CN104528009A - Automatic disc containing system and method of large-infusion robot - Google Patents
Automatic disc containing system and method of large-infusion robot Download PDFInfo
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- CN104528009A CN104528009A CN201410619958.9A CN201410619958A CN104528009A CN 104528009 A CN104528009 A CN 104528009A CN 201410619958 A CN201410619958 A CN 201410619958A CN 104528009 A CN104528009 A CN 104528009A
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- Prior art keywords
- sterilization tray
- infusion solutions
- infusion
- sabot
- stepping conveyor
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B5/00—Packaging individual articles in containers or receptacles, e.g. bags, sacks, boxes, cartons, cans, jars
- B65B5/10—Filling containers or receptacles progressively or in stages by introducing successive articles, or layers of articles
- B65B5/105—Filling containers or receptacles progressively or in stages by introducing successive articles, or layers of articles by grippers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
- B65B35/10—Feeding, e.g. conveying, single articles
- B65B35/16—Feeding, e.g. conveying, single articles by grippers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
- B65B35/56—Orientating, i.e. changing the attitude of, articles, e.g. of non-uniform cross-section
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B57/00—Automatic control, checking, warning, or safety devices
- B65B57/02—Automatic control, checking, warning, or safety devices responsive to absence, presence, abnormal feed, or misplacement of binding or wrapping material, containers, or packages
- B65B57/04—Automatic control, checking, warning, or safety devices responsive to absence, presence, abnormal feed, or misplacement of binding or wrapping material, containers, or packages and operating to control, or to stop, the feed of such material, containers, or packages
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B2220/00—Specific aspects of the packaging operation
- B65B2220/16—Packaging contents into primary and secondary packaging
- B65B2220/18—Packaging contents into primary and secondary packaging the primary packaging being bags the subsequent secondary packaging being rigid containers, e.g. cardboard box
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides an automatic disc containing system and method of a large-infusion robot, and belongs to large-infusion automatic disc containing systems. The automatic disc containing system comprises a support, a sterilization disc stepping conveyor and a control device; a series robot component is arranged on the support; a vision sensor is arranged on the series robot component, and the sterilization disc stepping conveyor penetrates the support and is located below the series robot component; a large-infusion feeding conveying belt conveyor is arranged between the series robot component and the sterilization disc stepping conveyor; an encoder is arranged on the large-infusion feeding conveying belt conveyor, and a disc changing clearance cache component is arranged on the support; the control device is connected to the control end of the series robot component, the control end of the sterilization disc stepping conveyor and the control end of the control end of the large-infusion feeding conveying belt conveyor; and the encoder and the vision sensor are connected to a communication port of the control device. Full-automatic large-infusion disc containing can be achieved, and the whole process is precise in large-infusion positioning, rapid in disc containing and high in stability; and the number of production personnel in a workshop is reduced, and meanwhile labor intensity of workers is reduced.
Description
Technical field
The invention provides a kind of infusion solutions robot automatic disk loading system and disc filling method thereof, belong to infusion solutions automatic disk loading system.
Background technology
Along with the automated process of pharmaceutical factory pharmaceutical equipment is more and more faster, and the cost of personnel more and more becomes the factor that restriction producer reduces productive costs, the muscle power consuming producers that simultaneously heavy manual labor is serious, one is that the consumption of another muscle power that works long hours being unfavorable for workman is also for the production safety of workman causes hidden danger.Early stage auto-dishing device, can only by flexible step wise or sucker step wise.
Currently available technology defect is:
One, such sabot cannot ensure the accurate location of infusion solutions in sterilization tray, and speed is slow, poor stability;
Its two, usually need to increase manually to manage bag, infusion solutions can be put neatly, and sack unification towards, be both unfavorable for cost-saving, and be also unfavorable for alleviating labor strength.
Summary of the invention
The object of the invention is to provide a kind of infusion solutions robot automatic disk loading system and disc filling method thereof, the full automaticity sabot of infusion solutions can be realized, whole process infusion solutions registration, sabot is rapid, stability is high, greatly reduce the producers in workshop, also reduce the labour intensity of workman simultaneously.
