CN104973374B - A kind of automatic plus medicine taking mechanism for pharmacy - Google Patents
A kind of automatic plus medicine taking mechanism for pharmacy Download PDFInfo
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- CN104973374B CN104973374B CN201510428465.1A CN201510428465A CN104973374B CN 104973374 B CN104973374 B CN 104973374B CN 201510428465 A CN201510428465 A CN 201510428465A CN 104973374 B CN104973374 B CN 104973374B
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Abstract
The present invention relates to a kind of automatic plus medicine taking mechanism for pharmacy, including Drug Storage and workbench, installed between the Drug Storage and workbench in X-axis and Y-axis conveying mechanism for linear motion, the conveying mechanism includes X-axis guide rail mechanism, Y-axis guide rail mechanism is connected by Y-axis sliding shoe with the X-axis guide rail mechanism slips, a pair of manipulator platforms by step motor control make in the Y-axis guide rail mechanism above and below move along a straight line, the manipulator platform is respectively arranged in the left and right sides of Y-axis guide rail mechanism.In the present invention X-axis guide rail mechanism and Y-axis guide rail mechanism 4 walk axle accuracy error and control speed is small, greatly reduce the noise during operation of manipulator platform maximal rate, overall noise control of the invention is below 50 decibels, the arrangement of stretching motor and lifting mechanism ensure that a series of actions of straight-line displacement in crawl and guide rail of manipulator platform and drug slot is all completed in a short time, and the most short deadline is 2s.
Description
Technical field
The present invention relates to automation equipment, more particularly to a kind of automatic plus medicine taking mechanism for pharmacy.
Background technology
At present, existing medicine is put middle dispensing, got it filled and the filling of medicine is required to carry out using manual type, this artificial
The mode workload of crawl or filling is big, easily makes mistakes, making an inventory for medicine is also wasted time and energy, in order to make up above-mentioned artificial crawl and
Filling medicine workload the problem of and derived automatic dispensary device, the medicine box in existing pharmacy device is steady in drug slot
Place, due to single drug slot to deposit dose limited (while between 10-20 boxes), therefore medicine box will be by itself weight in drug
Measure and glided along the inclined-plane of drug slot, stuck phenomenon, which easily occurs, in the mode that this dependence own wt glides to be needed manually to exclude barrier
Hinder, the characteristics of due to above-mentioned access medicine, cause this kind of automatic dispensary equipment mechanism bulky, take the sky of hospital pharmacy
Between it is big, it is desirable to height also reach 2.6m-2.8 meters.In addition when going out the big situation of dose, due to the one of automatic dispensary device
Medicine quantity does not occur that the situation for having little time tonic occurs to secondary property very little, just, so as to need artificial dosing, causes tonic efficiency
It is low.
The content of the invention
The applicant is directed to above-mentioned existing issue, has carried out Improvement and for pharmacy automatic plus has been got it filled there is provided a kind of
Mechanism, it can realize the grasping movement to whole drug slot automatically, and automaticity is high, time saving and energy saving, takes small volume.
The technical solution adopted in the present invention is as follows：
A kind of automatic plus medicine taking mechanism for pharmacy, including Drug Storage and workbench, in the Drug Storage and workbench
Between install in X-axis and Y-axis conveying mechanism for linear motion, the conveying mechanism to include X-axis guide rail mechanism, Y-axis is led
Rail mechanism is connected by Y-axis sliding shoe with the X-axis guide rail mechanism slips, and a pair of manipulator platforms are by step motor control in institute
State and moved along a straight line above and below making in Y-axis guide rail mechanism, the manipulator platform is respectively arranged in the left and right sides of Y-axis guide rail mechanism.
