CN104941929A - Tablet sorting device, tablet distributing machine and tablet distributing method - Google Patents
Tablet sorting device, tablet distributing machine and tablet distributing method Download PDFInfo
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- CN104941929A CN104941929A CN201410115515.6A CN201410115515A CN104941929A CN 104941929 A CN104941929 A CN 104941929A CN 201410115515 A CN201410115515 A CN 201410115515A CN 104941929 A CN104941929 A CN 104941929A
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Abstract
The invention discloses a tablet sorting device, a tablet distributing machine and a tablet distributing method. The tablet sorting device comprises a connecting rod, a suction nozzle, a gas pump and a sorting circuit device, wherein a gas pressure detecting sensor of the sorting circuit device is in communication connection with an industrial control machine; the suction nozzle is fixedly arranged on one end of the connecting rod; the connecting rod s provided with a gas flow channel communicated with the suction nozzle and the gas pump; the gas pressure detecting sensor is arranged in a gas channel formed by the suction nozzle and the gas pump; the gas pump is electrically connected with the industrial control machine. The tablet distributing machine comprises the tablet sorting device, a box body, a moving mechanism, a tablet filling table, a tablet plate placing mechanism, wherein the moving mechanism, the table filling table and the tablet plate placing mechanism are respectively arranged on a workbench in the box body; the tablet sorting mechanism is fixedly arranged on the moving mechanism; the sorting circuit device also comprises a CCD camera which is in communication connection with the industrial control machine. By virtue of the method for automatically charging tablets into grids corresponding to a tablet plate by the tablet distributing machine, the tablet charging speed is rapid, and time and labor are saved.
Description
Technical field
The present invention relates to machine and divide medicine technology, refer in particular to a kind of tablets separated picking device and medicine dispensing machine and divide prescription method.
Background technology
Existing hospital is when taking medicine to patient, need pharmacist by the various tablets of doctor formula from corresponding medicine bottle to going out, then be distributed in each deck, time-consuming like this, effort, especially to some as diabetes, hypertension, the secondary medicine opening month of heart patient one, will fill nearly 30 decks, each deck needs to load several even tens kinds of tablets, and the workload of such pharmacist is very large at every turn.
Existing batch pan deck being repacked into band sub-box now, the sub-box of tens powder charges is arranged on batch pan around batch pan center radial, but pharmacist wants an a slice to powder charge in each sub-box, and operation easier, loading rate is low.
Summary of the invention
An object of the present invention is to provide a kind of tablets separated picking device and automatic medicine dispensing machine and method, slow to overcome current powder charge speed, and powder charge difficulty is time-consuming, the problem of effort.
For reaching above-mentioned purpose, solution of the present invention is:
A kind of tablets separated picking device, comprise connecting rod, suction nozzle, air pump, go-on-go circuit arrangement, described go-on-go circuit arrangement comprises air pressure detecting sensor, industrial computer, air pressure detecting sensor is connected with industrial computer communication, described suction nozzle is the opening of back taper, suction nozzle is fixed on one end of connecting rod, opening down, connecting rod is provided with gas channel, gas channel communicates with suction nozzle, gas channel is connected by tube connector and air pump, air pressure detecting sensor is arranged on suction nozzle, gas channel, in the gas passage that tube connector and air pump are formed, air pump is electrically connected with industrial computer.
Described air pressure detecting sensor is integrated on suction nozzle.
A kind of medicine dispensing machine comprises above-mentioned tablets separated picking device, casing, travel mechanism, contain medicine platform, batch pan placement mechanism, a workbench is set in described casing, described travel mechanism, contain medicine platform, batch pan placement mechanism is arranged on workbench respectively, tablets separated picking device is fixed in travel mechanism, described travel mechanism is electrically connected with the industrial computer of the go-on-go circuit arrangement of tablets separated picking device, described go-on-go circuit arrangement also comprises CCD camera, described CCD camera to be fixed on casing and to be placed in the top of containing medicine platform, CCD camera is connected with industrial computer communication.
Described travel mechanism can adopt 3 axle ~ 6 axle interlock robot arms conventional in industry.
Described travel mechanism comprises Z axis travel mechanism, Y-axis moving mechanism, X-axis travel mechanism, described tablets separated picking device is fixed in Z axis travel mechanism, described Z axis travel mechanism is fixed in Y-axis moving mechanism, described Y-axis moving mechanism is fixed in X-axis travel mechanism, described Z axis travel mechanism drives the connecting rod of tablets separated picking device to do the rectilinear movement of vertical direction, and the Z-direction oscilaltion namely perpendicular to table plane is moved; Described Y-axis moving mechanism drives tablets separated picking device and Z axis travel mechanism entirety
Move around at the fore-and-aft direction being parallel to table plane, namely the Y direction of table plane moves around; Described X-axis travel mechanism drives Y-axis moving mechanism, Z axis travel mechanism, tablets separated picking device entirety to move around at the left and right directions of table plane, and namely the X-direction of table plane moves around.
Described Z axis travel mechanism comprises the first fixed head, first servomotor, first driving wheel, first driven pulley, first belt, first Connection Block, first T-shaped straight, first T-shaped line slide rail, first servomotor is arranged on one end of the first fixed head, first driving wheel is fixed on the output shaft of the first servomotor, the other end that first driven pulley is arranged on the first fixed head is relative with the first driving wheel, first belt sleeve is connected on the first driving wheel and the first driven pulley, first Connection Block is fixed on the first belt, and be placed between the first driving wheel and the first driven pulley, first T-shaped straight is arranged on the first Connection Block, first T-shaped line slide rail is arranged on the first fixed head, first T-shaped line slide rail is slidedly arranged in the first T-shaped straight, the connecting rod of described tablets separated picking device is arranged on the first Connection Block, first servomotor drives the first driving wheel to rotate, the first belt is driven to move on the first driving wheel and the first driven pulley, thus drive the first Connection Block to be moved on the first T-shaped line slide rail by the first T-shaped straight on the first fixed head, thus drive connecting rod to do the rectilinear movement of vertical direction, namely the Z-direction oscilaltion perpendicular to table plane is moved, described Y-axis moving mechanism comprises the second fixed head, second servomotor, second driving wheel, second driven pulley, second belt, second Connection Block, second T-shaped straight, second T-shaped line slide rail, second bracing frame, second servomotor is arranged on one end of the second fixed head, second driving wheel is fixed on the output shaft of the second servomotor, second driven pulley is arranged on the second fixed head other end by the second bracing frame is relative with the second driving wheel, second belt sleeve is connected on the second driving wheel, on second driven pulley, second Connection Block is fixed on the second belt, and be placed between the second driving wheel and the second driven pulley, second T-shaped straight is arranged on the second Connection Block, second T-shaped line slide rail is arranged on the second fixed head, second T-shaped line slide rail is slidedly arranged in the second T-shaped straight, first fixed head of described Z axis travel mechanism is arranged on the second Connection Block, second servomotor forward and reverse rotation drive second belt moves around on the second driving wheel and the second driven pulley, thus drive Z axis travel mechanism entirety to move around at the fore-and-aft direction being parallel to table plane, namely the Y direction of table plane moves around, described X-axis travel mechanism comprises the 3rd main fixed head, 3rd secondary fixed head, 3rd servomotor, 3rd driving wheel, 3rd driven pulley, 3rd belt, 3rd holder, the main chute of 3rd T-shaped straight line, 3rd T-shaped straight line main running rail, 3rd bracing frame, the secondary chute of 3rd T-shaped straight line, the secondary slide rail of 3rd T-shaped straight line, 3rd servomotor is arranged on one end of the 3rd main fixed head, 3rd driving wheel is fixed on the output shaft of the 3rd servomotor, 3rd driven pulley is arranged on the 3rd main fixed head other end by the 3rd bracing frame is relative with the 3rd driving wheel, 3rd belt sleeve is connected on the 3rd driving wheel, on 3rd driven pulley, 3rd holder to be fixed on the 3rd belt and to be placed in the 3rd driving wheel, between 3rd driven pulley, 3rd secondary fixed head, 3rd main fixed head is arranged on former and later two edges of workbench respectively, parallel with the X-direction of table plane, the secondary slide rail of 3rd T-shaped straight line and the 3rd T-shaped straight line main running rail are arranged on the 3rd secondary fixed head and the 3rd main fixed head respectively, the secondary chute of 3rd T-shaped straight line and the 3rd holder are arranged on the two ends of the second fixed head of Y-axis moving mechanism respectively, the main chute of 3rd T-shaped straight line is installed on the 3rd holder, the secondary chute of 3rd T-shaped straight line and the main chute of the 3rd T-shaped straight line are enclosed within the secondary slide rail of the 3rd T-shaped straight line and the 3rd T-shaped straight line main running rail respectively, 3rd servomotor forward and reverse rotation drive the 3rd belt moves around on the 3rd driving wheel and the 3rd driven pulley, thus drive Y-axis moving mechanism entirety to move around at the left and right directions of table plane, namely the X-direction of table plane moves around.
