Multi-arm cooperative intelligent packaging robot for disinfection supply center

Abstract

The invention provides a multi-arm cooperative intelligent packaging robot for a disinfection and supply center, and belongs to the technical field of medical equipment.The robot comprises a first connecting plate, second conveying equipment, first conveying equipment, drying equipment and the like, through cooperative work of multiple equipment, cleaning, disinfection, drying and packaging of articles are achieved, and the work efficiency is improved. The angle and the position of the packaging mechanism can be accurately adjusted, the packaging mechanism is suitable for articles of different specifications, the control system is composed of a control center, an execution unit and a sensing unit, accurate control is achieved, and the transmission assembly ensures stable operation of the packaging mechanism; the problems that in the prior art, all links are not tight in cooperation, the intelligent degree is low, materials are wasted, and manual operation risks exist are solved, and the packaging efficiency, quality and safety are improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of medical equipment, and in particular relates to a multi-arm collaborative intelligent packaging robot used in a disinfection supply center. Background Art

[0002] At present, the hospital disinfection supply center has entered an era with a basically reasonable layout, relatively advanced equipment, scientific management, and basically controllable quality. However, with the increasing scarcity of labor in society, the emergence of problems such as the gradual increase in labor costs, and the continuous maturity and application of technologies such as intelligence and automation, it has become an industry consensus to reduce labor costs and improve management efficiency through intelligent equipment to realize the intelligence of hospital disinfection supply centers. Among them, realizing the automated packaging of terminally sterilized items is an important part of the intelligent disinfection supply center;

[0003] At present, the packaging material for terminally sterilized items is mostly medical non-woven fabrics, but the use of medical non-woven fabrics to package terminally sterilized items still requires manual operation. Most terminally sterilized items are metal products and are basically loaded in metal instrument baskets. They are heavy and bulky, and the packaging process is relatively cumbersome. In addition, due to the skill level of the operators, the packaging quality varies. In addition, during the packaging process, the operators will come into contact with the terminally sterilized items, posing a risk of secondary contamination.

[0004] The authorization publication number "CN117163421B" records a multi-arm collaborative intelligent packaging robot for a disinfection supply center. It belongs to the field of medical device technology and solves the problems in the prior art that the packaging process of sterilized items is cumbersome, the labor intensity of operators is high, and the efficiency is low. It mainly includes a main frame, a cleaning tray buffer table, a sterilization tray buffer table and an instrument basket. A fixed bracket is provided on the outside of the main frame. The main frame is provided with a non-woven fabric feeding mechanism, a paper tape feeding mechanism, a label printer, a fixture buffer rack, a workbench, a mechanical arm mechanism and a general control cabinet. The present invention mainly uses three mechanical arms to assist various special fixtures to cooperate with each other to complete various packaging, packaging, and labeling actions. The three mechanical arms cooperate with each other to complete each packaging process, and the non-woven fabric packaging folding actions and steps are flexibly adjusted to adapt to different packaging requirements.

[0005] The above patent has a reasonable structure and can be installed at a low position, but there are certain shortcomings in the use of the above patent. The cooperation between various links is not close enough, and efficient multi-arm collaborative operation cannot be achieved. At the same time, the existing equipment has a low degree of intelligence in the packaging process, and has limited adaptability to the size of objects. It is difficult to meet the packaging needs of objects of different specifications, and the processing of packaging materials is not precise enough, which easily leads to material waste. Summary of the invention

[0006] The purpose of the present invention is to provide a multi-arm collaborative intelligent packaging robot for a disinfection supply center, aiming to solve the problem that the collaboration between various links in the prior art is not close enough and efficient multi-arm collaborative operations cannot be achieved. At the same time, the existing equipment has a low degree of intelligence in the packaging process, has limited adaptability to the size of items, and is difficult to meet the packaging needs of items of different specifications. In addition, the processing of packaging materials is not accurate enough, which easily leads to material waste.

