CN101691035B - Cartridge-type medicine-loading manipulator - Google Patents
Cartridge-type medicine-loading manipulator Download PDFInfo
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- CN101691035B CN101691035B CN2009100931568A CN200910093156A CN101691035B CN 101691035 B CN101691035 B CN 101691035B CN 2009100931568 A CN2009100931568 A CN 2009100931568A CN 200910093156 A CN200910093156 A CN 200910093156A CN 101691035 B CN101691035 B CN 101691035B
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- medicine
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- rack
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- 239000003814 drug Substances 0.000 claims abstract description 105
- 230000007246 mechanism Effects 0.000 claims abstract description 23
- 230000001360 synchronised effect Effects 0.000 claims abstract description 23
- 239000004677 Nylon Substances 0.000 claims abstract description 8
- 229920001778 nylon Polymers 0.000 claims abstract description 8
- 229940079593 drug Drugs 0.000 claims description 18
- 230000007704 transition Effects 0.000 claims description 8
- 240000007643 Phytolacca americana Species 0.000 claims description 2
- 235000009074 Phytolacca americana Nutrition 0.000 claims 1
- 230000008901 benefit Effects 0.000 abstract description 6
- 238000000034 method Methods 0.000 abstract description 5
- 239000003638 chemical reducing agent Substances 0.000 description 8
- 230000008569 process Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 238000003756 stirring Methods 0.000 description 3
- 230000005484 gravity Effects 0.000 description 2
- 241000220317 Rosa Species 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
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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 invention relates to a cartridge clip type medicine feeding mechanism, in particular to a device for batch and quick medicine feeding of boxed medicines.
Background
With the improvement of living standard, the requirements of medical practitioners on hospitals are higher and higher. At present, every time a patient arrives at a medicine receiving peak of a hospital outpatient pharmacy, the patient is required to be arranged in a long team and wait for a pharmacist to take and dispense medicines according to a prescription. The waiting time of patients sometimes reaches half an hour, and the medicine dispensing form is more severe due to a plurality of medical requirers in domestic three hospitals.
At present, the pharmacy of the hospital is mostly finished manually, namely, a pharmacist supplements corresponding medicines to corresponding positions according to the medicine deficiency condition, and the mode is time-consuming and labor-consuming; therefore, the medicine storage tank can automatically feed required medicines into the medicine storage tank and can realize batch medicine feeding, so that manpower is liberated, medicine feeding efficiency is improved, and the technical problem to be solved is urgently needed.
Disclosure of Invention
The invention aims to provide a cartridge clip type medicine feeding mechanism aiming at a medicine feeding mechanical arm which only can bear a small amount of medicines at present in China. The mechanism not only increases the quantity of once-used loaded medicines, but also greatly simplifies the whole medicine feeding process, and has the advantages of accurate and reliable medicine feeding, novel structure and manpower saving.
The purpose of the invention is realized by the following technical scheme:
1. automatic medicine device of going up of cartridge clip formula, its characterized in that: a batch of similar medicines are put into the rack 26 by a pharmacist, the medicines are driven by the lifting plate 22 to move to the top of the rack 26, and the medicines positioned at the top are driven by the medicine shifting mechanism 27 to fall into the medicine storage groove box by box in sequence.
2. The side edge of a lifting plate 22 of the cartridge clip type automatic medicine feeding device is connected with a connecting plate 21 through a large nylon cushion 11 and a small nylon cushion 20 respectively; the front end and the rear end of the connecting plate 21 are respectively connected to a linear vertical slide rail (comprising the slide block 12 and the vertical slide rail 25), and the linear vertical slide rail plays a role in guiding and can improve the motion stability of the lifting mechanism; the middle part of the connecting plate 21 is connected with a synchronous belt 13 through a synchronous belt connecting piece 10 and a synchronous belt clamping plate 9; driven by a motor 15, the synchronous belt 13 drives the lifting plate 22 to move upwards and downwards; the medicine poking mechanism is connected with the top of the side plate 2 of the rack and is used for poking the medicine so that the medicine can smoothly slide down.
