CN101581929A - Device for controlling entry-exit warehouse of articles with standard size - Google Patents
Device for controlling entry-exit warehouse of articles with standard size Download PDFInfo
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- CN101581929A CN101581929A CNA2008101117873A CN200810111787A CN101581929A CN 101581929 A CN101581929 A CN 101581929A CN A2008101117873 A CNA2008101117873 A CN A2008101117873A CN 200810111787 A CN200810111787 A CN 200810111787A CN 101581929 A CN101581929 A CN 101581929A
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention provides a device for controlling entry-exit warehouse of articles with standard size. The device comprises an industrial control computer, a servo movement control card communicated and cooperated with the computer, a stepping movement control card, a data acquisition card and a programmable logic controller. By the matching actions of the industrial control computer used as a host computer, the servo movement control card used as a lower controller, the stepping movement control card, the data acquisition card and the programmable logic controller and the like, the device realizes automatic entry warehouse, dense storage and automatic exit warehouse of the articles with actual standard size as required.
Description
Technical field
The present invention relates to the device for controlling entry-exit warehouse of article, be specifically related to the device for controlling entry-exit warehouse of articles with standard size that articles with standard size is put automatically, stored and automatically provides as required.
Background technology
The image of hospital is being represented as first window of hospital in the pharmacy.The patient mainly comes from the pharmacy to the impression of hospital.And before hospital outpatient pharmacy is sent out the medicine window, the neck medicine peak period in the morning of every day and afternoon, patient needs to stand in a long line, and waits for that the pharmacists opens the prescription of writing according to the doctor to patient, takes off medicine on the medicine shelf, issues patient.The patient's waiting time even the half an hour of reaching, front three hospital is because the patient that seeks medical advice is numerous, all the more so.On the other hand, the pharmacists sends out medicine by hand, judge with individual memory or medicine label, and as easy as rolling off a log going wrong, even the medication accident appears.The pharmacists becomes the warehouseman, and they can not get putting to good use the professional knowledge on pharmacy, cause the waste of human resource of certain limit.At the box packed medicine granting of hospital outpatient pharmacy, be necessary to design a kind of automatic dispensary fully, reduce pharmacists's labour intensity, improve efficient and accuracy rate that medicine is provided, improve hospital pharmacy service quality.
Therefore, the control device that needs the exploitation automatic dispensary is to realize the robotization demand for control of automatic dispensary, make automatic dispensary require accurately to provide box packed medicine according to prescription, can store the box packed medicine of some, guarantee to send out the medicine function and carry out continuously, and automatically medicine box is placed on definite medicine storage space.
Summary of the invention
The object of the present invention is to provide a kind of device for controlling entry-exit warehouse of articles with standard size, it can be realized putting automatically, storing of box packed medicine and provide automatically as required.
Purpose of the present invention is achieved through the following technical solutions.
The device for controlling entry-exit warehouse of articles with standard size provided by the present invention is characterized in that, comprising:
An industrial control computer,
The servo motion control card that is connected with above-mentioned industrial control computer,
The first stepping motion control card that is connected with above-mentioned industrial control computer,
The second step motion control card that is connected with above-mentioned industrial control computer,
The data collecting card that is connected with above-mentioned industrial control computer, and
The programmable logic controller (PLC) that is connected with above-mentioned industrial control computer.
Wherein, two passages in the described servo motion control card are done the mechanical arm location in plane moving interpolation, the automatic loading device of control, and the lifter that two other passage is done in synchronous servo motion, the control automatic withdrawing device is synchronized with the movement.
Described servo motion control card can be selected universal motion control card.
Wherein, described first, second step motion control card can be selected the stepping control card of two 4 passages.
Described two step motion control cards are controlled a lifter retaining door stepper motor in the automatic withdrawing device, the warehouse-in conveying belt stepper motor in the loading device and three letter sorting turnover panel stepper motors in the automatic sorting device automatically respectively.
Wherein, described data collecting card is gathered the length information of warehouse-in articles with standard size before respectively by three sensors.
