Medical material conveying device and method based on automatic picking
By designing an automatic pickup mechanism, utilizing corrugated grooves to increase friction, piston plates to control gas flow, and a spray mechanism, the problem of poor adhesion of vacuum suction cups was solved, achieving stable transmission of medical materials and reducing the risk of damage.
Patent Information
- Application Number
- CN202511832708.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-12-08
- Publication Date
- 2026-02-06
AI Technical Summary
Vacuum suction cups may not adhere firmly during long-term use, leading to unstable transport of medical materials and increasing the risk of material damage.
An automatic pickup mechanism was designed, including a T-shaped mounting plate, a connecting rod, a vacuum suction cup, and a trapezoidal air box. The mechanism achieves stable adsorption and separation by increasing friction through corrugated grooves, controlling gas flow through a piston plate, and using a spray mechanism. Water buffering and spraying are used to enhance the adsorption force.
It improves the adsorption capacity and stability of the vacuum suction cup, preventing medical materials from falling off during transport and reducing the risk of damage.
Smart Images
Figure CN121470189A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The application relates to the technical field of automatic picking devices, in particular to a medical material conveying device and method based on automatic picking. BACKGROUND
[0002] The medical material conveying device based on automatic picking can adopt a robot technology and an automatic control system to realize efficient and accurate conveying of medical materials.
[0003] In the process of picking medical materials, a vacuum chuck is mostly used for picking, and in the long-term use process of the vacuum chuck, the vacuum chuck may be not firmly adsorbed and the transportation is not stable, which may cause the medical materials to fall off in the process of picking and transporting the medical materials by the vacuum chuck, and the medical materials are damaged, and the risk of damage of the medical materials is indirectly increased. SUMMARY
[0004] The application aims to provide a medical material conveying device and method based on automatic picking, so as to solve the problem that in the long-term use process of the vacuum chuck, the vacuum chuck may be not firmly adsorbed and the transportation is not stable, which may cause the medical materials to fall off in the process of picking and transporting the medical materials by the vacuum chuck, and the medical materials are damaged, and the risk of damage of the medical materials is indirectly increased.
[0005] To solve the above technical problems, the application is realized by the following technical scheme: The application is a medical material conveying device based on automatic picking, which comprises a material taking conveying device, a feeding conveying device is arranged on the right side of the material taking conveying device, an automatic picking mechanism is arranged on the material taking conveying device and the feeding conveying device, the automatic picking mechanism comprises a T-shaped mounting plate fixedly installed on the side close to each other of the material taking conveying device and the feeding conveying device, an installation block is fixedly installed at the top end of the T-shaped mounting plate, two connecting rods one are rotatably installed on the installation block, and the application further comprises: The two connecting rods one penetrate through the installation block, connecting plates one are fixedly sleeved on the two connecting rods one, connecting rods two are rotatably sleeved at the top end of the two connecting plates one, the two connecting rods two penetrate through the connecting plates two and are rotatably connected with the connecting plates two, a T-shaped picking plate is fixedly installed at the bottom of the connecting plates two, a picking mounting plate is fixedly installed at the bottom end of the T-shaped picking plate, two vacuum chucks are fixedly installed at the bottom of the picking mounting plate, and a plurality of corrugated grooves are formed in the two vacuum chucks.
[0006] Further, the automatic pickup mechanism further comprises a rectangular mounting plate fixedly installed on the side of the material taking conveying device and the material feeding conveying device close to each other, a rotating rod is rotationally installed on the front side of the rectangular mounting plate, a turbine is fixedly sleeved on the rotating rod, a driving wheel is rotationally sleeved on the rotating rod, a driven block is slidably sleeved on the outer wall of the driving wheel, a connecting plate three is rotationally installed on the tail end of the driven block, a connecting rod three is rotationally sleeved on the connecting plate three, the connecting plate three penetrates through the driven block and the connecting rod three, and the connecting rod one penetrates through and rotationally connects with the connecting rod three.
[0007] Further, the left side of the material taking conveying device is provided with a transmission mechanism, the transmission mechanism comprises a driving motor fixedly installed on the left side of the material taking conveying device, a worm is rotationally installed in the material taking conveying device, the worm penetrates through the material taking conveying device and is fixedly connected with the output shaft of the driving motor, the worm is engaged with the turbine, the right end of the worm is rotationally connected with the material feeding conveying device, a driving gear is fixedly sleeved on the worm, a driven shaft is rotationally installed in the material feeding conveying device, the left end of the driven shaft extends to the outside of the material feeding conveying device, a driven gear is fixedly sleeved on the driven shaft, and the driven gear is engaged with the driving gear.
[0008] Further, the material feeding conveying device is provided with a material taking mechanism, the material taking mechanism comprises a trapezoidal air tank fixedly installed on the material feeding conveying device, a piston plate is slidably installed in the trapezoidal air tank, a driven plate is fixedly installed on the top of the piston plate, the top end of the driven plate extends to the outside of the trapezoidal air tank and is slidably connected with the trapezoidal air tank, air outlet pipes are fixedly installed on the left side and the right side of the trapezoidal air tank, respectively, and driven air tanks are fixedly installed on the ends of the air outlet pipes close to each other, respectively.
[0009] Further, the material taking mechanism further comprises two extension springs fixedly installed on the inner walls of the driven air tanks away from each other, respectively, a plurality of the extension springs are provided, the ends of the extension springs close to each other are fixedly installed with active rectangular piston plates, respectively, the two rectangular piston plates are slidably connected with the two driven air tanks, respectively, the sides of the two rectangular piston plates close to each other are fixedly installed with material taking blocks, respectively, the two material taking blocks extend to the outside of the two driven air tanks, respectively, and top rods are fixedly installed on the sides of the two material taking blocks close to each other.
