CN103721955A - High-reliability automatic sorting system for transparent pills - Google Patents
High-reliability automatic sorting system for transparent pills Download PDFInfo
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- CN103721955A CN103721955A CN201310756519.8A CN201310756519A CN103721955A CN 103721955 A CN103721955 A CN 103721955A CN 201310756519 A CN201310756519 A CN 201310756519A CN 103721955 A CN103721955 A CN 103721955A
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Abstract
The invention relates to the field of industrial automatic control, and particularly relates to an automatic sorting system for transparent pills. A high-reliability automatic sorting system for transparent pills comprises a multi-joint mechanical rotating arm, a mechanical gripper and a tactile sensor, wherein the multi-joint mechanical rotating arm and the mechanical gripper are controlled by a servo motor unit, and the tactile sensor is arranged on the mechanical gripper; a transmission light source and a color recognition sensor are also arranged on the mechanical gripper, a shading hood is covered on the outside of the mechanical gripper, the transmission light source and the color recognition sensor are oppositely arranged and fixedly located on the mechanical gripper, and an industrial control computer controls and is connected with the servo motor unit, the transmission light source and the color recognition sensor. According to the invention, the color recognition sensor is adopted for independently sorting out various pills, collecting transmission light generated by a LED (light-emitting diode) lamp bead in the process of distinguishing the color of pills, and shields external light by using the shading shield, therefore, the automatic sorting system is strong in anti-jamming capability and high in reliability, so that an operation of automatically sorting pills by using robots really has a practical value, and the construction and maintenance costs of production lines are reduced.
Description
Technical field
The present invention relates to field of industrial automatic control, relate in particular to the transparent pill device of a kind of automatic sorting.
Background technology
In industrialized today, the robot automatically controlling can substitute manual operation substantially.For example on the product line of pharmacy, pill can utilize robot automatic Picking packing completely after producing.Because pill particle is all very little, and containing metal materials not substantially, so common detection and identify mode is beyond recognition out dissimilar pill; Meanwhile, the grain shape of pill again comparing class seemingly, is sequin or spheroid mostly, so existing robot is difficult to by supporting fixture, dissimilar pill be sorted out respectively; In addition, for the sorting of medicine, reliability is extremely important, if by two kinds of different tablet sortings to being wrongly taken by patient in same medicine bottle, cause possibly life danger, therefore in existing automatic production line, all the needing of each type pill is equipped with an independently packed and transported line, to guarantee safety, heap is high like this produces the cost of line, and the work of many product line parallels, the operation expense that produces line is equally very high, is also the significant wastage to the energy.
Summary of the invention
Technical problem to be solved by this invention is to provide a kind of transparent pill Automated Sorting System of high reliability, by acquisition of transmission light, pill type is identified, be not vulnerable to the interference of extraneous light, make the structure of sorting more accurate, improved the safety of medicine, made that the sorting of pill has really been had to practical value.
The present invention is achieved in that a kind of transparent pill Automated Sorting System of high reliability, comprises,
Be arranged on intrinsic servomotor unit;
By multi-joint machinery turning arm and the mechanical gripper of servomotor unit controls, described mechanical gripper is arranged on the free end of multi-joint machinery turning arm;
Be arranged on medicine bottle bracket and conveyer belt in mechanical gripper scope of activities, on medicine bottle bracket, be placed with medicine bottle;
Be arranged on the touch sensor on mechanical gripper;
Transmitted light source and Tansducer For Color Distiguishing are also installed on described mechanical gripper, mechanical gripper is covered with light shield outward, described transmitted light source and Tansducer For Color Distiguishing are oppositely arranged, be fixedly mounted on mechanical gripper industrial control computer control connection servomotor unit, transmitted light source and Tansducer For Color Distiguishing.
The quantity of described medicine bottle bracket is corresponding with the type that is sorted pill, and counter is also housed on body, and each medicine bottle bracket arranges an independently counter, according to the movement of the signal controlling medicine bottle bracket of counter.
Described transmitted light source is LED lamp pearl.
Described industrial control computer is PLC controller.