Its further technical scheme is：
Arrangement is multiple in the chamber arranged in length and breadth in the Drug Storage, and multiple medicines are discharged side by side in the horizontal direction in each chamber
Groove, in the drug slot along the multiple medicine boxs of longitudinal arrangement；
Workbench and the manipulator platform includes one piece of platform floor, and multipair driving wheel is spaced and is arranged in
The upper surface of platform floor, each driving wheel is connected with one end of rotating shaft, and the other end of the rotating shaft is stretched into platform floor simultaneously
It is connected by propeller shaft sleeve with belt wheel, the belt wheel is by external drive and control of electric machine；Also being arranged in the platform floor is used for
The Bidirectional-screw of driving wheel is tightened up, a pair of first nuts are threadedly coupled with the Bidirectional-screw, each first nut is by sliding
Block is with driving one end of wheel seat to be connected, and the other end of the driving wheel seat is connected with propeller shaft sleeve；
In also arranging lifting mechanism in the platform floor of the manipulator platform, the lifting mechanism includes lifting bracket,
A pair of bearing is arranged on the lifting bracket, and enhancing screw is installed between a pair of bearing, and the second nut is carried with described
Rise wire rod thread connection, the enhancing screw is connected with the output end of lifting power source, second nut by fastener and
Hinge mounting plate is affixed, and the hinge mounting plate is by linkage connecting platform bottom plate and drives platform floor to tilt；
In also arrangement stretches motor in the platform floor of the manipulator platform, the output end of the stretching motor passes through tooth
Wheel rackwork is connected with sliding block, and hook is arranged on the sliding block, and the hook is circled by the driving of hook motor, in
The end of the hook is also installed by the locating dowel for coordinating drug slot bottom positioning hole；
In also arranging multiple waist-shaped holes for driving wheel adjusting position, the installation position of each waist-shaped hole on the platform floor
It is placed in driving wheel corresponding.
Beneficial effects of the present invention are as follows：
In the present invention X-axis guide rail mechanism and Y-axis guide rail mechanism 4 walk axle accuracy error and control speed is small, substantially reduce
The noise during operation of manipulator platform maximal rate, the overall noise control of the present invention less than 50 decibels, stretch motor and
The arrangement of lifting mechanism ensure that a series of actions of manipulator platform and the drug slot straight-line displacement in crawl and guide rail all short
Complete in time, the most short deadline is 2s, the present invention using lifting mechanism, drawing mechanism and hook realize drug slot from
Dynamicization is exported and is pushed into, and is realized with two manipulator platforms in the present invention while adding the other medicine of variety classes, disposable tonic
Amount can equally reach 30-50 boxes, reduce dosing frequency, improve the drug ability of whole automatic dispensary.
Brief description of the drawings
Fig. 1 is side view of the invention.
Fig. 2 is front view of the invention.
Fig. 3 is dimensional structure diagram of the invention.
Fig. 4 is the structural representation of medicine adding platform in the present invention.
Fig. 5 is the side view of manipulator platform in the present invention.
Fig. 6 is the top 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 side view of lifting mechanism in the present invention.
Figure 10 is the action process schematic diagram of hook hand in the present invention.
Wherein：1st, Drug Storage；101st, chamber；102nd, medicine box；2nd, X-axis guide rail mechanism；3rd, workbench；4th, Y-axis guide rail mechanism；
401st, Y-axis sliding shoe；5th, manipulator platform；501st, platform floor；502nd, driving wheel；503rd, linkage；505th, hook；506、
Locating dowel；507th, rotating shaft；508th, propeller shaft sleeve；509th, belt wheel；510th, wheel seat is driven；511st, Bidirectional-screw；512nd, the first nut；
513rd, motor is stretched；514th, pinion and rack；515th, sliding block；516th, hook motor；517th, lifting bracket；518th, power is lifted
Source；519th, enhancing screw；520th, the second nut；521st, bearing block；522nd, hinge mounting plate；523rd, waist-shaped hole；；6th, drug slot；
601st, positioning hole.
Embodiment
Below in conjunction with the accompanying drawings, the embodiment of the present invention is illustrated.
As shown in Figure 1, Figure 2 and Figure 3, a kind of automatic plus medicine taking mechanism for pharmacy, including Drug Storage 1 and workbench 3,
Arrangement is multiple in the chamber 101 arranged in length and breadth in Drug Storage 1, and the bottom surface of the chamber 101 is tilts, along level side in each chamber 101
It is interior along the multiple medicine boxs 102 of longitudinal arrangement in drug slot 6 to multiple drug slots 6 are discharged side by side.As shown in Figure 1 and Figure 2, in Drug Storage 1 and work
Make to install in X-axis and Y-axis conveying mechanism for linear motion, conveying mechanism to include X-axis guide rail mechanism 2, Y between platform 3
Spindle guide rail mechanism 4 is slidably connected by Y-axis sliding shoe 401 with X-axis guide rail mechanism 2, a pair of step motor controls of manipulator platform 5
Moved along a straight line above and below making in Y-axis guide rail mechanism 4, manipulator platform 5 is separately mounted to the left and right sides of Y-axis guide rail mechanism 4.