[0007] To achieve the above object, the present invention provides the following technical solutions:

[0008] A multi-arm collaborative intelligent packaging robot for a disinfection supply center, comprising:

[0009] A first connecting plate, wherein the front and rear ends of the first connecting plate are respectively fixedly connected with the second transmission device and the first transmission device, the top of the first transmission device is fixedly connected with the drying device, the cleaning device and the disinfection device, the front end of the second transmission device is fixedly connected with the connecting box, the top of the connecting box is fixedly connected with the second connecting plate and the packaging mechanical gripper, and the top of the second connecting plate is fixedly connected with the second motor;

[0010] A mechanical gripper for picking up objects, wherein the mechanical gripper for picking up objects is fixedly connected to the top of the first connecting plate, and a control system is arranged inside the mechanical gripper for picking up objects, wherein the control system comprises three main parts: a control center, an execution unit and a sensor unit;

[0011] A first electronically controlled cylinder, wherein the first electronically controlled cylinder is fixedly connected to a front end of the connection box, and a cutting device is fixedly connected to a telescopic end of the first electronically controlled cylinder;

[0012] A packaging slot, the packaging slot is opened at the top of the connection box;

[0013] The packaging mechanism is arranged in the packaging groove and is used for packaging articles.

[0014] As a preferred solution of the present invention, the packaging mechanism includes:

[0015] A connecting ring, the connecting ring is rotatably connected to the packaging groove;

[0016] A first gear, wherein the first gear is fixedly connected to a circumferential surface of the connecting ring;

[0017] A second electronically controlled cylinder, wherein four second electronically controlled cylinders are provided and all of the four second electronically controlled cylinders are fixedly connected in the connecting ring;

[0018] A second gear, the second gear is fixedly connected to an output end of the second motor;

[0019] Electric plastic packaging equipment, the electric plastic packaging equipment is fixedly connected to the front and rear inner walls of the packaging tank;

[0020] A pressing block, wherein two pressing blocks are provided, and the two pressing blocks are respectively fixedly connected to the telescopic ends of two of the second electronically controlled cylinders, and the telescopic ends of the other two second electronically controlled cylinders are respectively fixedly connected with a cutting blade and a plastic hot-melt device;

[0021] A screw rod, wherein two screw rods are provided, and the two screw rods are rotatably connected to the inner walls of both sides of the packaging groove respectively;

[0022] Nuts, two of which are provided, and the two nuts are respectively threadedly connected to the circumferential surfaces of the two screw rods;

[0023] Limiting grooves, two of which are provided, and both of which are opened at the two ends of the connection box;

[0024] An electric suction cup, wherein two electric suction cups are provided, and the two electric suction cups are respectively fixedly connected to the bottom ends of the two movable plates;

[0025] Infrared sensors, two of which are respectively installed on the inner walls of both sides of two packaging slots;

[0026] A movable plate, wherein two movable plates are provided, and the two movable plates are respectively slidably connected to the two limiting grooves;

[0027] A transmission assembly is arranged on one side of the connection box, and is used to drive the two screw rods to rotate.

[0028] As a preferred solution of the present invention, the transmission assembly includes:

[0029] a fourth gear, the fourth gear being rotatably connected to one side of the connection box;

[0030] A third gear, wherein two third gears are provided, and the two third gears are respectively fixedly connected to the fourth gear and the circumferential surface of one of the screw rods;

[0031] A fourth gear, the fourth gear being fixedly connected to the circumferential surface of another screw rod, and the fourth gear being meshed with one of the third gears;

[0032] A toothed belt is meshedly connected to the circumferential surfaces of the two third gears.

[0033] As a preferred solution of the present invention, a storage box is fixedly connected to one side end of the second transmission device, and a placement opening is opened on the outer surface of the second transmission device, and the placement opening is respectively opened at the front end and one side end of the second transmission device.

