CN104828451B - Special-shaped medicine medicine-loading manipulator - Google Patents
Special-shaped medicine medicine-loading manipulator Download PDFInfo
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- CN104828451B CN104828451B CN201510289640.3A CN201510289640A CN104828451B CN 104828451 B CN104828451 B CN 104828451B CN 201510289640 A CN201510289640 A CN 201510289640A CN 104828451 B CN104828451 B CN 104828451B
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- motor
- feeding pipeline
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Abstract
The present invention provides a kind of abnormal shape medicine medicine-loading manipulator, including a framework, is at least fixed with one layer of medicine-loading manipulator module on said frame；Described medicine-loading manipulator module includes the medicine-feeding pipeline of many horizontal arranged in parallel, in the bottom of every medicine-feeding pipeline, conveyer belt is installed, described conveyer belt is driven by the medicine-feeding drive mechanism of medicine-loading manipulator module, from medicine-feeding pipeline front end inlet, the medicine being loaded into medicine-feeding pipeline can be transported to back outlet；It is provided with tail baffle at the back outlet of each medicine-feeding pipeline, each tail baffle, by single baffle plate Motor drive, is controlled the control of module, and can independently rise or fall.The present invention can solve the problem that the automatization of the special-shaped medicines such as the dress of round vase in current automatic medicine-dispensing system, circle be box-packed quickly adds medicine to problem, substantially increases medicine-feeding speed and the automaticity of automatic medicine-dispensing system.
Description
Technical field
The present invention relates to a kind of pharmacy automation equipment, the medicine-feeding machinery in especially a kind of automatic medicine-applicating dispensing system
Handss.
Background technology
The pharmacy of many hospitals is when according to medicine inventory dispensing at present, or adopts artificial dispensing mode, and pharmacist needs
After the shelf of storage medicine search out corresponding medicine, just can issue patient, dispensing efficiency comparison is low, patient's waiting time
Long.
Partial Hospitals start to introduce automatic medicine-dispensing system in recent years, but are still to the medicine-feeding of automatic medicine-dispensing system and face
One problem；If manual medicine-feeding, speed is slow and needs manpower intervention.
And also there is no special-shaped medicine in prior art（As round vase dress or circle box packed medicine）Automatic medicine-applicating solution party
Case, reduces the operational efficiency of existing automatic medicine-dispensing system.
Content of the invention
It is an object of the invention to overcoming the deficiencies in the prior art, provide a kind of abnormal shape medicine medicine-loading manipulator,
Can solve the problem that the automatization of the special-shaped medicines such as the dress of round vase in current automatic medicine-dispensing system, circle be box-packed quickly adds medicine to problem.The present invention
Employed technical scheme comprise that：
A kind of abnormal shape medicine medicine-loading manipulator, including a framework, is at least fixed with one layer of medicine-feeding machinery on said frame
Fingerprint group；Described medicine-loading manipulator module includes the medicine-feeding pipeline of many horizontal arranged in parallel, in the bottom of every medicine-feeding pipeline
Conveyer belt is installed, described conveyer belt is driven by the medicine-feeding drive mechanism of medicine-loading manipulator module, can will be loaded into medicine-feeding
The medicine of pipeline is transported to back outlet from medicine-feeding pipeline front end inlet；
It is provided with tail baffle at the back outlet of each medicine-feeding pipeline, each tail baffle, by single baffle plate Motor drive, is subject to
To the control of control module, and can independently rise or fall.
Further, described medicine-feeding drive mechanism includes active rotating shaft, driven spindle and motor；Active rotating shaft and from
Dynamic rotating shaft is arranged between the framework left and right sides, one distance of time interval；The conveyer belt of each medicine-feeding duct bottom is set in master
In dynamic rotating shaft and driven spindle, motor is arranged on frame facet, and motor drives active rotating shaft to turn by transmission belt
Dynamic, thus driving conveying belt.
Further, described control module includes microcontroller, microcontroller connecting interface chip, is connected with host computer
Interaction；Microcontroller connects the first motor drive ic, and the first motor drive ic connects motor；Microcontroller connects many
Passage motor-drive circuit, for carrying out independent driving to the baffle plate motor of each tail baffle.
Further, the section of described medicine-feeding pipeline includes circle, Long Circle, ellipse, square or rectangle.
Further, fixing ear is provided with framework.
It is an advantage of the current invention that：
1）Special-shaped medicine can be rapidly entered in automatic medicine-dispensing system by this medicine-loading manipulator, substantially increase and automatically send out
The medicine-feeding speed of medicine system and automaticity.
2）Interact so that this medicine-loading manipulator automatization and intelligence by the two-way data command that carries out of CAN and host computer
Degree can be changed high.
3) this special-shaped medicine medicine-loading manipulator with commonly box-packed medicine-loading manipulator and can dress up a mechanical hand combination, can
To cover the demand of box-packed and special-shaped medicine medicine-feeding, in conjunction with specific medicine storage tank, box-packed and special-shaped medicine is stored, to entirely certainly
Dynamic dispensing system performance has a breakthrough lifting.
