CN103738637A - Manipulator automatic medicine feeding method - Google Patents
Manipulator automatic medicine feeding method Download PDFInfo
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- CN103738637A CN103738637A CN201310739529.0A CN201310739529A CN103738637A CN 103738637 A CN103738637 A CN 103738637A CN 201310739529 A CN201310739529 A CN 201310739529A CN 103738637 A CN103738637 A CN 103738637A
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Abstract
Disclosed is a manipulator automatic medicine feeding method. The method comprises the following steps of S1, starting the process; S2, sensing whether medicine exists in a medicine feeding tray of a manipulator through a first sensor arranged on the manipulator, if so, marking the manipulator as a medicine feeding state and turning to S3, and if not, marking the manipulator as a medicine compensating state and turning to S4; S3, according to medicine information, feeding the medicine inside the medicine feeding tray into a medicine discharging groove of an automatic pharmacy and turning to S2; S4, searching whether an available temporary storage tray in a medicine temporary storage area, taking medicine inside the temporary storage tray into the medicine feeding tray and meanwhile turning to S2. The manipulator automatic medicine feeding method can automatically perform medicine feeding of an intelligent pharmacy of receive medicine compensated from the temporary storage area according to the medicine feeding state of the medicine feeding tray of the manipulator, thereby reducing the time that a user waits for the medicine feeding tray or the medicine feeding tray waits for the user and improving the efficiency.
Description
Technical field
The present invention relates to a kind of field of medical appliances, be specifically related to a kind of manipulator automatic medicine-applicating method.
Background technology
In modernization pharmacy, automatic dispensary has replaced the artificial prescription formula of sending out substantially, to realize more high efficiency, more intelligentized medicine, provides mechanism.
At present the medical rate of large hospital is very high, and automatic dispensary can meet drug requirement fast and accurately, but goes out dose large time, also means that the medicine in pharmacy can consume fast, if tonic still can bring the situation that patient waits in line to occur not in time.Automatic dispensary is to rely on the manipulator on backstage, pharmacy to add medicine to, manipulator self is provided with a plurality of dosing pallets, can add medicine to a plurality of drug grooves of automatic dispensary simultaneously, the backstage of manipulator is provided with medicine buffer area simultaneously, manipulator can automatically go the buffer memory medicine groove of medicine buffer area to carry out tonic after upper complete medicine, in order to realize manipulator add medicine to efficiently operation and tonic operation, need be optimized the work flow of manipulator, alleviate pharmacist medicine buffer area labour intensity.
Summary of the invention
For solving the problems of the technologies described above, the object of the present invention is to provide a kind of manipulator automatic medicine-applicating method, the medicine-feeding operation of manipulator and tonic operation are optimized, alleviate pharmacist medicine buffer area labour intensity.
For achieving the above object, technical scheme of the present invention is as follows: a kind of manipulator automatic medicine-applicating method, and described flow process comprises the following steps:
S1, flow process start;
Whether S2, be arranged in the dosing pallet of first sensor on manipulator induction manipulator and have medicine to exist, if there is medicine, manipulator, flow process forwards S3 to if being marked as and treating dosing state; If there is no medicine, manipulator is marked as tonic state, and flow process forwards S4 to;
S3, according to medicine information, manipulator moves to the groove position corresponding with the drug groove of this medicine of placement of automatic dispensary, and the medicine in dosing pallet is joined in the drug groove of automatic dispensary, flow process forwards S2 to simultaneously;
S4, search medicine buffer area and whether have the buffer memory pallet that can be used for tonic, if do not have, flow process is got back to S4; If have, manipulator moves to the groove position corresponding with buffer memory pallet, and the medicine in buffer memory pallet is received to dosing pallet, and flow process forwards S2. to simultaneously
Preferably, described step S2 also comprises: when the dosing pallet number of manipulator is no less than two, in any one dosing pallet, also have medicine, dosing pallet is all marked as and treats dosing state, and flow process forwards S3 to; While all there is no medicine in any one dosing pallet, dosing pallet is marked as tonic state, and flow process forwards S4 to;
Preferably, described step S3 also comprises: when the dosing pallet number of manipulator is no less than two, after the medicine of all dosing pallets is all added in drug groove, flow process forwards S2 again to.
