CN105966652A - Full-automatic medicine dispensing system of traditional Chinese medicine prescriptions - Google Patents
Full-automatic medicine dispensing system of traditional Chinese medicine prescriptions Download PDFInfo
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- CN105966652A CN105966652A CN201610500966.0A CN201610500966A CN105966652A CN 105966652 A CN105966652 A CN 105966652A CN 201610500966 A CN201610500966 A CN 201610500966A CN 105966652 A CN105966652 A CN 105966652A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B1/00—Packaging fluent solid material, e.g. powders, granular or loose fibrous material, loose masses of small articles, in individual containers or receptacles, e.g. bags, sacks, boxes, cartons, cans, or jars
- B65B1/30—Devices or methods for controlling or determining the quantity or quality or the material fed or filled
- B65B1/36—Devices or methods for controlling or determining the quantity or quality or the material fed or filled by volumetric devices or methods
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B1/00—Packaging fluent solid material, e.g. powders, granular or loose fibrous material, loose masses of small articles, in individual containers or receptacles, e.g. bags, sacks, boxes, cartons, cans, or jars
- B65B1/30—Devices or methods for controlling or determining the quantity or quality or the material fed or filled
- B65B1/46—Check-weighing of filled containers or receptacles
Abstract
The invention discloses a full-automatic medicine dispensing system of traditional Chinese medicine prescriptions. The full-automatic medicine dispensing system comprises a box unloading device, a medicine box conveying and metering device, a manipulator precise medicine taking and unloading device, a film sealing device, a computer control device for controlling actions of the whole system, a medicine box turning and poking device and a medicine box lifting device. Medicine boxes are sent out by the box unloading device, are conveyed by the medicine box conveying and metering device, are matched with the manipulator precise medicine taking and unloading device for quantitative medicine unloading, are sent to the film sealing device for sealing by the medicine box turning and poking device, and are finally sent out by the medicine box lifting device. The full-automatic medicine dispensing system is high in automation degree, controls all parts to actuate the whole process by the computer control device, can automatically and accurately dispense medicines in the traditional Chinese medicine prescriptions after inputting the traditional Chinese medicine prescriptions through the computer control device, seals and sends out the medicines, effectively reduces the labor intensity of medicine dispensing nurses, and improves the medicine dose accuracy.
Description
Technical field
The present invention relates to medicine production technical field, especially a kind of full-automatic dispensing system of prescriptions of Chinese medicine.
Background technology
At present, both at home and abroad Chinese medicine granulating research is mainly manifested in two aspects.One is Chinese medicine decoction made from powder, i.e. the prepared slices of Chinese crude drugs is ground into the granule with certain particle size, to improve fried efficiency, increases curative effect, saving Chinese medicaments resource.Two is single or compound recipe concentrated extract granule, i.e. by modern science and technology, in conjunction with other scientific achievements of the process of preparing Chinese medicine, medicament, phytochemistry and modern age, by single medicinal material or traditional classical compound recipe extracting directly, it is condensed into extractum, it is reprocessed into granule, directly takes for patient.
Production process for Chinese medicine has been realized in standardization and standardization, but the terminal sale for Chinese medicine, especially in accordance with doctor formula in hospital and the process of making up a prescription of pharmacy, a lot of hospitals and pharmacy are followed traditional hands and are grabbed, weigh with a small steelyard the mode of scale, there is dispensing method to fall behind, measure inaccurate, the defect such as inefficiency.
