CN104828451A - Special-shaped drug feeding manipulator - Google Patents
Special-shaped drug feeding manipulator Download PDFInfo
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- CN104828451A CN104828451A CN201510289640.3A CN201510289640A CN104828451A CN 104828451 A CN104828451 A CN 104828451A CN 201510289640 A CN201510289640 A CN 201510289640A CN 104828451 A CN104828451 A CN 104828451A
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- loading manipulator
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Abstract
The invention provides a special-shaped drug feeding manipulator. The special-shaped drug feeding manipulator comprises a frame, wherein one or more layers of drug feeding manipulator modules are fixed to the frame. Each drug feeding manipulator module comprises multiple drug feeding pipelines which are transversely arranged in parallel, conveyer belts are installed on the bottoms of the drug feeding pipelines respectively, and the conveyer belts are driven by drug feeding transmission mechanisms of the drug feeding manipulator modules and can convey drugs contained in the drug feeding pipelines to outlets in the rear ends of the drug feeding pipelines from inlets in the front ends of the drug feeding pipelines; a tail baffle is arranged at the outlet in the rear end of each drug feeding pipeline, and each tail baffle is driven by an independent baffle motor and is controlled by a control module so as to rise and fall independently. By the adoption of the special-shaped drug feeding manipulator, the problem that automatic and rapid feeding of special-shaped drugs contained in round bottles, round boxes and the like cannot be achieved in an existing automatic drug distribution system is solved, and the drug feeding speed and the automation degree of the automatic drug distribution system are greatly improved.
Description
Technical field
The present invention relates to a kind of pharmacy automation equipment, especially a kind of automatic medicine-applicating sends out the medicine-loading manipulator in medicine system.
Background technology
The pharmacy of current many hospitals when sending out medicine according to medicine inventory, or adopts an artificial prescription formula, and pharmacist just can issue patient after needing to search out corresponding medicine on the shelf storing medicine, sends out medicine efficiency comparison low, and patient wait time is long.
Partial Hospitals starts to introduce automatic medicine-dispensing system in recent years, but is still the problem faced to the medicine-feeding of automatic medicine-dispensing system; Manual medicine-feeding, speed is slow and need manpower intervention.
And also there is no the automatic medicine-applicating solution of special-shaped medicine (as round vase dress or circle box packed medicine) in prior art, reduce the operating efficiency of existing automatic medicine-dispensing system.
Summary of the invention
The object of the invention is to overcome the deficiencies in the prior art, provide a kind of special-shaped medicine medicine-loading manipulator, the automation that can solve the special-shaped medicines such as the dress of round vase in current automatic medicine-dispensing system, circle be box-packed is added medicine to problem fast.The technical solution used in the present invention is:
A kind of special-shaped medicine medicine-loading manipulator, comprises a framework, is at least fixed with one deck medicine-loading manipulator module on said frame; Described medicine-loading manipulator module comprises the medicine-feeding pipeline of many horizontal arranged in parallel, in the bottom of every root medicine-feeding pipeline, load-transfer device is installed, described load-transfer device is driven by the medicine-feeding transmission device of medicine-loading manipulator module, the medicine being loaded into medicine-feeding pipeline can be transported to back outlet from medicine-feeding pipeline front end inlet;
Be provided with tail stopping-board at the back outlet place of each medicine-feeding pipeline, each tail stopping-board is driven by independent baffle plate motor, is controlled the control of module, and can rises independently or fall.
Further, described medicine-feeding transmission device comprises active rotating shaft, driven spindle and drive motor; Active rotating shaft and driven spindle are arranged between the framework left and right sides, time interval distance; The load-transfer device of each medicine-feeding duct bottom is set on active rotating shaft and driven spindle, and drive motor is arranged on frame facet, and drive motor drives active rotating shaft to rotate by driving band, thus driving conveying belt.
Further, described control module comprises microcontroller, microcontroller connecting interface chip, is connected alternately with upper computer; Microcontroller connects the first motor drive ic, and the first motor drive ic connects drive motor; Microcontroller connecting multi-channel motor-drive circuit, for carrying out individual drive to the baffle plate motor of each tail stopping-board.
Further, the cross section of described medicine-feeding pipeline comprises circle, Long Circle, ellipse, square or rectangle.
Further, framework is provided with fixing ear.
The invention has the advantages that:
1) special-shaped medicine can be entered in automatic medicine-dispensing system fast by this medicine-loading manipulator, substantially increases medicine-feeding speed and the degree of automation of automatic medicine-dispensing system.
2) by CAN and the two-way data command that carries out of upper computer mutual, make this medicine-loading manipulator automation and intelligence degree high.
3) this special-shaped medicine medicine-loading manipulator can dress up the combination of manipulator with common box-packed medicine-loading manipulator, the demand of box-packed and special-shaped medicine medicine-feeding can be covered, in conjunction with specific medicine storage tank, box-packed and special-shaped medicine is stored, have a breakthrough lifting to whole automatic medicine-dispensing system performance.
Accompanying drawing explanation
Fig. 1 is the back side of the present invention side schematic view.
Fig. 2 is electrical schematic diagram of the present invention.