As shown in Fig. 4, Fig. 5, Fig. 6 and Fig. 7, workbench 3 and manipulator platform 5 include one piece of platform floor 501, many
The upper surface of platform floor 501 is spaced and is arranged in driving wheel 502, and each driving wheel 502 connects with one end of rotating shaft 507
Connect, the other end of rotating shaft 507 is stretched into platform floor 501 and is connected by propeller shaft sleeve 508 with belt wheel 509, and belt wheel 509 is by outer
Connect drive and control of electric machine；The Bidirectional-screw 511 for tightening up driving wheel 502, a pair of first spiral shells are also arranged in platform floor 501
Mother 512 is threadedly coupled with Bidirectional-screw 511, and each first nut 512 is connected by sliding shoe with one end of driving wheel seat 510,
The other end of driving wheel seat 510 is connected with propeller shaft sleeve 508, above-mentioned Bidirectional-screw 511, the first nut 512, sliding shoe and driving
Wheel seat 510 constitutes tightening device, and the tightening device is used to tighten up the relative distance between two row's driving wheels 502 of left and right, so as to protect
Demonstrate,prove drug slot 6 steady when entering Drug Storage 1 or workbench 3.As shown in fig. 6, also arranging multiple for driving on platform floor 501
The waist-shaped hole 523 of the adjusting position of driving wheel 502, the installation site of each waist-shaped hole 523 is corresponding in driving wheel 502.
As shown in Fig. 7, Fig. 8 and Fig. 9, in also arranging lifting mechanism, lifting machine in the platform floor 501 of manipulator platform 5
Structure includes lifting bracket 517, and a pair of bearing 521 is arranged on lifting bracket 517, and enhancing screw 519 is installed on a pair of bearings
Between seat 521, enhancing screw 519 is connected with lifting the output end of power source 518.Second nut 520 and the screw thread of enhancing screw 519
Connection, the second nut 520 is affixed by fastener and hinge mounting plate 522, and hinge mounting plate 522 is connected by linkage 503
Connect platform floor 501 and drive platform floor 501 to tilt, the maximum tilt angle of platform floor 501 is 0 °~5 °.
As shown in Fig. 7 and Figure 10, in also arrangement stretches motor 513, stretching electricity in the platform floor 501 of manipulator platform 5
The output end of machine 513 is connected by pinion and rack 514 with sliding block 515, and hook 505 is arranged on sliding block 515, hook 505
Circled, also installed in the end of hook 505 for coordinating the bottom positioning hole 601 of drug slot 6 by the driving of hook motor 516
Locating dowel 506, above-mentioned stretching motor 513, sliding block 515 and pinion and rack 514 constitute drawing mechanism.
The specific work process of the present invention is as follows：
As shown in Figure 1, Figure 2 and Figure 3, when needing to get it filled into Drug Storage 1, instruction is sent by external PLC, by Y
Spindle guide rail mechanism 4 by Y-axis sliding shoe 401 2 in X-axis guide rail mechanism on be moved to specified location in X direction, then by stepping
Any one group of manipulator platform 5 of motor control makees upper and lower displacement in Y-axis guide rail mechanism 4, is moved to after the chamber 101 specified,
Now as shown in Fig. 6, Fig. 7 and Figure 10, hook 505 is driven by stretching motor 513 and by rack-and-pinion 514 with movable slider 515
Make straight-line displacement on platform floor 501, because hook 505 is arranged on sliding block 515, therefore drive hook 505 also to make straight line
Displacement, hook 505 is reached after specified location, is started by hook motor 516 and is driven hook 505 along the circumferential direction to lift, and is such as schemed
Shown in 10, the locating dowel 506 of the one end of hook 505, which is stretched into after being lifted up in the positioning hole 601 of the bottom of drug slot 6, to be coordinated, Ran Houji
It is continuous to be lifted up drug slot 6, tilt drug slot 6, locating dowel 506 finishes after-drawing motor 513 with the cooperation of hook 505 and driven again simultaneously
