CN104477547B - Medicine-loading manipulator - Google Patents
Medicine-loading manipulator Download PDFInfo
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- CN104477547B CN104477547B CN201410676452.1A CN201410676452A CN104477547B CN 104477547 B CN104477547 B CN 104477547B CN 201410676452 A CN201410676452 A CN 201410676452A CN 104477547 B CN104477547 B CN 104477547B
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- medicine
- loading manipulator
- feeding
- assembly
- putting
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- 239000003814 drug Substances 0.000 claims abstract description 164
- 238000005204 segregation Methods 0.000 claims abstract description 27
- 229940079593 drug Drugs 0.000 claims abstract description 13
- 230000003139 buffering effect Effects 0.000 claims description 10
- 238000000926 separation method Methods 0.000 claims description 5
- 238000000034 method Methods 0.000 claims description 3
- 238000010276 construction Methods 0.000 abstract 1
- 238000012377 drug delivery Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 239000000741 silica gel Substances 0.000 description 1
- 229910002027 silica gel Inorganic materials 0.000 description 1
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- Medical Preparation Storing Or Oral Administration Devices (AREA)
Abstract
The invention discloses one medicine-loading manipulator, comprising: drug slot device, including: multiple medicine portions of putting being arranged side by side and medicine-feeding push assembly, and medicine-feeding propelling movement assembly is arranged on puts medicine portion end；Segregation apparatus, pushes assembly and imageing sensor including separating, and segregation apparatus is arranged on along side or the opposite sides putting medicine portion length direction, and segregation apparatus slides along putting medicine portion length direction.Medicine-loading manipulator simple in construction of the present invention, easy to operate, efficiency is high, effectively can classify different types of medicine, and is placed on by medicine in corresponding medicine warehouse receipt unit, prevents medicine from mixing, it is achieved high-efficient automatic.
Description
Technical field
The present invention relates to medical instruments field, particularly relate to a kind of medicine-loading manipulator.
Background technology
Pharmacy, as the first window of hospital, represents the image of hospital.Automatic dispensary oneself be widely used within the hospital, medicine-loading manipulator is as the critical component of automatic dispensary, and its efficiency, stability and the adaptability to different medicine boxs directly affect operating and the function of pharmacy automation equipment.
At present, box packed medicine is after entering medicine-loading manipulator from peripheral Jin Yao mechanism, its medicine on a robotic arm is probably multiple mixed in together, and certain medicine cannot be correspondingly placed in the medicine warehouse receipt unit of correspondence by medicine-loading manipulator, causes the medicine in medicine storehouse to be placed disorderly.
Therefore, a kind of medicine-loading manipulator that medicine can effectively be accurately placed at each medicine warehouse receipt unit urgently proposes.
Summary of the invention
One medicine-loading manipulator of the present invention, this robot manipulator structure is simple, easy to operate, and efficiency is high, effectively can classify different types of medicine, and is placed on by medicine in corresponding medicine warehouse receipt unit, it is achieved high-efficient automatic.
In order to achieve the above object, technical scheme is as follows:
Medicine-loading manipulator includes: drug slot device, including: multiple medicine portions of putting being arranged side by side and medicine-feeding push assembly, and medicine-feeding propelling movement assembly is arranged on puts medicine portion end；Segregation apparatus, pushes assembly and imageing sensor including separating, and segregation apparatus is arranged on along side or the opposite sides putting medicine portion length direction, and segregation apparatus slides along putting medicine portion length direction.
Medicine-loading manipulator of the present invention utilizes drug slot device to carry out drug delivery, utilizes segregation apparatus to check medicine.Medicine of the same race is placed on and same puts medicine portion, it is simple to medicine entire row the most of the same race pushes warehouse receipt unit of being used as medicine, and prevents medicine from mixing.
As preferred scheme, each medicine portion end of putting is designed with a medicine-feeding propelling movement assembly.
Using above-mentioned preferred scheme, easy to operate, a medicine-feeding propelling movement assembly correspondence one is put medicine portion and is pushed.
As preferred scheme, being provided with slide rail putting medicine portion end along putting on medicine portion width, medicine-feeding pushes assembly and is arranged on slide rail.
Using above-mentioned preferred scheme, more optimized structure, cost-effective, control system controls medicine-feeding and pushes the position of assembly, thus controls medicine-feeding and push the medicine which is put in medicine portion by assembly and push.
As preferred scheme, medicine-loading manipulator is arranged on the robotic arm, and mechanical arm moves along horizontal cross, level longitudinal direction and vertical direction.
Using above-mentioned preferred scheme, medicine-loading manipulator moves more convenient and efficient, can be placed on by medicine the most of the same race in the medicine warehouse receipt unit of correspondence.
As preferred scheme, medicine-loading manipulator is rotationally connected with mechanical arm.