Described Z axis travel mechanism also comprises stroke block, described go-on-go circuit arrangement also comprises back to zero switch, described back to zero switch is arranged on the first fixed head, stroke block is arranged on the first Connection Block, and described back to zero switch and industrial computer carry out communication and be connected, when tablet go-no-go dress reopens, industrial computer sends move to the first servomotor, stroke block is after touching back to zero switch, and back to zero switch sends back zero-signal to industrial computer 30, the tablets separated picking device self-zeroing of realization.
Described Z axis travel mechanism also comprises the first protective cover, first protective cover is by the connecting rod of tablets separated picking device, first fixed head, first servomotor, first driving wheel, first driven pulley, first belt, first Connection Block, first T-shaped straight, first T-shaped line slide rail entirety covers, the bottom of the first protective cover offers the opening stretched up and down for connecting rod, the sidewall of the first protective cover offers vertical profile groove, tube connector passes same air pump and connects from vertical profile groove, when first servomotor drives connecting rod to move up and down, tube connector can also in vertical profile groove on, under be free to slide, vertical profile groove plays the effect of stepping down to the tube connector slided up and down.
Described Y-axis moving mechanism also comprises the second protective cover, second protective cover is by the second fixed head, second servomotor, second driving wheel, second driven pulley, second belt, second Connection Block, second T-shaped straight, second T-shaped line slide rail rail entirety covers, second fixed head only both ends passes the second protective cover the secondary chute of straight line T-shaped with the 3rd and the 3rd holder is connected respectively, the sidepiece of the second protective cover offers longitudinal profile groove, second Connection Block stretches out and is connected with the first fixed head of Z axis travel mechanism from longitudinal profile groove, second servomotor rotates and drives Z axis travel mechanism overall when the fore-and-aft direction being parallel to table plane moves around, longitudinal profile groove plays the effect of stepping down to the second holder being fixed with Z axis travel mechanism.
Described X-axis travel mechanism comprises the 3rd protective cover, 3rd protective cover is by the 3rd holder, 3rd main fixed head, 3rd driving wheel, 3rd driven pulley, 3rd belt, the main chute of 3rd T-shaped straight line, 3rd T-shaped straight line main running rail entirety covers, 3rd protective cover top offers horizontal profile groove, 3rd holder stretches out from horizontal profile groove and is connected with one end of the second fixed head of Y-axis moving mechanism, 3rd servomotor rotates and drives Y-axis moving mechanism overall when the left and right directions of table plane moves around, horizontal profile groove plays the effect of stepping down to the 3rd holder being fixed with Y-axis moving mechanism.
Described workbench is arranged on middle part in casing, and industrial computer and air pump are placed in the bottom electrical control cubicles of workbench.
Described batch pan placement mechanism is arranged in the middle part of workbench, comprise batch pan placement tray, rotating mechanism, batch pan placement tray is arranged on above rotating mechanism, and described batch pan placement tray is used for placing batch pan, and batch pan placement mechanism once at least can place a batch pan.
Described rotating mechanism comprises the 4th servomotor and speed changer, 4th servomotor is connected with the power shaft of speed changer, batch pan placement tray is arranged on the output shaft of speed changer, described speed changer is planetary gear conventional in industry, the speed change rotating through speed changer of the 4th servomotor drives batch pan placement tray to rotate on the table, namely parallel with workbench A direction of principal axis rotates, and drives the upper exchange on the table of the position of the different batch pan be placed on batch pan placement tray with this.
Described batch pan entirety is in the form of annular discs, comprises at least one grid, and grid is with the center of batch pan for axle is that Radiation is covered with on batch pan, and grid is used for holding once the taken medicine that doctor opens to patient.
Described go-on-go circuit arrangement also comprise RFID module, described RFID module is arranged on below batch pan placement tray, and RFID module and industrial computer carry out communication and be connected.
Described go-on-go circuit arrangement also comprises illuminating lamp, described illuminating lamp, and being fixed on casing and being placed in the top of containing medicine platform, described illuminating lamp is for providing light when CCD camera is taken pictures.
Described go-on-go circuit arrangement also comprises display unit, input unit, and described display unit is connected with industrial computer communication with input unit.
Described display unit and input unit can adopt existing commercially common touch-screen, as capacitance plate, touch screens, sound wave screen.
Described display unit can adopt liquid crystal display separately, and liquid crystal display is connected with the USB interface of industrial computer, and described input unit adopts keyboard and mouse, and keyboard and mouse are connected with the com interface of industrial computer respectively.
The air pressure detecting sensor of described go-on-go circuit arrangement is connected with deconcentrator, back to zero switch is connected with relay module, deconcentrator is connected with input/output adapter respectively with relay module, and input/output adapter is connected with A axle servo-driver, A axle servo-driver, Z axis servo-driver, Y-axis servo-driver, be connected in series successively between X-axis servo-driver, last X-axis servo-driver is connected with industrial computer, wherein A axle servo-driver, Z axis servo-driver, Y-axis servo-driver, the 4th servomotor that X-axis servo-driver is corresponding with it respectively, first servomotor, second servomotor, 3rd servomotor connects, and industrial computer is respectively by A axle servo-driver, Z axis servo-driver, Y-axis servo-driver, X-axis servo-driver controls the 4th corresponding with it servomotor, first servomotor, second servomotor, the rotation of the 3rd servomotor, thus realize tablets separated picking device by travel mechanism and can move to above any grid of the batch pan be placed on batch pan placement tray.