Detailed description of the invention
Below in conjunction with concrete drawings and Examples, the invention will be further described.
Special-shaped medicine medicine-loading manipulator provided by the invention, as shown in Figure 1, comprises a framework 10 and medicine-loading manipulator module 20;
Be provided with fixing ear 101 in the left and right sides of framework 10, by fixing ear 101, this medicine-loading manipulator can be mounted on the mechanical arm of automatic medicine-dispensing system.
In the present embodiment, described framework 10 secures upper and lower two-layer medicine-loading manipulator module 20; Certainly, according to the needs of automatic medicine-dispensing system, the medicine-loading manipulator module 20 of individual layer or three layers can be set.
Described medicine-loading manipulator module 20 comprises the medicine-feeding pipeline 201 of many horizontal arranged in parallel, according to the difference of delivering drug packaging, the cross section of medicine-feeding pipeline 201 can be circle, Long Circle, ellipse, square or rectangle, to adapt to the shape of various bottled medicine and special-shaped box packed medicine; All be provided with load-transfer device 202 in the bottom of every root medicine-feeding pipeline 201, described load-transfer device 202 is driven by the medicine-feeding transmission device 203 of medicine-loading manipulator module 20, the medicine being loaded into medicine-feeding pipeline 201 can be transported to back outlet from medicine-feeding pipeline front end inlet;
Described medicine-feeding transmission device 203 comprises active rotating shaft 2031, driven spindle 2032 and drive motor 2033; Active rotating shaft 2031 and driven spindle 2032 are arranged between framework 10 left and right sides, time interval distance; In this example, active rotating shaft 2031 is arranged on the forward position on framework 10, and driven spindle 2032 is arranged on the rear positions on framework 10.Load-transfer device 202 bottom each medicine-feeding pipeline 201 is set on active rotating shaft 2031 and driven spindle 2032, drive motor 2033 is arranged on the side of framework 10, drive motor 2033 drives active rotating shaft 2031 to rotate by driving band 2034, thus driving conveying belt 202, the medicine of adding medicine in pipeline 201 is moved from front to back.Driven spindle 2032 provides the tension supporting role to load-transfer device 202.
Be provided with tail stopping-board 204 at the back outlet place of each medicine-feeding pipeline 201, each tail stopping-board 204 is driven by independent baffle plate motor (not shown in FIG.), is controlled the control of module 30, and can rises independently or fall; Every layer of medicine-loading manipulator module 20 is all controlled by a control module 30.
In this example, drive motor 2033 adopts brushless motor, and baffle plate motor is DC micromotor.
Electric principle of the present invention is see Fig. 2, and control module 30 comprises the microcontroller 301 that model is STM8S208, and microcontroller connecting interface chip 302, provides CAN interface, is connected alternately with upper computer (as PC); Microcontroller 301 connects the first motor drive ic 303, first motor drive ic 303 and connects drive motor 2033; Because drive motor 2033 is brushless motor, therefore the first motor drive ic 303 adopts brushless motor driving chip TI DRV8332; Microcontroller 301 connecting multi-channel motor-drive circuit 304, for carrying out individual drive to the baffle plate motor of each tail stopping-board 204; Multi-channel motor-drive circuit 304 can adopt multi-channel DC motor-drive circuit of the prior art.
Microcontroller 301 can control a road drive motor 2033 and drive the load-transfer device of 10 medicine-feeding pipelines 201 to rotate simultaneously, transmits special-shaped medicine for picking.Nearly 10 DC micromotor can also be controlled, be elevated with the tail stopping-board 204 controlling medicine-loading manipulator medicine-feeding rear end of pipeline.Microcontroller 301 can carry out command interaction with PC computer, completes the action command sent by upper computer, and returns corresponding status information, can two-way interactive.
This special-shaped medicine medicine-loading manipulator is fixed on the mechanical arm of automatic medicine-dispensing system when using, driven by mechanical arm and move to the medicine-feeding station supporting with this medicine-loading manipulator, the medicine groove of the medicine-feeding pipeline 201 of special-shaped medicine medicine-loading manipulator with medicine-feeding station aligns by automatic medicine-dispensing system automatically, the tail stopping-board 204 that now control module 30 controls each medicine-feeding pipeline 201 rear end is in raised configuration, and drive motor 2033 rotates and makes load-transfer device 202 rotate, the special-shaped medicine sent by medicine-feeding station is loaded in the medicine-feeding pipeline 201 of medicine-loading manipulator, complete and connect medicine action.Simultaneously state of the system is sent to the Fu of upper computer and automatic medicine-dispensing system by control module 30 by CAN and I/O signal.
During medicine-feeding, moved by the servo system control mechanical arm of automatic medicine-dispensing system, medicine-loading manipulator is transferred to a corresponding fast medicine slot, now control module 30 control to add medicine to the accordingly tail stopping-board 204 of pipeline 201 rear end is fallen, drive motor 2033 driving conveying belt 202 rotates, and the medicine in medicine-feeding pipeline 201 is carried out fast transfer by load-transfer device 202 in the corresponding medicine storage tank of automatic medicine-dispensing system.