For solving the manual problem grabbing existence of making up a prescription, the Chinese invention patent of Application No. 201510596956.7, disclose a kind of Chinese medicinal granule continuous metering blanking device and metering baiting method, wherein, continuous metering blanking device includes workbench, storage bottle, the Quantitative dosing lid, pulp-collecting box, electronic scale, guidance panel and the controller that are fixed on storage bottle；And measuring baiting method is to utilize this continuous metering blanking device to make up a prescription, it is possible to drop into again after being measured by the dip hatch of Quantitative dosing lid in pulp-collecting box and carry out weight verification, it is possible to find error and solve, improve the weight accuracy of Quantitative dosing.During whole, staff is without contacting medicine, safety and sanitation.But in actual applications, because being used alone the inefficient of this Chinese medicinal granule continuous metering blanking device, the needs that make up a prescription of reality cannot be met, supporting related device is needed to ensure its Effec-tive Function, therefore, needing a kind of system automatically can made up a prescription according to prescriptions of Chinese medicine of design badly, this system need to include box under the stripping of medicine box, medicine box transmission, automated dispensing to medicine box is interior, encapsulate, the device such as send.
Summary of the invention
It is an object of the invention to overcome the deficiency of above-mentioned prior art, it is provided that a kind of simple in construction, energy fast and stable are got it filled and put in poison and the full-automatic dispensing system of prescriptions of Chinese medicine of encapsulation.
To achieve these goals, the technical solution used in the present invention is: a kind of full-automatic dispensing system of prescriptions of Chinese medicine, it is characterised in that: include that lower box device, medicine box transmit metering device, mechanical hand and precisely get it filled lower medicine device, overlay film closing device and control the Computer Control Unit of whole system action；Medicine box sent by lower box device, transmit metering device through medicine box transmits, and cooperative mechanical hands is precisely got it filled after lower medicine device quantitatively puts in poison, overlay film closing device carry out sealing and send.
Medicine box transmits metering device and includes medicine box bracket, metrological service and displacement connecting gear, medicine box bracket offers multiple medicine box putting hole, metrological service includes mounting rod, medicine box pallet, weight sensor and electric elevator, weight sensor is arranged on mounting rod, medicine box pallet is arranged on immediately below medicine box putting hole and is arranged on weight sensor, mounting rod is fixing with electric elevator to be connected, and electric elevator and medicine box bracket are separately mounted to shift on connecting gear and can move horizontally under the driving of displacement connecting gear.
Mechanical hand lower medicine device of precisely getting it filled includes mechanical hand, mechanical hand displacement drive mechanism, is placed with the drawer type multilayer medicine frame medicine storage cabinet of Chinese medicinal granule medicine bottle and is driven the multistation prescribe medicine driving means of prescribe medicine；Mechanical hand includes mechanical finger, folding drive mechanism, FRID automatic identification sensor, support plate is installed and is fixed on the controller installed on support plate, folding drive mechanism includes drive shell, drive link, flat horizontal block and lead screw motor, the end of mechanical finger is arranged in drive shell by rotating shaft, the two ends of drive link are hinged with mechanical finger and balance weight respectively, lead screw motor is fixed on installs on support plate and the end of screw mandrel is fixed with Ping Hengkuai center and is connected, FRID automatic identification sensor is arranged on balance weight, mechanical hand displacement drive mechanism includes horizontal drive mechanism and upright driving mechanism；Drawer type multilayer medicine frame medicine storage cabinet includes cabinet, be arranged on cabinet string drawer and driving means, driving means can drive drawer to open or close, the uniform placement position being provided with Chinese medicinal granule medicine bottle on drawer inner bottom plating；Multistation prescribe medicine driving means includes strip casing and the prescribe medicine driver driving medicine bottle blanking lid automatically to put in poison, the cover plate of strip casing offers multiple prescribe medicine hole, one prescribe medicine driver is installed at each prescribe medicine hole, medicine box transmit metering device displacement connecting gear be arranged on strip casing, it is corresponding with hole of putting in poison that medicine box bracket can make medicine box putting hole when mobile.
