CN101691035A - Cartridge-type medicine-loading manipulator - Google Patents
Cartridge-type medicine-loading manipulator Download PDFInfo
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- CN101691035A CN101691035A CN200910093156A CN200910093156A CN101691035A CN 101691035 A CN101691035 A CN 101691035A CN 200910093156 A CN200910093156 A CN 200910093156A CN 200910093156 A CN200910093156 A CN 200910093156A CN 101691035 A CN101691035 A CN 101691035A
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- medicine
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Abstract
The invention provides a cartridge-type medicine-loading device and a method thereof. The invention is characterized in that the lateral sides of a lifting board is connected with a connecting board by a large nylon cushion and a small nylon cushion respectively; the front end and the rear end of the connecting board are connected to a linear vertical slide respectively; the linear vertical slide serves the function of guiding and improves the motion steadiness of the lifting mechanism; the middle part of the connecting board is connected with a synchronous belt by a connecting piece of the synchronous belt and a clamping board of the synchronous belt; driven by a motor, the synchronous belt drives the lifting board to move upwards and downwards; and a medicine-prodding mechanism is connected with the top part of the lateral board of a rack and used for prodding medicine in order that the medicine can glide down smoothly. Aiming at the problem that the medicine-loading capacity of the existing medicine-loading manipulator for one time is low, the invention is capable of loading medicine in bulk, and automatically and smoothly feeding the medicine into the medicine storage tank of a medicine storehouse; and the invention has the advantages of novel structure and large labor-saving capacity, reduce the medicine-loading frequency of the same medicine and reduce the labor intensity of pharmacists.
Description
Technical field
The present invention relates to a kind of mechanism of cartridge-type medicine-feeding, relate in particular to the device that carries out in batches, adds medicine to fast at box packed medicine.
Background technology
Along with growth in the living standard, ask the doctor also more and more higher to the requirement of hospital.At present, the neck medicine peak period of every hospital outpatient pharmacy, patient must stand in a long line, and the wait pharmacists gets it filled according to prescription and sends out a medicine.Patient reaches half an hour sometimes at waiting time, and domestic front three hospital is owing to ask the doctor numerous, and it is severe especially to send out the medicine form.
At present, the hospital pharmacy medicine-feeding is many by manually finishing, and promptly the pharmacists adds to the relevant position to corresponding medicine according to medicine shortage situation, and this mode wastes time and energy; Therefore, required medicine can be sent to automatically the drug storage groove and can realize medicine-feeding in batches, thereby liberation manpower and raising medicine-feeding efficient become the technical problem that needs to be resolved hurrily.
Summary of the invention
The objective of the invention is the medicine-loading manipulator that can only carry a small amount of medicine, a kind of medicine-feeding mechanism of cartridge-type is provided at present domestic appearance.This mechanism has not only increased the quantity of disposable carrying medicine, and the whole flow process that will add medicine to simplifies greatly, drug delivery accurately and reliably, novel structure has been saved manpower.
Purpose of the present invention is achieved through the following technical solutions:
1. the automatic feeding device of cartridge-type, it is characterized in that: the pharmacist puts into frame (26) with a collection of similar drug, medicine is under the drive of lifter plate (22), move to the top of frame (26), be positioned at uppermost medicine under the drive of dialling medicine mechanism (27), in order a box then a box fall into the drug storage groove.
2. the automatic feeding device of cartridge-type according to claim 1, the side of lifter plate (22) link to each other with connecting plate (21) by large nylon pad (11), little nylon cushion (20) respectively; The front end of connecting plate (21), rear end are connected on the linear upright slide rail (comprising slide block 12 and upright slide rail 25) separately, and linear upright slide rail play the guiding role also can improve the robust motion of elevating mechanism; The middle part of connecting plate (21) is by band connector (10), synchronous strap clamp plate (9) link to each other with synchronous band (13) synchronously; Under motor (15) drove, band (13) drive lifter plate (22) made progress, moves downward synchronously; Dial medicine mechanism and link to each other, its role is to stir medicine, medicine can be glided smoothly with the top of framework lateral plate (2).