Use above-mentioned preferred scheme, the angle of inclination of medicine-loading manipulator can be controlled, make medicine that own partial gravity can be relied on to fall into medicine warehouse receipt unit, more optimized structure, it is ensured that medicine is more smooth to medicine warehouse receipt metaaction from medicine-loading manipulator.
As preferred scheme, being provided with through hole along putting medicine portion length direction, be provided with portable plate, portable plate and the first driving means and connect in through hole, the first driving means drives portable plate to shuttle back and forth up and down in through hole.
Using above-mentioned preferred scheme, utilize to separate and push assembly and from one, medicine is put medicine portion be pushed to another and put medicine portion, during propelling movement, two adjacent portable plates put between medicine portion are in lower section, and after having pushed, portable plate rises, and are separated by the medicine of difference medicines.
Connecting as preferred scheme, portable plate and the second driving means, the second driving means drives portable plate to move left and right.
Using above-mentioned preferred scheme, portable plate can move left and right, and can effectively regulate the width putting medicine portion, is adapted to place the medicine of different in width medicine box.Meanwhile, mechanical arm rotates when adjusting position of manipulator, and portable plate can clamp medicine, prevents medicine from dropping.
As preferred scheme, medicine-feeding pushes assembly and separation pushes assembly and includes respectively: pushing assisted plate and driving means, and driving means is connected with buffering connector, and buffering connector is connected with pushing assisted plate.
Use above-mentioned preferred scheme, more optimized structure, it is achieved high-efficient automatic, and buffering connector to buffer, prevent from overexerting, damage medicine medicine box.
As preferred scheme, putting medicine radical end, be i.e. provided with sensor for countering at medicine-feeding mouth, from the medicine of sensor for countering process and generate count signal for sensing.
Use above-mentioned preferred scheme, medicine is carried out real-time high-efficiency counting.
As preferred scheme, medicine-loading manipulator also includes reading device, and reading device is for reading the bar code in medicine warehouse receipt unit.
Use above-mentioned preferred scheme, medicine warehouse receipt unit is verified, it is ensured that the medicine warehouse receipt unit of correspondence put into by medicine by medicine-loading manipulator.
Accompanying drawing explanation
One of medicine-loading manipulator top view that Fig. 1 provides for the embodiment of the present invention.
The two of the medicine-loading manipulator top view that Fig. 2 provides for the embodiment of the present invention.
Side view during the medicine-loading manipulator medicine-feeding that Fig. 3 provides for the embodiment of the present invention.
The medicine storehouse front view that Fig. 4 provides for the embodiment of the present invention.
Wherein: 1, drug slot device, 11, put medicine portion, 111, first puts medicine portion, and 112, second puts medicine portion, 12, medicine-feeding pushes assembly, and 13, portable plate, 14, pushing assisted plate, 15, driving means, 17, buffering connector, 2, segregation apparatus, the 21, first segregation apparatus, the 22, second segregation apparatus, 23, separate and push assembly, 24, imageing sensor, the 3, first slide rail, 4, medicine, 5, medicine storehouse, 51, medicine warehouse receipt unit, 511, bar code, 6, slide rail, 7, mechanical arm.
Detailed description of the invention
Describe the preferred embodiment of the present invention below in conjunction with the accompanying drawings in detail.
In order to reach the purpose of the present invention, as Figure 1-4, in the some of them embodiment of medicine-loading manipulator of the present invention,
Medicine-loading manipulator includes: drug slot device 1 and two segregation apparatuss 2.Medicine-loading manipulator is mainly used in putting into medicine medicine storehouse 5, and medicine storehouse 5 is provided with multiple medicine warehouse receipt unit 51, is used for placing different types of medicine 4.
Drug slot device 1 includes: two be arranged side by side put medicine portion 11, be respectively as follows: first and put medicine portion 111 and second and put medicine portion 112, put medicine portion 111 end first and be provided with medicine-feeding and push assembly 12, put medicine portion 112 end second and be provided with medicine-feeding and push assembly 12.
Segregation apparatus 2 includes separating propelling movement assembly 23 and imageing sensor 24, and two segregation apparatuss 2 are respectively the first segregation apparatus 21 and the second segregation apparatuss 22.First segregation apparatus 21 is arranged on to be put on the first slide rail 3 outside medicine portion 111 length direction along first, and the second segregation apparatus 22 is arranged on to be put on the first slide rail 3 outside medicine portion 112 length direction along second.First segregation apparatus 21 and the second segregation apparatus 22 are put medicine portion 111 and second along first respectively and are put medicine portion 112 length direction slip.
The medicine-loading manipulator workflow of the present invention is as follows:
1. medicine 4 being all placed in first and puts in medicine portion 111, the first segregation apparatus 21 slides on the first slide rail 3, and the medicine 4 that imageing sensor 24 is put in medicine portion 111 first one by one is identified, if consistent with the medicine that default primary need is placed.If consistent, then the next medicine 4 of inspection, if inconsistent, then the separation of the first segregation apparatus 21 pushes assembly 23 and from first, medicine is put medicine portion 111 is pushed to second and puts medicine portion 112.