Medicine-loading manipulator medicine-feeding time, special-shaped medicine is strictly limited and moves in each independently adds medicine to pipeline, and the cross sectional shape of pipeline of adding medicine to and different in nature Key works Drug packing suitable; Medicine queue entanglement can not be there is, situation about mutually mixing between medicine when medicine moves.
Claims (5)
1. a special-shaped medicine medicine-loading manipulator, comprises a framework (10), it is characterized in that:
Described framework (10) is at least fixed with one deck medicine-loading manipulator module (20); Described medicine-loading manipulator module (20) comprises the medicine-feeding pipeline (201) of many horizontal arranged in parallel, in the bottom of every root medicine-feeding pipeline (201), load-transfer device (202) is installed, described load-transfer device (202) is driven by the medicine-feeding transmission device (203) of medicine-loading manipulator module (20), the medicine being loaded into medicine-feeding pipeline (201) can be transported to back outlet from medicine-feeding pipeline front end inlet;
Tail stopping-board (204) is provided with at the back outlet place of each medicine-feeding pipeline (201), each tail stopping-board (204) is driven by independent baffle plate motor, be controlled the control of module (30), and can rise independently or fall.
2. special-shaped medicine medicine-loading manipulator as claimed in claim 1, is characterized in that:
Described medicine-feeding transmission device (203) comprises active rotating shaft (2031), driven spindle (2032) and drive motor (2033); Active rotating shaft (2031) and driven spindle (2032) are arranged between framework (10) left and right sides, time interval distance; The load-transfer device (202) of each medicine-feeding pipeline (201) bottom is set on active rotating shaft (2031) and driven spindle (2032), drive motor (2033) is arranged on the side of framework (10), drive motor (2033) drives active rotating shaft (2031) to rotate by driving band (2034), thus driving conveying belt (202).
3. special-shaped medicine medicine-loading manipulator as claimed in claim 2, is characterized in that:
Described control module (30) comprises microcontroller (301), microcontroller (301) connecting interface chip (302), is connected alternately with upper computer; Microcontroller (301) connects the first motor drive ic (303), and the first motor drive ic (303) connects drive motor (2033); Microcontroller (301) connecting multi-channel motor-drive circuit (304), for carrying out individual drive to the baffle plate motor of each tail stopping-board (204).
4. the special-shaped medicine medicine-loading manipulator as described in claim 1,2 or 3, is characterized in that:
The cross section of described medicine-feeding pipeline (201) comprises circle, Long Circle, ellipse, square or rectangle.
5. the special-shaped medicine medicine-loading manipulator as described in claim 1,2 or 3, is characterized in that:
Framework (10) is provided with fixing ear (101).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510289640.3A CN104828451B (en) | 2015-05-29 | 2015-05-29 | Special-shaped medicine medicine-loading manipulator |
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| CN201510289640.3A CN104828451B (en) | 2015-05-29 | 2015-05-29 | Special-shaped medicine medicine-loading manipulator |
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| CN104828451A true CN104828451A (en) | 2015-08-12 |
| CN104828451B CN104828451B (en) | 2017-03-08 |
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| CN204737288U (en) * | 2015-05-29 | 2015-11-04 | 无锡蝶和科技有限公司 | Abnormal shape medicine medicine group -Inputting system |
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2015
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Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102005012516A1 (en) * | 2005-03-16 | 2006-09-21 | Dirk Rolf Beils | Method for operating computer-controlled medicine storage system uses robot to transfer products from front shelves to rear shelves, products being pushed off rear edge of these on to conveyor belt which takes them to dispensing station |
| CN101844662A (en) * | 2010-06-13 | 2010-09-29 | 深圳市瑞驰智能系统有限公司 | Medicine discharging mechanism of medicine storing device |
| CN102556560A (en) * | 2010-12-31 | 2012-07-11 | 常明旺 | Intelligent three-dimensional warehousing system |
| CN202022524U (en) * | 2011-04-18 | 2011-11-02 | 深圳市瑞驰智能系统有限公司 | Automatic medicament discharging device |
| CN102344029A (en) * | 2011-09-22 | 2012-02-08 | 江苏迅捷装具科技有限公司 | Conveying belt type article storage and delivery device |
| CN203006260U (en) * | 2012-12-25 | 2013-06-19 | 临邑兰剑物流科技有限公司 | Boxed medicine sorting device |
| CN103625820A (en) * | 2013-12-26 | 2014-03-12 | 山东兰剑物流科技股份有限公司 | Method and device for dynamically sorting out boxed medicines |
| CN203740438U (en) * | 2014-03-12 | 2014-07-30 | 北京红枫树软件技术有限公司 | Automatic medicine dispensing mechanism for medicine storage device |
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| CN104828451B (en) | 2017-03-08 |
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Denomination of invention: Special-shaped drug feeding manipulator Effective date of registration: 20180914 Granted publication date: 20170308 Pledgee: Bank of Communications Ltd Wuxi branch Pledgor: WUXI DIH TECHNOLOGIES CO., LTD. Registration number: 2018320010041 |
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Effective date of registration: 20211110 Granted publication date: 20170308 |