Further, described lower box device includes gripper shoe, medicine box storehouse cylinder, medicine box mechanism for stripping and medicine box sensor for countering, medicine box storehouse cylinder is through gripper shoe and fixes on the supporting plate, medicine box sensor for countering is arranged on below the cylinder of medicine box storehouse, medicine box mechanism for stripping includes motor, toggle and slip stripping bracket, motor and slip stripping bracket are installed on the supporting plate, are connected by toggle between slip stripping bracket and motor output shaft, and motor can drive slip stripping bracket to reciprocate；Described slip stripping bracket includes U-shaped support body, release member and guide rail mechanism, U-shaped support body is connected with described toggle, the both sides inwall of U-shaped support body is mounted on a release member, release member include lower receiving sheet, upper receiving sheet and under press separating sheet, described U-shaped support body both sides are respectively provided with one group of guide rail mechanism, guide rail mechanism includes the guide rail being arranged on U-shaped support body and installs track base on the supporting plate, and guide rail matches with track base.
Further, described overlay film closing device includes conveyer mechanism and film-covering mechanism, film-covering mechanism includes that frame, overlay film pressure head, ram drive mechanism, packaging film install wheel, packaging film traction wheel, traction wheel drive motor and the position sensor put in place for detection kit, ram drive mechanism, packaging film are installed wheel, packaging film traction wheel and position sensor and are installed in frame, and overlay film pressure head is connected with ram drive mechanism and is arranged on the top of conveyer mechanism.
Further, present invention additionally comprises a medicine box corner striking gear, medicine box corner striking gear includes mounting bracket, motor and driving lever, motor is arranged in mounting bracket, driving lever includes swing arm and pulling part, and one end of swing arm is connected with motor output shaft, and the other end is fixing with pulling part to be connected.
Further, present invention additionally comprises a medicine box lowering or hoisting gear, medicine box lowering or hoisting gear includes medicine box chute, chute lowering or hoisting gear and is arranged on the locating piece on chute lowering or hoisting gear top, chute lowering or hoisting gear includes that lifting drives assembly and elevator, medicine box chute is arranged on elevator and is obliquely installed, and can swing around elevator, it is also associated with a spring between one end and the elevator of medicine box chute.
Further, described mechanical hand includes an anticollision sensor, and anticollision sensor is arranged on described balance weight FRID and is positioned at automatic identification sensor side, is provided with slipmat at each mechanical finger finger tip.
Further, the bottom at each described drawer is provided with medicated powder disposable box；The driving means of described drawer type multilayer medicine frame medicine storage cabinet includes servomotor and belt component, and belt component is made up of belt wheel, belt and the pushing block being fixedly mounted on belt, and pushing block is fixing with the rear portion of described drawer to be connected.
Further, described prescribe medicine driver includes that bearing mounting base, bearing, blanking drive ring and servomotor, blanking drives ring to include ring body, be arranged in ring inner body wall and the fixture block that can coordinate with Chinese medicinal granule medicine bottle medicine dispensing cover and the double wedge being arranged on ring outer body wall, blanking drives ring to be arranged on bearing mounting base by bearing, blanking is driven and is connected by cingulum between ring and servomotor, and bearing mounting base and servomotor are installed on the cover board.
Further, described displacement connecting gear includes base housing, the guide rail being arranged in base housing, the slide block coordinated with guide rail, the transmission case being arranged on slide block, cogged drive belt and servomotor, transmission case includes casing, driving gear, first directive wheel and the second directive wheel, driving gear is arranged in casing, casing is provided with the inlet and outlet of cogged drive belt, first directive wheel, second directive wheel is separately mounted to the import department of casing, exit, transmit cingulum one end and be fixed on one end of base housing, the other end is entered by transmission case import, engage with driving gear after the first directive wheel, stretch out after the second directive wheel guides again, fix with the other end of base housing and be connected, driving gear is by driven by servomotor, described electric elevator and described medicine box bracket are arranged on transmission case；A driven gear it is also equipped with in described transmission case, driven gear and described driving gear interval are arranged, the 3rd directive wheel it is also equipped with between driven gear and described driving gear, described transmission cingulum engages with driven gear after engaging with described driving gear after the 3rd directive wheel guides, then stretches out after the second directive wheel guides.