Described sensor adopts ultrasonic sensor.
Wherein, described programmable logic controller (PLC) is controlled to the n optoelectronic switch to n outbound electromagnet and the 1st the warehouse-in electromagnet in the automatic loading device, elevator delivery translator, the 1st in the automatic withdrawing device.
Described optoelectronic switch is used to write down the quantity of institute's outbound box, and it is a photoelectric sensor.
Beneficial effect of the present invention is mainly reflected in:
Among the present invention, be responsible for coordinating a plurality of the next modules, obtain out library information, control criterion size article granting action, obtain warehouse-in inventory information, the input of control criterion size article and put action from server from server by industrial control computer; Servo motion control card control warehouse-in mechanical arm and outbound lifter, wherein two passages are done plane moving interpolation, control mechanical arm location, and two passages are done the synchronous servo motion, the control lifter is synchronized with the movement; Two step motion control cards, control warehouse-in conveying belt stepper motor, lifter retaining door stepper motor and three letter sorting turnover panel stepper motors; Data collecting card is gathered length dimension, width dimensions and the height dimension of putting articles with standard size in the induction system in storage in real time; Programmable logic controller (PLC), control is put mechanical arm turnover panel electromagnet, outbound mechanism electromagnetic iron in storage and is used for the optoelectronic switch of record standard size article outbound quantity, in by the turnover panel action of outbound magnet control outbound mechanism, gather photoelectric switching signal, obtain the current outbound amount of article storage storage space; Thus, as the industrial control computer and the action of the next controller coordinate of host computer, realize automatic warehouse-in, intensive storage and the automatic withdrawing of articles with standard size.
Description of drawings
Fig. 1: automatic dispensary general arrangement synoptic diagram;
Fig. 2: automatic dispensary control device synoptic diagram;
Fig. 3: servo motion control device synoptic diagram;
Fig. 4: step motion control device synoptic diagram;
Fig. 5: data acquisition control device synoptic diagram;
Fig. 6: I/O control device synoptic diagram.
Embodiment
Below be the device for controlling entry-exit warehouse that example illustrates articles with standard size of the present invention with the automatic dispensary.
As shown in Figure 1, automatic dispensary comprises automatic feeding device 1, ramp type drug storage cabinet 2, goes out medicine device 3, automatic sorting device (being installed in a side that goes out medicine device 3 automatically, not shown among Fig. 1) automatically.
Automatically feeding device 1 mainly is made of medicine-feeding induction system and medicine-loading manipulator.The medicine-feeding induction system is made up of medicine-feeding conveying belt and three sensors.Gather medicine box length, width and the height dimension of medicine-feeding on the conveying belt in real time by three sensors, as the size that collects and the consistent size in the database, then carry medicine box to the mechanical arm of adding medicine to, otherwise the prompting mistake stop conveying.With planimetric rectangular coordinates robot configuration medicine-loading manipulator, mechanical arm is installed on the guide rail of robot, does the high-speed plane motion with guide rail, needs two cover AC servo motor to carry out the driving of both direction in the plane respectively.Medicine-feeding induction system and medicine-loading manipulator are united the automatic batch supply that realizes box packed medicine.When operation medicine-feeding, box packed medicine is positioned on the medicine-feeding conveying belt, compares and analyzes by the Information Monitoring to sensor, judges that whether correct medicine box put, and provides prompting.The medicine box of correctly putting enters medicine-loading manipulator by the medicine-feeding conveying belt, when mechanical arm arrives the U-lag of drug storage cabinet correspondence with guide rail movement, mechanical arm horizontal alignment U-lag, subsequently, the medicine-feeding electromagnet corresponding with U-lag drives the medicine-loading manipulator action, and the control enclosure powder charge skids off from mechanical arm and drops into corresponding drug storage cabinet U-lag.Wherein, the preferred ultrasonic sensor of described sensor.
