Transfer robot capable of flexibly grabbing and used for sorting waste

Abstract

The utility model discloses a flexibly grabbed waste sorting transfer robot, and relates to the technical field of medical recovery equipment, the flexibly grabbed waste sorting transfer robot is provided with a base, driving wheels, a sliding plate, a rotating seat, a first mechanical arm, a second mechanical arm, a third mechanical arm and a rotating head; a driving wheel can drive a base to move, a sliding plate can drive a driving seat and a rotating seat to move, the rotating seat, a first mechanical arm, a second mechanical arm and a third mechanical arm can accurately adjust the position of a rotating head, the rotating head is adjusted to the position above medical waste, and by arranging an electric cylinder, a fixing frame and a grabbing clamp, the position of the grabbing clamp can be accurately adjusted; single medical waste is flexibly grabbed, using is more flexible, meanwhile, a cleaning and disinfecting assembly is further arranged on the device, the grabbing clamp can be cleaned and disinfected, the surrounding environment can be disinfected, and growth and diffusion of bacteria are inhibited.

Description

Technical Field

[0001] The utility model relates to the technical field of medical recycling equipment, in particular to a flexible grabbing and handling robot for waste sorting. Background Art

[0002] At present, medical waste contains high levels of bacteria and pollution sources. In order to ensure safety, handling robots are used to transport medical waste during the sorting process to prevent human bodies from directly contacting the medical waste and causing infection. However, the existing handling robots have certain limitations in operation.

[0003] For example, the invention with patent number CN202010339057.X discloses an automatic handling robot for medical waste, including a fixed base frame, a main semicircular seat is rotatably provided on the top surface of the top plate of the fixed base frame, a pair of vertically distributed T-shaped guide rails are fixed at both ends of the rear side wall of the main semicircular seat, a lifting base is slidably provided on the two T-shaped guide rails, a movable arm is provided on the outer wall of the lifting base, a collecting frame is provided at the front end of the movable arm, a cylinder mounting groove is recessed inwardly from the center of the outer circular wall of the front end of the main semicircular seat, a pushing cylinder is provided in the cylinder mounting groove, and the piston rod of the pushing cylinder extends forward and is connected to a pushing plate. The advantages of the present invention are: it is provided with a pair of movable arms that can be raised and lowered and rotated, and a collecting frame is provided on the movable arm, which can clamp a large amount of garbage, thereby completing the automatic handling of the garbage, and its high degree of automation can not only greatly improve work efficiency, but also prevent the spread of germs;

[0004] The handling robot in this patent has certain limitations in its gripping direction. It can only grip waste at designated locations and cannot flexibly grasp single medical waste, making it inflexible to use. Utility Model Content

[0005] In view of the deficiencies of the prior art, the utility model provides a waste sorting transport robot with flexible grasping, which solves the problem that a single medical waste cannot be flexibly grasped.

[0006] To achieve the above objectives, the utility model is implemented through the following technical solutions: a handling robot for waste sorting with flexible grasping, comprising a base, a driving wheel is installed on the lower side of the base, a supporting platform is fixedly installed on the upper surface of the base, a first guide rail is fixedly installed on the upper end of the supporting platform, a second guide rail is arranged on the side of the first guide rail, a slide plate is installed on the first guide rail and the second guide rail, a driving roller is installed on the lower side of the slide plate, a driving seat is fixedly installed on the upper surface of the slide plate, a rotating seat is installed on the driving seat, a first mechanical arm is installed on the rotating seat, a second mechanical arm is installed on the first mechanical arm, a third mechanical arm is installed on the second mechanical arm, a rotating head is installed on the third mechanical arm, an electric cylinder is fixedly installed on the outside of the rotating head, a fixing frame is fixedly installed on the movable end of the electric cylinder, a grabbing clamp is arranged on the lower side of the fixing frame, a disinfectant storage box is detachably installed on the supporting platform, mounting plates are fixedly installed on both sides of the disinfectant storage box, and a cleaning and disinfection component is installed on the outside of the disinfectant storage box.

[0007] Preferably, a driving motor is fixedly installed inside the fixing frame, the output shaft of the driving motor is provided with a bidirectional screw rod, a sliding block is installed on the bidirectional screw rod, and the grabbing clamp is fixedly installed on the lower end of the sliding block.

[0008] Furthermore, an anti-skid pad is arranged inside the gripping clamp, and evenly distributed anti-skid particles are arranged on the surface of the anti-skid pad.

[0009] Preferably, the cleaning and disinfection assembly comprises a first telescopic tube, first electric push rods are arranged on both sides of the first telescopic tube, and flow seats are fixedly installed at the ends of the first electric push rod and the first telescopic tube.

[0010] Furthermore, a second electric push rod is fixedly mounted on the upper end of the circulation seat, a fixing frame is fixedly mounted on the movable end of the second electric push rod, and a second motor is fixedly mounted on the outside of the fixing frame.