Preferably, described step S4 also comprises, when the dosing pallet number of manipulator is no less than two, until all dosing pallets, all receives after the medicine in buffer memory pallet, and flow process returns S2.
Preferably, described flow process S3 also comprises:
S31, according to medicine information, the need that manipulator is moved to intelligent drugstore add the groove position of the drug groove of this medicine;
S32, open the first electromagnet of being located at dosing pallet exit end, the first plate washer that the medicine for stopping in dosing pallet is flowed out is fallen;
S33, wait medicine all slip into drug groove;
S34, close the first electromagnet, the first plate washer that the medicine for stopping in dosing pallet is flowed out rises.
Preferably, described flow process S4 also comprises:
Whether S41, the second sensor sensing buffer area that is arranged at buffer area have the buffer memory pallet that can carry out tonic, if had, flow process enters S6; If no, flow process enters S2;
S42, basis can be carried out the address information of the buffer memory pallet of tonic, and manipulator is moved to buffer memory tray position;
S43, dosing pallet receive the medicine in buffer memory pallet, and flow process is got back to S2 simultaneously.
Preferably, described flow process S43 also comprises:
S431, open the second electromagnet of being located at buffer memory pallet exit end, the second plate washer that the medicine for stopping in buffer memory pallet is flowed out is fallen;
S432, wait medicine all slip into dosing pallet;
S433, close the second electromagnet, the second plate washer that the medicine for stopping in buffer memory pallet is flowed out rises.
Adopt the beneficial effect of above technical scheme to be: judge in the dosing pallet of manipulator whether have medicine, if there is medicine manipulator to be designated to dosing state, manipulator joins the medicine in dosing pallet in the drug groove of automatic dispensary and completes dosing; If manipulator is designated to tonic state without medicine, manipulator by finding at medicine buffer area, have the buffer memory medicine groove of medicine and receive in buffer memory medicine groove medicine complete tonic.Medicine by manipulator between medicine buffer area and automatic dispensary is transported, can realize with this automatic medicine-applicating and the tonic of many boxes medicine, optimal control to the work flow of manipulator, alleviated pharmacist medicine buffer area labour intensity, improved the work efficiency of intelligent drugstore system.
Accompanying drawing explanation
In order to be illustrated more clearly in the technical scheme in embodiment of the present invention technology, to the accompanying drawing of required use in embodiment technical description be briefly described below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skills, do not paying under the prerequisite of creative work, can also obtain according to these accompanying drawings other accompanying drawing.
Fig. 1 is the structural representation of intelligent drugstore system in the embodiment of the present invention;
Fig. 2 is the control flow chart of the embodiment 1 of a kind of manipulator automatic medicine-applicating of the present invention method;
Fig. 3 is the control flow chart of the embodiment 2 of a kind of manipulator automatic medicine-applicating of the present invention method;
The represented corresponding component title of numeral in figure:
1, automatic dispensary 11, drug groove 2, manipulator 22, dosing pallet 3, medicine buffer area 33, buffer memory pallet.
The specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is clearly and completely described, obviously, described embodiment is only the present invention's part embodiment, rather than whole embodiment.Embodiment based in the present invention, those of ordinary skills, not making the every other embodiment obtaining under creative work prerequisite, belong to the scope of protection of the invention.
As shown in Figure 1, a kind of manipulator automatic medicine-applicating method of the present invention is that intelligent drugstore system based on being comprised of automatic dispensary 1, manipulator 2 and medicine buffer area 3 realizes.Manipulator 2 need be transported to via dosing pallet 22 medicine being positioned on the buffer memory pallet 33 of medicine buffer area 3 in the drug groove 11 of automatic dispensary 1.
