CN104973374A - Automatic medicine adding and grabbing mechanism used for pharmacy - Google Patents
Automatic medicine adding and grabbing mechanism used for pharmacy Download PDFInfo
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- CN104973374A CN104973374A CN201510428465.1A CN201510428465A CN104973374A CN 104973374 A CN104973374 A CN 104973374A CN 201510428465 A CN201510428465 A CN 201510428465A CN 104973374 A CN104973374 A CN 104973374A
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Abstract
The invention relates to an automatic medicine adding and grabbing mechanism used for a pharmacy. The automatic medicine adding and grabbing mechanism used for the pharmacy comprises a medicine storehouse and a working platform. A conveying mechanism used for carrying out rectilinear motion in the X axis and the Y axis is installed between the medicine storehouse and the working platform. The conveying mechanism comprises an X-axis guide rail mechanism. A Y-axis guide rail mechanism is in sliding connection with the X-axis guide rail mechanism through a Y-axis sliding block. A pair of manipulator platforms is controlled by a stepping motor to carry out vertical rectilinear motion on the Y-axis guide rail mechanism. The manipulator platforms are installed on the left side and the right side of the Y-axis guide rail mechanism respectively. The shaft walking precision deviation and control speed of the X-axis guide rail mechanism and the shaft walking precision deviation and control speed of the Y-axis guide rail mechanism are low, so that noise of the manipulator platforms running at the maximum speed is greatly lowered, and the overall noise of the automatic medicine adding and grabbing mechanism used for the pharmacy is controlled to be below 50 decibels. Due to the arrangement of stretching motors and lifting mechanisms, it is guaranteed that a series of actions such as grabbing carried out through the manipulator platforms and medicine tanks and linear displacement on guide rails are all completed in a short time, and the shortest completion time is 2 s.
Description
Technical field
The present invention relates to automation equipment, particularly relate to and a kind ofly automatically add medicine taking mechanism for pharmacy.
Background technology
At present, existing medicine sends out medicine in putting, to get it filled and the filling of medicine all needs to adopt manual type to carry out, the mode work capacity of this artificial crawl or filling is large, easily make mistakes, making an inventory of medicine is also wasted time and energy, automatic dispensary device has been derived in order to make up the problem of above-mentioned artificial crawl and filling medicine work capacity, medicine box in the device of existing pharmacy is steady placement in medicine groove, dose limited (while for 10-20 box between) is deposited due to single medicine groove, therefore when drug, medicine box will rely on own wt to glide along the inclined-plane of medicine groove, the mode that this dependence own wt glides easily occurs that stuck phenomenon needs artificial clearing of obstruction, due to the feature of above-mentioned access medicine, cause this kind of automatic dispensary equipment mechanism bulky, the space taking hospital pharmacy is large, the height required also reaches 2.6m-2.8 rice.In addition when going out the large situation of dose, due to automatic dispensary device disposable not medicine quantity very little, just there will be the situation having little time tonic and occur, thus need artificial dosing, cause tonic efficiency low.
Summary of the invention
The applicant, for above-mentioned existing issue, is studied improvement, and provide a kind of and automatically add medicine taking mechanism for pharmacy, it can realize the grasping movement to whole medicine groove automatically, and degree of automation is high, time saving and energy saving, takies volume little.
The technical solution adopted in the present invention is as follows:
A kind ofly automatically add medicine taking mechanism for pharmacy, comprise Drug Storage and workplatform, the conveying mechanism be used in X-axis and Y-axis moving linearly is installed between described Drug Storage and workplatform, described conveying mechanism comprises X-axis guide rail mechanism, Y-axis guide rail mechanism is by Y-axis sliding shoe and described X-axis guide rail mechanism sliding block joint, a pair manipulator platform makes upper and lower straight-line motion by step motor control on described Y-axis guide rail mechanism, and described manipulator platform is installed on the left and right sides of Y-axis guide rail mechanism respectively.