[0010] Further, the material taking mechanism further comprises transmission rods hingedly installed on the two material taking blocks, respectively, rectangular grooves one are formed on the two transmission rods, respectively, limit rods one are arranged in the rectangular grooves one, respectively, the bottom ends of the limit rods one are fixedly connected with the trapezoidal air tank, rectangular grooves two are formed on the two transmission rods, respectively, limit rods two are arranged in the rectangular grooves two, respectively, the bottom ends of the limit rods two are fixedly installed with transmission blocks, respectively, and movable rods are hingedly installed on the bottoms of the transmission blocks, respectively.
[0011] Further, the back of the trapezoidal air tank is provided with a stabilizing mechanism, the stabilizing mechanism comprises a strip-shaped block fixedly installed on the back of the trapezoidal air tank, two circular cavities are formed in the strip-shaped block, a transmission groove is formed in the top of the two circular cavities, the transmission groove communicates with the circular cavity, two L-shaped liquid inlet grooves are formed in the inner wall of the back of the trapezoidal air tank, and the two L-shaped liquid inlet grooves extend into the circular cavities.
[0012] Further, the stabilizing mechanism further comprises a linkage block arranged above the strip-shaped block, two linkage rods are hingedly installed at the bottom of the linkage block, a push rod is hingedly installed at the bottom end of each of the two linkage rods, a circular piston plate is fixedly installed at the end of each of the two push rods away from each other, the two circular piston plates are respectively arranged in the two circular cavities, and infusion tubes are fixedly installed at the left side and the right side of the strip-shaped block.
[0013] Further, the medical material transmission method based on automatic picking has the following steps: S1: starting a driving motor, the driving motor drives a worm to rotate, the worm drives a material taking and transporting device to transmit medical materials in the direction of the automatic picking mechanism, and under the action of a driving gear and a driven gear, a driven shaft makes the medical materials on the material feeding and transporting device transmit in the direction away from each other; S2: in the process of rotating the worm, the worm drives a rotating rod to rotate under the action of a turbine, the rotating rod drives a driving wheel to rotate and move, the driving wheel drives a driven block to rotate and move, the driven block drives a connecting plate three to rotate and move, the connecting plate three drives a connecting rod three to move by an angle of 170°, at this time, the track of the movement of the connecting rod three will not exceed the height of the connecting rod one, the connecting rod three drives the connecting rod one to rotate, the connecting rod one drives two connecting plates one to rotate left and right, the two connecting plates one drive a connecting plate two to move in a semicircular track under the action of a connecting rod two, the connecting plate two drives a T-shaped picking plate to move simultaneously, the T-shaped picking plate drives a picking mounting plate to be vacuum adsorbed on the medical materials on the material taking and transporting device when the picking mounting plate moves to the material taking and transporting device, and the corrugated groove in the vacuum suction cup tightly adheres to the surface of the medical materials when the vacuum suction cup adsorbs the medical materials, so that the corrugated groove increases the friction between the vacuum suction cup and the medical materials; S3: When the vacuum chuck places the medical material on the feeding conveying device, the medical material will first touch the driven plate on the trapezoidal gas tank and press the driven plate downward, the driven plate will drive the piston plate to move downward, the piston plate pushes the gas in the driven plate, the gas enters the driven gas tank through the gas outlet pipe, then the gas pushes the two rectangular piston plates to move close to each other, the two rectangular piston plates drive the two material taking blocks to insert the upper narrow part of the two vacuum chucks, at this time the top rods on the two material taking blocks will top the two vacuum chucks and deform the two vacuum chucks, so that air can enter the two vacuum chucks, thereby reducing the adsorption force of the vacuum chuck, in the process of rising of the vacuum chuck, since water is stored above the piston plate, the water will buffer the two material taking blocks from recovering quickly, at this time the medical material will be forced to separate from the vacuum chuck by the clamping of the two material taking blocks when the vacuum chuck rises, and the separated medical material will slide along the trapezoidal gas tank to the feeding conveying device for transmission; S4: In the process of recovering of the two material taking blocks, the two transmission rods will rotate close to each other, the two transmission rods will drive the two transmission blocks to move close to each other under the action of the limiting rod two, the two transmission blocks drive the two movable rods to move downward, the movable rods drive the linkage blocks to move downward, the linkage blocks drive the two linkage rods to move away from each other, the two linkage rods drive the two push rods to move away from each other, the two push rods drive the two circular piston plates to push the water in the circular cavity into the two infusion tubes respectively, and finally the water mist is sprayed from the two spray heads, the sprayed water mist will be sprayed in the vacuum chuck in the process of rising and moving of the vacuum chuck, and the water will make the vacuum chuck adhere to the medical material more tightly in the process of adsorbing the medical material by the vacuum chuck; S5: In the process of recovering of the material taking block, the extension spring will make the air in the driven gas tank return to the trapezoidal gas tank under the action of tension, and the piston plate will be jacked upward, so that the piston plate returns to the initial state, when the piston plate rises, the water on the top of the piston plate will rise and enter the circular cavity again through the L-shaped liquid inlet groove, thereby preparing for the next spraying.