Infusion solutions robot automatic disk loading system of the present invention, comprise support, support is provided with serial manipulator assembly, serial manipulator assembly is provided with vision sensor, be provided with sterilization tray stepping conveyor, sterilization tray stepping conveyor is through support, and be positioned at below serial manipulator assembly, infusion solutions charging belt conveyer is provided with between serial manipulator assembly and sterilization tray stepping conveyor, infusion solutions charging belt conveyer is provided with coder, support is provided with and changes dish gap caching component, be provided with control setup, control setup is connected respectively to serial manipulator assembly, the control end of sterilization tray stepping conveyor and infusion solutions charging belt conveyer, coder and vision sensor are connected to the communication port of control setup.
Described infusion solutions robot automatic disk loading system, infusion solutions needs when transporting to ensure suitable and uniform spacing, coder by the delivery speed real-time Transmission of belt to control setup, vision sensor to be taken pictures sampling to the soft bag that belt conveyer is carried, the position of the soft bag of visual analysis and mouth pipe direction, coordinate the load-transfer device running velocity that belt conveyer coder collects simultaneously, real-time Transmission is to control system, running velocity and track is drawn after control system contrast, make serial manipulator assembly can capture infusion solutions accurately, Grasp Modes is taked high-frequency electromagnetic valve to control vacuum generator and is produced vacuum, then special sucker holds the mode of soft bag bag body.Grab the adjustment that sabot process completes soft bag direction simultaneously, ensure that soft bag direction is identical with program setting, robot is made just the direction of infusion solutions to be adjusted to same direction when capturing infusion solutions, avoid artificial intervention, serial manipulator assembly is provided with the robot of two series connection, make the sabot simultaneously of two robots, after installing a row, sterilization tray stepping conveyor can by distance fixing for sterilization tray stepping, robot is made to continue to load next row infusion solutions in same sabot position, improve sabot speed greatly, make not need artificial access in whole sabot sabot process, save employment cost.
Described infusion solutions robot automatic disk loading system, sterilization tray stepping conveyor is provided with slide rail, slide rail is provided with jacking cylinder, jacking cylinder is provided with pallet, the movable end that sterilization tray stepping conveying is provided with the lateral cylinder lateral cylinder parallel with slide rail is connected to jacking cylinder, and the signal end of jacking cylinder and lateral cylinder is connected to the PORT COM of control setup.Make previous sterilization tray when sabot, a rear sterilization tray can be lifted by jacking cylinder, and be moved horizontally to above stepping conveyor start bit by lateral cylinder, the previous sterilization tray of standby replacement, after previous sterilization tray sabot completes, after being sent by the chain of sterilization tray stepping conveyor, fallen by jacking cylinder, be put into rear on running roller and be delivered to working position by sterilization tray stepping conveyor, making sabot process there will not be interval, improve sabot efficiency greatly.
Described infusion solutions robot automatic disk loading system, sterilization tray stepping conveyor is provided with hard inhibiting device and shifting block.Hard limiting stopper ensures that sterilization tray arrives after above jacking cylinder can be stopped, hard limiting stopper can be arranged the equipment that travel switch etc. sends signal, after making sterilization tray contact hard limiting stopper, control setup can receive signal and stop running roller, running roller is avoided constantly to operate, cause the waste of electric energy, shifting block can ensure that sterilization tray is pushed into sabot station smoothly.
Described infusion solutions robot automatic disk loading system, serial manipulator assembly comprises the robot arm of two series connection, and robot arm is provided with vacuum and captures placing modules.Make robot arm can fast and sabot accurately.
Described infusion solutions robot automatic disc filling method, application rights requires that the infusion solutions robot automatic disk loading system described in 1 carries out sabot, the infusion solutions that large infusion production line is produced is coordinated through infusion solutions charging belt conveyer, make infusion solutions charging belt conveyer infusion solutions can be carried to sabot station, its concrete steps are:
(1) sterilization tray arrives sabot station, the i.e. initial position of stepping conveyor, control setup control captures the transfusion bag that band conveyor is carried by vacuum grabbing device, and the sack of infusion solutions is adjusted to same direction and is placed in sterilization tray.