The transparent pill Automated Sorting System of high reliability of the present invention utilizes the different feature of variety classes pill color, adopt Tansducer For Color Distiguishing that various pills are independently sorted out, while differentiating pill color, gather the transmitted light that the extra LED lamp pearl arranging produces, and utilize light shield that outside light is blocked, make to be installed anti-interference can be stronger, improved the reliability of sorting, guaranteed the safety of medicine, make to utilize robot automatic sorting pill really to there is practical value, construction and the maintenance cost of production line have been reduced, and can save the energy, there is application value widely.
Accompanying drawing explanation
Fig. 1 is the FB(flow block) of the transparent pill Automated Sorting System of high reliability of the present invention;
Fig. 2 is the partial enlarged drawing of mechanical gripper part in the present invention.
In figure: 1 body, 2 servomotor unit, 3 multi-joint machinery turning arms, 4 mechanical grippers, 5 medicine bottle brackets, 6 conveyer belts, 7 medicine bottles, 8 touch sensors, 9 transmitted light sources, 10 Tansducer For Color Distiguishings, 11 industrial control computers, 12 pills, 13 light shields.
The specific embodiment
Below in conjunction with specific embodiment, further set forth the present invention.Should be understood that these embodiment are only not used in and limit the scope of the invention for the present invention is described.In addition should be understood that those skilled in the art can make various changes or modifications the present invention after having read the content of the present invention's statement, these equivalent form of values fall within the application's appended claims limited range equally.
Embodiment 1
As shown in Figure 1, a kind of transparent pill Automated Sorting System of high reliability, comprises the servomotor unit 2 being arranged in body 1; Multi-joint machinery turning arm 3 and the mechanical gripper 4 by servomotor unit 2, controlled, described mechanical gripper 4 is arranged on the free end of multi-joint machinery turning arm 3; Multi-joint machinery turning arm 3 has 6 omnibearing freedoms of motion, mechanical gripper 4 parts also arrange 1～3 freedom of motion as required, servomotor unit 2 is controlled multi-joint machinery turning arm 3 and mechanical gripper 4 according to the signal of industrial control computer 11, in the present embodiment, described industrial control computer 11 is PLC controller.
Be arranged on medicine bottle bracket 5 and conveyer belt 6 in mechanical gripper 4 scopes of activities, the transparent pill of various species is scattered and is placed on conveyer belt 6 along with streamline moves ahead automatically, is placed with medicine bottle 7 on medicine bottle bracket 5, the quantity of described medicine bottle bracket 5 is corresponding with the type that is sorted pill, for example in the present embodiment, the transparent pill that has three kinds of different colours just needs 3 medicine bottle brackets 5, in order to guarantee to be automatically fed forward packing after medicine bottle installs to the pill of specified quantity, a counter of each medicine bottle bracket 5 independent outfit, mechanical gripper 4 is at every turn as dropping in medicine bottle 7 after a pill 12, rolling counters forward+1 of these medicine bottle 7 place medicine bottle brackets 5, according to the movement of the signal controlling medicine bottle bracket 5 of counter, counter can be arranged in body 1, also can directly utilize industrial control computer to form counter.
As shown in Figure 2, touch sensor 8, transmitted light source 9 and Tansducer For Color Distiguishing 10 are installed on described mechanical gripper 4, mechanical gripper 4 is outer is also covered with light shield 13, utilizes light shield 13 to block outside light, has improved antijamming capability of the present invention; In the present embodiment, light shield 13 is hemispherical cover, but the present invention does not get rid of the light shield that uses pyramid, truncated cone-shaped or other shapes yet, and no matter how the shape of light shield changes, and can not exceed by the claimed scope of invention;
Described transmitted light source 9 is oppositely arranged with Tansducer For Color Distiguishing 10, is fixedly mounted on mechanical gripper 4, after the light of transmitted light source 9 transmittings sees through pill 12, is irradiated on Tansducer For Color Distiguishing 10; Industrial control computer control connection servomotor unit 2, transmitted light source 9 and Tansducer For Color Distiguishing 10, in the present embodiment, described transmitted light source 9 is LED lamp pearl; While capturing pill, on Tansducer For Color Distiguishing 10, carrying reflection source first opens as detector, because transparent pill and conveyer belt 6 have aberration, so once mechanical gripper 4 catches this transparent pill after sensing color signal, now touch sensor 8 sends signal, PLC controller controls the automatic light source of cutting out Tansducer For Color Distiguishing 10, open transmitted light source 9, then Tansducer For Color Distiguishing 10 sends to industrial control computer by the color signal sensing, industrial control computer is put into this transparent pill in corresponding medicine bottle 7 according to color signal.