Embodiment 1
As shown in Figure 2, manipulator is provided with a dosing pallet, and manipulator automatic medicine-applicating flow process comprises the following steps:
S1, flow process start;
Whether S2, be arranged in the dosing pallet of first sensor on manipulator induction manipulator and have medicine to exist, if there is medicine, dosing pallet, flow process forwards S3 to if being marked as and treating dosing state; If there is no medicine, dosing pallet is marked as tonic state, and flow process forwards S9 to;
S3, according to medicine information, the need that manipulator is moved to automatic dispensary add the groove position of the drug groove of this medicine;
S4 opens the first electromagnet of being located at dosing pallet exit end, and the first plate washer that the medicine for stopping in dosing pallet is flowed out is fallen;
S5, wait medicine all slip into drug groove;
S6, close the first electromagnet, the first plate washer that the medicine for stopping in dosing pallet is flowed out rises, and flow process forwards S2 to simultaneously;
Whether S7, the second sensor sensing buffer area that is arranged at buffer area have the buffer memory pallet that can carry out tonic, if had, flow process enters S8; If no, flow process is got back to S7;
S8, basis can be carried out the address information of the buffer memory pallet of tonic, and manipulator is moved to buffer memory tray position;
S9, open the second electromagnet of being located at buffer memory pallet exit end, the second plate washer that the medicine for stopping in buffer memory pallet is flowed out is fallen;
S10, wait medicine all slip into dosing pallet;
S11, close the second electromagnet, the second plate washer that the medicine for stopping in buffer memory pallet is flowed out rises, and flow process is got back to S2 simultaneously.
When manipulator setting only has a dosing pallet, first judge on the dosing pallet of manipulator whether have medicine, if there is medicine, need medicine first to add the drug groove of automatic dispensary, when dosing pallet is sky, then go medicine buffer area need look for available buffer memory pallet to carry out dosing.Manipulator, as the transfer tool between medicine buffer area and automatic dispensary, is supplemented to medicine in automatic dispensary.
Embodiment 2
As shown in Figure 3, manipulator is provided with at least two dosing pallets, and manipulator automatic medicine-applicating flow process comprises the following steps:
S1, flow process start;
Whether S2, be arranged in the dosing pallet of first sensor on manipulator induction manipulator and have medicine to exist, if there is medicine, dosing pallet, flow process forwards S3 to if being marked as and treating dosing state; If there is no medicine, dosing pallet is marked as tonic state, and flow process forwards S9 to;
S3, according to medicine information, the need that manipulator is moved to automatic dispensary add the groove position of the drug groove of this medicine;
S4 opens the first electromagnet of being located at dosing pallet exit end, and the first plate washer that the medicine for stopping in dosing pallet is flowed out is fallen;
S5, wait medicine all slip into drug groove;
S6, close the first electromagnet, the first plate washer that the medicine for stopping in dosing pallet is flowed out rises, and flow process forwards S2 to simultaneously;
Whether S7, the second sensor sensing buffer area that is arranged at buffer area have the buffer memory pallet that can carry out tonic, if had, flow process enters S8; If no, flow process is got back to S7;
S8, basis can be carried out the address information of the buffer memory pallet of tonic, and manipulator is moved to buffer memory tray position;
S9, open the second electromagnet of being located at buffer memory pallet exit end, the second plate washer that the medicine for stopping in buffer memory pallet is flowed out is fallen;
S10, wait medicine all slip into dosing pallet;
S11, close the second electromagnet, the second plate washer that the medicine for stopping in buffer memory pallet is flowed out rises;
S12, judge whether the dosing pallet of also having time, if had, flow process forwards S7 to, if do not had, flow process forwards S2 to.