[0034] As a preferred solution of the present invention, the output end of the first motor is fixedly connected to the circumferential surface of the screw rod, and the shapes of the two movable plates and the two limiting grooves match each other.

[0035] Compared with the prior art, the present invention has the following beneficial effects:

[0036] 1. In this solution, the smooth transmission and processing process: the first transmission device and the second transmission device are connected through the first connecting plate. The first transmission device is integrated with drying equipment, cleaning equipment and disinfection equipment, which can efficiently process the items. After the items are cleaned, disinfected and dried in turn, they are transported to the connection box by the second transmission device for subsequent packaging operations. The mechanical gripper is responsible for transferring the items between various processing links to ensure the smooth flow of items. This collaborative work of multiple devices greatly improves the processing efficiency of items;

[0037] Precise packaging operation: The connecting ring in the packaging mechanism rotates under the drive of the second motor to adjust the packaging angle. The four second electric-controlled cylinders control the pressing block, cutting blade and plastic hot-melting equipment respectively to achieve the compaction, cutting and hot-melting operations of the packaging materials. At the same time, the electric plastic packaging equipment performs plastic packaging on the items to ensure the tight fit of the packaging. The coordinated operation of these operations improves the accuracy and efficiency of packaging.

[0038] Collaborative transmission assembly: The fourth gear, the third gear and the toothed belt in the transmission assembly cooperate with each other to transmit power from the first motor to the two lead screws, so that the lead screws drive the nuts to move, and then the objects are positioned and adsorbed through the moving plate and the electric suction cup. This coordinated movement ensures the stability and accuracy of the packaging process.

[0039] 2. In this solution, precise control and feedback: the control system includes three main parts: control center, execution unit and sensor unit. The control center receives information from the sensor unit (such as infrared sensor) and sends control instructions to the execution unit according to the preset program and algorithm. For example, the infrared sensor detects the position and state of the items in the packaging slot and provides feedback information to the control system to control the packaging operation. This precise control improves the packaging quality.

[0040] Strong size adaptability: When faced with items of different specifications, the packaging mechanism can be adjusted in a variety of ways. For example, the cutting blade can cut the packaging material to make it fit the size and shape of the item; the combination of the lead screw and the nut can achieve precise position adjustment of related components to adapt to items of different sizes. This intelligent design improves the adaptability of the equipment to items of different specifications.

[0041] 3. In this solution, the risk of manual operation is reduced: the use of the intelligent packaging robot reduces manual operation and reduces the risk of contact between operators and terminally sterilized items, thereby reducing the possibility of secondary contamination. Accurate handling of packaging materials: During the packaging process, the equipment handles packaging materials more accurately. The plastic hot melt equipment heats and melts the plastic material for subsequent packaging and bonding operations; if the packaging material size is not appropriate, the cutting blade can cut the packaging material to make it fit the size and shape of the item. This precise processing reduces material waste. Storage and sorting function: The storage box on one side of the second transmission equipment can store waste, unqualified items or spare related items that may be generated during the transmission process, which plays a role in sorting and storage, and keeps the work area clean and orderly. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0043] Figure 1 A perspective view of the present invention;

[0044] Figure 2 It is an exploded perspective diagram of the present invention from a first perspective;

[0045] Figure 3 It is a cutaway stereogram of the present invention from a first viewing angle;

[0046] Figure 4 For the present invention Figure 3 A local enlarged view of point A;

[0047] Figure 5 For the present invention Figure 3 A partial enlarged view of point B;

[0048] Figure 6 It is an exploded stereogram from a second viewing angle of the present invention.