Its further technical scheme is:
Arranging multiple chamber in arranging in length and breadth in described Drug Storage, discharging multiple medicine groove side by side in the horizontal direction in each chamber, in described medicine groove, longitudinally arranging multiple medicine box;
Described workplatform and manipulator platform include one piece of platform floor, multipair drive wheel is spaced and is arranged in the upper surface of platform floor, each drive wheel is all connected with one end of rotating shaft, the other end of described rotating shaft to be stretched in platform floor and is connected with belt wheel by propeller shaft sleeve, and described belt wheel is by external drive and control of electric machine; The Bidirectional-screw for tightening up drive wheel is also arranged in described platform floor, a pair first nuts are threaded with described Bidirectional-screw, each first nut is all connected with driving one end of wheel seat by sliding shoe, and the other end of described driving wheel seat is connected with propeller shaft sleeve;
Also lifting mechanism is arranged in the platform floor of described manipulator platform, described lifting mechanism comprises lifting bracket, pair of bearing is arranged on described lifting bracket, enhancing screw is installed between pair of bearing, second nut is threaded with described enhancing screw, described enhancing screw with promote the mouth of propulsion source and be connected, described second nut by fastener and hinge mounting plate affixed, described hinge mounting plate is by linkage connecting platform base plate and drive platform floor to tilt;
Stretching motor is also arranged in the platform floor of described manipulator platform, the mouth of described stretching motor is connected with slide block by pinion and rack, hook is arranged on described slide block, described hook is driven by hook motor and circles, and also installs the registration mast for coordinating medicine trench bottom knock hole in the end of described hook;
On described platform floor, also arrange multiple waist-shaped hole for drive wheel adjusting position, the installation site of each waist-shaped hole is corresponding in drive wheel.
Beneficial effect of the present invention is as follows:
In the present invention X-axis guide rail mechanism and Y-axis guide rail mechanism 4 walk axle accuracy error and control rate little, greatly reduce noise when manipulator platform maximum speed is run, the noise control of entirety of the present invention is below 50 decibels, the layout of stretching motor and lifting mechanism ensure that manipulator platform and medicine groove are in crawl, and a series of actions of straight-line displacement completes all at short notice on guide rail, the shortest deadline is 2s, the present invention utilizes lifting mechanism, the automation that drawing mechanism and hook achieve medicine groove exports and pushes, achieve with two manipulator platforms in the present invention and add other medicine of variety classes simultaneously, disposable tonic amount can reach 30-50 box equally, reduce dosing frequency, improve the drug ability of whole automatic dispensary.
Accompanying drawing explanation
Fig. 1 is lateral plan of the present invention.
Fig. 2 is front view of the present invention.
Fig. 3 is perspective view of the present invention.
Fig. 4 is the structural representation of medicine adding platform in the present invention.
Fig. 5 is the lateral plan of manipulator platform in the present invention.
Fig. 6 is the birds-eye view of manipulator platform in the present invention.
Fig. 7 is the front view of manipulator platform in the present invention.
Fig. 8 is the front view of lifting mechanism in the present invention.
Fig. 9 is the lateral plan of lifting mechanism in the present invention.
Figure 10 is the course of action schematic diagram of hook hand in the present invention.
Wherein: 1, Drug Storage; 101, chamber; 102, medicine box; 2, X-axis guide rail mechanism; 3, workplatform; 4, Y-axis guide rail mechanism; 401, Y-axis sliding shoe; 5, manipulator platform; 501, platform floor; 502, drive wheel; 503, linkage; 505, hook; 506, registration mast; 507, rotating shaft; 508, propeller shaft sleeve; 509, belt wheel; 510, wheel seat is driven; 511, Bidirectional-screw; 512, the first nut; 513, stretching motor; 514, pinion and rack; 515, slide block; 516, hook motor; 517, lifting bracket; 518, propulsion source is promoted; 519, enhancing screw; 520, the second nut; 521, bearing seat; 522, hinge mounting plate; 523, waist-shaped hole; ; 6, medicine groove; 601, knock hole.
Detailed description of the invention
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described.
