CN104503481A - CAN (Control Area Network) bus based motion control system of medicine automation management equipment for hospitals - Google Patents
CAN (Control Area Network) bus based motion control system of medicine automation management equipment for hospitals Download PDFInfo
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- CN104503481A CN104503481A CN201410742525.2A CN201410742525A CN104503481A CN 104503481 A CN104503481 A CN 104503481A CN 201410742525 A CN201410742525 A CN 201410742525A CN 104503481 A CN104503481 A CN 104503481A
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Abstract
The invention relates to a CAN (Control Area Network) bus based motion control system of medicine automation management equipment for hospitals and belongs to the field of medical treatment assistance automation equipment. The motion control system is used for solving the problems that the current medicine automation management equipment cannot be subjected to effective and unified access, maintenance, adjustment and management. The motion control system comprises an upper computer, a servomotor drive module, a medicine unloading electromagnet drive module, a steering gear drive module and a detection switch input module, wherein the upper computer is used for controlling the work of the other modules according to input commands, so as to complete medicine supplying, medicine fetching and conveying; the servomotor drive module is used for driving all motors to work according to commands of the upper computer; the medicine unloading electromagnet drive module is used for controlling the switchover of drive power supplies of corresponding electromagnets according to the commands of the upper computer and then controlling outlet swinging members of medicine storage devices; the steering gear drive module is used for driving a steering gear to work according to the commands of the upper computer; the detection switch input module is used for detecting signals of photoelectric sensors and signals of a travel switch and sending the signals to the upper computer. The modules and the upper computer are implemented by adopting a CAN bus based CanOpen protocol. The motion control system is applied to the medicine automation management of the hospitals.
Description
Technical field
The invention belongs to medical assisted automated apparatus field.
Background technology
Along with the development of science and technology, the automation equipment of industry-by-industry and device are constantly released and are applied, in medical institutions such as current a lot of hospitals, the management of the outputing of doctor's Medicine prescription, stock, and patient drug collect and the facility of unrealized logistics management formula completely, security, efficiency.And control in the medicine automatic management equipment adopted, performer is many, can not effectively unified access and maintenance, adjustment, problem of management.
Summary of the invention
The object of the invention is in order to solve current medicine automatic management equipment can not effectively unified access and maintenance, adjustment and management problem, the invention provides a kind of kinetic control system of medicine automatic management equipment of the hospital based on CAN formula.
The kinetic control system of the medicine automatic management equipment of the hospital based on CAN formula of the present invention,
Described medicine automatic management equipment comprises drug delivery device, medicine bin device and conveyer, and described medicine automatic management equipment also comprises and vertically moves drive motor for medicine, for medicine transverse shifting drive motor, multiple photoelectric sensor, travel switch, for medicine drive motor, clamping drive motor, multiple electromagnet, multiple swing component, driving-belt drive motor, transmit transverse shifting drive motor, transmit and vertically move drive motor and steering wheel;
Described kinetic control system comprises driven by servomotor module, unloading medicine solenoid actuated module, detector switch load module, servo driving module and host computer, all adopts the CanOpen protocol realization based on CAN;
Host computer, for the order according to input, controls driven by servomotor module, unloading medicine solenoid actuated module, servo driving module, detector switch load module and servo driving module work, completes the function supplying medicine, get it filled and transmit;
Driven by servomotor module, for the order according to host computer, drives each machine operation;
Unloading medicine solenoid actuated module, for the order according to host computer, controls the switching of the driving power of corresponding electromagnet, and then controls the swing component of medicine bin device outlet;
Servo driving module, for the order according to host computer, drives steering wheel work;
Detector switch load module, for detecting the signal of photoelectric sensor and travel switch, sends to host computer.
Described medicine bin device comprises multilayer medicine warehousing storage unit, described multilayer medicine warehousing storage unit is equidistantly fixed from top to bottom, every layer of medicine warehousing storage unit includes the modularization medicine box load bearing unit in array distribution, and each medicine box load bearing unit configures an outlet and an entrance; Each exit arranges a swing component, and each swing component adopts a solenoid actuated; When the swing component of corresponding solenoid actuated medicine box load bearing unit, the medicine box of medicine box load bearing unit is offloaded to conveyer 3.