Brief description
Fig. 1 is the back side side schematic view of the present invention.
Fig. 2 is the electrical schematic diagram of the present invention.
Specific embodiment
With reference to concrete drawings and Examples, the invention will be further described.
The special-shaped medicine medicine-loading manipulator that the present invention provides, as shown in figure 1, include a framework 10 and medicine-loading manipulator mould
Group 20；
It is provided with fixing ear 101 in the left and right sides of framework 10, by fixing ear 101, this medicine-loading manipulator can be installed
To the mechanical arm of automatic medicine-dispensing system.
In the present embodiment, upper and lower two-layer medicine-loading manipulator module 20 is secured on described framework 10；Of course, it is possible to root
According to the needs of automatic medicine-dispensing system, the medicine-loading manipulator module 20 of monolayer or three layers is set.
Described medicine-loading manipulator module 20 includes the medicine-feeding pipeline 201 of many horizontal arranged in parallel, according to conveying medicine bag
The difference of dress, the section of medicine-feeding pipeline 201 can be circle, Long Circle, ellipse, square or rectangle, various bottled to adapt to
Medicine and the shape of special-shaped box packed medicine；It is fitted with conveyer belt 202, described conveyer belt in the bottom of every medicine-feeding pipeline 201
202 are driven by the medicine-feeding drive mechanisms 203 of medicine-loading manipulator module 20, can by be loaded into the medicine of medicine-feeding pipeline 201 from
Medicine-feeding pipeline front end inlet is transported to back outlet；
Described medicine-feeding drive mechanism 203 includes active rotating shaft 2031, driven spindle 2032 and motor 2033；Actively turn
Axle 2031 and driven spindle 2032 are arranged between framework 10 left and right sides, one distance of time interval；Active rotating shaft in this example
2031 are arranged on the forward position on framework 10, and driven spindle 2032 is arranged on the rear positions on framework 10.Each medicine-feeding pipeline
The conveyer belt 202 of 201 bottoms is set on active rotating shaft 2031 and driven spindle 2032, and motor 2033 is arranged on framework 10
Side, motor 2033 by transmission belt 2034 drive active rotating shaft 2031 rotate, thus driving conveying belt 202 so that
Medicine in medicine-feeding pipeline 201 moves from front to back.Driven spindle 2032 provides the tension supporting role to conveyer belt 202.
It is provided with tail baffle 204 at the back outlet of each medicine-feeding pipeline 201, each tail baffle 204 is by single baffle plate electricity
Machine（In figure is not drawn into）Drive, be controlled the control of module 30, and can independently rise or fall；Every layer of medicine-loading manipulator
Module 20 is all controlled by a control module 30.
In this example, motor 2033 adopts brushless electric machine, and baffle plate motor is DC micromotor.
Referring to Fig. 2, control module 30 includes the microcontroller 301 of model STM8S208, micro-control to the electric principle of the present invention
Device connecting interface chip 302 processed, provides CAN interface, with host computer（As PC）Connect interaction；Microcontroller 301 connects
First motor drive ic 303, the first motor drive ic 303 connects motor 2033；Because motor 2033 is no
Brush motor, the therefore first motor drive ic 303 adopts brushless electric machine driving chip TI DRV8332；Microcontroller 301 connects
Multichannel motor-drive circuit 304, for carrying out independent driving to the baffle plate motor of each tail baffle 204；Multichannel Motor drive
Circuit 304 can adopt multi-channel DC motor-drive circuit of the prior art.
Microcontroller 301 can control a road motor 2033 and drives the conveyer belt of 10 medicine-feeding pipelines 201 to rotate simultaneously,
For picking the special-shaped medicine of transmission.Up to 10 DC micromotor can also be controlled, to control medicine-loading manipulator medicine-feeding pipeline
The tail baffle 204 of rear end lifts.Microcontroller 301 can carry out command interaction with PC computer, completes by moving that host computer sends
Instruct, and return corresponding status information, can be with two-way interactive.
This special-shaped medicine medicine-loading manipulator is fixed on the mechanical arm of automatic medicine-dispensing system when using, and is driven by mechanical arm and moves
Move at the medicine-feeding station supporting with this medicine-loading manipulator, automatic medicine-dispensing system is automatically by the medicine-feeding of special-shaped medicine medicine-loading manipulator
Pipeline 201 is aligned with the drug slot of medicine-feeding station, and now control module 30 controls the tail baffle 204 of each medicine-feeding pipeline 201 rear end
It is in raised configuration, and motor 2033 rotates and conveyer belt 202 is rotated, the abnormal shape that will be sent by medicine-feeding station
Medicine is loaded in the medicine-feeding pipeline 201 of medicine-loading manipulator, completes to connect medicine action.Simultaneously control module 30 pass through CAN and
System mode is sent to host computer and the servosystem of automatic medicine-dispensing system by 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 phase
The fast dispensing groove position answered, now control module 30 control the tail baffle 204 of corresponding medicine-feeding pipeline 201 rear end to fall, drive electricity
Machine 2033 driving conveying belt 202 rotates, and the medicine in pipeline 201 of adding medicine to is stored up accordingly by conveyer belt 202 to automatic medicine-dispensing system
Carry out fast transfer in drug slot.