The invention has the beneficial effects as follows: automaticity is high, whole process is performed by Computer Control Unit control, all parts, and process of making up a prescription is without manual intervention.During use, after being inputted by Computer Control Unit by prescriptions of Chinese medicine, the medicine in prescriptions of Chinese medicine just can be assorted by system automatically and accurately, and encapsulation is sent；Effectively reduce the labor intensity of the nursing staff that makes up a prescription, improve the accuracy of drug dose.The prescribe medicine mode of multistation, it is possible to once mix multi-agent medicine.
Concrete, use the structure of above-mentioned lower box device, by arranging medicine box mechanism for stripping and medicine box sensor for countering, it is possible to be stored in single being stripped out and counting of medicine box in the cylinder of medicine box storehouse by stacking quickly and accurately, the most lower box operation of medicine box can be realized.
Transmit metering device and mechanical hand by medicine box precisely to get it filled the cooperation of lower medicine device, it is possible to be automatically performed the whole process of automatic accurate blanking.Using drawer type multilayer medicine frame medicine storage cabinet to deposit Chinese medicinal granule medicine bottle, can save space, deposit more middle drug class, mechanical hand runs in X-axis and Y-axis, and speed is conducive to Quick medicine-taking soon.
The present invention is by the way of the online weighing Real-time Feedback of metrological service, and the volumetric method prescribe medicine mode in conjunction with the Quantitative dosing lid of medicine bottle is verified, it is possible to when avoiding the simple allotment of method by measure, the uneven problem causing prescribe medicine metering inaccurate of Chinese medicinal granule granularity.
Accompanying drawing explanation
The present invention is described in further detail below in conjunction with the accompanying drawings.
Fig. 1 is the structural representation of the present invention.
Fig. 2 is the structural representation of lower box device in the present invention.
Fig. 3 is the structural representation of another angle of Fig. 2.
Fig. 4 is the schematic diagram that in Fig. 2, slip stripping bracket is connected with toggle.
Fig. 5 be Chinese medicine box of the present invention transmit metering device remove base housing and transmit cingulum structural representation.
Fig. 6 is the structural representation of Fig. 5 other direction.
Fig. 7 is the structural representation shifting connecting gear in Fig. 6.
Fig. 8 is the schematic perspective view in Fig. 7 within transmission case.
Fig. 9 is that in the present invention, mechanical hand is precisely got it filled the structural representation of lower medicine device.
Figure 10 is the structural representation of mechanical hand in Fig. 9.
Figure 11 is the generalized section of mechanical hand in Fig. 9.
Figure 12 is the structural representation of drawer type multilayer medicine frame medicine storage cabinet in Fig. 9.
Figure 13 is the view that in Fig. 9, drawer type multilayer medicine frame medicine storage cabinet local is placed with Chinese medicinal granule medicine bottle.
Figure 14 is the structural representation of another angle of drawer type multilayer medicine frame medicine storage cabinet in Fig. 9.
Figure 15 is the structural representation of multistation prescribe medicine driving means in Fig. 9.
Figure 16 is the structural representation of driver of putting in poison in Figure 15.
Figure 17 is the decomposing schematic representation of Figure 16.
Figure 18 is the structural representation of overlay film closing device in the present invention.
Figure 19 is the structural representation of Chinese medicine box corner striking gear of the present invention.
Figure 20 is the structural representation of Chinese medicine box lowering or hoisting gear of the present invention.
Figure 21 is the view of two medicine box stackings in the present invention.
Detailed description of the invention
As shown in Figure 1, the full-automatic dispensing system of one prescriptions of Chinese medicine of the present invention, transmits metering device 2, mechanical hand precisely get it filled lower medicine device 3, overlay film closing device 4, Computer Control Unit 5, medicine box corner striking gear 6 and medicine box lowering or hoisting gear 7 including lower box device 1, medicine box.Computer Control Unit 5 includes the PC being provided with prescription management software and the controller controlling whole system component actuation.When making up a prescription, system sends instruction according to prescription information, medicine box is sent by lower box device 1, is transmitted through medicine box transmission metering device 2, cooperative mechanical hands is precisely got it filled after lower medicine device 3 quantitatively puts in poison, delivered to overlay film closing device 4 by medicine box corner striking gear 6 seal, finally sent by medicine box lowering or hoisting gear 7.