Ramp type drug storage cabinet 2 can not only be realized the intensive storage of medicine, and can cooperate automatic feeding device 1, goes out medicine device 3 automatically and realize the warehouse-in of medicine, outbound easily.Ramp type drug storage cabinet is made up of support body, U type groove, brace summer.According to the medicine box width, U type groove is divided into the different specification of width.U type groove is fixed on the support body with 20 ° of inclination angles, can allow medicine lean on gravity to glide.In view of the practical situations of hospital's medicine, a part of U type groove is multiplexing in the drug storage cabinet, the identical medicine of promptly a plurality of U type groove storages.
Each U type front of the slot is equipped with panel turnover mechanism in the drug storage cabinet, becomes to go out automatically medicine device 3 with lifter.Lifter is by two cover AC servo machinery driving, can be along two vertical vertical displacement movements of guide rail upright columns, on lifter, laterally be provided with a common n drug electromagnet of a row and row n optoelectronic switch altogether, it can carry out vertical vertical displacement movement synchronously with lifter, described drug electromagnet, optoelectronic switch respectively with ramp type drug storage cabinet 2 in the drug storage groove of each drug storage layer corresponding one by one, at each drug storage layer, drug electromagnet, optoelectronic switch and drug storage groove can reliably be located.Requirement according to prescription, two guide rails move up and down lifter in the vertical guide upper edge, behind medicine place drug storage layer position realization " OK " location, drug electromagnet energising action with medicine place U type drug storage groove corresponding " row ", drive the panel turnover mechanism motion of U type drug storage front of the slot, finish the action of getting it filled.When medicine took out through the detection faces of optoelectronic switch, sensor was issued Programmable Logic Controller with detected signal, counted, and mated with the quantity that goes up this kind medicine of writing out a prescription.The medicine that takes out directly drops on the elevator delivery band, and when medicine had all been got, the elevator delivery band transported medicine to medicine outlet, and the retaining door is opened, and the medicine of being got is sent to automatic sorting device.Wherein, described optoelectronic switch preferred light electric transducer.
Automatic sorting device can be delivered to the medicine of elevator delivery band output a medicine window of appointment, and the ethical goods mean allocation to each medicine window, is reduced patient's queuing time, improves the medicine of system and provides efficient.
About the detailed structure of above-mentioned automatic dispensary, can be in conjunction with the following patented claim formerly of consulting the applicant:
| Application number | Title |
| 200710022276.X | The method of regularly placing box packed medicine |
| 200710022448.3 | Slope-type medicament storeroom |
| 200720040255.6 | Automatically a medicine device in pharmacy |
| 200710021838.9 | Automatic sorting system for drugstore |
| 200710133871.0 | The automatization drug-store medicine-feeding controlling management system |
| 200710133210.8 | The boxed medicine distribution carrying method |
| 200710133858.5 | The automatization drug-store drug selling controlling management system |
| 200710133870.6 | The automatization drug-store computer control managing system |
| 200720130871.0 | The drug method of drug storage warehouse |
| 200720130872.5 | The medicine-loading manipulator medicament discharge mechanism |
For realizing adding medicine to by inventory automatically, send out a medicine by prescription automatically, the control content of the control device of automatic dispensary comprises that servo motion control, step motion control, data acquisition, I/O control four major parts.As shown in Figure 2, with industrial control computer 4 is host computer, servo motion control card 41, two 421,422, data capture cards 43 of step motion control card and a cover programmable logic controller (PLC) 44 are slave computer, communication-cooperation action between host computer and the slave computer realizes automatic dispensary medicine-feeding, storage and a medicine are carried out robotization control.
Servo motion control: in medicine-loading manipulator location and elevator locations control, higher to positioning accuracy request, movement velocity is also very fast, adopts AC servo motor as power source; Need 4 servo channels, 2 servo channels of mechanical arm plane positioning, 2 synchronous servo channels that rise synchronously in two ends, the lifter left and right sides.As shown in Figure 3, servo motion control card 41 is controlled 4110,4120 and two mechanical arm motors 4130,4140 of two lifter motors respectively by servoamplifier 411,412,413,414.During specific design, servo motion control card 41 can be selected universal motion control card, and the plane moving interpolation is done in 2 servo channels of medicine-loading manipulator; The synchronous servo motion is done in 2 servo channels of lifter.