During medicine-loading manipulator medicine-feeding, special-shaped medicine is strictly limited and moves in each independent medicine-feeding pipeline, and on
The cross sectional shape in pencil road is adapted with different in nature drug packaging；Medicine will not occur medicine queue entanglement, phase between medicine when mobile
Situation about mutually mixing.
Claims (4)
1. a kind of abnormal shape medicine medicine-loading manipulator, including a framework (10) it is characterised in that：
One layer of medicine-loading manipulator module (20) is at least fixed with described framework (10)；Described medicine-loading manipulator module (20) bag
Include the medicine-feeding pipeline (201) of many horizontal arranged in parallel, in the bottom of every medicine-feeding pipeline (201), conveyer belt (202) be installed,
Described conveyer belt (202) is driven by the medicine-feeding drive mechanism (203) of medicine-loading manipulator module (20), can will be loaded into medicine-feeding
The medicine of pipeline (201) is transported to back outlet from medicine-feeding pipeline front end inlet；
It is provided with tail baffle (204) at the back outlet of each medicine-feeding pipeline (201), each tail baffle (204) is by single baffle plate
Motor drive, is controlled module（30）Control, can independently rise or fall；
Control module（30）Including microcontroller（301）, microcontroller（301）Connecting interface chip（302）, CAN is provided
Interface, is connected interaction with host computer；Microcontroller（301）Connect the first motor drive ic（303）, the first motor drive ic
（303）Connect motor（2033）；Microcontroller（301）Connecting multi-channel motor-drive circuit（304）, for keeping off to each tail
Plate（204）Baffle plate motor carry out independent driving；Multichannel motor-drive circuit（304）Using multi-channel DC Motor drive electricity
Road；
Microcontroller（301）Control a road motor（2033）Drive medicine-feeding pipeline（201）Conveyer belt rotate simultaneously, be used for
Pick the special-shaped medicine of transmission；DC micromotor can also be controlled, to control the tail baffle of medicine-loading manipulator medicine-feeding rear end of pipeline
（204）Lifting；Microcontroller（301）Command interaction can be carried out with PC computer, complete the action command being sent by host computer, and
Return corresponding status information, being capable of two-way interactive.
2. as claimed in claim 1 abnormal shape medicine medicine-loading manipulator it is characterised in that：Described medicine-feeding drive mechanism (203) bag
Include active rotating shaft (2031), driven spindle (2032) and motor (2033)；Active rotating shaft (2031) and driven spindle
(2032) it is arranged between framework (10) left and right sides, one distance of time interval；The conveyer belt of each pipeline (201) bottom of adding medicine to
(202) it is set on active rotating shaft (2031) and driven spindle (2032), motor (2033) is arranged on the side of framework (10)
Face, motor (2033) drives active rotating shaft (2031) to rotate by transmission belt (2034), thus driving conveying belt (202).
3. as claimed in claim 1 abnormal shape medicine medicine-loading manipulator it is characterised in that：The section of described medicine-feeding pipeline (201)
Including circle, Long Circle, ellipse, square or rectangle.
4. as claimed in claim 1 abnormal shape medicine medicine-loading manipulator it is characterised 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 |
Applications Claiming Priority (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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| Publication Number | Publication Date |
|---|---|
| CN104828451A CN104828451A (en) | 2015-08-12 |
| CN104828451B true CN104828451B (en) | 2017-03-08 |
Family
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510289640.3A Active CN104828451B (en) | 2015-05-29 | 2015-05-29 | Special-shaped medicine medicine-loading manipulator |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 |
| CN102556560A (en) * | 2010-12-31 | 2012-07-11 | 常明旺 | Intelligent three-dimensional warehousing system |
| CN203006260U (en) * | 2012-12-25 | 2013-06-19 | 临邑兰剑物流科技有限公司 | Boxed medicine sorting device |
| CN104340578A (en) * | 2014-10-30 | 2015-02-11 | 黑龙江中科诺晟自动化设备开发有限公司 | Medicine loading method for automatic medicine management system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 |
| CN101844662B (en) * | 2010-06-13 | 2011-12-14 | 深圳市瑞驰智能系统有限公司 | Medicine discharging mechanism of medicine storing 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 |
| CN103625820B (en) * | 2013-12-26 | 2016-05-25 | 山东兰剑物流科技股份有限公司 | A kind of dynamical type box packed medicine method for sorting and device |
| 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 |
| 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
- 2015-05-29 CN CN201510289640.3A patent/CN104828451B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN203006260U (en) * | 2012-12-25 | 2013-06-19 | 临邑兰剑物流科技有限公司 | Boxed medicine sorting device |
| CN104340578A (en) * | 2014-10-30 | 2015-02-11 | 黑龙江中科诺晟自动化设备开发有限公司 | Medicine loading method for automatic medicine management system |
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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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