[0014] The present application has the following beneficial effects: (1) The medical material conveying device based on automatic picking, the driving motor is started, the driving motor drives the worm to rotate, the worm drives the material taking conveying device to convey the medical material to the direction of the automatic picking mechanism, under the action of the driving gear and the driven gear, the driven shaft makes the medical material on the material feeding conveying device transmit in the direction away, in the process of the worm rotating, the worm will drive the rotating rod to rotate under the action of the turbine, the rotating rod drives the driving wheel to rotate and move, the driving wheel drives the driven block to rotate and move, the driven block drives the connecting plate three to rotate and move, the connecting plate three drives the connecting rod three to move by 170 degrees, at this time, the track of the movement of the connecting rod three will not exceed the height of the connecting rod one, the connecting rod three drives the connecting rod one to rotate, the connecting rod one drives the two connecting plates one to rotate left and right, the two connecting plates one drive the connecting plate two to move in a semicircular track under the action of the connecting rod two, the connecting plate two drives the T-shaped picking plate to move simultaneously, when the picking installation plate moves to the material taking conveying device, the medical material on the material taking conveying device is vacuum adsorbed by the vacuum suction cup, when the medical material is adsorbed by the vacuum suction cup, the corrugated groove in the vacuum suction cup will tightly adhere to the surface of the medical material, the corrugated groove will increase the friction between the vacuum suction cup and the medical material, and at the same time, the adsorption force of the vacuum suction cup on the medical material is improved, so that the adsorption capacity of the vacuum suction cup is stronger, and the adsorption is more stable; (2) The medical material conveying device based on automatic picking, when the vacuum suction cup places the medical material on the material feeding conveying device, the medical material will first touch the driven plate on the trapezoidal gas tank and press the driven plate downward, the driven plate drives the piston plate to move downward, the piston plate pushes the gas in the driven plate, the gas enters the driven gas tank through the gas outlet pipe, then the gas pushes the two rectangular piston plates to move close to each other, the two rectangular piston plates drive the two material taking blocks to insert the upper narrow part of the two vacuum suction cups, at this time, the jacks on the two material taking blocks will top the two vacuum suction cups and deform the two vacuum suction cups, so that air can enter the two vacuum suction cups, thereby reducing the adsorption force of the vacuum suction cup, in the process of the vacuum suction cup rising, since water is stored above the piston plate, the water will buffer the two material taking blocks and cannot quickly recover, at this time, the medical material will be forcibly separated from the vacuum suction cup by the clamping of the two material taking blocks when the vacuum suction cup rises, and the separated medical material will slide along the trapezoidal gas tank to the material feeding conveying device for transmission; (3) The medical material conveying device based on automatic pickup, in the process of recovery of the two material taking blocks, the two transmission rods are driven to rotate to approach each other, the two transmission rods drive the two transmission blocks to approach each other under the action of the limiting rod two, the two transmission blocks drive the two movable rods to move downwards, the movable rods drive the linkage blocks to move downwards, the linkage blocks drive the two linkage rods to move away from each other, the two linkage rods drive the two push rods to move away from each other, the two push rods drive the two circular piston plates to push the water in the circular cavities into the two infusion tubes respectively, and finally the water mist is sprayed from the two spray heads, the sprayed water mist is sprayed in the vacuum suction cups in the process of upward movement of the vacuum suction cups, and the water makes the vacuum suction cups adhere to the medical materials more closely in the process of suction of the vacuum suction cups, and the suction capacity of the vacuum suction cups is further improved; (4) The medical material conveying device based on automatic pickup, in the process of recovery of the material taking block, the extension spring drives the air in the driven air tank to return to the trapezoidal air tank under the action of tension, and drives the piston plate to be pushed upwards, so that the piston plate returns to the initial state, and when the piston plate rises, the water at the top of the piston plate rises and enters the circular cavity again through the L-shaped liquid inlet groove, so that the next spraying is prepared.
[0015] Of course, it is not necessary for any product implementing the present application to achieve all the advantages mentioned above. BRIEF DESCRIPTION OF DRAWINGS
[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiment description. Obviously, the drawings in the following description only show some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without any creative effort.
[0017] Figure 1 It is a schematic diagram of the overall structure of the present application; Figure 2 It is a schematic diagram of the structure of the automatic pickup mechanism of the present application; Figure 3 It is a schematic diagram of the partial sectional view of the structure of the present application; Figure 4 It is a schematic diagram of the partial sectional view of the structure of the present application; Figure 5 It is a schematic diagram of the partial sectional view of the structure of the material taking mechanism of the present application; Figure 6 It is a schematic diagram of the partial sectional view of the structure of the present application; Figure 7 It is a schematic diagram of the partial sectional view of the structure of the present application Figure 6 It is a schematic diagram of the enlarged structure of A in the present application; Figure 8It is a part of the spray mechanism of the present application.
[0018] In the drawings, the components represented by each reference numeral are listed as follows: In the drawings: 1, material taking and transporting device; 2, material feeding and transporting device; 01, automatic picking mechanism; 3, T-shaped mounting plate; 4, mounting block; 5, connecting rod one; 6, connecting plate one; 7, connecting rod two; 8, connecting plate two; 9, T-shaped picking plate; 10, picking mounting plate; 11, vacuum chuck; 12, corrugated groove; 13, rectangular mounting plate; 14, rotating rod; 15, turbine; 16, driving wheel; 17, driven block; 18, connecting plate three; 19, connecting rod three; 02, transmission mechanism; 20, driving motor; 21, worm; 22, driving gear; 23, driven shaft; 24, driven gear; 03, material taking mechanism; 25, trapezoidal air tank; 26, piston plate; 27, driven plate; 28, air outlet pipe; 29, driven air tank; 30, extension spring; 31, rectangular piston plate; 32, material taking block; 33, ejector rod; 34, transmission rod; 35, rectangular groove one; 36, limiting rod one; 37, rectangular groove two; 38, limiting rod two; 39, transmission block; 40, movable rod; 04, stabilizing mechanism; 41, strip-shaped block; 42, circular cavity; 43, transmission groove; 44, L-shaped liquid inlet groove; 45, linkage block; 46, linkage rod; 47, pushing rod; 48, circular piston plate; 49, liquid delivery pipe; 50, spray head. DETAILED DESCRIPTION
[0019] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.