3. the automatic feeding device of cartridge-type according to claim 1, whole frame body mechanism and upright guide rail (30) are being spent angles with the counterclockwise inclination 20 of vertical direction, and the lead-over groove (31) of frame header board (1) and the horizontal plane clockwise direction 5 degree angles that tilt, thereby snap lead-over groove side slips into the drug storage groove smoothly when guaranteeing that medicine glides.
The advantage of technical solution of the present invention is mainly reflected in:
The quantity that the present invention makes the quantity that is put into the box packed medicine on the medicine-loading manipulator compare medicine-loading manipulator in the past increases greatly, medicine is by lifting supporting plate 22, rise and dial under the stirring of medicine mechanism by the stepping of medicine box height, one box, one box slips into the drug storage groove quickly and smoothly, thereby greatly reduce pharmacists's labour intensity, improve the efficient that medicine is provided, significantly improved service quality, economic benefit and the obvious social benefit of hospital pharmacy.
Description of drawings
Below in conjunction with accompanying drawing technical solution of the present invention is described further:
Fig. 1 to Fig. 3 is a structural representation of the present invention.Wherein,
Fig. 1 is front view of the present invention (eyes left from the medicine-loading manipulator right side, embodied in the main building block of medicine-loading manipulator system and the elevating mechanism annexation of band mechanism synchronously among the figure);
Fig. 2 is left view of the present invention (having embodied the annexation of parts such as elevating mechanism neutral line upright slide rail, connecting plate and the annexation of dialling medicine mechanism among the figure);
Fig. 3 is the 3 dimensional drawing of reflection overall picture of the present invention.
Fig. 4 is a manipulator installation side view.
The implication of each Reference numeral sees the following form among the figure:
| Reference numeral | Implication | Reference numeral | Implication | Reference numeral | Implication |
| ??1 | The frame header board | ??2 | Framework lateral plate | ??3 | The upright slide rail gripper shoe |
| ??4 | Clutch shaft bearing | ??5 | The clutch shaft bearing seat | ??6 | The electromagnet installing plate |
| ??7 | Driven pulley | ??8 | The driven belt wheel shaft | ??9 | Synchronous strap clamp plate |
| ??10 | Be with connector synchronously | ??11 | Large nylon pad | ??12 | Slide block |
| ??13 | Be with synchronously | ??14 | Decelerator | ??15 | Stepper motor |
| ??16 | The decelerator installing plate | ??17 | Shaft coupling | ??18 | Driving pulley |
| ??19 | The driving pulley axle | ??20 | Little nylon cushion | ??21 | Connecting plate |
| ??22 | The lifting supporting plate | ??23 | Plectrum | ??24 | Rotary magnet |
| ??25 | Upright slide rail | ??26 | Frame | ??27 | Dial medicine mechanism |
| ??28 | Second bearing | ??29 | Second bearing block | ??30 | Upright guide rail |
| ??31 | Frame header board lead-over groove |
The specific embodiment
Cartridge-type medicine-loading manipulator before the medicine-feeding, is counted the stepper motor rotation according to drug variety and last medicine box and is made the lifting supporting plate move to correct position, and manipulator is accepted the medicine of respective numbers then.After above step is finished, by Cartesian robot medicine-loading manipulator is navigated to and to store up item accurately, after the lead-over groove side for the treatment of the frame header board was aimed at the seamed edge of Drug Storage drug storage groove, stepper motor turned over certain angle according to the medicine box height, and band drives lifting supporting plate rising corresponding height synchronously.When medicine box rises to when being higher than the frame header board, medicine is because the gravity effect slips into the lead-over groove of frame header board, and then slips into drug storage cabinet drug storage groove.Stepper motor repeats above-mentioned action, and last box medicine has gone out on the lifting supporting plate.In this process, if medicine is owing to reasons such as friction can not glide, then rotary magnet action drives plectrum and stirs medicine, makes its smooth downslide.