Straight-line displacement is made with movable slider 515 on platform floor 501 by rack-and-pinion 514, as shown in Figures 5 to 7, makes to carry medicine box
102 drug slot 6 is pulled out and entered on platform floor 501 out of chamber 101, and the driving wheel 502 on platform floor 501 is by external electricity
Machine driving rotation makes drug slot 6 rapidly enter platform floor 501, after drug slot 6 is completely into platform floor 501, Bidirectional-screw 511
By external connection power source, driving makes a pair of first nuts 512 make straight-line displacement on Bidirectional-screw 511, and the first nut 512 passes through cunning
Motion block is with driving one end of wheel seat 510 to be connected, and the other end of driving wheel seat 510 is connected with propeller shaft sleeve 508, thus controls each drive
The adjusting position in waist-shaped hole 523 of driving wheel 502, so as to reach the relative distance between each pair of driving wheel 502 of regulation, is adapted it to
The drug slot 6 of various sizes, and clamp the held stationary in the action process of manipulator platform 5 of drug slot 6 and do not drop, finally by Y
The control machinery hand platform 5 of spindle guide rail mechanism 4 is moved to after proper height to be moved to and the phase of workbench 3 by X-axis guide rail mechanism 2
Correspondence, then drives drug slot 6 to be delivered to workbench 3 by driving wheel 502, workbench 3 receive the action process of drug slot 6 with it is upper
The action process for stating the reception drug slot 6 of manipulator platform 5 is consistent.Opposite, when drug slot 6 needs to enter Drug Storage 1 from workbench 3
When, the motion process of X-axis guide rail mechanism 2, Y-axis guide rail mechanism 4 and manipulator platform 5 is constant, when drug slot 6 needs to be delivered to Drug Storage
When 1, lifting power source 518 starts and drives enhancing screw 519 to move, and enhancing screw 519 drives the displacement of the second nut 520, by
Be connected in the second nut 520 by hinge mounting plate 522, linkage 503 with platform floor 501, hinge mounting plate 522 it is straight
Displacement of the lines changes into the banking motion of platform floor 501 by linkage 503, and the maximum tilt angle of platform floor 501 is
0 °~5 ° platform floors 501 tilt to identical with the angle of inclination of the bottom of chamber 101, and medicine box 102 will be carried by manipulator platform 5
Drug slot 6 input to chamber 101, the course of conveying of drug slot 6 is identical with above-mentioned reception process.
In the present invention X-axis guide rail mechanism 2 and Y-axis guide rail mechanism 4 walk axle accuracy error and control speed is small, substantially reduce
The noise during operation of manipulator platform 5 maximal rate, the overall noise control of the present invention less than 50 decibels, stretch motor and
The arrangement of lifting mechanism ensure that a series of actions of straight-line displacement in crawl and guide rail of manipulator platform 5 and drug slot 6 all exists
Completed in short time, the most short deadline is 2s, protection light is also installed in above-mentioned X-axis guide rail mechanism 2 and Y-axis guide rail mechanism 4
Grid and Anticollision Measures, the accuracy rate that grating protection control is made up the prescription make the crawl drug slot 6 of manipulator platform 5 and are pushed into the mistake of drug slot 6
Probability is lost less than a ten thousandth, misoperation rate processed is 0, realized using two manipulator platforms 5 in the present invention while plus difference
The other medicine of species, disposable tonic amount can equally reach 30-50 boxes, reduce dosing frequency, improve whole automatic dispensary
Drug ability, protection grating and Anticollision Measures is set respectively in X-axis guide rail mechanism 2 and Y-axis guide rail mechanism 4 in addition.
Above description is explanation of the invention, is not the restriction to invention, limited range of the present invention is referring to right
It is required that, in the case of the basic structure without prejudice to the present invention, the present invention can make any type of modification.