[0020] Please refer to Figures 1-8 As shown in the drawings, the present application is a medical material transmission device based on automatic picking, which comprises a material taking and transporting device 1, a material feeding and transporting device 2 is arranged on the right side of the material taking and transporting device 1, and an automatic picking mechanism 01 is arranged on the material taking and transporting device 1 and the material feeding and transporting device 2. The automatic picking mechanism 01 comprises a T-shaped mounting plate 3 fixedly installed on the side of the material taking and transporting device 1 and the material feeding and transporting device 2 close to each other, a mounting block 4 fixedly installed at the top end of the T-shaped mounting plate 3, and two connecting rods one 5 rotatably installed on the mounting block 4, and further comprising: Both connecting rods one 5 pass through mounting block 4, the two connecting rods one 5 are respectively fixed with the connecting plate one 6, the top of the two connecting plate one 6 is respectively rotatably provided with the connecting rod two 7, both connecting rod two 7 pass through the connecting plate two 8 and are rotatably connected with the connecting plate two 8, the bottom of the connecting plate two 8 is fixedly provided with T-shaped pickup plate 9, the bottom of T-shaped pickup plate 9 is fixedly provided with pickup mounting plate 10, the bottom of pickup mounting plate 10 is fixedly provided with two vacuum suction cups 11, a plurality of corrugated grooves 12 are formed in the two vacuum suction cups 11 respectively.
[0021] As Figure 2 shown, the automatic pickup mechanism 01 further includes a rectangular mounting plate 13 fixedly installed on the side of the material taking conveying device 1 and the material feeding conveying device 2 close to each other, the front of the rectangular mounting plate 13 is rotatably provided with a rotating rod 14, the rotating rod 14 is fixedly provided with a turbine 15, the rotating rod 14 is rotatably provided with a driving wheel 16, the outer wall of the driving wheel 16 is slidably provided with a driven block 17, the end of the driven block 17 is rotatably provided with a connecting plate three 18, the connecting plate three 18 is rotatably provided with a connecting rod three 19, the connecting plate three 18 passes through the driven block 17 and the connecting rod three 19, the connecting rod one 5 passes through the connecting rod three 19 and is rotatably connected with the connecting rod three 19.
[0022] In the process of rotating the worm 21, the rotating rod 14 is driven to rotate under the action of the turbine 15, the driving wheel 16 is driven to rotate and move, the driving wheel 16 drives the driven block 17 to rotate and move, the driven block 17 drives the connecting plate three 18 to rotate and move, the connecting plate three 18 drives the connecting rod three 19 to move by 170° angle, at this time, the track of the movement of the connecting rod three 19 will not exceed the height of the connecting rod one 5, the connecting rod three 19 drives the connecting rod one 5 to rotate, the connecting rod one 5 drives the two connecting plate one 6 to rotate left and right, the two connecting plate one 6 drives the connecting plate two 8 to move in a semicircular track under the action of the connecting rod two 7, the connecting plate two 8 drives the T-shaped pickup plate 9 to move at the same time, when the T-shaped pickup plate 9 drives the pickup mounting plate 10 to move to the material taking conveying device 1, the medical material on the material taking conveying device 1 is vacuum adsorbed by the vacuum suction cup 11.
[0023] As Figure 3 shown, the left side of the material taking conveying device 1 is provided with a transmission mechanism 02, the transmission mechanism 02 includes a driving motor 20 fixedly installed on the left side of the material taking conveying device 1, a worm 21 rotatably installed in the material taking conveying device 1, the worm 21 passes through the material taking conveying device 1 and is fixedly connected with the output shaft of the driving motor 20, the worm 21 is engaged with the turbine 15, the right end of the worm 21 is rotatably connected with the material feeding conveying device 2, the worm 21 is fixedly provided with a driving gear 22, a driven shaft 23 rotatably installed in the material feeding conveying device 2, the left end of the driven shaft 23 extends to the outside of the material feeding conveying device 2, the driven shaft 23 is fixedly provided with a driven gear 24, the driven gear 24 is engaged with the driving gear 22.
[0024] The driving motor 20 is started, the driving motor 20 drives the worm 21 to rotate, the worm 21 drives the material taking and transporting device 1 to transmit the medical material to the direction of the automatic picking mechanism 01, and under the action of the driving gear 22 and the driven gear 24, the driven shaft 23 makes the medical material on the material feeding and transporting device 2 transmit to the direction away from.
[0025] As shown in Figure 4 and Figure 5 , the material feeding and transporting device 2 is provided with a material taking mechanism 03, the material taking mechanism 03 includes a trapezoidal air tank 25 fixedly installed on the material feeding and transporting device 2, a piston plate 26 slidably installed in the trapezoidal air tank 25, the top of the piston plate 26 is fixedly installed on a driven plate 27, the top end of the driven plate 27 extends to the outside of the trapezoidal air tank 25 and is slidably connected with the trapezoidal air tank 25, the left side and the right side of the trapezoidal air tank 25 are respectively fixedly installed with air outlet pipes 28, and the ends of the two air outlet pipes 28 close to each other are respectively fixedly installed with driven air tanks 29.