2. medicine-loading manipulator moves to corresponding medicine warehouse receipt unit 51, and medicine-feeding pushes assembly 12 and pushed by the medicine 4 that inspected first puts in medicine portion 111 into corresponding medicine warehouse receipt unit 51.
3. the second segregation apparatus 22 slides on the first slide rail 3, and the medicine 4 that imageing sensor 24 is put in medicine portion 112 second one by one is identified, if consistent with the medicine that default secondary need is placed.If consistent, then the next medicine 4 of inspection, if inconsistent, then the separation of the second segregation apparatus 22 pushes assembly 23 and from second, medicine is put medicine portion 112 is pushed to first and puts medicine portion 111.
4. medicine-loading manipulator moves to corresponding medicine warehouse receipt unit 51, and medicine-feeding pushes assembly 12 and pushed by the medicine 4 that inspected second puts in medicine portion 112 into corresponding medicine warehouse receipt unit 51.
5. repeat the above steps, until having placed the default medicine 4 needing to place.
Medicine-loading manipulator of the present invention utilizes drug slot device 1 to carry out drug delivery, utilizes segregation apparatus 2 to check medicine.Medicine 4 of the same race is placed on and same puts medicine portion 11, it is simple to medicine 4 entire row the most of the same race pushes warehouse receipt unit 51 of being used as medicine, and prevents medicine 4 from mixing.
In other embodiment, remaining is identical with above-mentioned technical characteristic, and difference is, is provided with slide rail 6 putting medicine portion 11 end along putting on medicine portion 11 width, and medicine-feeding pushes assembly 12 and is arranged on slide rail 6.More optimized structure, cost-effective, control system controls medicine-feeding and pushes the position of assembly 12, thus controls medicine-feeding and push assembly 12 medicine 4 which puts in medicine portion 11 to and push.
In other embodiment, remaining is identical with above-mentioned technical characteristic, and difference is, medicine-loading manipulator is arranged on mechanical arm 7, and mechanical arm 7 moves along horizontal cross, level longitudinal direction and vertical direction.Medicine-loading manipulator moves more convenient and efficient, can be placed on by medicine 4 the most of the same race in the medicine warehouse receipt unit 51 of correspondence.
In other embodiment, remaining is identical with above-mentioned technical characteristic, and difference is, medicine-loading manipulator is rotationally connected with mechanical arm 7.Mechanical arm 7 can control the angle of inclination of medicine-loading manipulator, makes medicine 4 that own partial gravity can be relied on to fall in medicine warehouse receipt unit 51, more optimized structure, it is ensured that medicine 4 is more smooth from 51 actions of medicine-loading manipulator to medicine warehouse receipt unit.
In other embodiment, remaining is identical with above-mentioned technical characteristic, and difference is, it is provided with through hole along putting medicine portion 11 length direction, being provided with portable plate 13 in through hole, portable plate 13 is connected with the first driving means, and the first driving means drives portable plate about 13 to shuttle back and forth in through hole.Utilizing to separate and push assembly 23 and from one, medicine 4 is put medicine portion 11 be pushed to another and put medicine portion 11, during propelling movement, two adjacent portable plates 13 put between medicine portion 11 are in lower section, and after having pushed, portable plate 13 rises, and is separated by difference medicine 4.
In other embodiment, remaining is identical with above-mentioned technical characteristic, and difference is, portable plate 13 is connected with the second driving means, and the second driving means drives portable plate 13 to move left and right.Portable plate 13 can move left and right, and can effectively regulate the width putting medicine portion 11, is adapted to place the medicine 4 of different in width medicine box.Meanwhile, mechanical arm 7 rotates when adjusting medicine-loading manipulator position with angle, and portable plate 13 can clamp medicine 4, prevents medicine 4 from dropping.
In other embodiment, remaining is identical with above-mentioned technical characteristic, and difference is, medicine-feeding pushes assembly 12 and separation pushes assembly 23 and includes respectively: pushing assisted plate 14 and driving means 15, driving means 15 is connected with buffering connector 16, and buffering connector 16 is connected with pushing assisted plate 14.This more optimized structure, it is achieved high-efficient automatic, and buffering connector 16 buffer, prevent from overexerting, damage medicine 4 medicine box.Buffering connector 16 can be the elastic parts that spring, silica gel or other elastomeric materials are made.
In other embodiment, remaining is identical with above-mentioned technical characteristic, and difference is, is putting medicine portion 11 head end, is i.e. provided with sensor for countering at medicine-feeding mouth, from the medicine 4 of sensor for countering process and generates count signal for sensing.Medicine 4 is carried out real-time high-efficiency counting.
