fixed on the first X-axis linear modules 212 are all fixedly connected to the first Y-axis connecting rod 211. A first Z-axis cylinder 215 is fixed on the first Y-axis connecting rod 211. The piston rod of the first Z-axis cylinder 215 is fixedly connected to the non-woven fabric suction gripper 220.

[0035] It should be noted that the non-woven fabric suction gripper 220 moves on the X and Z axes through the first moving component 210. Specifically, the first X-axis linear module 212 drives the first Y-axis connecting rod 211 to move on the X axis through the first slider 214, and the first Z-axis cylinder 215 fixed on the first Y-axis connecting rod 211 drives the non-woven fabric suction gripper to move on the Z axis, thereby realizing the movement of the non-woven fabric suction gripper 220 on the X and Z axes.

[0036] Specifically, the non-woven fabric suction gripper 220 includes a bracket 221, a suction cup 222 and a gripper 223 arranged on the bracket 221.

[0037] It is worth mentioning that the suction cups 222 are arranged at different positions on the bracket 221 to adapt to non-woven fabrics of different sizes. The suction cups 222 are non-contact suction cups. Using the Bernoulli principle, a negative pressure is created between the non-woven fabric 800 and the suction cups 222, and the atmosphere pushes the non-woven fabric 800 towards the suction cups 222. After the suction cups 222 pick up the non-woven fabric 800, the gripper 223 grabs the edge of the non-woven fabric, and the non-woven fabric 800 is moved to the folding station 600 through the first moving component 210.

[0038] Specifically, the second moving component 310 includes a second Y-axis linear module 311 and second X-axis linear modules 312 laid along the X-axis direction on both sides of the frame 100. The second X-axis linear modules 312 are both driven by second motors 313. The third sliders 314 fixed on the second X-axis linear modules 312 are both fixedly connected to the second Y-axis linear module 311. The second Y-axis linear module 311 is driven by a third motor 315. The fourth slider 316 of the second Y-axis linear module 311 is fixedly connected to the second Z-axis linear module 317. The fifth slider 318 of the second Z-axis linear module 317 is fixedly connected to the basket gripper assembly 320; the basket gripper assembly 320 includes a basket gripper 321 for gripping the basket 700.

[0039] It should be noted that the basket gripper 321 realizes its movement on the XYZ three axes through the second moving component 310. Specifically, through the combined movement of the second X-axis linear module 312, the second Y-axis linear module 311 and the second Z-axis linear module 317, the movement of the basket gripper 321 is controlled. Specifically, the second X-axis linear module 312 drives the second Y-axis linear module 311 to move on the X axis through the third slider 314. The fourth slider 316 fixed on the second Y-axis linear module 311 drives the second Z-axis linear module 317 to move on the Y axis. The second Z-axis linear module 317 drives the basket gripper 321 to move on the Z axis through the fifth slider 318, thereby realizing the movement of the basket gripper 321 on the XYZ three axes.

[0040] Specifically, the third moving component 410 includes a third Y-axis linear module 411 and third X-axis linear modules 412 laid on both sides of the frame 100 along the X-axis direction. The third X-axis linear modules 412 are both driven by a fourth motor 413. Sixth sliders 414 fixed on the third X-axis linear modules 412 are fixedly connected to the third Y-axis linear module 411. The third Y-axis linear module 411 is driven by a fifth motor 415. A seventh slider 416 of the third Y-axis linear module 411 is fixedly connected to a third Z-axis linear module 417. An eighth slider 418 of the third Z-axis linear module 417 is fixedly connected to the folding gripper assembly 420.

[0041] It should be noted that the folding gripper assembly 420 realizes its movement on the XYZ three axes through the third moving component 410. The specific implementation steps are the same as those of the second moving component and will not be elaborated here.

[0042] The folding gripper assembly 420 includes a folding gripper 421 and a folding gripper finger cylinder 424 for controlling the folding gripper 421. A folding gripper flipping cylinder 423 for flipping the folding gripper 421 is also fixed on the upper side of the finger cylinder 424. The flipping cylinder 423 is driven by a sixth motor 422 to rotate the angle.

[0043] It is also worth mentioning that the folding gripper 421 is used to clamp the corner of the non-woven fabric 800 for flipping and moving. The folding gripper flipping cylinder 423 is used to flip the clamping plate by 180° and perform flipping after clamping the non-woven fabric 800.