[0049] In the figure: 1. first connecting plate; 2. object-picking mechanical gripper; 3. first transmission equipment; 4. drying equipment; 5. cleaning equipment; 6. disinfection equipment; 7. second transmission equipment; 8. packaging mechanical gripper; 9. connecting box; 10. second connecting plate; 11. storage box; 12. first electric cylinder; 13. cutting equipment; 14. placement port; 15. first motor; 16. second motor; 17. first gear; 18. connecting ring; 19. second gear; 20. infrared sensor; 21. electric plastic packaging equipment; 22. second electric cylinder; 23. pressing block; 24. moving plate; 25. cutting blade; 26. plastic hot-melt equipment; 27. nut; 28. screw rod; 29. ​​electric suction cup; 30. limit groove; 31. toothed belt; 32. third gear; 33. fourth gear. DETAILED DESCRIPTION

[0050] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0051] Example 1

[0052] See also Figure 1-Figure 6 , the present invention provides the following technical solutions:

[0053] A multi-arm collaborative intelligent packaging robot for a disinfection supply center, comprising:

[0054] A first connecting plate 1, the front and rear ends of the first connecting plate 1 are respectively fixedly connected with a second transmission device 7 and a first transmission device 3, the top of the first transmission device 3 is fixedly connected with a drying device 4, a cleaning device 5 and a disinfection device 6, the front end of the second transmission device 7 is fixedly connected with a connection box 9, the top of the connection box 9 is fixedly connected with a second connecting plate 10 and a packaging mechanical gripper 8, and the top of the second connecting plate 10 is fixedly connected with a second motor 16;

[0055] The object-picking mechanical gripper 2 is fixedly connected to the top of the first connecting plate 1. A control system is arranged inside the object-picking mechanical gripper 2. The control system includes three main parts: a control center, an execution unit and a sensor unit.

[0056] A first electric-controlled cylinder 12, the first electric-controlled cylinder 12 is fixedly connected to the front end of the connection box 9, and a cutting device 13 is fixedly connected to the telescopic end of the first electric-controlled cylinder 12;

[0057] A packaging slot, which is provided at the top of the connection box 9;

[0058] The packaging mechanism is arranged in the packaging slot and is used for packaging articles.

[0059] In a specific embodiment of the present invention, the first connecting plate 1 is used as a basic connecting component to connect the front and rear devices such as the second conveying device 7 and the first conveying device 3, and plays a role in overall support and structural stability. The second conveying device 7 is responsible for conveying the processed items from one position to another, such as conveying the dried items to the subsequent packaging link. The first conveying device 3 is used to convey the items to be processed to the corresponding processing position, such as conveying them to the cleaning device 5, the disinfection device 6 and the drying device 4. The drying device 4 dries the cleaned and disinfected items to remove moisture for subsequent packaging and storage. 5 removes dirt and impurities from the surface of the items to make them meet certain cleaning standards. The disinfection equipment 6 disinfects the items to kill possible pathogens and microorganisms to ensure the hygiene and safety of the items. The connection box 9 serves as an intermediate connection and bearing component to provide an installation position for other related equipment such as the first electric control cylinder 12 and the packaging mechanism. The second connection plate 10 is used to connect the second motor 16 above to ensure the stable installation of the motor. The packaging mechanical gripper 8 grabs the items to be packaged and performs corresponding packaging operations. The object-grabbing mechanical gripper 2 is responsible for grabbing the items and transferring them between various processing links. The first electric control cylinder 12 provides power to drive the cutting The cutting device 13 performs cutting action. The cutting device 13 cuts the items to meet the specific size or shape requirements. The packaging slot provides a working space for the packaging mechanism to ensure the smooth progress of the packaging process. The packaging mechanism implements the packaging operation of the items to ensure that the items are effectively protected and packaged. The control system accurately controls and coordinates the operation of the entire robot through the coordinated work of the control center, the execution unit and the sensor unit to achieve efficient and accurate packaging operations. The control center is responsible for receiving and processing information from the sensor unit, and sending control instructions to the execution unit according to the preset program and algorithm. A high-performance computer or The execution unit includes various devices and mechanical parts, such as the object-picking mechanical gripper 2, the first transmission device 3, the drying device 4, the cleaning device 5, the disinfection device 6, the second transmission device 7, the packaging mechanical gripper 8, the second connecting plate 10, the first electric cylinder 12, the cutting device 13, the electric plastic packaging device 21, the second electric cylinder 22, the plastic hot-melt device 26, etc. These devices execute corresponding actions according to the instructions of the control center to complete the processing and processing flow of the items. The sensing unit is composed of sensors such as the infrared sensor 20, which is used to detect the position, state and other information of the items, and feed back this information to the control center.