When the dosing pallet on manipulator is a plurality of, detect on dosing pallet whether have medicine, on any one dosing pallet, have medicine, manipulator is just preferably the dosing state for the treatment of, until all dosing pallets all add medicine after the drug groove of automatic dispensary, then enter tonic state; Enter after tonic state, treat that all dosing pallets all fill medicine, then come back to the initial condition of flow process, according to whether there being medicine on dosing pallet, again making manipulator enter and treat dosing state.Adopt above-mentioned flow process to control manipulator dosing tonic, can allow manipulator avoid ceaselessly hurrying back and forth back and forth between medicine buffer area and automatic dispensary, but add medicine tonic again, mended medicine dosing again, manipulator operation is very regular, also than being easier to, realize to control, can discharge dosing personnel to a certain extent, can go to process other things after making dosing personnel add medicine in batches within a certain period of time simultaneously.The dosing efficiency of intelligent drugstore may improve one to twice than efficiency before.
Adopt the beneficial effect of above technical scheme to be: judge in the dosing pallet of manipulator whether have medicine, if there is medicine manipulator to be designated to dosing state, manipulator joins the medicine in dosing pallet in the drug groove of automatic dispensary and completes dosing; If manipulator is designated to tonic state without medicine, manipulator by finding at medicine buffer area, have the buffer memory medicine groove of medicine and receive in buffer memory medicine groove medicine complete tonic.Medicine by manipulator between medicine buffer area and automatic dispensary is transported, can realize with this automatic medicine-applicating and the tonic of many boxes medicine, optimal control to the work flow of manipulator, alleviated pharmacist medicine buffer area labour intensity, improved the work efficiency of intelligent drugstore system.
Above-mentioned explanation to the disclosed embodiments, makes professional and technical personnel in the field can realize or use the present invention.To the multiple modification of these embodiment, will be apparent for those skilled in the art, General Principle as defined herein can, in the situation that not departing from the spirit or scope of the present invention, realize in other embodiments.Therefore, the present invention will can not be restricted to these embodiment shown in this article, but will meet the widest scope consistent with principle disclosed herein and features of novelty.
Claims (7)
1. a manipulator automatic medicine-applicating method, is characterized in that, described flow process comprises the following steps: S1, flow process start;
Whether S2, be arranged in the dosing pallet of first sensor on manipulator induction manipulator and have medicine to exist, if there is medicine, manipulator, flow process forwards S3 to if being marked as and treating dosing state; If there is no medicine, manipulator is marked as tonic state, and flow process forwards S4 to;
S3, according to medicine information, manipulator moves to the groove position corresponding with the drug groove of this medicine of placement of automatic dispensary, and the medicine in dosing pallet is joined in the drug groove of automatic dispensary, flow process forwards S2 to simultaneously;
S4, search medicine buffer area and whether have the buffer memory pallet that can be used for tonic, if do not have, flow process is got back to S4; If have, manipulator moves to the groove position corresponding with buffer memory pallet, and the medicine in buffer memory pallet is received to dosing pallet, and flow process forwards S2 to simultaneously.
2. manipulator automatic medicine-applicating flow process according to claim 1, it is characterized in that, described step S2 also comprises: when the dosing pallet number of manipulator is no less than two, in any one dosing pallet, also have medicine, dosing pallet is all marked as and treats dosing state, and flow process forwards S3 to; While all there is no medicine in any one dosing pallet, dosing pallet is marked as tonic state, and flow process forwards S4 to.
3. manipulator automatic medicine-applicating flow process according to claim 1, it is characterized in that, described step S3 also comprises: when the dosing pallet number of manipulator is no less than two, after the medicine of all dosing pallets is all added in drug groove, flow process forwards S2 again to.
4. manipulator automatic medicine-applicating flow process according to claim 1, it is characterized in that, described step S4 also comprises, when the dosing pallet number of manipulator is no less than two, until all dosing pallets, all receive after the medicine in buffer memory pallet, flow process returns S2.
5. according to any described manipulator automatic medicine-applicating flow process of claim 1-4, it is characterized in that, described flow process S3 also comprises: S31, according to medicine information, and the need that manipulator is moved to intelligent drugstore add the groove position of the drug groove of this medicine;
S32, open the first electromagnet of being located at dosing pallet exit end, the first plate washer that the medicine for stopping in dosing pallet is flowed out is fallen;
S33, wait medicine all slip into drug groove;
S34, close the first electromagnet, the first plate washer that the medicine for stopping in dosing pallet is flowed out rises.