A kind of tablets separated detecting method, the method relates to above-mentioned a kind of medicine dispensing machine, described medicine dispensing machine mainly comprises above-mentioned tablets separated picking device, casing, travel mechanism, contain medicine platform, batch pan placement mechanism, a workbench is set in described casing, described travel mechanism, contain medicine platform, batch pan placement mechanism is arranged on workbench respectively, tablets separated picking device is fixed in travel mechanism, described travel mechanism is electrically connected with the industrial computer of the go-on-go circuit arrangement of tablets separated picking device, described go-on-go circuit arrangement also comprises CCD camera, described CCD camera to be fixed on casing and to be placed in the top of containing medicine platform, CCD camera is connected with industrial computer communication, step is:
(1), first batch pan is placed the position of specifying on the table, by input unit to setting doctor as the tablet quantity information of patient prescription and appointment are to the grid information of the batch pan in requisition for placement tablet to industrial computer in advance;
(2), the determined tablet of above-mentioned (1) step is placed on Sheng medicine platform, started the signal of go-on-go tablet to industrial computer input by input unit, industrial computer starts CCD camera and takes pictures to the tablet contained on medicine platform, industrial computer obtains tablet at the figure signal contained on medicine platform by CCD camera and analyzes all tablets and containing the particular location coordinate on medicine platform, and judges the wherein a slice tablet needing go-on-go;
(3), tablets separated picking device is placed in and contains above medicine platform by industrial computer startup travel mechanism, and the suction nozzle of tablets separated picking device aim at above-mentioned (2) step determine that a slice tablet wanting go-on-go, and this tablet is placed in the opening of suction nozzle, industrial computer booster air pump carries out bleeding and form negative pressure in suction nozzle, until industrial computer receive air pressure detecting sensor detect above-mentioned (2) step determine that suction nozzle signal blocked by that a slice tablet wanting go-on-go;
(4), industrial computer by above-mentioned (3) step air pressure detecting sensor spread out of signal that suction nozzle is blocked judge above-mentioned (2) step determine that a slice tablet wanting go-on-go is firmly adsorbed in suction nozzle, again start the top that tablets separated picking device is moved to batch pan by travel mechanism, and suction nozzle to be placed on batch pan the grid that (1) step setting will put medicine, industrial computer stops the work of bleeding of air pump, and the tablet in suction nozzle loses absorption affinity and falls under gravity in this grid;
(5), industrial computer completes above-mentioned (4) step after appointment grid placement tablet, again starting travel mechanism is placed in above Sheng medicine platform by tablets separated picking device, and the suction nozzle of tablets separated picking device aim at above-mentioned (2) step determine the other a slice tablet wanting go-on-go, and this tablet is placed in the opening of suction nozzle, industrial computer booster air pump carries out bleeding and form negative pressure in suction nozzle, until industrial computer receive air pressure detecting sensor detect above-mentioned (2) step determine to want this tablet of go-on-go to block suction nozzle signal;
(6), industrial computer by above-mentioned (5) step air pressure detecting sensor spread out of signal that suction nozzle is blocked judge above-mentioned (5) step determine that a slice tablet wanting go-on-go is firmly adsorbed in suction nozzle, again start the top that tablets separated picking device is moved to batch pan by travel mechanism, and suction nozzle to be placed on batch pan another grid that (1) step setting will put medicine, industrial computer stops the work of bleeding of air pump, and the tablet in suction nozzle loses absorption affinity and falls under gravity in this grid;
(7), industrial computer judges that the tablet of above-mentioned (2) step has put into (1) step setting when needing the whole grid putting into tablet, completes and load a kind of tablet process in the grid of batch pan.Further, take away containing on medicine platform remaining tablet in (2) step, on Sheng medicine platform, again change the second tablet that doctor opens for patient, repeat the (2) ~ the (7) above-mentioned step, until by be placed on the second tablet contained on medicine platform put into (1) step setting need the whole grid putting into tablet time, complete this step and load the second tablet process in the grid of batch pan.
Further, the batch pan of (1) described step is placed on the batch pan placement mechanism in the middle part of workbench.
Further, (1) described step by input unit to needing to place the grid parameter information of tablet in advance on industrial computer setting batch pan.
Further, in (1) described step, batch pan is marked with the RFID identifying information of patient, and industrial computer reads the RFID identifying information of this patient by the RFID module below the batch pan placement tray of batch pan placement mechanism, if consistent with prescription, then start tablet sorting, otherwise report to the police.
The present invention is by being input to industrial computer by patient and doctor formula information thereof, a kind of tablet stand for go-on-go is put on Sheng medicine platform by medical worker, industrial computer will to be taken pictures to the tablet contained on medicine platform by CCD camera and analyzed tablet positional information and judge to need a tablet of go-on-go, industrial computer is by forming negative pressure by air pump at the suction nozzle place of tablets separated picking device thus absorption needs that a slice tablet of go-on-go, when air pressure detecting sensor detects that the suction nozzle of tablets separated picking device blocked by that a slice tablet, will start travel mechanism moves above straight batch pan by tablets separated picking device, the suction nozzle of tablets separated picking device is just to the grid of batch pan, industrial computer is by stopping air pump work, tablet in the suction nozzle of tablets separated picking device enters because of gravity in the grid of batch pan, repeat above-mentioned action, another tablet loads in the next grid of batch pan by tablets separated picking device, to entering doctor this time for a kind of tablet quantity of patient prescription is respectively charged in corresponding batch pan grid, thus complete a kind of automatic powder charge of tablet.Again change another tablet at Sheng medicine platform, industrial computer repeats above-mentioned action, and direct this tablet loads in the batch pan grid of specifying.Finally, all tablets in a grid of batch pan represent the tablet that patient once should take, and the grid quantity of all powder charges on batch pan represents doctor for patient and should take how many times medicine.As long as so medical worker be the tablet information of patient prescription by doctor, the grid information setting of specifying completes, just can realize being that the tablet of patient prescription is loaded automatically in grid corresponding to batch pan by doctor, powder charge speed is fast, saves time, laborsaving.
Accompanying drawing explanation
Fig. 1 is circuit block diagram of the present invention;
Fig. 2 is driving mechanism stereogram of the present invention;
Fig. 3 is tablets separated picking device stereogram of the present invention;
Fig. 4 is tablets separated picking device partial perspective view of the present invention;
Fig. 5 is batch pan stereogram of the present invention;
Fig. 6 is batch pan driving mechanism stereogram of the present invention;
Fig. 7 be tablets separated picking device of the present invention pick up medicine schematic diagram;
Fig. 8 is the powder charge schematic diagram of tablets separated picking device of the present invention;
Fig. 9 is the powder charge schematic diagram of tablet racking machine of the present invention;
Figure 10 is the original state schematic diagram of tablet racking machine of the present invention;
Figure 11 is the three-dimensional assembly diagram of tablet racking machine of the present invention.
Detailed description of the invention
Below in conjunction with drawings and the specific embodiments, the present invention is described in detail.