Vertically moving drive motor for medicine, vertically moving for driving drug delivery device;
For medicine transverse shifting drive motor, for driving drug delivery device transverse shifting;
Whether multiple photoelectric sensor, clamp for the medicine box measuring drug delivery device;
Clamping drive motor, clamps medicine box for driving drug delivery device;
For medicine drive motor, for driving drug delivery device, the entrance of medicine box from medicine warehousing storage unit is pushed;
Whether travel switch, push medicine warehousing storage unit by medicine box for measuring drug delivery device;
Transmit transverse shifting drive motor, vertically move for drive transmission unit;
Transmission vertically moves drive motor, for drive transmission unit transverse shifting;
Driving-belt drive motor, for drive transmission unit by medicine box transmission;
Steering wheel, for the turnover panel that drive transmission unit end is arranged, makes medicine box unload from conveyer.
Driven by servomotor module comprises the first control module, servo driving power output module and a CanOpen interface module;
One CanOpen interface module, for completing CanOpen agreement, receiving the order of host computer, resolving host computer order;
First control module, according to the host computer order after parsing, arrange and vertically move drive motor for medicine, for medicine transverse shifting drive motor, driving-belt drive motor, transmit transverse shifting drive motor and transmission and vertically move drive motor and carry out point-to-point motion, clamping drive motor is set and carries out differential value motion for medicine drive motor, the speed of each motor is set;
Servo driving power output module, according to the speed of the point-to-point motion arranged, differential value motion and each motor, provides output power to each motor.
Described unloading medicine solenoid actuated module comprises the second control module, Phototube Coupling output control module and the 2nd CanOpen interface module;
2nd CanOpen interface module, for completing CanOpen agreement, receiving the order of host computer, resolving host computer order;
Second main control module, according to the host computer order after parsing, arranges corresponding electromagnet action;
Phototube Coupling output control module, according to the electromagnet needing action arranged, export the control signal of corresponding electromagnet, described control signal is the control signal after Phototube Coupling.
Detector switch load module comprises the 3rd main control module, On-off signal processing module and the 3rd CanOpen interface module;
On-off signal processing module, for the stroke signal of the photosignal and travel switch that gather multiple photoelectric sensor, and arranges acquisition signal, classifies and take out dithering process;
3rd main control module, according to photosignal after process, judges whether drug delivery device 1 clamps medicine box, according to the stroke signal after process, judges whether drug delivery device 1 pushes medicine warehousing storage unit by medicine box;
3rd CanOpen interface module, for completing CanOpen agreement, packing the signal after judging, being sent to host computer.
Beneficial effect of the present invention is, the board that driven by servomotor module of the present invention, unloading medicine solenoid actuated module, detector switch load module, servo driving module and host computer all adopt the CanOpen agreement based on CAN to obtain driver or correspondence can be arranged in execution or detecting unit nearby, the power supply of system and the wiring of signal system can be reduced, the CAN address assignment of drive motor is clear and definite, can realize quick position and the eliminating of fault.Control section of the present invention all adopts modular construction, and making it keep in repair when there is situation, changing convenient, it is more convenient to use.Based on the present invention of the CanOpen agreement of CAN, can effectively unified access and maintenance, adjustment and management.
Accompanying drawing explanation
The one-piece construction schematic diagram of the medicine automatic management equipment that Fig. 1 is the hospital based on CAN formula described in concrete mode one.
Fig. 2 is the electronic schematic diagram of the kinetic control system described in concrete mode one.
Fig. 3 is the electronic schematic diagram of the driven by servomotor module described in concrete mode three.
Fig. 4 is the electronic schematic diagram of the unloading medicine solenoid actuated module described in concrete mode three.
Fig. 5 is the electronic schematic diagram of the detector switch load module described in concrete mode three.