3. The automatic cartridge clip type medicine feeding device has the advantages that the whole frame body mechanism and the vertical guide rail 30 are inclined at an angle of 20 degrees in the anticlockwise direction of the vertical direction, the transition groove 31 of the front plate 1 of the frame is inclined at an angle of 5 degrees in the clockwise direction of the horizontal plane, and therefore the medicine is enabled to be aligned with the side edge of the transition groove when sliding downwards and smoothly slide into the medicine storage groove.
The technical scheme of the invention has the advantages that:
the invention greatly increases the number of the boxed medicines placed on the medicine feeding mechanical arm compared with the number of the traditional medicine feeding mechanical arm, the medicines are ascended step by step according to the height of the medicine box through the lifting supporting plate 22 and are stirred by the medicine stirring mechanism, and one box is quickly and smoothly slid into the medicine storage groove, thereby greatly reducing the labor intensity of pharmacists, improving the medicine distribution efficiency, obviously improving the service quality of hospital pharmacies, and having obvious economic benefit and social benefit.
Drawings
The technical scheme of the invention is further explained by combining the accompanying drawings as follows:
fig. 1 to 3 are schematic structural views of the present invention. Wherein,
FIG. 1 is a front view of the present invention (when viewed from the right side of the medicine feeding manipulator to the left, the connection relationship between the main components of the medicine feeding manipulator system and the synchronous belt mechanism in the lifting mechanism is shown in the figure);
FIG. 2 is a left side view of the present invention (which shows the connection relationship of the linear vertical slide rail, the connection plate and other components of the lifting mechanism and the connection relationship of the medicine dispensing mechanism);
FIG. 3 is a three-dimensional perspective view reflecting an overall view of the present invention;
figure 4 is a side view of the robot mounting.
The meanings of the reference symbols in the figures are given in the following table:
Detailed Description
Before medicine is loaded, the lifting supporting plate is driven to move to a proper position by the rotation of the stepping motor according to the types of the medicines and the number of the medicine boxes, and then the corresponding number of the medicines are received by the mechanical arm. After the steps are completed, the medicine feeding manipulator is positioned to an accurate storage position number by a rectangular coordinate robot, after the side edge of the transition groove of the front plate of the standby frame is aligned with the edge of the medicine storage groove of the medicine warehouse, the stepping motor rotates by a certain angle according to the height of the medicine box, and the synchronous belt drives the lifting support plate to ascend by a corresponding height. When the medicine box rises to be higher than the front plate of the rack, the medicine slides into the transition groove of the front plate of the rack under the action of gravity and then slides into the medicine storage groove of the medicine storage cabinet. The stepping motor repeats the actions until the last box of medicine on the lifting supporting plate is discharged. In the process, if the medicine can not slide downwards due to friction and the like, the rotary electromagnet acts to drive the shifting piece to stir the medicine so that the medicine can smoothly slide downwards.
The cartridge clip type medicine feeding manipulator is characterized in that for the lifting mechanism, the right end of a lifting supporting plate 22 is respectively connected with a connecting plate 21 through a large nylon pad 11 and a small nylon pad 20; the front section of the connecting plate 21 is connected with a slide block 12 of a linear vertical slide rail (comprising the slide block 12 and a vertical slide rail 25), the vertical slide rail 25 of the linear vertical slide rail is connected with a vertical slide rail supporting plate 3, and the vertical slide rail supporting plate 3 is fixed on a side plate 2 of the rack; the connection mode of the rear end of the connecting plate 21 is the same as that of the front end thereof; the middle part of the connecting plate 21 is connected with the bottom of the synchronous belt connecting piece 10, and the top of the synchronous belt connecting piece 10 is connected with the synchronous belt clamping plate 9 through a bolt to clamp and fixedly connect the synchronous belt 13; the driven belt wheel 7 is connected with a driven belt wheel shaft 8 through a flat key; one end of the driven pulley shaft 8 is connected with the first bearing seat 5 through a first bearing 4, the other end of the driven pulley shaft 8 is connected with a second bearing seat 29 through a second bearing 28, and the two bearing seats 5 and 29 connected with the driven pulley shaft 8 are connected