As Fig. 1, Fig. 3, shown in Fig. 4, a kind of tablets separated picking device 2, comprise connecting rod 22, suction nozzle 23, air pump 24, go-on-go circuit arrangement 3, described go-on-go circuit arrangement 3 comprises air pressure detecting sensor 35, industrial computer 30, industrial computer 30 is the industrial computer that a Daepori is logical, air pressure detecting sensor 35 is connected with industrial computer 30 communication, the described opening 231 of suction nozzle 23 in back taper, suction nozzle 23 is fixed on one end of connecting rod 22, opening 231 down, connecting rod 22 is provided with gas channel 221, gas channel 221 communicates with suction nozzle 23, gas channel 221 is connected by tube connector 222 and air pump 24, air pressure detecting sensor 35 is arranged on suction nozzle 23, gas channel 221, in the gas passage that tube connector 222 and air pump 24 are formed, also can be integrated on suction nozzle 23, air pump 24 is electrically connected with industrial computer 30.
As Fig. 1, Fig. 2, shown in Fig. 4 ~ 11, a kind of medicine dispensing machine 4 comprises above-mentioned tablets separated picking device 2, casing 41, travel mechanism 5, contain medicine platform 42, batch pan placement mechanism 7, a workbench 43 is set in described casing 41, described travel mechanism 5, contain medicine platform 42, batch pan placement mechanism 7 arranges on workbench 43 respectively, tablets separated picking device 2 is fixed in travel mechanism 5, described travel mechanism 5 is electrically connected with the industrial computer 30 of the go-on-go circuit arrangement 3 of tablets separated picking device 2, described go-on-go circuit arrangement 3 also comprises CCD camera 38, described CCD camera 38 to be fixed on casing 41 and to be placed in the top of containing medicine platform 42, CCD camera 38 is connected with industrial computer 30 communication, described go-on-go circuit arrangement 3 also comprises illuminating lamp 39, described illuminating lamp 39, to be fixed on casing 41 and to be placed in the top of containing medicine platform 42, described illuminating lamp 39 is for providing light when CCD camera 38 is taken pictures.
As shown in Figure 1, shown in Figure 11, described workbench 43 is arranged on middle part in casing 41, and industrial computer 30 and air pump 24 are placed in the bottom electrical control cubicles 44 of workbench 43.
As shown in Figure 5, Figure 6, described batch pan placement mechanism 7 is arranged in the middle part of workbench 43, comprise batch pan placement tray 71, rotating mechanism 72, batch pan placement tray 71 is arranged on above rotating mechanism 72, described batch pan placement tray 71 is used for placing batch pan 8, and batch pan placement mechanism 7 once at least can place a batch pan 8.
As shown in Figure 4, described batch pan 8 is overall in the form of annular discs, comprises at least one grid 81, and grid 81 is with the center of batch pan for axle is that Radiation is covered with on batch pan, and grid 81 is used for holding once the taken medicine that doctor opens to patient.
As Fig. 6, shown in Fig. 7, described rotating mechanism 72 comprises the 4th servomotor 721 and speed changer 722, 4th servomotor 721 is connected with the power shaft of speed changer 722, batch pan placement tray 71 is arranged on the output shaft of speed changer 722, described speed changer 722 is planetary gear conventional in industry, the speed change rotating through speed changer 722 of the 4th servomotor 721 drives batch pan placement tray 71 to rotate on workbench 43, namely parallel with workbench 42 A direction of principal axis rotates, the position driving the different batch pan 8 be placed on batch pan placement tray 71 with this exchanges on 42 on the table.
As shown in Fig. 1, Fig. 9, described go-on-go circuit arrangement 3 also comprise RFID module 8, RFID module is also known as radio frequency identification module, and described RFID module 8 is arranged on below batch pan placement tray 71, and RFID module 8 is carried out communication with industrial computer 30 and is connected.
Described travel mechanism 5 can adopt 3 axle ~ 6 axle interlock robot arms conventional in industry.
As Fig. 2, shown in Fig. 7 ~ 11, the another kind of structure of described travel mechanism 5 comprises Z axis travel mechanism 51, Y-axis moving mechanism 52, X-axis travel mechanism 53, as Fig. 2, Fig. 3, Z axis travel mechanism 51 shown in Fig. 4 comprises the first fixed head 511, first servomotor 512, first driving wheel 513, first driven pulley 514, first belt 515, first Connection Block 516, first T-shaped straight 517, first T-shaped line slide rail 518, first servomotor 512 is arranged on one end of the first fixed head 511, first driving wheel 513 is fixed on the output shaft of the first servomotor 512, the other end that first driven pulley 514 is arranged on the first fixed head 511 is relative with the first driving wheel 513, first belt 515 is socketed on the first driving wheel 513 and the first driven pulley 514, first Connection Block 516 is fixed on the first belt 515, and be placed between the first driving wheel 512 and the first driven pulley 514, first T-shaped straight 517 is arranged on the first Connection Block 516, first T-shaped line slide rail 518 is arranged on the first fixed head 511, first T-shaped line slide rail 518 is slidedly arranged in the first T-shaped straight 517, first servomotor 512 drives the first driving wheel 513 to rotate, the first belt 515 is driven to move on the first driving wheel 513 and the first driven pulley 514, thus drive the first Connection Block 516 to be moved on the first T-shaped line slide rail 518 by the first T-shaped straight 517 on the first fixed head 511.
Connecting rod 22 is arranged on the first Connection Block 516 as shown in Figure 3, Figure 4, first belt 515 moves the rectilinear movement of drive first Connection Block 516 by the first T-shaped straight 517 and the first T-shaped line slide rail 518, thus driving connecting rod 22 to do the rectilinear movement of vertical direction, the Z-direction oscilaltion namely perpendicular to workbench 43 plane is moved.
As Fig. 1, Fig. 3, shown in Fig. 4, Z axis travel mechanism 51 also comprises stroke block 542, described go-on-go circuit arrangement 3 also comprises back to zero switch 34, described back to zero switch 34 is arranged on the first fixed head 511, stroke block 542 is arranged on the first Connection Block 516, described back to zero switch 34 carries out communication with industrial computer 30 and is connected, when tablets separated picking device 2 reopens, industrial computer 30 sends move to the first servomotor 512, stroke block 542 is after touching back to zero switch 34, back to zero switch 34 sends back zero-signal to industrial computer 30, tablets separated picking device 2 self-zeroing realized.
As Fig. 2, shown in Fig. 7 ~ 8, Y-axis moving mechanism 52 comprises the second fixed head 521, second servomotor 522, second driving wheel 523, second driven pulley 524, second belt 525, second Connection Block 526, second T-shaped straight 527, second T-shaped line slide rail 528, second bracing frame 529, second servomotor 522 is arranged on one end of the second fixed head 521, second driving wheel 523 is fixed on the output shaft of the second servomotor 522, second driven pulley 524 is arranged on the second fixed head 521 other end by the second bracing frame 529 is relative with the second driving wheel 523, second belt 524 is socketed in the second driving wheel 523, on second driven pulley 524, second Connection Block 526 is fixed on the second belt 525, and be placed between the second driving wheel 523 and the second driven pulley 524, second T-shaped straight 527 is arranged on the second Connection Block 526, second T-shaped line slide rail 528 is arranged on the second fixed head 521, second T-shaped line slide rail 528 is slidedly arranged in the second T-shaped straight 527, second servomotor 522 drives the second driving wheel 523 to rotate, the second belt 524 is driven to move on the second driving wheel 523 and the second driven pulley 524, thus drive the second Connection Block 526 to be moved on the second T-shaped line slide rail 528 by the second T-shaped straight 527 on the second fixed head 521.