Embodiment
Embodiment one: composition graphs 1 and Fig. 2 illustrate present embodiment, the kinetic control system of the medicine automatic management equipment of the hospital based on CAN formula described in present embodiment, described medicine automatic management equipment comprises drug delivery device 1, medicine bin device 2 and conveyer 3, described medicine automatic management equipment also comprises confession medicine and vertically moves drive motor, for medicine transverse shifting drive motor, multiple photoelectric sensor, travel switch, for medicine drive motor, clamping drive motor, multiple electromagnet, multiple swing component, driving-belt drive motor, transmit transverse shifting drive motor, transmission vertically moves drive motor and steering wheel,
Described kinetic control system comprises driven by servomotor module, unloading medicine solenoid actuated module, detector switch load module, servo driving module and host computer, all adopts the CanOpen protocol realization based on CAN;
Host computer, for the order according to input, controls driven by servomotor module, unloading medicine solenoid actuated module, servo driving module, detector switch load module and servo driving module work, completes the function supplying medicine, get it filled and transmit;
Driven by servomotor module, for the order according to host computer, drives each machine operation;
Unloading medicine solenoid actuated module, for the order according to host computer, controls the switching of the driving power of corresponding electromagnet, and then controls the swing component of medicine bin device 2 outlet;
Servo driving module, for the order according to host computer, drives steering wheel work;
Detector switch load module, for detecting the signal of photoelectric sensor and travel switch, sends to host computer.
The kinetic control system of present embodiment, based on CAN form, adopts CanOpen agreement.Formation motion servo system and medicine unloading unit all adopt CanOpen agreement thus, the increase and decrease of such driven by servomotor module, unloading medicine solenoid actuated module and detector switch load module is all than being easier to, only need the CanOpen module of correspondence to carry out dismounting row address of going forward side by side to change, adopt the configuration of the medicine management system of this embodiment very applicable medical institutions different size.
Embodiment two: present embodiment is the further restriction of the kinetic control system of medicine automatic management equipment to the hospital based on CAN formula described in embodiment one, described medicine bin device 2 comprises multilayer medicine warehousing storage unit, described multilayer medicine warehousing storage unit is equidistantly fixed from top to bottom, every layer of medicine warehousing storage unit includes the modularization medicine box load bearing unit in array distribution, and each medicine box load bearing unit configures an outlet and an entrance; Each exit arranges a swing component, and each swing component adopts a solenoid actuated; When the swing component of corresponding solenoid actuated medicine box load bearing unit, the medicine box of medicine box load bearing unit is offloaded to conveyer 3.
Vertically moving drive motor for medicine, vertically moving for driving drug delivery device 1;
For medicine transverse shifting drive motor, for driving drug delivery device 1 transverse shifting;
Whether multiple photoelectric sensor, clamp for the medicine box measuring drug delivery device 1;
Clamping drive motor, clamps medicine box for driving drug delivery device 1;
For medicine drive motor, for driving drug delivery device 1, the entrance of medicine box from medicine warehousing storage unit is pushed;
Whether travel switch, push medicine warehousing storage unit by medicine box for measuring drug delivery device 1;
Transmit transverse shifting drive motor, vertically move for drive transmission unit 3;
Transmission vertically moves drive motor, for drive transmission unit 3 transverse shifting;
Driving-belt drive motor, for drive transmission unit 3 by medicine box transmission;
Steering wheel, for the turnover panel that drive transmission unit 3 end is arranged, makes medicine box unload from conveyer 3.
Embodiment three: composition graphs 3, Fig. 4 and Fig. 5 illustrate present embodiment, present embodiment is the further restriction of the kinetic control system of medicine automatic management equipment to the hospital based on CAN formula described in embodiment two,
Driven by servomotor module comprises the first control module, servo driving power output module and a CanOpen interface module;
One CanOpen interface module, for completing CanOpen agreement, receiving the order of host computer, resolving host computer order;
First control module, according to the host computer order after parsing, arrange and vertically move drive motor for medicine, for medicine transverse shifting drive motor, driving-belt drive motor, transmit transverse shifting drive motor and transmission and vertically move drive motor and carry out point-to-point motion, clamping drive motor is set and carries out differential value motion for medicine drive motor, the speed of each motor is set;
Servo driving power output module, according to the speed of the point-to-point motion arranged, differential value motion and each motor, provides output power to each motor.