[0026] When the vacuum suction cups 11 place the medical material on the material feeding and transporting device 2, the medical material will first touch the driven plate 27 on the trapezoidal air tank 25 and press the driven plate 27 downward, the driven plate 27 will drive the piston plate 26 to move downward, the piston plate 26 pushes the gas in the driven plate 27, and the gas enters the driven air tank 29 through the air outlet pipe 28.
[0027] As shown in Figure 5 , the material taking mechanism 03 further includes two extension springs 30 fixedly installed on the inner walls of the driven air tanks 29 away from each other, the ends of the plurality of extension springs 30 close to each other are respectively fixedly installed with rectangular piston plates 31, the two rectangular piston plates 31 are respectively slidably connected with the two driven air tanks 29, the sides of the two rectangular piston plates 31 close to each other are respectively fixedly installed with material taking blocks 32, the two material taking blocks 32 respectively extend to the outside of the two driven air tanks 29, and the sides of the two material taking blocks 32 close to each other are respectively fixedly installed with top rods 33.
[0028] The gas will drive the two rectangular piston plates 31 to move close to each other, the two rectangular piston plates 31 drive the two material taking blocks 32 to insert into the upper narrow part of the two vacuum suction cups 11, at this time the top rods 33 on the two material taking blocks 32 will be pressed to the two vacuum suction cups 11 and deform the two vacuum suction cups 11, so that air can enter the two vacuum suction cups 11, thereby reducing the adsorption force of the vacuum suction cups 11, and in the process of the vacuum suction cups 11 rising, since the top of the piston plate 26 stores water, the water will buffer so that the two material taking blocks 32 cannot quickly recover, at this time the medical material will be forcibly separated from the vacuum suction cups 11 by the clamping of the two material taking blocks 32 when the vacuum suction cups 11 rise.
[0029] As shown in Figure 5, the taking mechanism 03 further comprises transmission rods 34 respectively hingedly mounted on the two taking blocks 32, rectangular slot one 35 is respectively arranged on the two transmission rods 34, limit rod one 36 is respectively arranged in the two rectangular slot one 35, the bottom end of the two limit rod one 36 is fixedly connected with the trapezoidal air tank 25, rectangular slot two 37 is respectively arranged on the two transmission rods 34, limit rod two 38 is respectively arranged in the two rectangular slot two 37, transmission block 39 is respectively fixedly installed on the bottom end of the two limit rod two 38, movable rod 40 is respectively hingedly mounted on the bottom of the two transmission block 39.
[0030] In the process of restoring the two taking blocks 32, the two transmission rods 34 will rotate to each other, the two transmission rods 34 will drive the two transmission blocks 39 to move to each other under the action of the limit rod two 38, and the two transmission blocks 39 drive the two movable rods 40 to move downward.
[0031] As shown in Figure 5, the taking mechanism 03 further comprises transmission rods 34 respectively hingedly mounted on the two taking blocks 32, rectangular slot one 35 is respectively arranged on the two transmission rods 34, limit rod one 36 is respectively arranged in the two rectangular slot one 35, the bottom end of the two limit rod one 36 is fixedly connected with the trapezoidal air tank 25, rectangular slot two 37 is respectively arranged on the two transmission rods 34, limit rod two 38 is respectively arranged in the two rectangular slot two 37, transmission block 39 is respectively fixedly installed on the bottom end of the two limit rod two 38, movable rod 40 is respectively hingedly mounted on the bottom of the two transmission block 39. Figure 6 Figure 7 As shown in Figure 5, the taking mechanism 03 further comprises transmission rods 34 respectively hingedly mounted on the two taking blocks 32, rectangular slot one 35 is respectively arranged on the two transmission rods 34, limit rod one 36 is respectively arranged in the two rectangular slot one 35, the bottom end of the two limit rod one 36 is fixedly connected with the trapezoidal air tank 25, rectangular slot two 37 is respectively arranged on the two transmission rods 34, limit rod two 38 is respectively arranged in the two rectangular slot two 37, transmission block 39 is respectively fixedly installed on the bottom end of the two limit rod two 38, movable rod 40 is respectively hingedly mounted on the bottom of the two transmission block 39.
[0032] In the process of restoring the two taking blocks 32, the two transmission rods 34 will rotate to each other, the two transmission rods 34 will drive the two transmission blocks 39 to move to each other under the action of the limit rod two 38, and the two transmission blocks 39 drive the two movable rods 40 to move downward.
[0033] As shown in Figure 5, the taking mechanism 03 further comprises transmission rods 34 respectively hingedly mounted on the two taking blocks 32, rectangular slot one 35 is respectively arranged on the two transmission rods 34, limit rod one 36 is respectively arranged in the two rectangular slot one 35, the bottom end of the two limit rod one 36 is fixedly connected with the trapezoidal air tank 25, rectangular slot two 37 is respectively arranged on the two transmission rods 34, limit rod two 38 is respectively arranged in the two rectangular slot two 37, transmission block 39 is respectively fixedly installed on the bottom end of the two limit rod two 38, movable rod 40 is respectively hingedly mounted on the bottom of the two transmission block 39. Figure 8 As shown in Figure 5, the taking mechanism 03 further comprises transmission rods 34 respectively hingedly mounted on the two taking blocks 32, rectangular slot one 35 is respectively arranged on the two transmission rods 34, limit rod one 36 is respectively arranged in the two rectangular slot one 35, the bottom end of the two limit rod one 36 is fixedly connected with the trapezoidal air tank 25, rectangular slot two 37 is respectively arranged on the two transmission rods 34, limit rod two 38 is respectively arranged in the two rectangular slot two 37, transmission block 39 is respectively fixedly installed on the bottom end of the two limit rod two 38, movable rod 40 is respectively hingedly mounted on the bottom of the two transmission block 39.