(2) robot installs stepping conveyor after a row and drives sterilization tray stepping forward once, and repeat this action by rows carry out sabot.
(3) sterilization tray is when sabot, control setup controls sterilization tray stepping conveyor and starts, second sterilization tray is transported to hard inhibiting device by running roller, second sterilization tray arrives control setup behind hard inhibiting device place, and to control the running roller of sterilization tray stepping conveyor out of service, control jacking cylinder with timed unit to rise, second sterilization tray is lifted, after second sterilization tray is lifted to vertex by jacking cylinder, control setup controls lateral cylinder work, is transported to above stepping conveyor start bit by second sterilization tray.
(4) after first sterilization tray sabot completes, the sterilization tray installed transports by the chain that control setup controls sterilization tray stepping conveyor, and shifting block rapidly moves to initial position, control jacking cylinder second sterilization tray is fallen simultaneously, fall rear control setup to control sterilization tray stepping conveyor and shift second sterilization tray onto sabot station start sabot, the playback of the cylinder of jacking simultaneously by setting ahead.
(5) above process is repeated.
Described infusion solutions robot automatic disc filling method, capture infusion solutions by robot arm from infusion solutions charging belt conveyer and carry out sabot, in sabot process, utilize stepping motor after robot arm installs a row, automatic stepping moves forward a fixing distance, infusion solutions is made to load a dish at original sabot station, and repeat this process until install, install rear sterilization tray stepping conveyor can at once the dish installed be sent, the dish be unkitted is sent at once, the gap that period changes dish is reduced, improve sabot efficiency greatly, and robot arm is after preventing assembly from being captured by infusion solutions by vacuum crawl, can be sampled by vision sensor, after contrasting with systemic presupposition value, by infusion solutions rotate to preset anti-to, and load in sterilization tray, avoid manpower intervention balance, save manpower greatly, dual robot arm works simultaneously, and shorten greatly change dish gap, improve sabot efficiency greatly.
Described infusion solutions robot automatic disc filling method, control setup is taken pictures by video sensor and is sampled and visual analysis, the position of the infusion solutions of feedback and mouth of pipe direction, the running velocity of the belt conveyor of matching coding device feedback simultaneously, contrast, and draw its running velocity and track, and control captures infusion solutions accurately according to the path of motion of infusion solutions.Make infusion solutions in the process of movement, capture very accurate, improve stability.
Described infusion solutions robot automatic disc filling method, sterilization tray stepping conveyor drives sterilization tray stepping forward distance to be once the length of row's infusion bag, and what make that next row infusion bag can be compact is arranged in a row successively.Avoid the movement of serial manipulator assembly, only make sterilization tray move, save the energy greatly, and by not entering a little to position, sabot can be made very neatly compactly.
Described infusion solutions robot automatic disc filling method, when previous sterilization tray is transported by sterilization tray stepping conveyor, a rear sterilization tray is fallen by jacking cylinder and during sending into working position, the infusion solutions that infusion solutions charging belt conveyer does not intermittently ship is put into and changes on the caching component of dish gap by robot, when changing after dish completes, utilize the delivery time gap of two infusion solutionses, will the infusion solutions sabot on the caching component of dish gap be changed.The feeding of infusion solutions charging belt conveyer is made not need to stop, temporary transient being put into of infusion solutions of changing the transport of dish gap can be changed on the caching component of dish gap and temporarily place, the rotating disk time due to mechanical arm is shorter than the haulage time gap of two infusion solutionses, so, after having changed dish, can infusion solutions be taken off carry out sabot from changing dish gap caching component in the gap from sabot on infusion solutions charging belt conveyer, avoid change dish gap time be wasted, improve the efficiency of sabot greatly.
Described infusion solutions robot automatic disc filling method, the vacuum that robot arm is arranged captures placing modules, the vacuum generator using high-frequency electromagnetic valve to control and check valve realize vacuum blowback, carry out quick breaking vacuum, make vacuum capture placing modules unclamp infusion solutions with this.The crawl making vacuum capture placing modules and the speed of unclamping are accelerated greatly, ensure that vacuum crawl placing modules can adapt to the sabot action of telling.