Described unloading medicine solenoid actuated module comprises the second control module, Phototube Coupling output control module and the 2nd CanOpen interface module;
2nd CanOpen interface module, for completing CanOpen agreement, receiving the order of host computer, resolving host computer order;
Second main control module, according to the host computer order after parsing, arranges corresponding electromagnet action;
Phototube Coupling output control module, according to the electromagnet needing action arranged, export the control signal of corresponding electromagnet, described control signal is the control signal after Phototube Coupling.
Detector switch load module comprises the 3rd main control module, On-off signal processing module and the 3rd CanOpen interface module;
On-off signal processing module, for the stroke signal of the photosignal and travel switch that gather multiple photoelectric sensor, and arranges acquisition signal, classifies and take out dithering process;
3rd main control module, according to photosignal after process, judges whether drug delivery device 1 clamps medicine box, according to the stroke signal after process, judges whether drug delivery device 1 pushes medicine warehousing storage unit by medicine box;
3rd CanOpen interface module, for completing CanOpen agreement, packing the signal after judging, being sent to host computer.
The control module of present embodiment all adopts the controller based on CanOpen agreement, and this module has power drive function with this to drive the servomotor in the medicine automatic management equipment of hospital and system;
Because each medicine warehousing storage unit has multiple electromagnet, therefore the second control module possesses multichannel and drive passage to meet the demand driving multi-channel electromagnet simultaneously.Have multiple IO output channel in the controlling, IO output terminal and power take-off arrange optical isolation, in order to avoid remove external disturbance to bring damage to the second control module;
Kinetic control system of the present invention adopts CAN form, kinetic control system of the present invention and the unification of medicine automatic management equipment is connected to CAN network, thus forms distributed control network.CAN has can be point-to-point, one-to-many and broadcast centralized system transmission and accept data.Have that real-time, transmission range is comparatively far away, anti-electromagnetic interference capability is strong, low cost and other advantages.And kinetic control system of the present invention adopts CanOpen agreement, the feature of this agreement is: achieve real distributed AC servo system, meter identifier and simple diagnostic message can be transmitted in the lump while can transmitting multiple process variable, advanced multivariate can be produced, improve the interconnectivity of system, enhance the autonomy of system.The dcs of this employing bus mode, security is good, and wiring is simple, and fault diagnosis is clear and definite, the reliability of equipment is also guaranteed.
Claims (5)
1. based on the kinetic control system of the medicine automatic management equipment of the hospital of CAN formula, it is characterized in that, described medicine automatic management equipment comprises drug delivery device (1), medicine bin device (2) and conveyer (3), described medicine automatic management equipment also comprises confession medicine and vertically moves drive motor, for medicine transverse shifting drive motor, multiple photoelectric sensor, travel switch, for medicine drive motor, clamping drive motor, multiple electromagnet, multiple swing component, driving-belt drive motor, transmit transverse shifting drive motor, transmission vertically moves drive motor and steering wheel,
Described kinetic control system comprises driven by servomotor module, unloading medicine solenoid actuated module, detector switch load module, servo driving module and host computer, all adopts the CanOpen protocol realization based on CAN;
Host computer, for the order according to input, controls driven by servomotor module, unloading medicine solenoid actuated module, servo driving module, detector switch load module and servo driving module work, completes the function supplying medicine, get it filled and transmit;
Driven by servomotor module, for the order according to host computer, drives each machine operation;
Unloading medicine solenoid actuated module, for the order according to host computer, controls the switching of the driving power of corresponding electromagnet, and then the swing component that control medicine bin device (2) exports;
Servo driving module, for the order according to host computer, drives steering wheel work;
Detector switch load module, for detecting the signal of photoelectric sensor and travel switch, sends to host computer.