As shown in Fig. 2, Fig. 7, Fig. 8, first fixed head 511 of described Z axis travel mechanism 51 is arranged on the second Connection Block 526, second servomotor 522 forward and reverse rotation drive second belt 525 moves around on the second driving wheel 523 and the second driven pulley 524, thus drive Z axis travel mechanism 51 fore-and-aft direction that entirety is being parallel to workbench 43 plane to move around, namely the Y direction of workbench 43 plane moves around.
As Fig. 2, shown in Fig. 7 ~ 8, X-axis travel mechanism 53 comprises the 3rd main fixed head 531, 3rd secondary fixed head 530, 3rd servomotor 532, 3rd driving wheel 533, 3rd driven pulley 534, 3rd belt 535, 3rd holder 536, the main chute 537 of 3rd T-shaped straight line, 3rd T-shaped straight line main running rail 538, 3rd bracing frame 539, the secondary chute 5307 of 3rd T-shaped straight line, the secondary slide rail 5308 of 3rd T-shaped straight line, 3rd servomotor 532 is arranged on one end of the 3rd main fixed head 531, 3rd driving wheel 533 is fixed on the output shaft of the 3rd servomotor 532, the other end that 3rd driven pulley 534 is arranged on the 3rd main fixed head 531 by the 3rd bracing frame 539 is relative with the 3rd driving wheel 533, 3rd belt 535 is socketed in the 3rd driving wheel 533, on 3rd driven pulley 534, 3rd holder 536 to be fixed on the 3rd belt 535 and to be placed in the 3rd driving wheel 533, between 3rd driven pulley 534, 3rd secondary fixed head 530, 3rd main fixed head 531 is arranged on former and later two edges of workbench 43 respectively, parallel with the X-direction of workbench 43 plane, the secondary slide rail 5308 of 3rd T-shaped straight line and the 3rd T-shaped straight line main running rail 538 are arranged on the 3rd secondary fixed head 530 and the 3rd main fixed head 531 respectively, the secondary chute 5307 of 3rd T-shaped straight line and the 3rd holder 536 are arranged on the two ends of the second fixed head 521 of Y-axis moving mechanism 52 respectively, the main chute 537 of 3rd T-shaped straight line is installed on the 3rd holder 536, the secondary chute 5307 of 3rd T-shaped straight line and the main chute of the 3rd T-shaped straight line 537 are enclosed within the secondary slide rail 5308 of the 3rd T-shaped straight line and the 3rd T-shaped straight line main running rail 538 respectively, 3rd servomotor 532 forward and reverse rotation drive the 3rd belt 535 moves around on the 3rd driving wheel 533 and the 3rd driven pulley 534, thus drive Y-axis moving mechanism 53 entirety to move around at the left and right directions of workbench 43 plane, namely the X-direction of workbench 43 plane moves around.
As Fig. 8, Fig. 7, Fig. 9, shown in Figure 10, Z axis travel mechanism 51 also comprises the first protective cover 5100, first protective cover 5100 is by connecting rod 22, first fixed head 511, first servomotor 512, first driving wheel 513, first driven pulley 514, first belt 515, first Connection Block 516, first T-shaped straight 517, first T-shaped line slide rail 518 entirety covers, the bottom of the first protective cover 5100 offers the opening (figure is not depending on going out) stretched up and down for connecting rod, the sidewall of the first protective cover 5100 offers vertical profile groove 5101(and Z-direction), tube connector 222 passes same air pump 74 and connects from vertical profile groove 5101, when first servomotor 512 drives connecting rod 22 to move up and down, tube connector 222 can also in vertical profile groove 5101 on, under be free to slide, vertical profile groove 5101 plays the effect of stepping down to the tube connector 222 slided up and down.
As Fig. 7, Fig. 8, Fig. 9, shown in Figure 10, Y-axis moving mechanism also comprises the second protective cover 5200, second protective cover 5200 is by the second fixed head 521, second servomotor 522, second driving wheel 523, second driven pulley 524, second belt 525, second Connection Block 526, second T-shaped straight 527, second T-shaped line slide rail 528 rail entirety covers, second fixed head 521 only both ends passes the second protective cover 5200 the secondary chute 5307 of straight line T-shaped with the 3rd and the 3rd holder 536 is connected respectively, the sidepiece of the second protective cover 5200 offers longitudinal profile groove 5201(and Y direction), second Connection Block 526 stretches out and is connected with the first fixed head 511 of Z axis travel mechanism from longitudinal profile groove 5201, second servomotor 522 rotates and drives Z axis travel mechanism 51 entirety when the fore-and-aft direction being parallel to workbench 43 plane moves around, longitudinal profile groove 5201 plays the effect of stepping down to the second holder 526 being fixed with Z axis travel mechanism 51.
As Fig. 8, Fig. 9, shown in Figure 10, X-axis travel mechanism 53 comprises the 3rd protective cover 5300, 3rd protective cover 5300 is by the 3rd holder 536, 3rd main fixed head 531, 3rd driving wheel 533, 3rd driven pulley 534, 3rd belt 535, the main chute 537 of 3rd T-shaped straight line, 3rd T-shaped straight line main running rail 538 entirety covers, 3rd protective cover 5300 top offers horizontal profile groove 5301(and X-direction), 3rd holder 536 stretches out from horizontal profile groove 5301 and is connected with one end of the second fixed head 521 of Y-axis moving mechanism 52, 3rd servomotor 532 rotates and drives Y-axis moving mechanism 52 entirety when the left and right directions of workbench 43 plane moves around, horizontal profile groove 5301 plays the effect of stepping down to the 3rd holder 536 being fixed with Y-axis moving mechanism 52.
As shown in Figure 1, described go-on-go circuit arrangement 3 also comprises display unit 31, input unit 32, described display unit 31 is connected with industrial computer 30 communication with input unit 32, described display unit 31 and input unit 32 can adopt existing commercially common touch-screen, as capacitance plate, touch screens, sound wave screen etc., described display unit 32 also can adopt liquid crystal display separately, liquid crystal display is connected with the USB interface of industrial computer 30, described input unit 32 can adopt keyboard and mouse, keyboard and mouse are connected with the com interface of industrial computer 30 respectively.
As shown in Figure 1, the air pressure detecting sensor 35 of described go-on-go circuit arrangement 3 is connected with deconcentrator (model FX-40) 331, back to zero switch 34 is connected with relay module 332, deconcentrator 331 and relay module 332 are connected with input/output adapter (model IX-320) 333 respectively, input/output adapter 333 is connected with A axle servo-driver 361, A axle servo-driver 361, Z axis servo-driver 362, Y-axis servo-driver 363, be connected in series successively between X-axis servo-driver 364, last X-axis servo-driver 364 is connected with industrial computer 30, wherein A axle servo-driver 361, Z axis servo-driver 362, Y-axis servo-driver 363, the 4th servomotor 721 that X-axis servo-driver 364 is corresponding with it respectively, first servomotor 512, second servomotor 522, 3rd servomotor 532 connects, and industrial computer 30 is respectively by A axle servo-driver 361, Z axis servo-driver 362, Y-axis servo-driver 363, X-axis servo-driver 363 controls the 4th corresponding with it servomotor 721, first servomotor 512, second servomotor 522, the rotation of the 3rd servomotor 532, thus realize tablets separated picking device 2 by travel mechanism 5 and can move to above any grid 81 of the batch pan 8 be placed on batch pan placement tray 71.