As shown in Figure 1, Figure 2 and Figure 3, a kind ofly automatically add medicine taking mechanism for pharmacy, comprise Drug Storage 1 and workplatform 3, multiple chamber 101 in arranging in length and breadth is arranged in Drug Storage 1, the bottom surface of this chamber 101 is for tilting, discharge multiple medicine groove 6 side by side in the horizontal direction in each chamber 101, in medicine groove 6, longitudinally arrange multiple medicine box 102.As shown in Figure 1 and Figure 2, the conveying mechanism be used in X-axis and Y-axis moving linearly is installed between Drug Storage 1 and workplatform 3, conveying mechanism comprises X-axis guide rail mechanism 2, Y-axis guide rail mechanism 4 is by Y-axis sliding shoe 401 and X-axis guide rail mechanism 2 sliding block joint, a pair manipulator platform 5 step motor control makes upper and lower straight-line motion on Y-axis guide rail mechanism 4, and manipulator platform 5 is arranged on the left and right sides of Y-axis guide rail mechanism 4 respectively.
As shown in Fig. 4, Fig. 5, Fig. 6 and Fig. 7, workplatform 3 and manipulator platform 5 include one piece of platform floor 501, multipair drive wheel 502 is spaced and is arranged in the upper surface of platform floor 501, each drive wheel 502 is all connected with one end of rotating shaft 507, the other end of rotating shaft 507 to be stretched in platform floor 501 and is connected with belt wheel 509 by propeller shaft sleeve 508, and belt wheel 509 is by external drive and control of electric machine; The Bidirectional-screw 511 for tightening up drive wheel 502 is also arranged in platform floor 501, a pair first nuts 512 are threaded with Bidirectional-screw 511, each first nut 512 is all connected with driving one end of wheel seat 510 by sliding shoe, the other end of wheel seat 510 is driven to be connected with propeller shaft sleeve 508, above-mentioned Bidirectional-screw 511, first nut 512, sliding shoe and driving wheel seat 510 form tightening device, this tightening device for tightening up the relative distance between the row's drive wheels 502 of left and right two, thus ensures steady when entering Drug Storage 1 or workplatform 3 of medicine groove 6.As shown in Figure 6, platform floor 501 is also arranged multiple waist-shaped hole 523 for drive wheel 502 adjusting position, the installation site of each waist-shaped hole 523 is corresponding in drive wheel 502.
As shown in Fig. 7, Fig. 8 and Fig. 9, also lifting mechanism is arranged in the platform floor 501 of manipulator platform 5, lifting mechanism comprises lifting bracket 517, pair of bearing 521 is arranged on lifting bracket 517, enhancing screw 519 is installed between pair of bearing 521, and enhancing screw 519 is connected with the mouth promoting propulsion source 518.Second nut 520 is threaded with enhancing screw 519, second nut 520 by fastener and hinge mounting plate 522 affixed, hinge mounting plate 522 is by linkage 503 connecting platform base plate 501 and drive platform floor 501 to tilt, and the maximum tilt angle of platform floor 501 is 0 ° ~ 5 °.
As shown in Fig. 7 and Figure 10, stretching motor 513 is also arranged in the platform floor 501 of manipulator platform 5, the mouth of stretching motor 513 is connected with slide block 515 by pinion and rack 514, hook 505 is arranged on slide block 515, hook 505 is driven by hook motor 516 and circles, also install the registration mast 506 for coordinating knock hole 601 bottom medicine groove 6 in the end of hook 505, above-mentioned stretching motor 513, slide block 515 and pinion and rack 514 form drawing mechanism.