[0011] Furthermore, the output shaft of the second motor is provided with a spray plate, the surface of the spray plate is provided with uniformly distributed nozzles, and a hose is fixedly connected between the spray plate and the flow seat.

[0012] Beneficial Effects

[0013] The utility model provides a flexible grabbing waste sorting handling robot. Compared with the prior art, it has the following beneficial effects:

[0014] The flexible grabbing waste sorting handling robot is provided with a base, a driving wheel, a slide plate, a rotating base, a first mechanical arm, a second mechanical arm, a third mechanical arm and a rotating head. The driving wheel can drive the base to move, the slide plate can drive the driving base and the rotating base to move, the rotating base, the first mechanical arm, the second mechanical arm and the third mechanical arm can accurately adjust the position of the rotating head to adjust the rotating head above the medical waste. By providing an electric cylinder, a fixed frame and a gripper, the position of the gripper can be accurately adjusted to flexibly grab a single medical waste, which is more flexible to use. At the same time, a cleaning and disinfection component is also provided on the device, which can not only clean and disinfect the gripper, but also disinfect the surrounding environment to inhibit bacterial growth and spread. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the structure of the utility model;

[0016] Figure 2 It is a structural schematic diagram of the slide plate in the utility model;

[0017] Figure 3 It is a structural schematic diagram of the rotating head in the utility model;

[0018] Figure 4 It is a structural schematic diagram of the cleaning and disinfection component in the utility model.

[0019] In the figure: 1, base; 2, driving wheel; 3, support table; 4, first guide rail; 5, second guide rail; 6, slide plate; 7, driving roller; 8, driving seat; 9, rotating seat; 10, first mechanical arm; 11, second mechanical arm; 12, third mechanical arm; 13, rotating head; 14, electric cylinder; 15, fixed frame; 16, gripper; 17, anti-skid pad; 18, disinfectant storage box; 19, mounting plate; 20, cleaning and disinfection assembly; 2001, first telescopic tube; 2002, circulation seat; 2003, first electric push rod; 2004, second electric push rod; 2005, fixed frame; 2006, hose; 2007, second motor; 2008, spray plate; 2009, nozzle. DETAILED DESCRIPTION

[0020] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0021] See also Figure 1-4The utility model provides a technical solution: a handling robot for waste sorting with flexible grasping, comprising a base 1, a driving wheel 2 is installed on the lower side of the base 1, the driving wheel 2 can drive the base 1 to move, a slide plate 6 can drive a driving seat 8 and a rotating seat 9 to move, a support table 3 is fixedly installed on the upper surface of the base 1, a first guide rail 4 is fixedly installed on the upper end of the support table 3, a second guide rail 5 is arranged on the side of the first guide rail 4, a slide plate 6 is installed on the first guide rail 4 and the second guide rail 5, a driving roller 7 is installed on the lower side of the slide plate 6, a driving seat 8 is fixedly installed on the upper surface of the slide plate 6, a rotating seat 9 is installed on the driving seat 8, a first mechanical arm 10 is installed on the rotating seat 9, a second mechanical arm 11 is installed on the first mechanical arm 10, and a third mechanical arm 11 is installed on the second mechanical arm 11 Arm 12, a rotating head 13 is installed on the third mechanical arm 12, the rotating seat 9, the first mechanical arm 10, the second mechanical arm 11 and the third mechanical arm 12 can accurately adjust the position of the rotating head 13, and adjust the rotating head 13 to above the medical waste. An electric cylinder 14 is fixedly installed on the outside of the rotating head 13, and a fixed frame 15 is fixedly installed on the movable end of the electric cylinder 14. A gripper 16 is arranged on the lower side of the fixed frame 15. A disinfectant storage tank 18 is detachably installed on the support table 3, and mounting plates 19 are fixedly installed on both sides of the disinfectant storage tank 18. A cleaning and disinfection component 20 is installed on the outside of the disinfectant storage tank 18. The cleaning and disinfection component 20 can not only clean and disinfect the gripper 16, but also disinfect the surrounding environment to inhibit bacterial growth and spread.