6. manipulator automatic medicine-applicating flow process according to claim 5, is characterized in that, described flow process S4 also comprises: whether S41, the second sensor sensing buffer area that is arranged at buffer area have the buffer memory pallet that can carry out tonic, if had, flow process enters S6; If no, flow process enters S2;
S42, basis can be carried out the address information of the buffer memory pallet of tonic, and manipulator is moved to buffer memory tray position;
S43, dosing pallet receive the medicine in buffer memory pallet, and flow process is got back to S2 simultaneously.
7. manipulator automatic medicine-applicating flow process according to claim 6, is characterized in that, described flow process S43 also comprises: S431, open the second electromagnet of being located at buffer memory pallet exit end, the second plate washer that the medicine for stopping in buffer memory pallet is flowed out is fallen;
S432, wait medicine all slip into dosing pallet;
S433, close the second electromagnet, the second plate washer that the medicine for stopping in buffer memory pallet is flowed out rises.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310739529.0A CN103738637B (en) | 2013-12-30 | 2013-12-30 | A kind of manipulator automatic medicine-applicating method |
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| CN201310739529.0A CN103738637B (en) | 2013-12-30 | 2013-12-30 | A kind of manipulator automatic medicine-applicating method |
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| CN103738637A true CN103738637A (en) | 2014-04-23 |
| CN103738637B CN103738637B (en) | 2016-01-13 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104443977A (en) * | 2014-09-23 | 2015-03-25 | 华北电力大学 | Rotary type automatic goods storing and taking device and method |
| CN106114972A (en) * | 2016-06-30 | 2016-11-16 | 广东方制药有限公司 | A kind of mechanical hand is precisely got it filled prescribe medicine method |
| CN109230158A (en) * | 2018-09-28 | 2019-01-18 | 北京和利康源医疗科技有限公司 | A kind of Automatic Dosing method of prepared slices of Chinese crude drugs cabinet |
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| CN202272410U (en) * | 2011-03-11 | 2012-06-13 | 北京工业大学 | Automatic symmetrical double-box type medicine-feeding mechanical device |
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Patent Citations (5)
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| US5700125A (en) * | 1996-03-27 | 1997-12-23 | Storage Technology Corporation | Gravity feed pass-thru port for automated cartridge library |
| CN101157411A (en) * | 2007-11-26 | 2008-04-09 | 王建生 | Sliding groove type warehouse device |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104443977A (en) * | 2014-09-23 | 2015-03-25 | 华北电力大学 | Rotary type automatic goods storing and taking device and method |
| CN106114972A (en) * | 2016-06-30 | 2016-11-16 | 广东方制药有限公司 | A kind of mechanical hand is precisely got it filled prescribe medicine method |
| CN106114972B (en) * | 2016-06-30 | 2019-10-01 | 广东一方制药有限公司 | A kind of manipulator precisely takes medicine to put in poison method |
| CN109230158A (en) * | 2018-09-28 | 2019-01-18 | 北京和利康源医疗科技有限公司 | A kind of Automatic Dosing method of prepared slices of Chinese crude drugs cabinet |
| CN109230158B (en) * | 2018-09-28 | 2023-09-12 | 北京和利康源医疗科技有限公司 | Automatic dosing method of traditional Chinese medicine decoction piece cabinet |
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| CN103738637B (en) | 2016-01-13 |
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Effective date of registration: 20210722 Address after: 215000 Room 601, 6 / F, building a, No. 27, Xinfa Road, Suzhou Industrial Park, Suzhou area, China (Jiangsu) pilot Free Trade Zone, Suzhou, Jiangsu Patentee after: Suzhou Ailong Engineering Technology Co.,Ltd. Address before: 215123 No. 28 Xinchang Road, Suzhou City, Jiangsu Province Patentee before: SUZHOU IRON TECHNOLOGY Co.,Ltd. |
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