Specific works process of the present invention is as follows:
As Fig. 1, shown in Fig. 2 and Fig. 3, when needs enter Drug Storage 1 get it filled time, instruction is sent by external PLC, on X-axis guide rail mechanism, in X direction assigned address is moved on 2 by Y-axis sliding shoe 401 by Y-axis guide rail mechanism 4, then on Y-axis guide rail mechanism 4, upper and lower displacement is done by any one group of manipulator platform 5 of step motor control, after moving to the chamber 101 of specifying, now as Fig. 6, shown in Fig. 7 and Figure 10, hook 505 is driven by stretching motor 513 and is with movable slider 515 to do straight-line displacement on platform floor 501 by rack-and-gear 514, because hook 505 is arranged on slide block 515, therefore hook 505 is driven also to do straight-line displacement, after hook 505 arrives assigned address, started by hook motor 516 and drive hook 505 along the circumferential direction to lift, as shown in Figure 10, stretch into after the registration mast 506 of hook 505 one end upwards lifts in the knock hole 601 bottom medicine groove 6 and coordinate, then continue upwards to lift medicine groove 6, medicine groove 6 is tilted, registration mast 506 motor 513 that stretches after coordinating with hook 505 again drives and is with movable slider 515 to do straight-line displacement on platform floor 501 by rack-and-gear 514, as shown in Figures 5 to 7, the medicine groove 6 with medicine box 102 is made to pull out and enter platform floor 501 in chamber 101, drive wheel 502 on platform floor 501 makes medicine groove 6 enter platform floor 501 fast by external motor-driven rotation, after medicine groove 6 enters platform floor 501 completely, Bidirectional-screw 511 is driven by external connection power source and makes a pair first nuts 512 do straight-line displacement on Bidirectional-screw 511, first nut 512 is connected with driving one end of wheel seat 510 by sliding shoe, the other end of wheel seat 510 is driven to be connected with propeller shaft sleeve 508, control each drive wheel 502 adjusting position in waist-shaped hole 523 thus, thus reach the relative distance regulated between each pair of drive wheel 502, it is made to adapt to the medicine groove 6 of various sizes, and clamp medicine groove 6 held stationary in the course of action of manipulator platform 5 not drop, finally controlled to be moved to by X-axis guide rail mechanism 2 after manipulator platform 5 moves to proper height corresponding with workplatform 3 by Y-axis guide rail mechanism 4, then medicine groove 6 is driven to be delivered to workplatform 3 by drive wheel 502, the course of action that workplatform 3 receives medicine groove 6 is consistent with the course of action that above-mentioned manipulator platform 5 receives medicine groove 6.Contrary, when medicine groove 6 needs to enter Drug Storage 1 from workplatform 3, X-axis guide rail mechanism 2, the motion process of Y-axis guide rail mechanism 4 and manipulator platform 5 is constant, when medicine groove 6 needs to be delivered to Drug Storage 1, promote propulsion source 518 start and drive enhancing screw 519 to move, enhancing screw 519 drives the second nut 520 displacement, because the second nut 520 is by hinge mounting plate 522, linkage 503 is connected with platform floor 501, the straight-line displacement of hinge mounting plate 522 changes into the banking motion of platform floor 501 by linkage 503, it is identical with the angle of inclination bottom chamber 101 that the maximum tilt angle of platform floor 501 is that 0 ° ~ 5 ° platform floors 501 tilt to, by manipulator platform 5, the medicine groove 6 with medicine box 102 is inputed in chamber 101, the course of conveying of medicine groove 6 is identical with above-mentioned receiving course.
In the present invention X-axis guide rail mechanism 2 and Y-axis guide rail mechanism 4 walk axle accuracy error and control rate little, greatly reduce noise when manipulator platform 5 maximum speed is run, the noise control of entirety of the present invention is below 50 decibels, the layout of stretching motor and lifting mechanism ensure that manipulator platform 5 and medicine groove 6 are in crawl, and a series of actions of straight-line displacement completes all at short notice on guide rail, the shortest deadline is 2s, above-mentioned X-axis guide rail mechanism 2 and Y-axis guide rail mechanism 4 also install protection grating and Anticollision Measures, the accuracy rate that grating protecting control is made up the prescription, the crawl medicine groove 6 making manipulator platform 5 and the failed probability pushing medicine groove 6 be less than ten thousand/, misoperation rate processed is 0, utilize two manipulator platforms 5 in the present invention to achieve and add other medicine of variety classes simultaneously, disposable tonic amount can reach 30-50 box equally, reduce dosing frequency, improve the drug ability of whole automatic dispensary, protection grating and Anticollision Measures are set respectively in addition on X-axis guide rail mechanism 2 and Y-axis guide rail mechanism 4.