[0034] The active lever 40 pushes the linkage block 45 to move downward, the linkage block 45 drives the two linkage levers 46 to move away from each other, the two linkage levers 46 drive the two push levers 47 to move away from each other, the two push levers 47 drive the two circular piston plates 48 to push the water in the circular cavity 42 into the two infusion tubes 49 respectively, and finally the water mist is sprayed out from the two spray heads 50, the sprayed water mist is sprayed in the vacuum suction cup 11 during the ascending movement of the two vacuum suction cups 11, and the water makes the vacuum suction cup 11 adhere to the medical material more closely during the adsorption of the medical material by the vacuum suction cup 11, thereby further improving the adsorption capacity of the vacuum suction cup 11.
[0035] As Figures 1-8 shown, the medical material transmission method based on automatic picking has the characteristics that the method steps are as follows: S1: start the driving motor 20, the driving motor 20 drives the worm 21 to rotate, the worm 21 drives the material taking and conveying device 1 to convey the medical material to the direction of the automatic picking mechanism 01, and under the action of the driving gear 22 and the driven gear 24, the driven shaft 23 makes the medical material on the material feeding and conveying device 2 transmit in the direction away from each other; S2: in the process of rotating the worm 21, the worm 21 drives the rotating rod 14 to rotate under the action of the turbine 15, the rotating rod 14 drives the driving wheel 16 to rotate and move, the driving wheel 16 drives the driven block 17 to rotate and move, the driven block 17 drives the connecting plate three 18 to rotate and move, the connecting plate three 18 drives the connecting rod three 19 to move by 170° angle, at this time, the moving track of the connecting rod three 19 will not exceed the height of the connecting rod one 5, the connecting rod three 19 drives the connecting rod one 5 to rotate, the connecting rod one 5 drives the two connecting plates one 6 to rotate left and right, the two connecting plates one 6 drive the connecting plate two 8 to move in a semicircular track under the action of the connecting rod two 7, the connecting plate two 8 drives the T-shaped picking plate 9 to move at the same time, when the picking installation plate 10 moves to the material taking and conveying device 1, the T-shaped picking plate 9 drives the vacuum suction cup 11 to vacuum adsorb the medical material on the material taking and conveying device 1, when the vacuum suction cup 11 adsorbs the medical material, the corrugated groove 12 in the vacuum suction cup 11 will tightly adhere to the surface of the medical material, and the corrugated groove 12 will increase the friction force between the vacuum suction cup 11 and the medical material; S3: When the vacuum chuck 11 places the medical material on the feeding conveying device 2, the medical material will first touch the driven plate 27 on the trapezoidal gas tank 25 and press the driven plate 27 downward, the driven plate 27 will drive the piston plate 26 to move downward, the piston plate 26 pushes the gas in the driven plate 27, the gas enters the driven gas tank 29 through the gas outlet pipe 28, and then the gas pushes the two rectangular piston plates 31 to move close to each other, the two rectangular piston plates 31 drive the two material taking blocks 32 to insert into the upper narrow part of the two vacuum chucks 11, at this time the top rod 33 on the two material taking blocks 32 will be pressed to the two vacuum chucks 11 and deform the two vacuum chucks 11, so that air can enter the two vacuum chucks 11, thereby reducing the adsorption force of the vacuum chuck 11. During the rising of the vacuum chuck 11, the water stored above the piston plate 26 will buffer the two material taking blocks 32 from recovering quickly, at this time the medical material will be forcibly separated from the vacuum chuck 11 by the clamping of the two material taking blocks 32 when the vacuum chuck 11 rises, and the separated medical material will slide along the trapezoidal gas tank 25 to the feeding conveying device 2 for transmission; S4: During the recovery of the two material taking blocks 32, the two transmission rods 34 will rotate close to each other, the two transmission rods 34 will drive the two transmission blocks 39 to move close to each other under the action of the limiting rod two 38, the two transmission blocks 39 drive the two movable rods 40 to move downward, the movable rods 40 drive the linkage blocks 45 to move downward, the linkage blocks 45 drive the two linkage rods 46 to move away from each other, the two linkage rods 46 drive the two push rods 47 to move away from each other, the two push rods 47 drive the two circular piston plates 48 to push the water in the circular cavity 42 into the two infusion tubes 49 respectively, and finally the water mist is sprayed out from the two spray heads 50, the sprayed water mist will be sprayed in the vacuum chuck 11 during the rising and moving of the two vacuum chucks 11, and the water will make the vacuum chuck 11 adhere to the medical material more tightly during the adsorption of the medical material by the vacuum chuck 11, S5: During the recovery of the material taking block 32, the extension spring 30 will make the air in the driven gas tank 29 return to the trapezoidal gas tank 25 under the action of tension, and the piston plate 26 will be jacked upward, so that the piston plate 26 returns to the initial state. When the piston plate 26 rises, the water on the top of the piston plate 26 will rise and enter the circular cavity 42 again through the L-shaped liquid inlet groove 44, preparing for the next spraying.