[0044] Specifically, the track assembly 510 includes a guide rail 511. The auxiliary packaging assembly 520 includes a ninth slider 521. The ninth slider 521 is slidably connected to the guide rail 511. The auxiliary packaging assembly 520 is pulled out or pulled into the frame 100 through the sliding connection between the ninth slider 521 and the guide rail 511, facilitating subsequent inspection and maintenance work.

[0045] Specifically, the auxiliary packaging assembly 520 includes a fixed frame 522 and a positioning device 523 and a pressing plate device 524 arranged on the fixed frame 522. The positioning device 523 is used to center the basket 700. The pressing plate device 524 includes a first pressing plate structure 525 that can move in the vertical and horizontal directions on the right side of the folding station 600, a second pressing plate structure 526 that can move in the vertical and horizontal directions on the left side of the folding station 600, a third pressing plate structure 527 fixedly connected to the basket gripper assembly 320, and a fourth tipping plate structure 528 arranged in front of the folding station.

[0046] Specifically, the first pressing plate structure 525 includes a first pressing plate fixing plate 5251 disposed on the fixing frame 522. A first Z-axis pressing plate linear module 5252 is provided on the first pressing plate fixing plate 5251. A tenth slider 5253 of the first Z-axis pressing plate linear module 5252 is fixedly connected to a first Y-axis pressing plate linear module 5254. An eleventh slider 5255 of the first Y-axis pressing plate linear module 5254 is fixedly connected to a first pressing plate 5256.

[0047] It should be noted that after the first pressing plate 5256 is vertically lifted by the first Z-axis pressing plate linear module 5252, the first pressing plate 5256 is pushed forward by the first Y-axis pressing plate linear module 5254 to complete the process of folding the non-woven fabric 800 on the right side.

[0048] The second pressing plate structure 526 includes a second pressing plate fixing plate 5261 disposed on the fixing frame 522. A second Z-axis pressing plate linear module 5262 is provided on the second pressing plate fixing plate 5261. A twelfth slider 5263 of the second Z-axis pressing plate linear module 5262 is fixedly connected to a second Y-axis pressing plate linear module 5264. A thirteenth slider 5265 of the second Y-axis pressing plate linear module 5264 is fixedly connected to a second pressing plate 5266.

[0049] It should be noted that after the second pressing plate 5266 is vertically lifted by the second Z-axis pressing plate linear module 5262, the second pressing plate 5266 is pushed forward by the second Y-axis pressing plate linear module 5264 to complete the process of folding the non-woven fabric 800 on the left side.

[0050] The third pressing plate structure 527 includes a third pressing plate 5271 and a swing cylinder 5272 fixedly connected to the third pressing plate 5271. The swing cylinder 5272 is fixedly connected to the basket gripper assembly 320.

[0051] It should be noted that when tucking the non-woven fabric 800, the third pressing plate 5271 is in a horizontal state and is driven by the second moving assembly 310 to move into the basket 700. The third pressing plate 5271 is driven by the swing cylinder 5272 to rotate an angle.

[0052] Specifically, the fourth tipping plate structure 528 includes a tipping plate cylinder 5281 fixed to the fixing frame 522. The tipping plate cylinder 5281 is fixedly connected to a tipping plate connecting plate 5283 through an elbow joint 5282. The tipping plate connecting plate 5283 is fixedly connected to a tipping plate 5284.

[0053] Specifically, the positioning device 523 includes a first positioning component 529 disposed at the rear side of the fixing frame 522 and a second positioning component 530 disposed at the front side of the fixing frame 522; the first positioning component 529 includes a first positioning plate 5291 disposed on the fixing frame 522, a first positioning motor 5292 is fixed on the first positioning plate 5291, an output shaft of the first positioning motor 5292 is fixedly connected to a first positioning lead screw 5293, a first positioning slider 5294 sleeved on the first positioning lead screw 5293 is fixedly connected to a second positioning plate 5295, a first positioning cylinder 5296 and a second positioning cylinder 5297 located on both sides of the plate surface of the second positioning plate 5295 are fixed on the second positioning plate 5295, and piston rods of the first positioning cylinder 5296 and the second positioning cylinder 5297 are both fixedly connected to a first top block 5298;