[0060] For details, please refer to Figure 1-Figure 6 , packaging agencies include:

[0061] A connecting ring 18, the connecting ring 18 is rotatably connected to the packaging groove;

[0062] A first gear 17, wherein the first gear 17 is fixedly connected to a circumferential surface of a connecting ring 18;

[0063] A second electronically controlled cylinder 22, wherein four second electronically controlled cylinders 22 are provided, and the four second electronically controlled cylinders 22 are all fixedly connected to the connecting ring 18;

[0064] A second gear 19, the second gear 19 is fixedly connected to the output end of the second motor 16;

[0065] The electric plastic packaging device 21 is fixedly connected to the front and rear inner walls of the packaging tank;

[0066] A pressing block 23, wherein two pressing blocks 23 are provided, and the two pressing blocks 23 are respectively fixedly connected to the telescopic ends of two of the second electric-controlled cylinders 22, and the telescopic ends of the other two second electric-controlled cylinders 22 are respectively fixedly connected with a cutting blade 25 and a plastic hot-melting device 26;

[0067] Screw rod 28, two screw rods 28 are provided, and the two screw rods 28 are rotatably connected to the inner walls of both sides of the packaging groove respectively;

[0068] Nut 27, two nuts 27 are provided, and the two nuts 27 are respectively threadedly connected to the circumferential surfaces of the two screw rods 28;

[0069] Limiting grooves 30, two limiting grooves 30 are provided, and the two limiting grooves 30 are both opened at both ends of the connection box 9;

[0070] An electric suction cup 29, wherein two electric suction cups 29 are provided, and the two electric suction cups 29 are respectively fixedly connected to the bottom ends of the two moving plates 24;

[0071] Infrared sensor 20, two infrared sensors 20 are provided, and the two infrared sensors 20 are respectively installed on the inner walls of both sides of the two packaging tanks;

[0072] A movable plate 24, wherein two movable plates 24 are provided, and the two movable plates 24 are respectively slidably connected in the two limiting grooves 30;

[0073] The transmission assembly is arranged at one side of the connection box 9 and is used to drive the two screw rods 28 to rotate.

[0074] In this embodiment: the connecting ring 18 serves as a bearing and connecting component, provides a mounting base for other internal components, and can rotate in the packaging groove to achieve different packaging operation angles. The first gear 17 cooperates with other gears to achieve power transmission and motion control, so that the connecting ring 18 rotates in a set manner. The second electronically controlled cylinder 22 provides telescopic power to drive the components connected thereto, such as the pressing block 23, the cutting blade 25 and the plastic hot-melt device 26, to perform corresponding actions. The second gear 19 receives the power output of the second motor 16 and cooperates with other transmission components to achieve power transmission and motion control. The electric plastic packaging device 21 is responsible for plastic packaging operations on the articles, wrapping the plastic material on the surface of the articles. The pressing block 23 compacts the packaged articles to ensure that the packaging fits the articles tightly. The cutting blade 25 is used to cut the packaging material to make it conform to the size and shape of the articles. The plastic hot-melt device 26 is used to cut the plastic material. The material is heated and melted for subsequent packaging and laminating operations. The screw 28 rotates under the action of the transmission component, driving the nut 27 to move, thereby realizing the precise position adjustment of related components. The nut 27 cooperates with the screw 28 to convert the rotational motion of the screw 28 into linear motion, driving the components connected thereto to move. The limit groove 30 limits and guides the movement of the moving plate 24 to ensure the accuracy and stability of its movement. The electric suction cup 29 is used to absorb the film of the electric plastic packaging equipment 21 to keep it stable during the packaging process. The infrared sensor 20 detects the position and state of the items in the packaging groove and provides feedback information to the control system to control the progress of the packaging operation. The moving plate 24 is connected to the electric suction cup 29 and moves under the restriction of the limit groove 30, driving the electric suction cup 29 to realize the positioning and fixation of the items. The transmission component transmits power to the screw 28 to make it rotate, thereby realizing the coordinated movement of the entire packaging mechanism.