[0022] A driving motor is fixedly installed inside the fixed frame 15, and a bidirectional screw is arranged on the output shaft of the driving motor, and a slider is installed on the bidirectional screw. A gripper 16 is fixedly installed at the lower end of the slider, and an anti-skid pad 17 is arranged inside the gripper 16. The surface of the anti-skid pad 17 is provided with evenly distributed anti-skid particles. The rotation of the driving motor drives the bidirectional screw to rotate, thereby driving the slider to move inward or outward, and the position of the gripper 16 can be accurately adjusted to flexibly grab a single medical waste, which is more flexible to use. The cleaning and disinfection component 20 includes a first telescopic tube 2001, and first electric push rods 2003 are arranged on both sides of the first telescopic tube 2001. The first electric push rod 2003 and the end of the first telescopic tube 2001 are fixedly installed with a circulation seat 200 2. A second electric push rod 2004 is fixedly installed on the upper end of the circulation seat 2002, a fixing frame 2005 is fixedly installed on the movable end of the second electric push rod 2004, a second motor 2007 is fixedly installed outside the fixing frame 2005, a spray plate 2008 is provided on the output shaft of the second motor 2007, and nozzles 2009 are evenly distributed on the surface of the spray plate 2008. A hose 2006 is fixedly connected between the spray plate 2008 and the circulation seat 2002. The second motor 2007 can adjust the inclination angle of the spray plate 2008, and the first electric push rod 2003 and the second electric push rod 2004 can change the position of the fixing frame 2005, so that the spray plate 2008 can disinfect the surrounding environment.

[0023] During operation, the disinfectant is first injected into the disinfectant storage box 18, and then the disinfectant storage box 18 is sealed, the driving wheel 2 is opened, the entire device is moved to the medical waste storage area, and then the classified trash can is placed on one side of the device, and the various electronic devices in the device are turned on. The rotating seat 9, the first mechanical arm 10, the second mechanical arm 11 and the third mechanical arm 12 can accurately adjust the position of the rotating head 13, and the rotating head 13 is adjusted to above the medical waste. The driving motor rotates to drive the bidirectional screw rod to rotate, thereby driving the slider to move inward or outward, and the position of the gripper 16 can be accurately adjusted. The medical waste is clamped and placed in the trash can. After the clamping is completed, the cleaning and disinfection component 20 is opened again. The second motor 2007 in the cleaning and disinfection component 20 can adjust the inclination angle of the spray plate 2008, and the first electric push rod 2003 and the second electric push rod 2004 can change the position of the fixed frame 2005, so that the spray plate 2008 can disinfect the surrounding environment.

[0024] Meanwhile, the contents not described in detail in this specification belong to the prior art known to those skilled in the art.

Claims

1. A flexible grabbing waste sorting handling robot, comprising a base (1), characterized in that: A driving wheel (2) is installed on the lower side of the base (1); a support platform (3) is fixedly installed on the upper surface of the base (1); a first guide rail (4) is fixedly installed on the upper end of the support platform (3); a second guide rail (5) is arranged on the side of the first guide rail (4); a slide plate (6) is installed on the first guide rail (4) and the second guide rail (5); a driving roller (7) is installed on the lower side of the slide plate (6); a driving seat (8) is fixedly installed on the upper surface of the slide plate (6); a rotating seat (9) is installed on the driving seat (8); a first mechanical arm (10) is installed on the rotating seat (9); and a A second mechanical arm (11), a third mechanical arm (12) is mounted on the second mechanical arm (11), a rotating head (13) is mounted on the third mechanical arm (12), an electric cylinder (14) is fixedly mounted on the outside of the rotating head (13), a fixed frame (15) is fixedly mounted on the movable end of the electric cylinder (14), a gripping clamp (16) is arranged on the lower side of the fixed frame (15), a disinfectant storage box (18) is detachably mounted on the support platform (3), mounting plates (19) are fixedly mounted on both sides of the disinfectant storage box (18), and a cleaning and disinfection component (20) is mounted on the outside of the disinfectant storage box (18).

2. The waste sorting handling robot with flexible grasping according to claim 1, characterized in that: A driving motor is fixedly mounted inside the fixing frame (15); a bidirectional screw rod is provided on the output shaft of the driving motor; a sliding block is mounted on the bidirectional screw rod; and the grabbing clamp (16) is fixedly mounted on the lower end of the sliding block.

3. The waste sorting handling robot with flexible grasping according to claim 2, characterized in that: An anti-skid pad (17) is arranged inside the gripping clamp (16), and the surface of the anti-skid pad (17) is provided with evenly distributed anti-skid particles.

4. The waste sorting handling robot with flexible grasping according to claim 1, characterized in that: The cleaning and disinfection assembly (20) comprises a first telescopic tube (2001), first electric push rods (2003) are arranged on both sides of the first telescopic tube (2001), and flow seats (2002) are fixedly installed at the ends of the first electric push rod (2003) and the first telescopic tube (2001).

5. The waste sorting handling robot with flexible grasping according to claim 4, characterized in that: A second electric push rod (2004) is fixedly mounted on the upper end of the circulation seat (2002), a fixing frame (2005) is fixedly mounted on the movable end of the second electric push rod (2004), and a second motor (2007) is fixedly mounted on the outside of the fixing frame (2005).

6. The waste sorting handling robot with flexible grasping according to claim 5, characterized in that: The output shaft of the second motor (2007) is provided with a spray plate (2008), the surface of the spray plate (2008) is provided with uniformly distributed nozzles (2009), and a hose (2006) is fixedly connected between the spray plate (2008) and the circulation seat (2002).

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