[0054] Fifth positioning lead screws 5331 are fixed on both sides of the second positioning plate 5295, second positioning sliders 5299 sleeved on the fifth positioning lead screws 5331 are both fixedly connected to a first positioning swing cylinder 5300, and a first pressing rod 5330 is installed on the first positioning swing cylinder 5300;

[0055] When the first top block 5298 is required to position the product to be packaged, after the control system calculates the rear position of the basket 700, the first positioning motor 5292 is started to drive the first positioning lead screw 5293 to rotate, so that the first positioning slider 5294 drives the first top block 5298 fixed on the second positioning plate 5295 to move in the direction close to the rear side of the basket 700. Subsequently, the piston rods of the first positioning cylinder 5296 and the second positioning cylinder 5297 extend to drive the first top block 5298 to rotate around the rotating shaft and lift upward, thereby positioning the rear side of the basket 700.

[0056] When the first pressing rod 5330 is required to press against the non-woven fabric at the rear side of the product to be packaged before folding, the motor drives the fifth positioning lead screw 5331 to rotate, so that the second positioning slider 52995 drives the corresponding first positioning swing cylinder 5300 to move in the direction of the non-woven fabric 800 to be folded at the rear side according to the length of the basket 700. Subsequently, the first positioning swing cylinder 5300 is ventilated to drive the first pressing rod 5330 to press against both sides of the non-woven fabric 800 to be folded at the rear side of the basket 700, and the first pressing rod 5330 forms an angle of 45 degrees with the tabletop.

[0057] The second positioning component 530 includes a third positioning plate 5301, on which a second positioning motor 5302 is fixed. The output shaft of the second positioning motor 5302 is fixedly connected to a second positioning lead screw 5303 arranged in the X-axis direction. A third positioning slider 5304 sleeved on the second positioning lead screw 5303 is fixedly connected to a fourth positioning plate 5305. On the fourth positioning plate 5305, there are a third positioning lead screw 5306 and a fourth positioning lead screw 5307 arranged in the Y-axis direction. The third positioning lead screw 5306 is driven by a third positioning motor 5308, and the fourth positioning lead screw 5307 is driven by a fourth positioning motor 5309. The third positioning lead screw 5306 in the Y-axis direction is connected to a sixth positioning lead screw 5312 in the Z-axis direction through a fourth positioning slider 5310, and the fourth lead screw 5307 in the Y-axis direction is fixedly connected to a seventh positioning lead screw 5313 in the Z-axis direction through a fifth positioning slider 5311. At the tops of the sixth lead screw 5312 and the seventh lead screw 5313, there are both a second top block 5316 and a second pressing rod 5317; both the first pressing rod 5330 and the second pressing rod 5317 are inclined at 45 degrees.

[0058] When the basketball hoop 700 needs to be positioned according to its length, width, and height, after the control system calculates the front side, left and right sides, and height positions of the basketball hoop 700, the second positioning motor 5302 is started. The second positioning motor 5302 drives the second positioning lead screw 5303 to rotate, so that the second positioning slider 5304 drives the third positioning lead screw 5306 and the fourth positioning lead screw 5307 fixed on the fourth positioning plate 5305 to move in the direction close to the front side of the basketball hoop 700, driving the second top block 316 and the first top block 5298 together to achieve the positioning of the basketball hoop 700 in terms of width; at the same time, the third positioning motor 5308 and the fourth positioning motor 5309 are started to drive the third positioning lead screw 5306 and the fourth positioning lead screw 5307 to rotate, so as to drive the second top block 5316 and the second pressing rod 5317 to move in the Y-axis direction through the third positioning slider 5310 and the fourth positioning slider 5313, achieving the positioning of the basketball hoop 700 in terms of length; the motor drives the sixth lead screw 5312 and the seventh lead screw 5313 to rotate, so as to drive the second pressing rod 5317 to move in the Z-axis direction, achieving the pressing on the left and right sides of the non-woven fabric 800.

[0059] It should be noted that the first pressing rod 5330 and the second pressing rod 5317 are inclined at 45 degrees. When folding, the first pressing rod 5330 and the second pressing rod 5317 can play a role in pressing the left and right sides of the non-woven fabric 800 during folding.

[0060] Specifically, a first proximity sensor for zero position detection (a commercially available product, not shown in the figure) is fixed on the frame 100 near the first motor 213; a second proximity sensor for zero position detection (a commercially available product, not shown in the figure) is fixed on the frame 100 near the second motor 313; a third proximity sensor for zero position detection (a commercially available product, not shown in the figure) is fixed on the frame 100 near the fourth motor 413; a distance sensor 224 is fixed on the bracket 221 for detecting the distance between the suction cup 222 and the non-woven fabric 800; a clamp position detector 424 is fixed on the folding gripper 421.