The present invention compared with prior art beneficial effect is:
Described infusion solutions robot automatic disk loading system, infusion solutions needs when transporting to ensure suitable and uniform spacing, coder by the delivery speed real-time Transmission of running roller to control setup, vision sensor to be taken pictures sampling to the soft bag that belt conveyer is carried, the position of the soft bag of visual analysis and mouth pipe direction, coordinate the load-transfer device running velocity that belt conveyer coder collects simultaneously, real-time Transmission is to control system, running velocity and track is drawn after control system contrast, make serial manipulator assembly can capture infusion solutions accurately, Grasp Modes is taked high-frequency electromagnetic valve to control vacuum generator and is produced vacuum, then special sucker holds the mode of soft bag bag body.Grab the adjustment that sabot process completes soft bag direction simultaneously, ensure that soft bag direction is identical with program setting, robot is made just the direction of infusion solutions to be adjusted to same direction when capturing infusion solutions, avoid artificial intervention, serial manipulator assembly is provided with the robot of two series connection, make the sabot simultaneously of two robots, after installing a row, sterilization tray stepping conveyor can by distance fixing for sterilization tray stepping, robot is made to continue to load next row infusion solutions in same sabot position, improve sabot speed greatly, make not need artificial access in whole sabot sabot process, save employment cost.
Described sterilization tray stepping conveyor, make previous sterilization tray when sabot, a rear sterilization tray can be lifted by jacking cylinder, and is moved horizontally to above stepping conveyor start bit by lateral cylinder, the previous sterilization tray of standby replacement, after previous sterilization tray sabot completes, after being sent by stepping conveyor, fallen by jacking cylinder, be put into rear on running roller and be delivered to working position by running roller, make sabot process there will not be interval, improve sabot efficiency greatly.
Described hard inhibiting device and shifting block, hard limiting stopper ensures that sterilization tray arrives after above jacking cylinder can be stopped, hard limiting stopper can be arranged the equipment that travel switch etc. sends signal, after making sterilization tray contact hard limiting stopper, control setup can receive signal and stop running roller, avoid running roller constantly to operate, cause the waste of electric energy, shifting block can ensure that sterilization tray is pushed into sabot station smoothly.
Described serial manipulator assembly, makes robot arm can fast and sabot accurately.
Described infusion solutions robot automatic disc filling method, capture infusion solutions by robot arm from infusion solutions charging belt conveyer and carry out sabot, in sabot process, utilize stepping motor after robot arm installs a row, automatic stepping moves forward a fixing distance, infusion solutions is made to load a dish at original sabot station, and repeat this process until install, install rear sterilization tray stepping conveyor can at once the dish installed be sent, the dish be unkitted is sent at once, the gap that period changes dish is reduced, improve sabot efficiency greatly, and robot arm is after preventing assembly from being captured by infusion solutions by vacuum crawl, can be sampled by vision sensor, after contrasting with systemic presupposition value, by infusion solutions rotate to preset anti-to, and load in sterilization tray, avoid manpower intervention balance, save manpower greatly, dual robot arm works simultaneously, and shorten greatly change dish gap, improve sabot efficiency greatly.
Described infusion solutions robot automatic disc filling method, makes infusion solutions in the process of movement, captures very accurate, improves stability.
Described infusion solutions robot automatic disc filling method, avoids the movement of serial manipulator assembly, only makes sterilization tray move, save the energy greatly, and by not entering a little to position, can make sabot very neatly compactly.
Described infusion solutions robot automatic disc filling method, the feeding of infusion solutions charging belt conveyer is made not need to stop, temporary transient being put into of infusion solutions of changing the transport of dish gap can be changed on the caching component of dish gap and temporarily place, the rotating disk time due to mechanical arm is shorter than the haulage time gap of two infusion solutionses, so, after having changed dish, can infusion solutions be taken off carry out sabot from changing dish gap caching component in the gap from sabot on infusion solutions charging belt conveyer, avoid change dish gap time be wasted, improve the efficiency of sabot greatly.