In other embodiment, remaining is identical with above-mentioned technical characteristic, and difference is, medicine-loading manipulator also includes reading device, and reading device is for reading the bar code 511 in medicine warehouse receipt unit 51.Medicine warehouse receipt unit 51 is verified, it is ensured that the medicine warehouse receipt unit 51 of correspondence put into by medicine 4 by medicine-loading manipulator.
Novel preferred implementation, it is noted that for the person of ordinary skill of the art, without departing from the concept of the premise of the invention, it is also possible to make some deformation and improvement, these broadly fall into protection scope of the present invention.
Claims (7)
1. medicine-loading manipulator, it is characterised in that including:
Drug slot device, pushes assembly including: multiple medicine portions of putting being arranged side by side and medicine-feeding, described medicine-feeding push assembly be arranged on described in put medicine portion end；
Segregation apparatus, pushes assembly and imageing sensor including separating, and described segregation apparatus is arranged on side or the opposite sides putting medicine portion length direction described in edge, puts medicine portion length direction and slide described in described segregation apparatus edge,
Putting medicine portion length direction described in Yan and be provided with through hole, be provided with portable plate, described portable plate and the first driving means and connect in described through hole, described first driving means drives portable plate to shuttle back and forth up and down in described through hole；
Described medicine-loading manipulator is arranged on the robotic arm, and described mechanical arm moves along horizontal cross, level longitudinal direction and vertical direction, and described medicine-loading manipulator is rotationally connected with described mechanical arm.
Medicine-loading manipulator the most according to claim 1, it is characterised in that put medicine portion end described in each and be designed with a described medicine-feeding propelling movement assembly.
Medicine-loading manipulator the most according to claim 1, it is characterised in that described put medicine portion end along described in put and on medicine portion width, be provided with slide rail, described medicine-feeding pushes assembly and is arranged on described slide rail.
Medicine-loading manipulator the most according to claim 1, it is characterised in that described portable plate and the second driving means connect, described second driving means drives described portable plate to move left and right.
Medicine-loading manipulator the most according to claim 4, it is characterized in that, described medicine-feeding pushes assembly and described separation pushes assembly and includes respectively: pushing assisted plate and driving means, and described driving means is connected with buffering connector, and described buffering connector is connected with described pushing assisted plate.
It is provided with sensor for countering at medicine-loading manipulator the most according to claim 5, it is characterised in that at described medicine radical end of putting, i.e. medicine-feeding mouth, from the medicine of described sensor for countering process and generates count signal for sensing.
Medicine-loading manipulator the most according to claim 6, it is characterised in that described medicine-loading manipulator also includes reading device, described reading device is for reading the bar code in medicine warehouse receipt unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410676452.1A CN104477547B (en) | 2014-11-21 | 2014-11-21 | Medicine-loading manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410676452.1A CN104477547B (en) | 2014-11-21 | 2014-11-21 | Medicine-loading manipulator |
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| Publication Number | Publication Date |
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| CN104477547A CN104477547A (en) | 2015-04-01 |
| CN104477547B true CN104477547B (en) | 2016-10-26 |
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| CN201410676452.1A Active CN104477547B (en) | 2014-11-21 | 2014-11-21 | Medicine-loading manipulator |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105819135B (en) * | 2015-10-28 | 2018-01-26 | 上海博信机器人科技有限公司 | A kind of automatic medicine dispensing case structure |
| CN110902234A (en) * | 2019-11-29 | 2020-03-24 | 武汉库柏特科技有限公司 | Medicine supplementing and distributing integrated machine |
| CN110902233A (en) * | 2019-11-29 | 2020-03-24 | 武汉库柏特科技有限公司 | Medicine supplementing and distributing integrated machine |
| CN111166108A (en) * | 2020-02-09 | 2020-05-19 | 重庆万而亿科技有限公司 | Medicine placing system |
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Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103738641A (en) * | 2013-12-30 | 2014-04-23 | 苏州艾隆科技股份有限公司 | Novel medicine outlet device and medicine outlet method thereof |
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2014
- 2014-11-21 CN CN201410676452.1A patent/CN104477547B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3734599C1 (en) * | 1987-10-13 | 1989-03-23 | Ct Kontrollsysteme Gmbh | Apparatus for separating packaging units which have been recognised as being defective |
| CN202038708U (en) * | 2010-12-20 | 2011-11-16 | 西安磁林电气有限公司 | Bidirectional rejecting device |
| JP2013188691A (en) * | 2012-03-14 | 2013-09-26 | Shinya Fukuno | Sorting apparatus for agricultural product |
| CN103144881A (en) * | 2012-08-20 | 2013-06-12 | 苏州艾隆科技股份有限公司 | Drug delivery manipulator |
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| CN104477547A (en) | 2015-04-01 |
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