A kind of tablets separated detecting method, step is:
(1), first batch pan 8 is placed on the position that workbench 43 is specified, by input unit 32 to setting the grid parameter that batch pan 8 needs place tablet and the doctor tablet quantity as patient prescription to industrial computer 30 in advance;
(2), the determined tablet of above-mentioned (1) step is placed on Sheng medicine platform 42, started the signal of go-on-go tablet to industrial computer 30 input by input unit 32, industrial computer 30 starts CCD camera 38 and takes pictures to the tablet contained on medicine platform 42, industrial computer 30 obtains tablet at the figure signal contained on medicine platform 42 by CCD camera 38 and analyzes all tablets and containing the particular location coordinate on medicine platform 42, and judges the wherein a slice tablet needing go-on-go;
(3), industrial computer 30 starts travel mechanism 5 and is placed in by tablets separated picking device 2 and contains above medicine platform 42, and the suction nozzle 23 of tablets separated picking device 2 aim at above-mentioned (2) step determine to want that a slice tablet of go-on-go, and this tablet is placed in the opening 231 of suction nozzle 23, industrial computer 30 booster air pump 24 carry out bleeding in suction nozzle 23 formed negative pressure, until industrial computer 30 receive air pressure detecting sensor 35 detect above-mentioned (2) step determine that suction nozzle 23 signal blocked by that a slice tablet wanting go-on-go;
(4), industrial computer 30 by above-mentioned (3) step air pressure detecting sensor 35 spread out of signal that suction nozzle 23 is blocked judge above-mentioned (2) step determine that a slice tablet wanting go-on-go is firmly adsorbed in suction nozzle 23, again start the top that tablets separated picking device 2 is moved to batch pan 8 by travel mechanism 5, and suction nozzle 23 to be placed on batch pan 8 grid 81 that (1) step setting will put medicine, industrial computer 30 stops the work of bleeding of air pump 24, and the tablet in suction nozzle 23 loses absorption affinity and falls under gravity in this grid 81;
(5), industrial computer 30 completes above-mentioned (4) step after appointment grid placement tablet, again starting travel mechanism 5 is placed in above Sheng medicine platform 42 by tablets separated picking device 2, and the suction nozzle 23 of tablets separated picking device 2 aim at above-mentioned (2) step determine to want other a slice tablet of go-on-go, and this tablet is placed in the opening 231 of suction nozzle 23, industrial computer 30 booster air pump 24 carry out bleeding in suction nozzle 23 formed negative pressure, until industrial computer 30 receive air pressure detecting sensor 35 detect above-mentioned (2) step determine to want this tablet of go-on-go to block suction nozzle 23 signal;
(6), industrial computer 30 by above-mentioned (5) step air pressure detecting sensor 35 spread out of signal that suction nozzle 23 is blocked judge above-mentioned (5) step determine that a slice tablet wanting go-on-go is firmly adsorbed in suction nozzle 23, again start the top that tablets separated picking device 2 is moved to batch pan 8 by travel mechanism 5, and suction nozzle to be placed on batch pan 8 another grid 81 that (1) step setting will put medicine, industrial computer 30 stops the work of bleeding of air pump 24, and the tablet in suction nozzle 23 loses absorption affinity and falls under gravity in this grid 81;
(7), industrial computer 30 judges that the tablet of above-mentioned (2) step has put into (1) step setting when needing the whole grid 81 putting into tablet, completes and load a kind of tablet process in the grid 81 of batch pan 8.Further, take away containing on medicine platform 42 remaining tablet in (2) step, on Sheng medicine platform, again change the second tablet that doctor opens for patient, repeat the (2) ~ the (7) above-mentioned step, until by be placed on the second tablet contained on medicine platform 42 put into (1) step setting need the whole grid putting into tablet time, complete this step and load the second tablet process in the grid of batch pan.
Further, the batch pan 8 of (1) described step is placed on the batch pan placement mechanism 7 in the middle part of workbench 43.
Further, in (1) described step, batch pan 8 is marked with the RFID identifying information of patient, industrial computer 30 reads the RFID identifying information of this patient by the RFID module 37 below the batch pan placement tray 71 of batch pan placement mechanism 7, if consistent with prescription, then start tablet sorting, otherwise report to the police.
Further, described RFID identifying information is of the prior art one only coded message, also can be two only coded messages.
The foregoing is only preferred embodiment of the present invention, not to the restriction of this case design, all equivalent variations done according to the design key of this case, all fall into the protection domain of this case.
Claims (20)
1. a tablets separated picking device, it is characterized in that: comprise connecting rod, suction nozzle, air pump, go-on-go circuit arrangement, described go-on-go circuit arrangement comprises air pressure detecting sensor, industrial computer, air pressure detecting sensor is connected with industrial computer communication, described suction nozzle is the opening of back taper, suction nozzle is fixed on one end of connecting rod, opening down, connecting rod is provided with gas channel, gas channel communicates with suction nozzle, gas channel is connected by tube connector and air pump, air pressure detecting sensor is arranged on suction nozzle, gas channel, in the gas passage that tube connector and air pump are formed, air pump is electrically connected with industrial computer.
2. a kind of tablets separated picking device as claimed in claim 1, is characterized in that: described air pressure detecting sensor is integrated on suction nozzle.
3. a medicine dispensing machine, it is characterized in that: comprise the tablets separated picking device described in the claims 1, casing, travel mechanism, contain medicine platform, batch pan placement mechanism, a workbench is set in described casing, described travel mechanism, contain medicine platform, batch pan placement mechanism is arranged on workbench respectively, tablets separated picking device is fixed in travel mechanism, described travel mechanism is electrically connected with the industrial computer of the go-on-go circuit arrangement of tablets separated picking device, described go-on-go circuit arrangement also comprises CCD camera, described CCD camera to be fixed on casing and to be placed in the top of containing medicine platform, CCD camera is connected with industrial computer communication.
4. a kind of medicine dispensing machine as claimed in claim 3, is characterized in that: described travel mechanism can adopt 3 axle ~ 6 axle interlock robot arms conventional in industry.
5. a kind of medicine dispensing machine as claimed in claim 3, it is characterized in that: described travel mechanism comprises Z axis travel mechanism, Y-axis moving mechanism, X-axis travel mechanism, described tablets separated picking device is fixed in Z axis travel mechanism, described Z axis travel mechanism is fixed in Y-axis moving mechanism, described Y-axis moving mechanism is fixed in X-axis travel mechanism, described Z axis travel mechanism drives the connecting rod of tablets separated picking device to do the rectilinear movement of vertical direction, and the Z-direction oscilaltion namely perpendicular to table plane is moved; Described Y-axis moving mechanism drives tablets separated picking device and Z axis travel mechanism entirety to move around at the fore-and-aft direction being parallel to table plane, and namely the Y direction of table plane moves around; Described X-axis travel mechanism drives Y-axis moving mechanism, Z axis travel mechanism, tablets separated picking device entirety to move around at the left and right directions of table plane, and namely the X-direction of table plane moves around.