Described infusion solutions robot automatic disc filling method, the crawl making vacuum capture placing modules and the speed of unclamping are accelerated greatly, ensure that vacuum crawl placing modules can adapt to the sabot action of telling.
Accompanying drawing explanation
Fig. 1 is front view of the present invention;
Fig. 2 left view of the present invention;
Fig. 3 sterilization tray sabot course location schematic diagram (one);
Fig. 4 sterilization tray sabot course location schematic diagram (two);
Fig. 5 sterilization tray sabot course location schematic diagram (three);
Fig. 6 sterilization tray sabot course location schematic diagram (four);
Fig. 7 sterilization tray sabot course location schematic diagram (five);
Fig. 8 sterilization tray sabot course location schematic diagram (six);
In figure: 1, support; 2, serial manipulator assembly; 3, sterilization tray stepping conveyor; 4, infusion solutions charging belt conveyer; 5, coder; 6, dish gap caching component is changed; 7, jacking cylinder; 8, lateral cylinder.
Detailed description of the invention
Below in conjunction with the present invention, infusion solutions robot automatic disk loading system embodiment is described further:
Embodiment 1: as depicted in figs. 1 and 2, described infusion solutions robot automatic disk loading system, comprise support 1, support 1 is provided with serial manipulator assembly 2, serial manipulator assembly 2 is provided with vision sensor, be provided with sterilization tray stepping conveyor 3, sterilization tray stepping conveyor 3 is through support 1, and be positioned at below serial manipulator assembly 2, infusion solutions charging belt conveyer 4 is provided with between serial manipulator assembly 2 and sterilization tray stepping conveyor 3, infusion solutions charging belt conveyer 4 is provided with coder 5, support 1 is provided with and changes dish gap caching component 6, be provided with control setup, control setup is connected respectively to serial manipulator assembly 2, the control end of sterilization tray stepping conveyor 3 and infusion solutions charging belt conveyer 4, coder 5 and vision sensor are connected to the communication port of control setup.
Embodiment 2: on the architecture basics described in embodiment 1, sterilization tray stepping conveyor 3 is provided with slide rail, slide rail is provided with jacking cylinder 7, jacking cylinder 7 is provided with pallet, sterilization tray stepping conveyor 3 is provided with the lateral cylinder 8 parallel with slide rail, the movable end of lateral cylinder 8 is connected to jacking cylinder 7, and the signal end of jacking cylinder 7 and lateral cylinder 8 is connected to the PORT COM of control setup.
Embodiment 3: on the architecture basics described in embodiment 2, sterilization tray stepping conveyor 3 is provided with hard inhibiting device and shifting block, and serial manipulator assembly comprises the robot arm of two series connection, and robot arm is provided with vacuum and captures placing modules.
Below in conjunction with the present invention, infusion solutions robot automatic disc filling method embodiment is described further:
Embodiment 1: as shown in Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7 and Fig. 8, application rights requires that the infusion solutions robot automatic disk loading system described in 1 carries out sabot, the infusion solutions that large infusion production line is produced is coordinated through infusion solutions charging belt conveyer, make infusion solutions charging belt conveyer infusion solutions can be carried to sabot station, its concrete steps are:
(1) sterilization tray arrives sabot station, the i.e. initial position of stepping conveyor, control setup control captures the transfusion bag that band conveyor is carried by vacuum grabbing device, and the sack of infusion solutions is adjusted to same direction and is placed in sterilization tray.
(2) robot installs stepping conveyor after a row and drives sterilization tray stepping forward once, and repeat this action by rows carry out sabot.
(3) sterilization tray is when sabot, control setup controls sterilization tray stepping conveyor and starts, second sterilization tray is transported to hard inhibiting device by running roller, second sterilization tray arrives control setup behind hard inhibiting device place, and to control the running roller of sterilization tray stepping conveyor out of service, control jacking cylinder with timed unit to rise, second sterilization tray is lifted, after second sterilization tray is lifted to vertex by jacking cylinder, control setup controls lateral cylinder work, is transported to above stepping conveyor start bit by second sterilization tray.