Step motion control: the position control of medicine-feeding induction system position control, lifter retaining door position control and three letter sorting mouthful baffle plates, need 5 stepping passages, step motion not only can reach the control purpose, and greatly reduces and control cost.As shown in Figure 4, step motion control card 421,422 utilizes described 5 stepping passages to control lifter retaining door stepper motor 4212, medicine-feeding conveying belt stepper motor 4213 and three letter sorting turnover panel stepper motors 4221,4222,4223 respectively, wherein all disposes driver on each passage.For the selection of step motion control card 421,422, owing to need 5 stepping passages altogether, and step motion control card majority on the market has 4 passages, so select the step motion control card of two 4 passages.
Data acquisition: the storage of different storage space the medicine box size different, medicine box carried out size detection before being placed into, utilize data collecting card 43 to gather the medicine box sizes, with low cost, real-time is good, needs 3 road A/D voltage acquisition passages.As shown in Figure 5, the length information that data collecting card 43 is gathered medicine box respectively by three sensors 431,432,433 amounts to 3 passages, and selection resolution is 12 data collecting card.
I/O control: medicine-loading manipulator turnover panel electromagnet, medicament discharge mechanism operating magnet, optoelectronic switch provide switching value control by the I/O control system, optoelectronic switch write down go out the quantity of medicine box, the I/O control system adopts programmable logic controller (PLC) 44 to control the I/O amount, not only cost is low, and reliably easy.Wherein, medicine-feeding electromagnet 442 is installed on the mechanical arm, is 1; Drug electromagnet 443 in the medicament discharge mechanism and optoelectronic switch 444, its number is corresponding with " row " of U type drug storage groove, is n.As shown in Figure 6,44 pairs of elevator delivery translators 441 of programmable logic controller (PLC), medicine-feeding electromagnet the 442, the 1st to n drug electromagnet the 443, the 1st to n optoelectronic switch 444 are controlled.The input and output point of programmable logic controller (PLC) distributes as table 1.
Table 1
| Module | Input is counted | Output is counted |
| The CPU module | 24 | 16 |
| Expansion module one | 24 | 16 |
| Expansion module two | 24 | 16 |
| Expansion module three | 0 | 16 |
| Expansion module four | 0 | 16 |
During concrete the application, be responsible for coordinating a plurality of the next modules by industrial control computer 4, obtain prescription information, the granting action of control medicine and the preferential drug that ensures the everything request from server, obtain medicine-feeding inventory information, the input of control medicine and put action from server, preferential corresponding drug action request is carried out and guaranteed to drug and medicine-feeding Intra-request Concurrency; Servo motion control card 41 control medicine-loading manipulator and drug lifters, wherein two passages are done plane moving interpolation, control mechanical arm location, and two passages are done the synchronous servo motion, the control lifter is synchronized with the movement; Two step motion control cards 421,422, control medicine-feeding conveying belt stepper motor 4213, lifter retaining door stepper motor 4212 and three letter sorting turnover panel stepper motors 4221,4222,4223; Data collecting card 43, length dimension, width dimensions and the height dimension of medicine box in the induction system of collection medicine-feeding in real time; Programmable logic controller (PLC) 44, control medicine-loading manipulator turnover panel electromagnet 442, medicament discharge mechanism electromagnet 443 and be used for writing down the optoelectronic switch 444 of medicine box quantity, in by the 443 control medicament discharge mechanism turnover panel actions of drug electromagnet, gather photoelectric switching signal, obtain the drug storage groove current go out dose; The action of host computer and the next controller coordinate makes that automatic dispensary is added medicine to automatically, intensive storage and send out medicine automatically.
In addition, be appreciated that, technical scheme of the present invention is not limited to be used for automatic dispensary, its warehouse-in that goes out that also can be used for other articles with standard size is controlled, by as the industrial control computer of host computer with as the coordination of servo motion control card, step motion control card, data collecting card and the programmable logic controller (PLC) etc. of level controller down, realize the automatic warehouse-in of articles with standard size, intensive storage and automatic withdrawing as required.