6. a kind of medicine dispensing machine as claimed in claim 5, it is characterized in that: described Z axis travel mechanism comprises the first fixed head, first servomotor, first driving wheel, first driven pulley, first belt, first Connection Block, first T-shaped straight, first T-shaped line slide rail, first servomotor is arranged on one end of the first fixed head, first driving wheel is fixed on the output shaft of the first servomotor, the other end that first driven pulley is arranged on the first fixed head is relative with the first driving wheel, first belt sleeve is connected on the first driving wheel and the first driven pulley, first Connection Block is fixed on the first belt, and be placed between the first driving wheel and the first driven pulley, first T-shaped straight is arranged on the first Connection Block, first T-shaped line slide rail is arranged on the first fixed head, first T-shaped line slide rail is slidedly arranged in the first T-shaped straight, the connecting rod of described tablets separated picking device is arranged on the first Connection Block, first servomotor drives the first driving wheel to rotate, the first belt is driven to move on the first driving wheel and the first driven pulley, thus drive the first Connection Block to be moved on the first T-shaped line slide rail by the first T-shaped straight on the first fixed head, thus drive connecting rod to do the rectilinear movement of vertical direction, namely the Z-direction oscilaltion perpendicular to table plane is moved, described Y-axis moving mechanism comprises the second fixed head, second servomotor, second driving wheel, second driven pulley, second belt, second Connection Block, second T-shaped straight, second T-shaped line slide rail, second bracing frame, second servomotor is arranged on one end of the second fixed head, second driving wheel is fixed on the output shaft of the second servomotor, second driven pulley is arranged on the second fixed head other end by the second bracing frame is relative with the second driving wheel, second belt sleeve is connected on the second driving wheel, on second driven pulley, second Connection Block is fixed on the second belt, and be placed between the second driving wheel and the second driven pulley, second T-shaped straight is arranged on the second Connection Block, second T-shaped line slide rail is arranged on the second fixed head, second T-shaped line slide rail is slidedly arranged in the second T-shaped straight, first fixed head of described Z axis travel mechanism is arranged on the second Connection Block, second servomotor forward and reverse rotation drive second belt moves around on the second driving wheel and the second driven pulley, thus drive Z axis travel mechanism entirety to move around at the fore-and-aft direction being parallel to table plane, namely the Y direction of table plane moves around, described X-axis travel mechanism comprises the 3rd main fixed head, 3rd secondary fixed head, 3rd servomotor, 3rd driving wheel, 3rd driven pulley, 3rd belt, 3rd holder, the main chute of 3rd T-shaped straight line, 3rd T-shaped straight line main running rail, 3rd bracing frame, the secondary chute of 3rd T-shaped straight line, the secondary slide rail of 3rd T-shaped straight line, 3rd servomotor is arranged on one end of the 3rd main fixed head, 3rd driving wheel is fixed on the output shaft of the 3rd servomotor, 3rd driven pulley is arranged on the 3rd main fixed head other end by the 3rd bracing frame is relative with the 3rd driving wheel, 3rd belt sleeve is connected on the 3rd driving wheel, on 3rd driven pulley, 3rd holder to be fixed on the 3rd belt and to be placed in the 3rd driving wheel, between 3rd driven pulley, 3rd secondary fixed head, 3rd main fixed head is arranged on former and later two edges of workbench respectively, parallel with the X-direction of table plane, the secondary slide rail of 3rd T-shaped straight line and the 3rd T-shaped straight line main running rail are arranged on the 3rd secondary fixed head and the 3rd main fixed head respectively, the secondary chute of 3rd T-shaped straight line and the 3rd holder are arranged on the two ends of the second fixed head of Y-axis moving mechanism respectively, the main chute of 3rd T-shaped straight line is installed on the 3rd holder, the secondary chute of 3rd T-shaped straight line and the main chute of the 3rd T-shaped straight line are enclosed within the secondary slide rail of the 3rd T-shaped straight line and the 3rd T-shaped straight line main running rail respectively, 3rd servomotor forward and reverse rotation drive the 3rd belt moves around on the 3rd driving wheel and the 3rd driven pulley, thus drive Y-axis moving mechanism entirety to move around at the left and right directions of table plane, namely the X-direction of table plane moves around.
7. a kind of medicine dispensing machine as claimed in claim 6, it is characterized in that: described Z axis travel mechanism also comprises stroke block, described go-on-go circuit arrangement also comprises back to zero switch, described back to zero switch is arranged on the first fixed head, stroke block is arranged on the first Connection Block, described back to zero switch and industrial computer carry out communication and are connected, when tablet go-no-go dress reopens, industrial computer sends move to the first servomotor, stroke block is after touching back to zero switch, back to zero switch sends back zero-signal to industrial computer, the tablets separated picking device self-zeroing of realization.
8. a kind of medicine dispensing machine as claimed in claim 6, is characterized in that: described Z axis travel mechanism also comprises the first protective cover, and the first protective cover is by the connecting rod of tablets separated picking device, first fixed head, first servomotor, first driving wheel, first driven pulley, first belt, first Connection Block, first T-shaped straight, first T-shaped line slide rail entirety covers, the bottom of the first protective cover offers the opening stretched up and down for connecting rod, the sidewall of the first protective cover offers vertical profile groove, tube connector passes same air pump and connects from vertical profile groove, first servomotor drives connecting rod when moving up and down, tube connector can also in vertical profile groove on, under be free to slide, vertical profile groove plays the effect of stepping down to the tube connector slided up and down, and described Y-axis moving mechanism also comprises the second protective cover, and the second protective cover is by the second fixed head, second servomotor, second driving wheel, second driven pulley, second belt, second Connection Block, second T-shaped straight, second T-shaped line slide rail rail entirety covers, second fixed head only both ends passes the second protective cover the secondary chute of straight line T-shaped with the 3rd and the 3rd holder is connected respectively, the sidepiece of the second protective cover offers longitudinal profile groove, second Connection Block stretches out and is connected with the first fixed head of Z axis travel mechanism from longitudinal profile groove, second servomotor rotates and drives Z axis travel mechanism overall when the fore-and-aft direction being parallel to table plane moves around, longitudinal profile groove plays the effect of stepping down to the second holder being fixed with Z axis travel mechanism, described X-axis travel mechanism comprises the 3rd protective cover, and the 3rd protective cover is by the 3rd holder, 3rd main fixed head, 3rd driving wheel, 3rd driven pulley, 3rd belt, the main chute of 3rd T-shaped straight line, 3rd T-shaped straight line main running rail entirety covers, 3rd protective cover top offers horizontal profile groove, 3rd holder stretches out from horizontal profile groove and is connected with one end of the second fixed head of Y-axis moving mechanism, 3rd servomotor rotates and drives Y-axis moving mechanism overall when the left and right directions of table plane moves around, and horizontal profile groove plays the effect of stepping down to the 3rd holder being fixed with Y-axis moving mechanism.
9. a kind of medicine dispensing machine as claimed in claim 3, is characterized in that: described workbench is arranged on middle part in casing, and industrial computer and air pump are placed in the bottom electrical control cubicles of workbench.
10. a kind of medicine dispensing machine as claimed in claim 3, it is characterized in that: described batch pan placement mechanism is arranged in the middle part of workbench, comprise batch pan placement tray, rotating mechanism, batch pan placement tray is arranged on above rotating mechanism, described batch pan placement tray is used for placing batch pan, and batch pan placement mechanism once at least can place a batch pan.