(4) after first sterilization tray sabot completes, the sterilization tray installed transports by the chain that control setup controls sterilization tray stepping conveyor, and shifting block rapidly moves to initial position, control jacking cylinder second sterilization tray is fallen simultaneously, fall rear control setup to control sterilization tray stepping conveyor and shift second sterilization tray onto sabot station start sabot, the playback of the cylinder of jacking simultaneously by setting ahead.
(5) above process is repeated.
Embodiment 2: on the architecture basics described in embodiment 1, control setup is taken pictures by video sensor and is sampled and visual analysis, the position of the infusion solutions of feedback and mouth of pipe direction, the running velocity of the belt conveyor of matching coding device feedback simultaneously, contrast, and draw its running velocity and track, and control captures infusion solutions accurately according to the path of motion of infusion solutions.
Embodiment 3: on the architecture basics described in embodiment 2, , sterilization tray stepping conveyor drive sterilization tray stepping forward distance is once the length of row's infusion bag, what make that next row infusion bag can be compact is arranged in a row successively, when previous sterilization tray is transported by sterilization tray stepping conveyor, a rear sterilization tray is fallen by jacking cylinder and during sending into working position, the infusion solutions that infusion solutions charging belt conveyer does not intermittently ship is put into and changes on the caching component of dish gap by robot, when changing after dish completes, utilize the delivery time gap of two infusion solutionses, infusion solutions sabot on the caching component of dish gap will be changed.
Embodiment 4: on the architecture basics described in embodiment 3, the vacuum that robot arm is arranged captures placing modules, the vacuum generator using high-frequency electromagnetic valve to control and check valve realize vacuum blowback, carry out quick breaking vacuum, make vacuum capture placing modules unclamp infusion solutions with this.
Claims (9)
1. an infusion solutions robot automatic disk loading system, comprise support, it is characterized in that, support is provided with serial manipulator assembly, serial manipulator assembly is provided with vision sensor, be provided with sterilization tray stepping conveyor, sterilization tray stepping conveyor is through support, and be positioned at below serial manipulator assembly, infusion solutions charging belt conveyer is provided with between serial manipulator assembly and sterilization tray stepping conveyor, infusion solutions charging belt conveyer is provided with coder, support is provided with and changes dish gap caching component, be provided with control setup, control setup is connected respectively to serial manipulator assembly, the control end of sterilization tray stepping conveyor and infusion solutions charging belt conveyer, coder and vision sensor are connected to the communication port of control setup.
2. infusion solutions robot automatic disk loading system according to claim 1, it is characterized in that, sterilization tray stepping conveyor is provided with slide rail, slide rail is provided with jacking cylinder, jacking cylinder is provided with pallet, sterilization tray stepping conveying is provided with the lateral cylinder parallel with slide rail, and the movable end of lateral cylinder is connected to jacking cylinder, and the signal end of jacking cylinder and lateral cylinder is connected to the PORT COM of control setup.
3. infusion solutions robot automatic disk loading system according to claim 2, it is characterized in that, sterilization tray stepping conveyor is provided with hard inhibiting device and shifting block.
4. infusion solutions robot automatic disk loading system according to claim 2, is characterized in that, serial manipulator assembly comprises the robot arm of two series connection, and robot arm is provided with vacuum and captures placing modules.
5. an infusion solutions robot automatic disc filling method, it is characterized in that, application rights requires that the infusion solutions robot automatic disk loading system described in 1 carries out sabot, the infusion solutions that large infusion production line is produced is coordinated through infusion solutions charging belt conveyer, make infusion solutions charging belt conveyer infusion solutions can be carried to sabot station, its concrete steps are:
(1) sterilization tray arrives sabot station, the i.e. initial position of stepping conveyor, control setup control captures the transfusion bag that band conveyor is carried by vacuum grabbing device, and the sack of infusion solutions is adjusted to same direction and is placed in sterilization tray.
(2) robot installs stepping conveyor after a row and drives sterilization tray stepping forward once, and repeat this action by rows carry out sabot.