to the top of the side plate 2 of the frame; the driving belt wheel 18 is connected with a driving belt wheel shaft 19 through a flat key; the short shaft section part of the driving pulley shaft 19 is connected with the first bearing seat 5 through the first bearing 4, one side of the long shaft section part of the driving pulley shaft 19 is connected with the second bearing seat 29 through the second bearing 28, the other side of the long shaft section part of the driving pulley shaft 19 is connected with one end of the coupler 17, and the two bearing seats 5 connected with the driving pulley shaft 19 are connected with the bottom of the side plate 2 of the frame. For the driving device (the connection relationship is shown in fig. 1), the stepping motor 15 is connected with the speed reducer 14, the speed reducer 14 is connected with the speed reducer mounting plate 16, and the speed reducer mounting plate 16 is fixed at the bottom of the side plate 2 of the rack; the output shaft of the reducer 14 is connected to the other end of the coupling 17. For the medicine stirring mechanism (the connection relation is shown in fig. 2), the electromagnet mounting plate 6 is fixed on the top of the side plate 2 of the frame; the rear part of the rotary electromagnet 24 is connected with the electromagnet mounting plate 6, and the front part of the rotary electromagnet 24 is connected with the shifting piece 23. For the frame part, a frame front plate 1 and a frame side plate 2 are welded together; the side of frame front bezel 1 links to each other with the cartesian robot, and the short side of frame curb plate 2 also links to each other with the cartesian robot.
Because the manipulator lifting supporting plate is positioned according to the height of the medicine box, the stepping motor is selected to drive the manipulator lifting supporting plate to move up and down; and because the speed required by the lifting mechanism is very low, a reducer with proper reduction ratio is required to be arranged. The specific working process is as follows: the stepping motor 15 is controlled by a stepping motor driver to receive pulses to drive an output shaft of the speed reducer 14 to rotate, the speed reducer 14 drives the driving belt wheel 18 to rotate through the coupler 17, and the driving belt wheel 18 drives the driven belt wheel 7 to rotate through the synchronous belt 13; the connecting plate 21 is fixedly connected with the synchronous belt 13 through the synchronous belt connecting piece 10 and the synchronous belt clamping plate 9, so that the connecting plate can move up and down along with the synchronous belt 13, and two ends of the connecting plate 21 are connected with linear vertical sliding rails with guiding functions respectively to ensure stable movement. Then, the stepping motor 15 receives the high level pulse, and the lifting mechanism moves upwards; the stepping motor 15 receives the low level pulse, and the elevating mechanism moves downward. The moving distance of the lifting supporting plate 22 is calculated according to the height of the medicine box, and the angle of the stepping motor 15 required to rotate is further calculated, so that the stepping motor driver is controlled to give a certain number of pulses to the stepping motor 15.
When medicine is required to be loaded, the stepping motor 15 rotates clockwise (looking forward from the rear of the motor) according to the type of medicine and the required number of cassettes, so that the lifting support plate 22 descends to a proper position, and then the manipulator receives a corresponding number of medicines. Treat that the cartesian robot will go up medicine manipulator location to accurate storage position number and frame front bezel 1 the lead-over groove side with the edge of medicine storehouse storage groove align the back, step motor 15 passes certain angle according to the medicine box height, hold-in range 13 drives the corresponding height that lifting support plate 22 rose. When the medicine box rises to be higher than the front plate 1 of the rack, the medicine slides into the transition groove of the front plate 1 of the rack due to the action of gravity and then slides into the medicine storage groove of the medicine storage cabinet. The stepping motor 15 repeats the above operations until the last box of medicine on the lifting pallet 22 is discharged. In the process, if the medicine can not slide down due to friction and the like, the rotary electromagnet 24 acts to drive the poking piece 23 to poke the medicine so that the medicine can slide down smoothly.
The medicine storage bin can automatically and smoothly convey the medicines to the medicine storage groove of the designated medicine storage bin, is novel in structure, greatly saves manpower, and reduces the labor intensity of pharmacists.
The above is only a specific application example of the present invention, and the protection scope of the present invention is not limited in any way. All the technical solutions formed by equivalent transformation or equivalent replacement fall within the protection scope of the present invention.