[0075] For details, please refer to Figure 1-Figure 3 , the transmission components include:

[0076] A fourth gear 33, the fourth gear 33 is rotatably connected to one side of the connection box 9;

[0077] A third gear 32, wherein two third gears 32 are provided, and the two third gears 32 are respectively fixedly connected to the fourth gear 33 and the circumferential surface of one of the screw rods 28;

[0078] A fourth gear 33, the fourth gear 33 is fixedly connected to the circumferential surface of another screw rod 28, and the fourth gear 33 is meshed with one of the third gears 32;

[0079] The toothed belt 31 is connected to the circumferential surfaces of the two third gears 32 in a transmission meshing manner.

[0080] In this embodiment: the fourth gear 33 serves as an intermediate link in power transmission, and cooperates with other gears and the toothed belt 31 to realize the transmission and conversion of rotational motion. One of the third gears 32 is fixedly connected to the fourth gear 33 to receive the rotational power from the fourth gear 33; the other third gear 32 is fixed on the screw 28, and is used to transmit the rotation to the screw 28, driving the screw 28 to rotate. The toothed belt 31 connects the two third gears 32 to ensure that they can rotate synchronously, thereby ensuring that the two screws 28 can move synchronously, realizing the coordinated action of related components in the packaging mechanism, and through the coordinated action of the fourth gear 33, the two third gears 32 and the toothed belt 31, the power is transmitted from the driving source to the two screws 28, so that the screws 28 can rotate accurately according to the design requirements, thereby realizing the precise control and stable operation of the packaging mechanism.

[0081] For details, please refer to Figure 2 A storage box 11 is fixedly connected to one side end of the second transmission device 7 , and a placement opening 14 is opened on the outer surface of the second transmission device 7 , and the placement opening 14 is respectively opened at the front end and one side end of the second transmission device 7 .

[0082] In this embodiment: the storage box 11 is fixed at one side end of the second transmission device 7, and is used to store waste, unqualified items or spare related items that may be generated during the transmission process, play a role in sorting and storage, and keep the working area clean and orderly. The placement openings 14 are respectively opened at the front end and one side end of the second transmission device 7. The placement opening 14 at the front end facilitates the items to be directly placed into the transmission device from the front end for transmission and processing; the placement opening 14 at one side end provides more options and angles for placing items, increases the flexibility and convenience of operation, and adapts to different work scenarios and operational requirements.

[0083] For details, please refer to Figure 1-Figure 6 The output end of the first motor 15 is fixedly connected to the circumferential surface of the screw rod 28, and the two moving plates 24 and the two limiting grooves 30 match in shape.

[0084] In this embodiment: the first motor 15 serves as a power source, and its output end is connected to the screw rod 28 to provide power for the rotation of the screw rod 28. The rotation of the screw rod 28 drives the nut 27 and related components matched therewith to perform linear motion to achieve specific packaging operations or position adjustments. The movable plate 24 can slide in the limiting groove 30. This matching shape ensures the accuracy and stability of the movement of the movable plate 24. The limiting groove 30 limits the movement direction and range of the movable plate 24 to prevent it from offset or shaking, so that the movable plate 24 can move accurately along a predetermined trajectory, thereby ensuring that the electric suction cup 29 and other components connected thereto can accurately perform the corresponding functions to adsorb the film of the electric plastic packaging equipment 21.