Cartridge-type medicine-loading manipulator, for elevating mechanism, the right-hand member of lifting supporting plate 22 links to each other with connecting plate 21 respectively by large nylon pad 11, little nylon cushion 20; The leading portion of connecting plate 21 links to each other with the slide block 12 of linear upright slide rail (comprising slide block 12 and upright slide rail 25), and the upright slide rail 25 of linear upright slide rail links to each other with upright slide rail gripper shoe 3, and upright slide rail gripper shoe 3 is fixed on the framework lateral plate 2; The connected mode of connecting plate 21 rear ends is with its front end; The middle part of connecting plate 21 links to each other with the bottom of synchronous band connector 10, is connected by bolt with the top of connector 10 and strap clamp plate 9 synchronously synchronously and will be with 13 to clamp and be fixed together synchronously; Driven pulley 7 links to each other with driven belt wheel shaft 8 by flat key; One end of driven belt wheel shaft 8 is connected with clutch shaft bearing seat 5 by clutch shaft bearing 4, and the other end of driven belt wheel shaft 8 links to each other with second bearing block 29 by second bearing 28, and two bearing blocks 5,29 that link to each other with driven belt wheel shaft 8 are connected the top of framework lateral plate 2; Driving pulley 18 links to each other with driving pulley axle 19 by flat key; The minor axis section of driving pulley axle 19 partly links to each other with clutch shaft bearing seat 5 by clutch shaft bearing 4, one side of the major axis section part of driving pulley axle 19 links to each other with second bearing block 29 by second bearing 28, the opposite side of the major axis section part of driving pulley axle 19 links to each other with an end of shaft coupling 17, and two bearing blocks 5 that link to each other with driving pulley axle 19 are connected the bottom of framework lateral plate 2.For drive unit (annexation as shown in Figure 1), stepper motor 15 links to each other with decelerator 14, and decelerator 14 is connected on the decelerator installing plate 16, and decelerator installing plate 16 is fixed on the bottom of framework lateral plate 2; The output shaft of decelerator 14 links to each other with the other end of shaft coupling 17.For dialling medicine mechanism (annexation as shown in Figure 2), electromagnet installing plate 6 is fixed on the top of framework lateral plate 2; The rear portion of rotary magnet 24 links to each other with electromagnet installing plate 6, and the front portion of rotary magnet 24 links to each other with plectrum 23.For rack section, frame header board 1 welds together with framework lateral plate 2; The side of frame header board 1 links to each other with Cartesian robot, and the short side of framework lateral plate 2 also links to each other with Cartesian robot.
Because manipulator lifting supporting plate is pressed medicine box height location, therefore selects stepper motor to drive it and moves up and down; Again because the speed that elevating mechanism requires is very low, so need join the suitable decelerator of speed reducing ratio.Concrete workflow: stepper motor 15 is subjected to stepper motor driver control to accept pulse, drive the output shaft rotation of decelerator 14, decelerator 14 drives driving pulley 18 by shaft coupling 17 again and rotates, and driving pulley 18 is by being with 13 to drive driven pulley 7 rotations synchronously; Connecting plate 21 is by synchronous band connector 10, synchronous strap clamp plate 9 and be with 13 to be fixed together synchronously, therefore can be with being with 13 to move up and down synchronously, and the two ends of connecting plate 21 also are connected with the linear upright slide rail that play the guiding role respectively, and are steady to guarantee motion.So stepper motor 15 is accepted high level pulse, elevating mechanism moves upward; Stepper motor 15 is accepted low level pulse, and elevating mechanism moves downward.Calculate the distance of lifting supporting plate 22 motions according to the medicine box altimeter, and then calculate the angle that stepper motor 15 needs rotation, thereby the control step motor driver is given the pulse of stepper motor 15 somes.