More than describing is explanation of the invention, and be not the restriction to invention, limited range of the present invention is see claim, and when without prejudice to basic structure of the present invention, the present invention can do any type of amendment.
Claims (6)
1. one kind adds medicine taking mechanism automatically for pharmacy, it is characterized in that: comprise Drug Storage (1) and workplatform (3), the conveying mechanism be used in X-axis and Y-axis moving linearly is installed between described Drug Storage (1) and workplatform (3), described conveying mechanism comprises X-axis guide rail mechanism (2), Y-axis guide rail mechanism (4) is by Y-axis sliding shoe (401) and described X-axis guide rail mechanism (2) sliding block joint, a pair manipulator platform (5) makes upper and lower straight-line motion by step motor control on described Y-axis guide rail mechanism (4), described manipulator platform (5) is installed on the left and right sides of Y-axis guide rail mechanism (4) respectively.
2. a kind ofly as claimed in claim 1 automatically add medicine taking mechanism for pharmacy, it is characterized in that: in described Drug Storage (1), arrange multiple chamber (101) in arranging in length and breadth, discharge multiple medicine groove (6) side by side in the horizontal direction in each chamber (101), in described medicine groove (6), longitudinally arrange multiple medicine box (102).
3. a kind ofly as claimed in claim 1 automatically add medicine taking mechanism for pharmacy, it is characterized in that: described workplatform (3) and manipulator platform (5) include one piece of platform floor (501), multipair drive wheel (502) is spaced and is arranged in the upper surface of platform floor (501), each drive wheel (502) is all connected with one end of rotating shaft (507), the other end of described rotating shaft (507) is stretched in platform floor (501) and is also connected with belt wheel (509) by propeller shaft sleeve (508), and described belt wheel (509) is by external drive and control of electric machine; Also arrange in described platform floor (501) and be used for the Bidirectional-screw (511) tightening up drive wheel (502), a pair first nuts (512) are threaded with described Bidirectional-screw (511), each first nut (512) is all connected with driving one end of wheel seat (510) by sliding shoe, and the other end of described driving wheel seat (510) is connected with propeller shaft sleeve (508).
4. a kind ofly as claimed in claim 3 automatically add medicine taking mechanism for pharmacy, it is characterized in that: in the platform floor (501) of described manipulator platform (5), also arrange lifting mechanism, described lifting mechanism comprises lifting bracket (517), pair of bearing (521) is arranged on described lifting bracket (517), enhancing screw (519) is installed between pair of bearing (521), second nut (520) is threaded with described enhancing screw (519), described enhancing screw (519) is connected with the mouth promoting propulsion source (524), described second nut (520) by fastener and hinge mounting plate (522) affixed, described hinge mounting plate (522) is by linkage (503) connecting platform base plate (501) and drive platform floor (501) to tilt.
5. a kind ofly as claimed in claim 3 automatically add medicine taking mechanism for pharmacy, it is characterized in that: in the platform floor (501) of described manipulator platform (5), also arrange stretching motor (513), the mouth of described stretching motor (513) is connected with slide block (515) by pinion and rack (514), hook (505) is arranged on described slide block (515), described hook (505) is driven by hook motor (516) and circles, registration mast (506) for coordinating medicine groove (6) bottom knock hole (601) is also installed in the end of described hook (505).