(3) sterilization tray is when sabot, control setup controls sterilization tray stepping conveyor and starts, second sterilization tray is transported to hard inhibiting device by running roller, second sterilization tray arrives control setup behind hard inhibiting device place, and to control the running roller of sterilization tray stepping conveyor out of service, control jacking cylinder with timed unit to rise, second sterilization tray is lifted, after second sterilization tray is lifted to vertex by jacking cylinder, control setup controls lateral cylinder work, is transported to above stepping conveyor start bit by second sterilization tray.
(4) after first sterilization tray sabot completes, the sterilization tray installed transports by the chain that control setup controls sterilization tray stepping conveyor, and shifting block rapidly moves to initial position, control jacking cylinder second sterilization tray is fallen simultaneously, fall rear control setup to control sterilization tray stepping conveyor and shift second sterilization tray onto sabot station start sabot, the playback of the cylinder of jacking simultaneously by setting ahead.
(5) above process is repeated.
6. infusion solutions robot automatic disc filling method according to claim 5, it is characterized in that, control setup is taken pictures by video sensor and is sampled and visual analysis, the position of the infusion solutions of feedback and mouth of pipe direction, the running velocity of the belt conveyor of matching coding device feedback simultaneously, contrast, and draw its running velocity and track, and control captures infusion solutions accurately according to the path of motion of infusion solutions.
7. infusion solutions robot automatic disc filling method according to claim 5, is characterized in that, sterilization tray stepping conveyor drives sterilization tray stepping forward distance to be once the length of row's infusion bag, and what make that next row infusion bag can be compact is arranged in a row successively.
8. infusion solutions robot automatic disc filling method according to claim 5, it is characterized in that, when previous sterilization tray is transported by sterilization tray stepping conveyor, a rear sterilization tray is fallen by jacking cylinder and during sending into working position, the infusion solutions that infusion solutions charging belt conveyer does not intermittently ship is put into and changes on the caching component of dish gap by robot, when changing after dish completes, utilizing the delivery time gap of two infusion solutionses, the infusion solutions sabot on the caching component of dish gap will be changed.
9. infusion solutions robot automatic disc filling method according to claim 5, it is characterized in that, the vacuum that robot arm is arranged captures placing modules, the vacuum generator using high-frequency electromagnetic valve to control and check valve realize vacuum blowback, carry out quick breaking vacuum, make vacuum capture placing modules with this and unclamp infusion solutions.
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| CN201410619958.9A CN104528009B (en) | 2014-11-06 | 2014-11-06 | Infusion solutions robot automatic disk loading system and disc filling method thereof |
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| CN201410619958.9A CN104528009B (en) | 2014-11-06 | 2014-11-06 | Infusion solutions robot automatic disk loading system and disc filling method thereof |
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| CN104528009B CN104528009B (en) | 2016-11-23 |
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| CN110860487A (en) * | 2019-11-22 | 2020-03-06 | 山东新华医疗器械股份有限公司 | Automatic charging system |
| CN114570658A (en) * | 2022-03-04 | 2022-06-03 | 赛那德科技有限公司 | Logistics package sorting method and system based on dynamic vision and electronic equipment |
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| CN109789940A (en) * | 2016-09-28 | 2019-05-21 | 偌鸿慕·葛赫布瓦 | Automatic manipulator boxing method |
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| CN106516228B (en) * | 2016-12-13 | 2019-09-10 | 广州中国科学院先进技术研究所 | A kind of steamed stuffed bun packing linear system system based on robot |
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| CN109941755A (en) * | 2019-04-23 | 2019-06-28 | 惠州连硕科技有限公司 | A kind of transport device of glass cover-plate and detection device with the device |
| CN110860487A (en) * | 2019-11-22 | 2020-03-06 | 山东新华医疗器械股份有限公司 | Automatic charging system |
| CN110860487B (en) * | 2019-11-22 | 2024-04-12 | 山东新华医疗器械股份有限公司 | Automatic charging system |
| CN114570658A (en) * | 2022-03-04 | 2022-06-03 | 赛那德科技有限公司 | Logistics package sorting method and system based on dynamic vision and electronic equipment |
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