2. the kinetic control system of the medicine automatic management equipment of the hospital based on CAN formula according to claim 1, it is characterized in that, described medicine bin device (2) comprises multilayer medicine warehousing storage unit, described multilayer medicine warehousing storage unit is equidistantly fixed from top to bottom, every layer of medicine warehousing storage unit includes the modularization medicine box load bearing unit in array distribution, and each medicine box load bearing unit configures an outlet and an entrance; Each exit arranges a swing component, and each swing component adopts a solenoid actuated; When the swing component of corresponding solenoid actuated medicine box load bearing unit, the medicine box of medicine box load bearing unit is offloaded to conveyer (3).
Vertically moving drive motor for medicine, vertically moving for driving drug delivery device (1);
For medicine transverse shifting drive motor, for driving drug delivery device (1) transverse shifting;
Whether multiple photoelectric sensor, clamp for the medicine box measuring drug delivery device (1);
Clamping drive motor, clamps medicine box for driving drug delivery device (1);
For medicine drive motor, for driving drug delivery device (1), the entrance of medicine box from medicine warehousing storage unit is pushed;
Whether travel switch, push medicine warehousing storage unit by medicine box for measuring drug delivery device (1);
Transmit transverse shifting drive motor, vertically move for drive transmission unit (3);
Transmission vertically moves drive motor, for drive transmission unit (3) transverse shifting;
Driving-belt drive motor, for drive transmission unit (3) by medicine box transmission;
Steering wheel, for the turnover panel that drive transmission unit (3) end is arranged, makes medicine box unload from conveyer (3).
3. the kinetic control system of the medicine automatic management equipment of the hospital based on CAN formula according to claim 2, it is characterized in that, driven by servomotor module comprises the first control module, servo driving power output module and a CanOpen interface module;
One CanOpen interface module, for completing CanOpen agreement, receiving the order of host computer, resolving host computer order;
First control module, according to the host computer order after parsing, arrange and vertically move drive motor for medicine, for medicine transverse shifting drive motor, driving-belt drive motor, transmit transverse shifting drive motor and transmission and vertically move drive motor and carry out point-to-point motion, clamping drive motor is set and carries out differential value motion for medicine drive motor, the speed of each motor is set;
Servo driving power output module, according to the speed of the point-to-point motion arranged, differential value motion and each motor, provides output power to each motor.
4. the kinetic control system of the medicine automatic management equipment of the hospital based on CAN formula according to claim 3, is characterized in that,
Described unloading medicine solenoid actuated module comprises the second control module, Phototube Coupling output control module and the 2nd CanOpen interface module;
2nd CanOpen interface module, for completing CanOpen agreement, receiving the order of host computer, resolving host computer order;
Second main control module, according to the host computer order after parsing, arranges corresponding electromagnet action;
Phototube Coupling output control module, according to the electromagnet needing action arranged, export the control signal of corresponding electromagnet, described control signal is the control signal after Phototube Coupling.
5. the kinetic control system of the medicine automatic management equipment of the hospital based on CAN formula according to claim 4, is characterized in that,
Detector switch load module comprises the 3rd main control module, On-off signal processing module and the 3rd CanOpen interface module;
On-off signal processing module, for the stroke signal of the photosignal and travel switch that gather multiple photoelectric sensor, and arranges acquisition signal, classifies and take out dithering process;
3rd main control module, according to photosignal after process, judges whether drug delivery device (1) clamps medicine box, according to the stroke signal after process, judges whether drug delivery device (1) pushes medicine warehousing storage unit by medicine box;
3rd CanOpen interface module, for completing CanOpen agreement, packing the signal after judging, being sent to host computer.
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| CN201410742525.2A CN104503481A (en) | 2014-12-08 | 2014-12-08 | CAN (Control Area Network) bus based motion control system of medicine automation management equipment for hospitals |
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| CN201410742525.2A CN104503481A (en) | 2014-12-08 | 2014-12-08 | CAN (Control Area Network) bus based motion control system of medicine automation management equipment for hospitals |
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Cited By (1)
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Application publication date: 20150408 |