When needs were added medicine to, according to the kind and the needs box number of medicine, stepper motor 15 clockwise (from the eyes front of motor back) rotation made lifting supporting plate 22 drop to correct position, and manipulator is accepted the medicine of respective numbers then.After treating that Cartesian robot navigates to medicine-loading manipulator the lead-over groove side that stores up item and frame header board 1 accurately and the seamed edge of Drug Storage drug storage groove aligns, stepper motor 15 turns over certain angle according to the medicine box height, is with 13 to drive lifting supporting plate 22 rising corresponding height synchronously.When medicine box rises to when being higher than frame header board 1, medicine and then slips in the drug storage cabinet drug storage groove because the gravity effect slips in the lead-over groove of frame header board 1.Stepper motor 15 repeats above-mentioned action, and last box medicine has gone out on lifting supporting plate 22.In this process, if medicine is owing to reasons such as friction can not glide, then rotary magnet 24 actions drive plectrum 23 and stir medicine, make its smooth downslide.
Can show that the present invention can deliver to medicine the drug storage warehouse drug storage groove of appointment automatically smoothly, novel structure has been saved manpower greatly, has reduced pharmacists's labour intensity.
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 (3)
1. the automatic feeding device of cartridge-type is characterized in that: comprise lifter plate (22), frame (26), group medicine mechanism (27), drug storage groove; The side of lifter plate (22) links to each other with connecting plate (21) by large nylon pad (11), little nylon cushion (20) respectively; The front end of connecting plate (21), rear end are connected on the linear upright slide rail (25) separately; The middle part of connecting plate (21) is by band connector (10), synchronous strap clamp plate (9) link to each other with synchronous band (13) synchronously; Under motor (15) drove, band (13) drive lifter plate (22) made progress, moves downward synchronously; Dial medicine mechanism and link to each other with the top of framework lateral plate (2), medicine is stirred by described group of medicine mechanism, and medicine can be glided smoothly.
2. the automatic feeding device of cartridge-type according to claim 1, it is characterized in that: frame is put into a collection of similar drug in (26), medicine is under the drive of lifter plate (22), move to the top of frame (26), be positioned at uppermost medicine under the drive of one group of medicine mechanism (27), in order a box then a box fall into the drug storage groove.
3. the automatic feeding device of cartridge-type according to claim 1, it is characterized in that: described device and upright guide rail (30) are being spent angles with the counterclockwise inclination 20 of vertical direction, and the lead-over groove (31) of frame header board (1) and the horizontal plane clockwise direction 5 degree angles that tilt, thereby snap lead-over groove side slips into the drug storage groove smoothly when guaranteeing that medicine glides.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100931568A CN101691035B (en) | 2009-09-25 | 2009-09-25 | Cartridge-type medicine-loading manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100931568A CN101691035B (en) | 2009-09-25 | 2009-09-25 | Cartridge-type medicine-loading manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101691035A true CN101691035A (en) | 2010-04-07 |
| CN101691035B CN101691035B (en) | 2011-06-15 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009100931568A Expired - Fee Related CN101691035B (en) | 2009-09-25 | 2009-09-25 | Cartridge-type medicine-loading manipulator |
Country Status (1)
| Country | Link |