6. a kind ofly as claimed in claim 3 automatically add medicine taking mechanism for pharmacy, it is characterized in that: on described platform floor (501), also arrange multiple waist-shaped hole (523) for drive wheel (502) adjusting position, the installation site of each waist-shaped hole (523) is corresponding in drive wheel (502).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201510428465.1A CN104973374B (en) | 2015-07-20 | 2015-07-20 | A kind of automatic plus medicine taking mechanism for pharmacy |
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| CN201510428465.1A CN104973374B (en) | 2015-07-20 | 2015-07-20 | A kind of automatic plus medicine taking mechanism for pharmacy |
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| CN104973374B CN104973374B (en) | 2017-08-11 |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105692022A (en) * | 2016-03-31 | 2016-06-22 | 江苏迅捷装具科技有限公司 | Manipulator for automatically picking and placing drug container |
| CN106956884A (en) * | 2017-04-27 | 2017-07-18 | 苏州市厚宏智能科技有限公司 | Deposit medicine device, get it filled manipulator and dispensing machine |
| CN107590911A (en) * | 2016-07-07 | 2018-01-16 | 山东氦叁智能科技有限公司 | Fully-automatic intelligent pharmacy |
| CN109649907A (en) * | 2018-12-03 | 2019-04-19 | 南京金航特自动化科技有限公司 | A kind of feeding device based on straight line slide unit technology |
| CN109955240A (en) * | 2017-12-22 | 2019-07-02 | 苏州吉成智能科技有限公司 | A kind of multi-robot pick-and-place prescription method |
| CN110745434A (en) * | 2019-05-05 | 2020-02-04 | 浙江亿诚智能科技有限公司 | Automatic dispensing system for traditional Chinese medicine prescription |
| CN110954268A (en) * | 2019-12-20 | 2020-04-03 | 电子科技大学中山学院 | Unbalance loading calibration system |
| CN111166108A (en) * | 2020-02-09 | 2020-05-19 | 重庆万而亿科技有限公司 | Medicine placing system |
| CN111483734A (en) * | 2019-01-25 | 2020-08-04 | 东莞御膳坊信息技术有限公司 | Intelligent warehousing and conveying equipment |
| CN112607295A (en) * | 2021-02-01 | 2021-04-06 | 江苏迅捷装具科技有限公司 | Automatic dosing device and dosing method for vertical pharmacy |
| CN112978172A (en) * | 2021-02-09 | 2021-06-18 | 苏州艾隆科技股份有限公司 | Medicine storehouse |
| CN115258502A (en) * | 2022-09-09 | 2022-11-01 | 南京东坚仓储货架制造有限公司 | Automatic storage rack capable of intelligently storing and taking goods |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111483734B (en) * | 2019-01-25 | 2022-01-14 | 深圳御膳坊智能科技有限公司 | Intelligent warehousing and conveying equipment |
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| CN110745434A (en) * | 2019-05-05 | 2020-02-04 | 浙江亿诚智能科技有限公司 | Automatic dispensing system for traditional Chinese medicine prescription |
| CN110954268A (en) * | 2019-12-20 | 2020-04-03 | 电子科技大学中山学院 | Unbalance loading calibration system |
| CN111166108A (en) * | 2020-02-09 | 2020-05-19 | 重庆万而亿科技有限公司 | Medicine placing system |
| CN112607295A (en) * | 2021-02-01 | 2021-04-06 | 江苏迅捷装具科技有限公司 | Automatic dosing device and dosing method for vertical pharmacy |
| CN112978172A (en) * | 2021-02-09 | 2021-06-18 | 苏州艾隆科技股份有限公司 | Medicine storehouse |
| CN115258502A (en) * | 2022-09-09 | 2022-11-01 | 南京东坚仓储货架制造有限公司 | Automatic storage rack capable of intelligently storing and taking goods |
| CN115258502B (en) * | 2022-09-09 | 2023-09-19 | 南京东坚仓储货架制造有限公司 | Automatic storage goods shelf for intelligent goods storage and retrieval |
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Denomination of invention: An automatic drug adding and taking mechanism for pharmacy Effective date of registration: 20220114 Granted publication date: 20170811 Pledgee: Agricultural Bank of China Limited by Share Ltd. Wuxi Xishan branch Pledgor: XINGUANG NUMERICAL CONTROL TECHNOLOGY Co.,Ltd. Registration number: Y2022320010021 |
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