[0085] The working principle and use process of the present invention are as follows: initial transmission: the articles enter the first transmission device 3, and the first transmission device 3 transports the articles to the corresponding processing position; cleaning, disinfection and drying: the articles are successively cleaned and disinfected by the cleaning device 5 and the disinfection device 6 fixedly connected to the top of the first transmission device 3 to remove dirt and impurities on the surface of the articles and kill possible germs and microorganisms to ensure the hygiene and safety of the articles; then they enter the drying device 4 for drying to remove moisture for subsequent packaging and storage; and then they are transmitted to the connection box: the processed articles are transported to the second transmission device 7, and then arrive at the connection box 9;

[0086] Start the cutting device: the first electric-controlled cylinder 12 drives the cutting device 13 fixed at its telescopic end to cut the object to meet the specific size or shape requirements;

[0087] Packaging preparation: The second motor 16 is started, and the second gear 19 fixedly connected to its output end rotates, driving the first gear 17 fixedly connected to the circumferential surface of the connecting ring 18 to rotate, so that the connecting ring 18 rotates in the packaging slot to adjust the packaging angle. The four second electronically controlled cylinders 22 are ready to act, of which the pressing blocks 23 connected to the telescopic ends of two second electronically controlled cylinders 22 are used to compact the packaged items later. The telescopic ends of the other two second electronically controlled cylinders 22 are respectively connected to the cutting blade 25 and the plastic hot-melt device 26 for cutting and hot-melting operations of packaging materials. The infrared sensor 20 detects the position and state of the items in the packaging slot and provides feedback information for the control system.

[0088] Article positioning and adsorption: The first motor 15 is started, and the screw rod 28 connected to its output end rotates. The screw rod 28 drives another screw rod 28 to rotate synchronously through the transmission assembly. The fourth gear 33 in the transmission assembly rotates, driving a third gear 32 fixedly connected thereto to rotate. The third gear 32 drives another third gear 32 to rotate through the toothed belt 31, thereby driving the screw rod 28 to rotate. The rotation of the screw rod 28 drives the nut 27 to move. The moving plate 24 connected to the nut 27 slides in the limiting groove 30. The electric suction cup 29 at the bottom of the moving plate 24 approaches the electric plastic packaging device 21 and adsorbs the film to keep it stable during the packaging process.

[0089] Packaging operation: the electric plastic packaging equipment 21 performs plastic packaging operation on the items, wraps the plastic material on the surface of the items, and the plastic hot melt equipment 26 heats and melts the plastic material for subsequent packaging and bonding operations. The pressing block 23 compacts the packaged items to ensure that the packaging fits the items tightly. If the size of the packaging material is not suitable, the cutting blade 25 can cut the packaging material to make it conform to the size and shape of the items. Storage and sorting: the storage box 11 is fixed to one side end of the second transmission equipment 7, and is used to store waste, unqualified items or spare related items that may be generated during the transmission process, which plays a role in sorting and storage, and keeps the work area clean and orderly. The entire operation process realizes precise control and coordination of various equipment and mechanical components through the coordinated work of the control center, execution unit and sensor unit of the control system, so as to achieve efficient and accurate packaging operations, solving the problems in the prior art.

[0090] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A multi-arm collaborative intelligent packaging robot for a disinfection supply center, characterized in that: include: A first connecting plate (1), wherein the front and rear ends of the first connecting plate (1) are respectively fixedly connected to a second transmission device (7) and a first transmission device (3), the top end of the first transmission device (3) is fixedly connected to a drying device (4), a cleaning device (5) and a disinfection device (6), the front end of the second transmission device (7) is fixedly connected to a connection box (9), the top end of the connection box (9) is fixedly connected to a second connecting plate (10) and a packaging mechanical gripper (8), and the top end of the second connecting plate (10) is fixedly connected to a second motor (16); A mechanical gripper (2) for picking up objects, wherein the mechanical gripper (2) is fixedly connected to the top of the first connecting plate (1), and a control system is arranged inside the mechanical gripper (2), wherein the control system comprises three main parts: a control center, an execution unit and a sensor unit; A first electrically controlled cylinder (12), the first electrically controlled cylinder (12) being fixedly connected to the front end of the connection box (9), and a cutting device (13) being fixedly connected to the telescopic end of the first electrically controlled cylinder (12); A packaging groove, the packaging groove is opened at the top of the connection box (9); The packaging mechanism is arranged in the packaging groove and is used for packaging articles.