[0061] It should be noted that each of the above linear modules can be one or several of a belt-type linear module or a lead screw-type linear module driven by a motor, and all the lead screw structures with unspecified drive structures above are driven by motors.

[0062] When the present invention is in operation, the non-woven fabric suction gripper 220 sucks the non-woven fabric 800 and places it at the folding station 600. Subsequently, the basket gripper 321 clamps the basket 700 and places it above the non-woven fabric 800. After the first top block 5298 of the first positioning assembly 529 positions the rear side of the basket 700, the folding gripper 421 grabs a corner of the front side of the non-woven fabric 800 and folds the front corner of the non-woven fabric 800 backward. At this time, after the second top block 5316 and the second pressing rod 5317 of the second positioning assembly 530 position the front side of the basket 700 and press against the left and right sides, the first pressing plate 5256 and the second pressing plate 5266 are respectively pushed to the left and right sides of the bottom of the basket 700 and then rise above the basket to lift the left and right sides of the non-woven fabric 800. The folding gripper 421 releases the front corner of the non-woven fabric 800, the rocker cylinder 5281 extends, and the rocker 5284 is lifted upward and pressed against the upper side of the basket 700 to assist in tucking the rear side of the non-woven fabric 800 later. The first pressing plate 5256 and the second pressing plate 5266 are respectively pushed to cross-fold the left and right sides of the non-woven fabric 800, and the first pressing rod 5330 presses against the rear side of the non-woven fabric 800. After the folding gripper 421 grabs a corner of the rear side of the non-woven fabric 800, it starts to fold the rear side of the non-woven fabric 800. After the folding gripper 421 flips and moves to the front side above the basket 700 and stays to assist in tucking the rear side of the non-woven fabric 800 later, when the third pressing plate 5271 of the basket gripper 320 moves between the rocker 5284 and the folding gripper 421, the folding gripper 421 tucks the rear side of the non-woven fabric 800 and leaves a corner to complete the packaging process, and then all devices retract. Subsequently, the basket gripper 321 clamps the basket 800 with the first layer of non-woven fabric packaging and exits the station 600.

[0063] The non-woven fabric suction gripper 220 sucks the non-woven fabric 800 again and places it at the folding station 600. Subsequently, the basket gripper 321 holding the basket 700 is placed above the non-woven fabric 800 again. Then, the above process is repeated to complete the packaging of the second layer of non-woven fabric. Subsequently, the basket gripper 321 holds the basket 800 that has completed the packaging of the second layer of non-woven fabric and reaches the shipping area of the medical device package.

[0064] This automatic packaging machine is applied to the automated solution for surgical instrument packaging. The entire solution process is as follows:

[0065] 1. The nurse places the inspected surgical instruments and their baskets on the conveyor belt connected to the packaging machine and sends them into the automatic packaging machine.

[0066] 2. The automatic packaging machine automatically identifies the surgical instrument package, automatically grabs the basket and non-woven fabric, and completes two-layer packaging. After packaging, it automatically pastes the fixing tape and the instrument package label.

[0067] 3. The conveyor belt connected to the automatic packaging machine sends the packaged surgical package out of the packaging machine.

[0068] 4. The robotic arm transports the packaged surgical package to the large storage basket and moves the large basket to the special transfer vehicle.

[0069] 5. The AMR automatic guided vehicle transports the transfer vehicle to the disinfection cabinet for disinfection.

[0070] 6. The robotic arm moves the disinfected large basket onto the storage robot.

[0071] 7. The storage robot transmission system automatically stores it in the warehouse.

[0072] 8. According to the system order, the storage robot automatically exits the warehouse.

[0073] 9. The dispensing robot completes the automatic logistics dispensing and automatic outbound of the surgical packages within the hospital.

[0074] By using the automatic packaging machine, the automatic packaging work of medical devices can be easily completed.

[0075] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device.