Claims (3)
1. Automatic medicine device of going up of cartridge clip formula, its characterized in that: comprises a lifting plate (22), a frame (26), a medicine poking mechanism (27) and a medicine storage groove; the side edge of the lifting plate (22) is connected with the connecting plate (21) through a large nylon cushion (11) and a small nylon cushion (20) respectively; the front end and the rear end of the connecting plate (21) are respectively connected to the linear vertical slide rail (25); the middle part of the connecting plate (21) is connected with a synchronous belt (13) through a synchronous belt connecting piece (10) and a synchronous belt clamping plate (9); driven by a motor (15), a synchronous belt (13) drives a lifting plate (22) to move upwards and downwards; the front plate (1) of the rack is provided with a transition groove (31), the medicine poking mechanism is connected with the top of the side plate (2) of the rack, and the medicine poking mechanism pokes the medicine so that the medicine can smoothly slide downwards; the side of frame front bezel (1) links to each other with the cartesian robot, and the short side of frame curb plate (2) also links to each other with the cartesian robot.
2. The cartridge type automatic medicine dispensing device according to claim 1, wherein: a batch of similar medicines are placed in the rack (26), the medicines are driven by the lifting plate (22) to move to the top of the rack (26), and the medicines positioned at the top are driven by the medicine poking mechanism (27) to fall into the medicine storage groove box by box in sequence.
3. The cartridge type automatic medicine dispensing device according to claim 1, wherein: the device and the vertical guide rail (30) are inclined by 20 degrees in the anticlockwise direction in the vertical direction, and the transition groove (31) of the frame front plate (1) is inclined by 5 degrees in the clockwise direction in the horizontal plane so as to ensure that the medicine is aligned with the side edge of the transition groove when sliding downwards and slides into the medicine storage groove smoothly.
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 CN101691035A (en) | 2010-04-07 |
| CN101691035B true CN101691035B (en) | 2011-06-15 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009100931568A Expired - Fee Related CN101691035B (en) | 2009-09-25 | 2009-09-25 | Cartridge-type medicine-loading manipulator |
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| Country | Link |
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| CN (1) | CN101691035B (en) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| 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 |
| CN102602644B (en) * | 2012-03-16 | 2014-07-23 | 上海运斯自动化技术有限公司 | Automatic medicine dispenser |
| CN102602640B (en) * | 2012-03-16 | 2014-05-07 | 上海运斯自动化技术有限公司 | Medicine placing, aligning, lifting and pushing out device |
| 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 |
| CN102673934B (en) * | 2012-05-16 | 2015-04-22 | 北京航空航天大学 | Automated pharmacy drug storage control and management 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 |
Citations (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 |
| EP1762511A1 (en) * | 2005-09-09 | 2007-03-14 | ROWA AUTOMATISIERUNGSSYSTEME GMBH & CO. KG | Automatic warehouse comprising an operating device with a buffer shaft |
| CN101058182A (en) * | 2007-05-11 | 2007-10-24 | 苏州艾隆科技有限公司 | Method for regularly placing box packed medicine |
| 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 |
| CN101214107A (en) * | 2008-01-11 | 2008-07-09 | 苏州艾隆科技有限公司 | Automatization hospital pharmacy |
| CN201128592Y (en) * | 2007-12-11 | 2008-10-08 | 苏州艾隆科技有限公司 | Delivery mechanism of medicine-feeding manipulator |
-
2009
- 2009-09-25 CN CN2009100931568A patent/CN101691035B/en not_active Expired - Fee Related
Patent Citations (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 |
| EP1762511A1 (en) * | 2005-09-09 | 2007-03-14 | ROWA AUTOMATISIERUNGSSYSTEME GMBH & CO. KG | Automatic warehouse comprising an operating device with a buffer shaft |
| 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 |
| CN101058182A (en) * | 2007-05-11 | 2007-10-24 | 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 |
| CN101214107A (en) * | 2008-01-11 | 2008-07-09 | 苏州艾隆科技有限公司 | Automatization hospital pharmacy |
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| Publication number | Publication date |
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| CN101691035A (en) | 2010-04-07 |
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Granted publication date: 20110615 Termination date: 20110925 |