2. A multi-arm collaborative intelligent packaging robot for a disinfection supply center according to claim 1, characterized in that: The packaging mechanism comprises: A connecting ring (18), wherein the connecting ring (18) is rotatably connected to the packaging groove; A first gear (17), the first gear (17) being fixedly connected to a circumferential surface of a connecting ring (18); A second electrically controlled cylinder (22), wherein four second electrically controlled cylinders (22) are provided, and the four second electrically controlled cylinders (22) are all fixedly connected to the connecting ring (18); A second gear (19), the second gear (19) being fixedly connected to an output end of the second motor (16); An electric plastic packaging device (21), wherein the electric plastic packaging device (21) is fixedly connected to the front and rear inner walls of the packaging tank; A pressing block (23), wherein two pressing blocks (23) are provided, and the two pressing blocks (23) are respectively fixedly connected to the telescopic ends of two of the second electric-controlled cylinders (22), and the telescopic ends of the other two of the second electric-controlled cylinders (22) are respectively fixedly connected to a cutting blade (25) and a plastic hot-melt device (26); A screw rod (28), wherein two screw rods (28) are provided, and the two screw rods (28) are rotatably connected to the inner walls of both sides of the packaging groove respectively; Nuts (27), two nuts (27) are provided, and the two nuts (27) are respectively threadedly connected to the circumferential surfaces of the two screw rods (28); A limiting groove (30), wherein two limiting grooves (30) are provided, and the two limiting grooves (30) are both opened at two ends of the connection box (9); An electric suction cup (29), wherein two electric suction cups (29) are provided, and the two electric suction cups (29) are respectively fixedly connected to the bottom ends of the two movable plates (24); Infrared sensors (20), two infrared sensors (20) are provided, and the two infrared sensors (20) are respectively installed on the inner walls of both sides of the two packaging slots; A movable plate (24), wherein two movable plates (24) are provided, and the two movable plates (24) are respectively slidably connected in two limiting grooves (30); A transmission assembly is arranged on one side of the connection box (9), and is used to drive two screw rods (28) to rotate.

3. The multi-arm collaborative intelligent packaging robot for a disinfection supply center according to claim 2, characterized in that: The transmission assembly comprises: a fourth gear (33), the fourth gear (33) being rotatably connected to one side of the connection box (9); A third gear (32), wherein two third gears (32) are provided, and the two third gears (32) are respectively fixedly connected to the fourth gear (33) and the circumferential surface of one of the screw rods (28); a fourth gear (33), the fourth gear (33) being fixedly connected to the circumferential surface of another screw rod (28), the fourth gear (33) being meshed with one of the third gears (32); A toothed belt (31) is connected in driving engagement with the circumferential surfaces of the two third gears (32).

4. The multi-arm collaborative intelligent packaging robot for a disinfection supply center according to claim 3, characterized in that: A storage box (11) is fixedly connected to one side end of the second transmission device (7), and a placement opening (14) is provided on the outer surface of the second transmission device (7), wherein the placement opening (14) is respectively provided at the front end and one side end of the second transmission device (7).

5. The multi-arm collaborative intelligent packaging robot for a disinfection supply center according to claim 4, characterized in that: The output end of the first motor (15) is fixedly connected to the circumferential surface of the screw rod (28), and the two movable plates (24) and the two limiting grooves (30) are matched in shape.

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