Claims (4)
1. a kind of automatic plus medicine taking mechanism for pharmacy, it is characterised in that：Including Drug Storage（1）And workbench（3）, in described
Drug Storage（1）And workbench（3）Between install in X-axis and Y-axis conveying mechanism for linear motion, the conveying mechanism bag
Include X-axis guide rail mechanism（2）, Y-axis guide rail mechanism（4）Pass through Y-axis sliding shoe（401）With the X-axis guide rail mechanism（2）The company of slip
Connect, a pair of manipulator platforms（5）By step motor control in the Y-axis guide rail mechanism（4）Moved along a straight line above and below upper work, the machine
Tool hand platform（5）It is respectively arranged in Y-axis guide rail mechanism（4）The left and right sides；
The workbench（3）And manipulator platform（5）Include one piece of platform floor（501）, multipair driving wheel（502）Interval
Arrange and be arranged in platform floor（501）Upper surface, each driving wheel（502）And rotating shaft（507）One end connection, described turn
Axle（507）The other end stretch into platform floor（501）It is interior and pass through propeller shaft sleeve（508）With belt wheel（509）Connection, the belt wheel
（509）By external drive and control of electric machine；In the platform floor（501）Inside also arrange for tightening up driving wheel（502）It is two-way
Screw mandrel（511）, a pair of first nuts（512）With the Bidirectional-screw（511）Threaded connection, each first nut（512）Pass through
Sliding shoe and driving wheel seat（510）One end connection, the driving wheel seat（510）The other end and propeller shaft sleeve（508）Connection；
In the manipulator platform（5）Platform floor（501）Lifting mechanism is inside also arranged, the lifting mechanism includes lifting branch
Frame（517）, a pair of bearing（521）Installed in the lifting bracket（517）On, enhancing screw（519）It is installed on a pair of bearings
Seat（521）Between, the second nut（520）With the enhancing screw（519）Threaded connection, the enhancing screw（519）With lifting
Power source（524）Output end connection, second nut（520）Pass through fastener and hinge mounting plate（522）It is affixed, it is described
Hinge mounting plate（522）Pass through linkage（503）Connecting platform bottom plate（501）And drive platform floor（501）Tilt.
2. a kind of automatic plus medicine taking mechanism for pharmacy as claimed in claim 1, it is characterised in that：The Drug Storage（1）It is interior
Arrangement is multiple in the chamber arranged in length and breadth（101）, each chamber（101）Inside discharge multiple drug slots side by side in the horizontal direction（6）, in institute
State drug slot（6）It is interior along the multiple medicine boxs of longitudinal arrangement（102）.
3. a kind of automatic plus medicine taking mechanism for pharmacy as claimed in claim 1, it is characterised in that：It is flat in the manipulator
Platform（5）Platform floor（501）Inside also arrangement stretches motor（513）, the stretching motor（513）Output end pass through gear teeth
Bar mechanism（514）With sliding block（515）Connection, hook（505）Installed in the sliding block（515）On, the hook（505）By hook
Motor（516）Driving is circled, in the hook（505）End also install for coordinating drug slot（6）Bottom positioning hole
（601）Locating dowel（506）.
4. a kind of automatic plus medicine taking mechanism for pharmacy as claimed in claim 1, it is characterised in that：In the platform floor
（501）On also arrange it is multiple be used for driving wheel（502）The waist-shaped hole of adjusting position（523）, each waist-shaped hole（523）Installation site
In driving wheel（502）It is corresponding.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510428465.1A CN104973374B (en) | 2015-07-20 | 2015-07-20 | A kind of automatic plus medicine taking mechanism for pharmacy |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510428465.1A CN104973374B (en) | 2015-07-20 | 2015-07-20 | A kind of automatic plus medicine taking mechanism for pharmacy |
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| Publication Number | Publication Date |
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| CN104973374A CN104973374A (en) | 2015-10-14 |
| CN104973374B true CN104973374B (en) | 2017-08-11 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510428465.1A Active CN104973374B (en) | 2015-07-20 | 2015-07-20 | A kind of automatic plus medicine taking mechanism for pharmacy |
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Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105692022B (en) * | 2016-03-31 | 2018-04-24 | 江苏迅捷装具科技有限公司 | The manipulator of automatic clamping and placing drug slot |
| CN107590911A (en) * | 2016-07-07 | 2018-01-16 | 山东氦叁智能科技有限公司 | Fully-automatic intelligent pharmacy |
| 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 |
| CN109955240B (en) * | 2017-12-22 | 2023-08-01 | 苏州吉成智能科技有限公司 | Multi-manipulator medicine taking and placing method |
| 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 |
| 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 |
| 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 |
| CN110954268B (en) * | 2019-12-20 | 2021-10-22 | 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 |
| CN112978172B (en) * | 2021-02-09 | 2022-11-25 | 苏州艾隆科技股份有限公司 | Intelligent prescription dispensing system |
| 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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| JPH0260648A (en) * | 1988-08-26 | 1990-03-01 | Central Unie:Kk | Automatic injecting drug paying out device |
| JPH10218318A (en) * | 1997-02-13 | 1998-08-18 | Mitsubishi Heavy Ind Ltd | Mechanical warehouse |
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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 |