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| CN (1) | CN101691035B (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102602640A (en) * | 2012-03-16 | 2012-07-25 | 上海运斯自动化技术有限公司 | Medicine placing, aligning, lifting and pushing out device |
| CN102602644A (en) * | 2012-03-16 | 2012-07-25 | 上海运斯自动化技术有限公司 | Automatic medicine dispenser |
| CN102602645A (en) * | 2012-03-16 | 2012-07-25 | 上海运斯自动化技术有限公司 | Medicine feeding device of automatic medicine distribution machine |
| CN102616516A (en) * | 2012-03-16 | 2012-08-01 | 上海运斯自动化技术有限公司 | Medicine placing, neatening and lifting device |
| CN102673934A (en) * | 2012-05-16 | 2012-09-19 | 北京航空航天大学 | Automated pharmacy drug storage control and management system |
| CN103129893A (en) * | 2011-11-24 | 2013-06-05 | 苏州艾隆科技有限公司 | Medicine feeding machine and using method thereof |
| CN103587870A (en) * | 2013-11-08 | 2014-02-19 | 江苏达瑞医疗科技有限公司 | Batch medicine supplement machine for automatic dispensing system |
| CN113636497A (en) * | 2020-04-27 | 2021-11-12 | 林德（中国）叉车有限公司 | Lifting system and fork type AGV |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19635396C2 (en) * | 1995-09-28 | 1999-05-06 | Kommissionier Und Handhabungst | Shelf storage system with a storage and retrieval unit for handling general cargo |
| EP1762511B1 (en) * | 2005-09-09 | 2008-05-07 | ROWA AUTOMATISIERUNGSSYSTEME GMBH & CO. KG | Automatic warehouse comprising an operating device with a buffer shaft and method for operating the warehouse |
| DE102006019337A1 (en) * | 2006-04-24 | 2007-10-25 | Rowa Automatisierungssysteme Gmbh & Co. Kg | Packaged goods e.g. medicine, conveying device for use in pharmacy, has storage shaft provided with feed opening and arranged adjacent to support, such that goods reach feed opening under effect of gravitational force |
| CN100534731C (en) * | 2007-05-11 | 2009-09-02 | 苏州艾隆科技有限公司 | Method for regularly placing box packed medicine |
| CN201128592Y (en) * | 2007-12-11 | 2008-10-08 | 苏州艾隆科技有限公司 | Delivery mechanism of medicine-feeding manipulator |
| CN101214107B (en) * | 2008-01-11 | 2010-08-25 | 苏州艾隆科技有限公司 | Automatization hospital pharmacy |
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2009
- 2009-09-25 CN CN2009100931568A patent/CN101691035B/en not_active Expired - Fee Related
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103129893A (en) * | 2011-11-24 | 2013-06-05 | 苏州艾隆科技有限公司 | Medicine feeding machine and using method thereof |
| CN103129893B (en) * | 2011-11-24 | 2015-08-12 | 苏州艾隆科技股份有限公司 | The using method of medicine delivery machine and this medicine delivery machine |
| CN102602640A (en) * | 2012-03-16 | 2012-07-25 | 上海运斯自动化技术有限公司 | Medicine placing, aligning, lifting and pushing out device |
| CN102602644A (en) * | 2012-03-16 | 2012-07-25 | 上海运斯自动化技术有限公司 | Automatic medicine dispenser |
| CN102602645A (en) * | 2012-03-16 | 2012-07-25 | 上海运斯自动化技术有限公司 | Medicine feeding device of automatic medicine distribution machine |
| CN102616516A (en) * | 2012-03-16 | 2012-08-01 | 上海运斯自动化技术有限公司 | Medicine placing, neatening and lifting device |
| CN102616516B (en) * | 2012-03-16 | 2014-06-18 | 上海运斯自动化技术有限公司 | Medicine placing, neatening and lifting device |
| CN102673934A (en) * | 2012-05-16 | 2012-09-19 | 北京航空航天大学 | Automated pharmacy drug storage control and management system |
| CN102673934B (en) * | 2012-05-16 | 2015-04-22 | 北京航空航天大学 | Automated pharmacy drug storage control and management system |
| CN103587870A (en) * | 2013-11-08 | 2014-02-19 | 江苏达瑞医疗科技有限公司 | Batch medicine supplement machine for automatic dispensing system |
| CN103587870B (en) * | 2013-11-08 | 2016-04-06 | 江苏达瑞医疗科技有限公司 | For the batch supplement machine of automatic medicine-dispensing system |
| CN113636497A (en) * | 2020-04-27 | 2021-11-12 | 林德（中国）叉车有限公司 | Lifting system and fork type AGV |
Also Published As
| Publication number | Publication date |
|---|---|
| CN101691035B (en) | 2011-06-15 |
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Granted publication date: 20110615 Termination date: 20110925 |