Tansducer For Color Distiguishing is used WLCS-TCL-255 series sensing type Tansducer For Color Distiguishing in the present embodiment, sensor has a plurality of passages, can be programmed to identify multiple color, a color takies a passage and exports as signal, according to rgb value and the intensity of the Optical ray analysis target of transmission, Output rusults is very accurate.
Claims (4)
1. a transparent pill Automated Sorting System for high reliability, comprises,
Be arranged on the servomotor unit (2) in body (1);
Multi-joint machinery turning arm (3) and the mechanical gripper (4) by servomotor unit (2), controlled, described mechanical gripper (4) is arranged on the free end of multi-joint machinery turning arm (3);
Be arranged on medicine bottle bracket (5) and conveyer belt (6) in mechanical gripper (4) scope of activities, on medicine bottle bracket (5), be placed with medicine bottle (7);
Be arranged on the touch sensor (8) on mechanical gripper (4);
It is characterized in that:
Transmitted light source (9) and Tansducer For Color Distiguishing (10) are also installed on described mechanical gripper (4), the outer light shield (13) that is also covered with of mechanical gripper (4), described transmitted light source (9) is oppositely arranged with Tansducer For Color Distiguishing (10), be fixedly mounted on mechanical gripper (4) upper, industrial control computer (11) control connection servomotor unit (2), transmitted light source (9) and Tansducer For Color Distiguishing (10).
2. the transparent pill Automated Sorting System of high reliability as claimed in claim 1, it is characterized in that: the quantity of described medicine bottle bracket (5) is corresponding with the type that is sorted pill, body is also equipped with counter on (1), each medicine bottle bracket (5) arranges an independently counter, according to the movement of the signal controlling medicine bottle bracket (5) of counter.
3. the transparent pill Automated Sorting System of high reliability as claimed in claim 1, is characterized in that: described transmitted light source (9) is LED lamp pearl.
4. the transparent pill Automated Sorting System of high reliability as claimed in claim 1, is characterized in that: described industrial control computer is PLC controller.
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| CN201310756519.8A CN103721955A (en) | 2013-12-30 | 2013-12-30 | High-reliability automatic sorting system for transparent pills |
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| CN201310756519.8A CN103721955A (en) | 2013-12-30 | 2013-12-30 | High-reliability automatic sorting system for transparent pills |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105107750A (en) * | 2015-08-21 | 2015-12-02 | 南京枢纽科技有限公司 | Device for detecting thickness of piece to be detected rapidly and conducting sorting treatment and detection method of device |
| CN105729472A (en) * | 2016-04-19 | 2016-07-06 | 惠州先进制造产业技术研究中心有限公司 | Bulb lamp sorting and packing system and method based on machine vision |
| CN106216263B (en) * | 2016-07-26 | 2019-02-05 | 昆明理工大学 | A kind of full-automatic multistage Radix Notoginseng grader |
| CN114537935A (en) * | 2022-03-24 | 2022-05-27 | 滁州市法莫希智能科技有限公司 | Traditional chinese medicine intelligence delivery case based on robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105107750A (en) * | 2015-08-21 | 2015-12-02 | 南京枢纽科技有限公司 | Device for detecting thickness of piece to be detected rapidly and conducting sorting treatment and detection method of device |
| CN105729472A (en) * | 2016-04-19 | 2016-07-06 | 惠州先进制造产业技术研究中心有限公司 | Bulb lamp sorting and packing system and method based on machine vision |
| CN106216263B (en) * | 2016-07-26 | 2019-02-05 | 昆明理工大学 | A kind of full-automatic multistage Radix Notoginseng grader |
| CN114537935A (en) * | 2022-03-24 | 2022-05-27 | 滁州市法莫希智能科技有限公司 | Traditional chinese medicine intelligence delivery case based on robot |
| CN114537935B (en) * | 2022-03-24 | 2024-10-25 | 滁州市法莫希智能科技有限公司 | Intelligent traditional Chinese medicine distribution box based on robot |
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