[0076] Although embodiments of the present invention have been shown and described, those of ordinary skill in the art will appreciate that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An automatic packaging machine for medical devices, characterized in that: It includes a control system, a frame (100), a non-woven fabric feeding module (200), a basket feeding module (300), a folding gripper module (400), and a packaging module (500) arranged on the frame (100); The non-woven fabric feeding module (200) includes a first moving component (210) and a non-woven fabric suction gripper (220). The non-woven fabric suction gripper (220) sucks the non-woven fabric (800) to the folding station (600) through the first moving component (210); The basket feeding module (300) includes a second moving component (310) and a basket gripper assembly (320). The basket gripper assembly (320) grabs the basket (700) to the folding station (600) through the second moving component (310); The folding gripper module (400) includes a third moving component (410) and a folding gripper assembly (420). The folding gripper assembly (420) is used to grab the non-woven fabric (800) to perform the packaging process on the basket (700); The packaging module (500) includes a track component (510) connected to the frame (100) and an auxiliary packaging component (520). The track component (510) is fixed on the frame (100). The auxiliary packaging component (520) is slidably connected to the track component (510) and can be pulled out or pulled into the frame (100) through the track component (510). The auxiliary packaging component (520) is used for the auxiliary packaging work when the folding gripper (421) grabs the non-woven fabric (800) to package the basket (700); The auxiliary packaging component (520) includes a fixing frame (522), a positioning device (523), and a pressing plate device (524) arranged on the fixing frame (522). The positioning device (523) is used to center the basket (700); The pressing plate device (524) includes a first pressing plate structure (525) that can move in the vertical and horizontal directions on the right side of the folding station (600), a second pressing plate structure (526) that can move in the vertical and horizontal directions on the left side of the folding station (600), a third pressing plate structure (527) fixedly connected to the basket gripper assembly (320), and a fourth tipping plate structure (528) arranged in front of the folding station (600); The first pressing plate structure (525) includes a first pressing plate fixing plate (5251) arranged on the fixing frame (522). A first Z-axis pressing plate linear module (5252) is provided on the first pressing plate fixing plate (5251). The tenth slider (5253) of the first Z-axis pressing plate linear module (5252) is fixedly connected to the first Y-axis pressing plate linear module (5254). The eleventh slider (5255) of the first Y-axis pressing plate linear module (5254) is fixedly connected to the first pressing plate (5256); The second pressing plate structure (526) includes a second pressing plate fixing plate (5261) arranged on the fixing frame (522). A second Z-axis pressing plate linear module (5262) is provided on the second pressing plate fixing plate (5261). The twelfth slider (5263) of the second Z-axis pressing plate linear module (5262) is fixedly connected to a second Y-axis pressing plate linear module (5264). The thirteenth slider (5265) of the second Y-axis pressing plate linear module (5264) is fixedly connected to a second pressing plate (5266). The third pressing plate structure (527) includes a third pressing plate (5271) and a swing cylinder (5272) fixedly connected to the third pressing plate (5271). The swing cylinder (5272) is fixedly connected to the basket gripper assembly (320). The fourth tipping plate structure (528) includes a tipping plate cylinder (5281) fixed on the fixing frame (522). The tipping plate cylinder (5281) is fixedly connected to a tipping plate connecting plate (5283) through an elbow joint (5282). The tipping plate connecting plate (5283) is fixedly connected to a tipping plate (5284).

2. The automatic packaging machine for medical devices according to claim 1, characterized in that, The positioning device (523) includes a first positioning component (529) arranged at the rear side of the fixing frame (522) and a second positioning component (530) arranged at the front side of the fixing frame (522). The first positioning component (529) includes a first positioning plate (5291) arranged on the fixing frame (522). A first positioning motor (5292) is fixed on the first positioning plate (5291). The output shaft of the first positioning motor (5292) is fixedly connected to a first positioning lead screw (5293). A first positioning slider (5294) sleeved on the first positioning lead screw (5293) is fixedly connected to a second positioning plate (5295). A first positioning cylinder (5296) and a second positioning cylinder (5297) located on both sides of the plate surface of the second positioning plate (5295) are fixed on the second positioning plate (5295). The piston rods of the first positioning cylinder (5296) and the second positioning cylinder (5297) are both fixedly connected to a first top block (5298). Fifth positioning lead screws (5331) are fixed on both sides of the second positioning plate (5295). Second positioning sliders (5299) sleeved on the fifth positioning lead screws (5331) are both fixedly connected to a first positioning swing cylinder (5300). A first pressing rod (5330) is installed on the first positioning swing cylinder (5300). The second positioning component (530) includes a third positioning plate (5301). A second positioning motor (5302) is fixed on the third positioning plate (5301). The output shaft of the second positioning motor (5302) is fixedly connected to a second positioning lead screw (5303) arranged in the X-axis direction. A third positioning slider (5304) sleeved on the second positioning lead screw (5303) is fixedly connected to a fourth positioning plate (5305). A third positioning lead screw (5306) and a fourth positioning lead screw (5307) arranged in the Y-axis direction are provided on the fourth positioning plate (5305). The third positioning lead screw (5306) is driven by a third positioning motor (5308), and the fourth positioning lead screw (5307) is driven by a fourth positioning motor (5309). The third positioning lead screw (5306) in the Y-axis direction and a sixth positioning lead screw (5312) in the Z-axis direction are connected by a fourth positioning slider (5310). The fourth positioning lead screw (5307) in the Y-axis direction and a seventh positioning lead screw (5313) in the Z-axis direction are fixedly connected by a fifth positioning slider (5311). Second top blocks (5316) and second pressing rods (5317) are fixed to the tops of the sixth positioning lead screw (5312) and the seventh positioning lead screw (5313); Both the first pressing rod (5330) and the second pressing rod (5317) are inclined at 45 degrees.