11. a kind of medicine dispensing machines as claimed in claim 10, it is characterized in that: described rotating mechanism comprises the 4th servomotor and speed changer, 4th servomotor is connected with the power shaft of speed changer, batch pan placement tray is arranged on the output shaft of speed changer, described speed changer is planetary gear conventional in industry, the speed change rotating through speed changer of the 4th servomotor drives batch pan placement tray to rotate on the table, namely parallel with workbench A direction of principal axis rotates, the upper exchange on the table of the position of the different batch pan be placed on batch pan placement tray is driven with this.
12. a kind of medicine dispensing machines as claimed in claim 3, is characterized in that: described go-on-go circuit arrangement also comprise RFID module, described RFID module is arranged on below batch pan placement tray, and RFID module and industrial computer carry out communication and be connected.
13. a kind of medicine dispensing machines as claimed in claim 3, is characterized in that: described go-on-go circuit arrangement also comprises illuminating lamp, described illuminating lamp, and being fixed on casing and being placed in the top of containing medicine platform, described illuminating lamp is for providing light when CCD camera is taken pictures.
14. a kind of medicine dispensing machines as claimed in claim 3, is characterized in that: described go-on-go circuit arrangement also comprises display unit, input unit, and described display unit is connected with industrial computer communication with input unit.
15. a kind of medicine dispensing machines as claimed in claim 14, it is characterized in that: described display unit can adopt liquid crystal display separately, liquid crystal display is connected with the USB interface of industrial computer, described input unit adopts keyboard and mouse, and keyboard and mouse are connected with the com interface of industrial computer respectively.
16. a kind of medicine dispensing machines as claimed in claim 3, it is characterized in that: the air pressure detecting sensor of described go-on-go circuit arrangement is connected with deconcentrator, back to zero switch is connected with relay module, deconcentrator is connected with input/output adapter respectively with relay module, input/output adapter is connected with A axle servo-driver, A axle servo-driver, Z axis servo-driver, Y-axis servo-driver, be connected in series successively between X-axis servo-driver, last X-axis servo-driver is connected with industrial computer, wherein A axle servo-driver, Z axis servo-driver, Y-axis servo-driver, the 4th servomotor that X-axis servo-driver is corresponding with it respectively, first servomotor, second servomotor, 3rd servomotor connects, and industrial computer is respectively by A axle servo-driver, Z axis servo-driver, Y-axis servo-driver, X-axis servo-driver controls the 4th corresponding with it servomotor, first servomotor, second servomotor, the rotation of the 3rd servomotor, thus realize tablets separated picking device by travel mechanism and can move to above any grid of the batch pan be placed on batch pan placement tray.
17. 1 kinds of tablets separated detecting methods, is characterized in that: the method relates to the medicine dispensing machine described in the claims 3, and step is:
(1), first batch pan is placed the position of specifying on the table, by input unit to setting doctor as the tablet quantity information of patient prescription and appointment are to the grid information of the batch pan in requisition for placement tablet to industrial computer in advance;
(2), the determined tablet of above-mentioned (1) step is placed on Sheng medicine platform, started the signal of go-on-go tablet to industrial computer input by input unit, industrial computer starts CCD camera and takes pictures to the tablet contained on medicine platform, industrial computer obtains tablet at the figure signal contained on medicine platform by CCD camera and analyzes all tablets and containing the particular location coordinate on medicine platform, and judges the wherein a slice tablet needing go-on-go;
(3), tablets separated picking device is placed in and contains above medicine platform by industrial computer startup travel mechanism, and the suction nozzle of tablets separated picking device aim at above-mentioned (2) step determine that a slice tablet wanting go-on-go, and this tablet is placed in the opening of suction nozzle, industrial computer booster air pump carries out bleeding and form negative pressure in suction nozzle, until industrial computer receive air pressure detecting sensor detect above-mentioned (2) step determine that suction nozzle signal blocked by that a slice tablet wanting go-on-go;
(4), industrial computer by above-mentioned (3) step air pressure detecting sensor spread out of signal that suction nozzle is blocked judge above-mentioned (2) step determine that a slice tablet wanting go-on-go is firmly adsorbed in suction nozzle, again start the top that tablets separated picking device is moved to batch pan by travel mechanism, and suction nozzle to be placed on batch pan the grid that (1) step setting will put medicine, industrial computer stops the work of bleeding of air pump, and the tablet in suction nozzle loses absorption affinity and falls under gravity in this grid;
(5), industrial computer completes above-mentioned (4) step after appointment grid placement tablet, again starting travel mechanism is placed in above Sheng medicine platform by tablets separated picking device, and the suction nozzle of tablets separated picking device aim at above-mentioned (2) step determine the other a slice tablet wanting go-on-go, and this tablet is placed in the opening of suction nozzle, industrial computer booster air pump carries out bleeding and form negative pressure in suction nozzle, until industrial computer receive air pressure detecting sensor detect above-mentioned (2) step determine to want this tablet of go-on-go to block suction nozzle signal;
(6), industrial computer by above-mentioned (5) step air pressure detecting sensor spread out of signal that suction nozzle is blocked judge above-mentioned (5) step determine that a slice tablet wanting go-on-go is firmly adsorbed in suction nozzle, again start the top that tablets separated picking device is moved to batch pan by travel mechanism, and suction nozzle to be placed on batch pan another grid that (1) step setting will put medicine, industrial computer stops the work of bleeding of air pump, and the tablet in suction nozzle loses absorption affinity and falls under gravity in this grid;
(7), industrial computer judges that the tablet of above-mentioned (2) step has put into (1) step setting when needing the whole grid putting into tablet, completes and load a kind of tablet process in the grid of batch pan.
18. a kind of tablets separated detecting methods as claimed in claim 17, it is characterized in that: take away containing on medicine platform remaining tablet in (2) step, on Sheng medicine platform, again change the second tablet that doctor opens for patient, repeat the (2) ~ the (7) above-mentioned step, until by be placed on the second tablet contained on medicine platform put into (1) step setting need the whole grid putting into tablet time, complete this step and load the second tablet process in the grid of batch pan.
19. a kind of tablets separated detecting methods as claimed in claim 17, is characterized in that: the batch pan of (1) described step is placed on the batch pan placement mechanism in the middle part of workbench.
20. a kind of tablets separated detecting methods as claimed in claim 17, it is characterized in that: in (1) described step, batch pan is marked with the RFID identifying information of patient, industrial computer reads the RFID identifying information of this patient by the RFID module below the batch pan placement tray of batch pan placement mechanism, if consistent with prescription, then start tablet go-on-go, otherwise report to the police.
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| CN201410115515.6A CN104941929A (en) | 2014-03-26 | 2014-03-26 | Tablet sorting device, tablet distributing machine and tablet distributing method |
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| CN201410115515.6A CN104941929A (en) | 2014-03-26 | 2014-03-26 | Tablet sorting device, tablet distributing machine and tablet distributing method |
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| CN113247327A (en) * | 2021-05-21 | 2021-08-13 | 李刚 | Full-automatic intelligent tablet subpackaging device |
| CN113247326A (en) * | 2021-05-21 | 2021-08-13 | 李刚 | Automatic tablet distribution and subpackage packaging method |
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Application publication date: 20150930 |