Below only be concrete exemplary applications of the present invention, protection scope of the present invention is not constituted any limitation.All employing equivalents or equivalence are replaced and the technical scheme of formation, all drop within the rights protection scope of the present invention.
Claims (9)
1, a kind of device for controlling entry-exit warehouse of articles with standard size is characterized in that, comprising:
An industrial control computer,
The servo motion control card that is connected with above-mentioned industrial control computer,
The first stepping motion control card (421) that is connected with above-mentioned industrial control computer,
The second step motion control card (422) that is connected with above-mentioned industrial control computer,
The data collecting card that is connected with above-mentioned industrial control computer, and
The programmable logic controller (PLC) that is connected with above-mentioned industrial control computer.
2, the device for controlling entry-exit warehouse of articles with standard size according to claim 1, it is characterized in that, two passages in the described servo motion control card are done the mechanical arm location in plane moving interpolation, the automatic loading device of control, and the lifter that two other passage is done in synchronous servo motion, the control automatic withdrawing device is synchronized with the movement.
3, the device for controlling entry-exit warehouse of articles with standard size according to claim 1 and 2 is characterized in that, described servo motion control card is selected universal motion control card.
4, the device for controlling entry-exit warehouse of articles with standard size according to claim 1 is characterized in that, the step motion control card that described first, second step motion control card is two 4 passages.
5, the device for controlling entry-exit warehouse of articles with standard size according to claim 4, it is characterized in that described two step motion control cards are controlled a lifter retaining door stepper motor in the automatic withdrawing device, the warehouse-in conveying belt stepper motor in the loading device and three letter sorting turnover panel stepper motors in the automatic sorting device automatically respectively.
6, the device for controlling entry-exit warehouse of articles with standard size according to claim 1 is characterized in that, described data collecting card is gathered the length information of warehouse-in articles with standard size before respectively by three sensors.
7, the device for controlling entry-exit warehouse of articles with standard size according to claim 6 is characterized in that, described sensor adopts ultrasonic sensor.
8, the device for controlling entry-exit warehouse of articles with standard size according to claim 1, it is characterized in that described programmable logic controller (PLC) is controlled to the n optoelectronic switch to n outbound electromagnet and the 1st the warehouse-in electromagnet in the automatic loading device, elevator delivery translator, the 1st in the automatic withdrawing device.
9, the device for controlling entry-exit warehouse of articles with standard size according to claim 8 is characterized in that, described optoelectronic switch is used to write down the quantity of institute's outbound box, and it is a photoelectric sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2008101117873A CN101581929A (en) | 2008-05-16 | 2008-05-16 | Device for controlling entry-exit warehouse of articles with standard size |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2008101117873A CN101581929A (en) | 2008-05-16 | 2008-05-16 | Device for controlling entry-exit warehouse of articles with standard size |
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| CN101581929A true CN101581929A (en) | 2009-11-18 |
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| CNA2008101117873A Pending CN101581929A (en) | 2008-05-16 | 2008-05-16 | Device for controlling entry-exit warehouse of articles with standard size |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105692025A (en) * | 2016-01-19 | 2016-06-22 | 北京二十世纪科技发展有限公司 | Intelligent control system and method for drug storage and distribution cabinet |
| CN106308941A (en) * | 2016-08-19 | 2017-01-11 | 北京辰邦文化传播有限公司 | First-aid station |
-
2008
- 2008-05-16 CN CNA2008101117873A patent/CN101581929A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105692025A (en) * | 2016-01-19 | 2016-06-22 | 北京二十世纪科技发展有限公司 | Intelligent control system and method for drug storage and distribution cabinet |
| CN106308941A (en) * | 2016-08-19 | 2017-01-11 | 北京辰邦文化传播有限公司 | First-aid station |
| CN106308941B (en) * | 2016-08-19 | 2019-03-29 | 辰辰帮帮(北京)科技有限公司 | First-aid station |
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Open date: 20091118 |