3. The automatic packaging machine for medical devices according to claim 2, characterized in that, The first moving component (210) includes a first Y-axis connecting rod (211) and first X-axis linear modules (212) laid on both sides of the frame (100) along the X-axis direction. The first X-axis linear modules (212) are both driven by first motors (213). First sliders (214) fixed on the first X-axis linear modules (212) are fixedly connected to the first Y-axis connecting rod (211). A first Z-axis cylinder (215) is fixed on the first Y-axis connecting rod (211). The piston rod of the first Z-axis cylinder (215) is fixedly connected to a non-woven fabric suction gripper (220).

4. The automatic packaging machine for medical devices according to claim 3, characterized in that, The non-woven fabric suction gripper (220) includes a bracket (221), a suction cup (222) and a pneumatic claw (223) arranged on the bracket (221).

5. The automatic packaging machine for medical devices according to claim 4, characterized in that, The second moving component (310) includes a second Y-axis linear module (311) and second X-axis linear modules (312) laid on both sides of the frame (100) along the X-axis direction. The second X-axis linear modules (312) are both driven by second motors (313). Third sliders (314) fixed on the second X-axis linear modules (312) are fixedly connected to the second Y-axis linear module (311). The second Y-axis linear module (311) is driven by a third motor (315). A fourth slider (316) of the second Y-axis linear module (311) is fixedly connected to a second Z-axis linear module (317). A fifth slider (318) of the second Z-axis linear module (317) is fixedly connected to a basket gripper assembly (320); The basket gripper assembly (320) includes a basket jaw (321) for gripping the basket (700).

6. The automatic packaging machine for medical devices according to claim 5, characterized in that, The third moving assembly (410) includes a third Y-axis linear module (411) and third X-axis linear modules (412) laid along the X-axis direction on both sides of the frame (100). The third X-axis linear modules (412) are each driven by a fourth motor (413). The sixth sliders (414) fixed on the third X-axis linear modules (412) are fixedly connected to the third Y-axis linear module (411). The third Y-axis linear module (411) is driven by a fifth motor (415). The seventh slider (416) of the third Y-axis linear module (411) is fixedly connected to the third Z-axis linear module (417). The eighth slider (418) of the third Z-axis linear module (417) is fixedly connected to the folding gripper assembly (420). The folding gripper assembly (420) includes a folding gripper (421) and a folding gripper finger cylinder (424) for controlling the folding gripper (421). A folding gripper flipping cylinder (423) for flipping the folding gripper (421) is also fixed on the upper side of the folding gripper finger cylinder (424). The folding gripper flipping cylinder (423) is driven by a sixth motor (422) to rotate the angle.

7. An automatic packaging machine for medical devices according to claim 6, characterized in that, The track assembly (510) includes a guide rail (511), and the auxiliary packaging assembly (520) includes a ninth slider (521). The ninth slider (521) is slidably connected to the guide rail (511).

8. An automatic packaging machine for medical devices according to claim 7, characterized in that, A distance sensor (224) is fixed on the bracket (221) for detecting the distance between the suction cup (222) and the non-woven fabric (800). A splint position detector is fixed on the folding gripper (421).

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