[0036] The preferred embodiments of the application disclosed above are only to facilitate the elucidation of the application. The preferred embodiments do not describe all the details of the application and limit the application to the specific embodiments described. Obviously, many modifications and variations can be made in light of the teachings above. The description is chosen and described in order to best explain the principles of the application and its practical application to thereby enable others skilled in the art to best utilize the application and get the best results from the application. The application is only limited by the claims and their full scope and equivalents.
Claims
1. An automatic picking-based medical material conveying device, comprising a material taking conveying device (1), a material feeding conveying device (2) is arranged on the right side of the material taking conveying device (1), and an automatic picking mechanism (01) is arranged on the material taking conveying device (1) and the material feeding conveying device (2); the automatic picking mechanism (01) comprises a T-shaped mounting plate (3) fixedly mounted on the side close to each other of the material taking conveying device (1) and the material feeding conveying device (2), a mounting block (4) is fixedly mounted at the top end of the T-shaped mounting plate (3), and two connecting rods one (5) are rotatably mounted on the mounting block (4). Also includes: Two said connecting rod one (5) are installed through the mounting block (4), two said connecting rod one (5) are respectively fixed with the connecting plate one (6), two said connecting plate one (6) top are respectively rotatably provided with connecting rod two (7), two said connecting rod two (7) are all through connecting plate two (8) and are rotatably connected with connecting plate two (8), the bottom of the connecting plate two (8) is fixedly installed with T type pickup plate (9), the bottom of the T type pickup plate (9) is fixedly installed with pickup mounting plate (10), the bottom of the pickup mounting plate (10) is fixedly installed with two vacuum suction cups (11), a plurality of corrugated grooves (12) are respectively formed in two said vacuum suction cups (11).
2. The medical material transfer device based on automatic picking according to claim 1, characterized in that: The automatic pickup mechanism (01) further includes a rectangular mounting plate (13) fixedly installed on the side of the material taking and conveying device (1) and the feeding and conveying device (2) close to each other, the front surface of the rectangular mounting plate (13) is rotatably installed with a rotating rod (14), the rotating rod (14) is fixedly provided with a turbine (15), the rotating rod (14) is rotatably provided with a driving wheel (16), the outer wall of the driving wheel (16) is slidably provided with a driven block (17), the end of the driven block (17) is rotatably installed with a connecting plate three (18), the connecting plate three (18) is rotatably provided with a connecting rod three (19), the connecting plate three (18) penetrates the driven block (17) and the connecting rod three (19), the connecting rod one (5) penetrates the connecting rod three (19) and is rotatably connected with the connecting rod three (19).
3. The medical material transfer device based on automatic picking according to claim 2, characterized in that: The left side of the material taking and conveying device (1) is provided with a transmission mechanism (02), the transmission mechanism (02) includes a driving motor (20) fixedly installed on the left side of the material taking and conveying device (1), the material taking and conveying device (1) is rotatably installed with a worm (21), the worm (21) penetrates the material taking and conveying device (1) and is fixedly connected with the output shaft of the driving motor (20), the worm (21) is engaged with the turbine (15), the right end of the worm (21) is rotatably connected with the feeding and conveying device (2), the worm (21) is fixedly provided with a driving gear (22), the feeding and conveying device (2) is rotatably installed with a driven shaft (23), the left end of the driven shaft (23) extends to the outside of the feeding and conveying device (2), the driven shaft (23) is fixedly provided with a driven gear (24), the driven gear (24) is engaged with the driving gear (22).
4. The medical material transfer device based on automatic picking according to claim 3, characterized in that: The feeding conveying device (2) is provided with a material taking mechanism (03), the material taking mechanism (03) comprises a trapezoidal air tank (25) fixedly installed on the feeding conveying device (2), a piston plate (26) is slidably installed in the trapezoidal air tank (25), a driven plate (27) is fixedly installed on the top of the piston plate (26), the top end of the driven plate (27) extends out of the trapezoidal air tank (25) and is slidably connected with the trapezoidal air tank (25), gas outlet pipes (28) are fixedly installed on the left side and the right side of the trapezoidal air tank (25) respectively, and driven air tanks (29) are fixedly installed on the ends of the two gas outlet pipes (28) which are close to each other respectively.
5. The medical material transfer device based on automatic picking according to claim 4, characterized in that: The material taking mechanism (03) further comprises two telescopic springs (30) fixedly installed on the inner walls of the driven air tanks (29) which are away from each other respectively, a plurality of rectangular piston plates (31) are fixedly installed on the ends of the telescopic springs (30) which are close to each other respectively, the two rectangular piston plates (31) are slidably connected with the two driven air tanks (29) respectively, taking blocks (32) are fixedly installed on the sides of the two rectangular piston plates (31) which are close to each other respectively, the two taking blocks (32) extend out of the two driven air tanks (29) respectively, and top rods (33) are fixedly installed on the sides of the two taking blocks (32) which are close to each other respectively.
6. The medical material transfer device based on automatic picking according to claim 5, characterized in that: The material taking mechanism (03) further comprises transmission rods (34) hingedly installed on the two taking blocks (32) respectively, rectangular grooves one (35) are formed in the two transmission rods (34) respectively, limiting rods one (36) are arranged in the two rectangular grooves one (35) respectively, the bottom ends of the two limiting rods one (36) are fixedly connected with the trapezoidal air tank (25), rectangular grooves two (37) are formed in the two transmission rods (34) respectively, limiting rods two (38) are arranged in the two rectangular grooves two (37) respectively, transmission blocks (39) are fixedly installed on the bottom ends of the two limiting rods two (38) respectively, and movable rods (40) are hingedly installed on the bottoms of the two transmission blocks (39) respectively.
7. The medical material transfer device based on automatic picking according to claim 6, characterized in that: A stabilizing mechanism (04) is arranged on the back of the trapezoidal air tank (25), the stabilizing mechanism (04) comprises a strip block (41) fixedly installed on the back of the trapezoidal air tank (25), two circular cavities (42) are formed in the strip block (41), a transmission groove (43) is formed in the top of the two circular cavities (42), the transmission groove (43) communicates with the circular cavities (42), two L-shaped liquid inlet grooves (44) are formed in the inner wall of the back of the trapezoidal air tank (25), and the two L-shaped liquid inlet grooves (44) extend into the circular cavities (42).
8. The medical material transfer device based on automatic picking according to claim 7, characterized in that: The stabilizing mechanism (04) further comprises a linkage block (45) arranged above the strip-shaped block (41), the bottom of the linkage block (45) is hingedly installed with two linkage rods (46), the bottom ends of the two linkage rods (46) are respectively hingedly installed with push rods (47), the ends of the two push rods (47) away from each other are respectively fixedly installed with circular piston plates (48), the two circular piston plates (48) are respectively distributed in the two circular cavities (42), the left side and the right side of the strip-shaped block (41) are respectively fixedly installed with infusion tubes (49), the top ends of the two infusion tubes (49) are respectively fixedly installed with spray heads (50).
9. The medical material transfer method based on automatic picking according to any one of claims 1-8, characterized in that, The method steps are as follows: S1: start the driving motor (20), the driving motor (20) drives the worm (21) to rotate, the worm (21) drives the material taking and transporting device (1) to transmit the medical material to the direction of the automatic picking mechanism (01), under the action of the driving gear (22) and the driven gear (24), the driven shaft (23) makes the medical material on the material feeding and transporting device (2) transmit in the direction away from each other; S2: in the process of rotating the worm (21), the worm (21) drives the rotating rod (14) to rotate under the action of the turbine (15), the rotating rod (14) drives the driving wheel (16) to rotate and move, the driving wheel (16) drives the driven block (17) to rotate and move, the driven block (17) drives the connecting plate three (18) to rotate and move, the connecting plate three (18) drives the connecting rod three (19) to move by 170° angle, at this time, the track of the movement of the connecting rod three (19) will not exceed the height of the connecting rod one (5), the connecting rod three (19) drives the connecting rod one (5) to rotate, the connecting rod one (5) drives the two connecting plates one (6) to rotate left and right, the two connecting plates one (6) drive the connecting plate two (8) to move in a semicircular track under the action of the connecting rod two (7), the connecting plate two (8) drives the T-shaped picking plate (9) to move at the same time, when the T-shaped picking plate (9) drives the picking mounting plate (10) moves to the material taking and transporting device (1), the medical material on the material taking and transporting device (1) is vacuum adsorbed by the vacuum suction cup (11), when the vacuum suction cup (11) adsorbs the medical material, the corrugated groove (12) in the vacuum suction cup (11) will tightly adhere to the surface of the medical material, the corrugated groove (12) will increase the friction between the vacuum suction cup (11) and the medical material; S3: When the vacuum chuck (11) places the medical material on the feeding conveying device (2), the medical material will first touch the driven plate (27) on the trapezoidal gas tank (25) and press the driven plate (27) downward. The driven plate (27) will drive the piston plate (26) to move downward, the piston plate (26) pushes the gas in the driven plate (27), the gas enters the driven gas tank (29) through the gas outlet pipe (28), and then the gas pushes the two rectangular piston plates (31) to move close to each other. The two rectangular piston plates (31) drive the two material taking blocks (32) to insert into the upper narrow part of the two vacuum chucks (11). At this time, the top rod (33) on the two material taking blocks (32) will top the two vacuum chucks (11) and deform the two vacuum chucks (11), so that air can enter the two vacuum chucks (11) to reduce the suction force of the vacuum chuck (11). During the rising process of the vacuum chuck (11), the water stored above the piston plate (26) will buffer the two material taking blocks (32) from recovering quickly. At this time, the medical material will be separated from the vacuum chuck (11) by the clamping of the two material taking blocks (32) when the vacuum chuck (11) rises. The separated medical material will slide along the trapezoidal gas tank (25) to the feeding conveying device (2) for transmission; S4: During the recovery process of the two material taking blocks (32), the two transmission rods (34) will rotate close to each other. The two transmission rods (34) will drive the two transmission blocks (39) to move close to each other under the action of the limiting rod two (38). The two transmission blocks (39) drive the two movable rods (40) to move downward, the movable rod (40) drives the linkage block (45) to move downward, the linkage block (45) drives the two linkage rods (46) to move away from each other, the two linkage rods (46) drive the two push rods (47) to move away from each other, the two push rods (47) drive the two circular piston plates (48) to push the water in the circular cavity (42) into the two infusion tubes (49) respectively, and finally the water mist is sprayed out from the two spray heads (50). The sprayed water mist will be sprayed in the vacuum chuck (11) during the rising and moving process of the two vacuum chucks (11). The water will make the vacuum chuck (11) adhere to the medical material more tightly during the process of the vacuum chuck (11) absorbing the medical material; S5: During the recovery process of the material taking block (32), the extension spring (30) will make the air in the driven gas tank (29) return to the trapezoidal gas tank (25) under the action of tension, and the piston plate (26) will be jacked upward, so that the piston plate (26) returns to the initial state. When the piston plate (26) rises, the water on the top of the piston plate (26) will rise and enter the circular cavity (42) again through the L-shaped liquid inlet groove (44) to prepare for the next spraying.