As in Figure 2-4, above-mentioned lower box device includes gripper shoe 11, medicine box storehouse cylinder 12, medicine box mechanism for stripping 13 and medicine box sensor for countering 14.Medicine box storehouse cylinder 12 is through gripper shoe 11 and is fixed in gripper shoe 11, and medicine box sensor for countering 4 is arranged on below medicine box storehouse cylinder 12.
Above-mentioned medicine box mechanism for stripping 13 includes that motor 131, toggle 132 and slip stripping bracket 133, motor 131 and slip stripping bracket 133 are arranged in gripper shoe 11；Being connected by toggle 132 between slip stripping bracket 133 and motor output shaft, motor 131 can drive slip stripping bracket 133 to reciprocate.Wherein, toggle 132 includes moving block 1321 and connecting rod 1322, and moving block 1321 is arranged on motor output shaft, and the two ends of connecting rod 1322 are hinged with moving block 1321 and slip stripping bracket 133 respectively.
In the present embodiment, above-mentioned slip stripping bracket 133 includes U-shaped support body 1331, release member and guide rail mechanism.U-shaped support body 1331 is connected with toggle 132, the both sides inwall of U-shaped support body 1331 is mounted on a release member, release member includes lower receiving sheet 1332 and upper receiving sheet 1333, lower receiving sheet 1332 and upper receiving sheet 1333 stagger setting, i.e. descend the top hollow out of receiving sheet 1332, the lower section hollow out of upper receiving sheet 1333.U-shaped support body 1331 both sides are respectively provided with one group of guide rail mechanism, and guide rail mechanism includes the guide rail 1334 being arranged on U-shaped support body 1331 and the track base 1335 being arranged in gripper shoe 1, and guide rail 1334 matches with track base 1335.In order to preferably be peeled off by medicine box, above-mentioned release member also includes pressing separating sheet 336.
It is additionally provided with, in above-mentioned medicine box storehouse cylinder 12, the spline raised line 121 preventing medicine box from rotating.Can prevent when peeling off medicine box, the medicine box deflection in the cylinder of medicine box storehouse.
During use, putting into medicine box storehouse cylinder 2 by after multiple medicine box stackings, state during adjacent two medicine box 10 stackings is as shown in figure 21；When falling into cylinder 2 bottom, medicine box storehouse, the edge of opening 101 of the most beneath medicine box is stuck in lower receiving sheet 332, and when the lower box of needs, motor 31 rotates, and drives slip stripping bracket 33 to be moved along, and upper receiving sheet 333 catches the edge of opening 101 of penultimate medicine box；During advance, lowermost medicine box under departing from during the support of receiving sheet 332, down drops under the compressing of gravity and pressure separating sheet 336 down；Then slip stripping bracket 33 reset movement backward, when penultimate medicine box departs from the support of upper receiving sheet 333, falls down and falls on lower support chip 332, the once round next medicine box of slip stripping bracket 33.
As shown in figs 6-8, above-mentioned medicine box transmission metering device 2 includes medicine box bracket 21, metrological service 22 and displacement connecting gear 23.Wherein, medicine box bracket 21 offers at least one medicine box putting hole 211.Metrological service 22 includes mounting rod 221, medicine box pallet 222, weight sensor 223 and electric elevator 224, and weight sensor 223 is arranged on mounting rod 221, and medicine box pallet 222 is arranged on immediately below medicine box putting hole 211 and is arranged on weight sensor 223；Mounting rod 221 is fixing with electric elevator 24 to be connected, and during use, electric elevator 224 can move up and down by drive installation bar.Electric elevator 224 and medicine box bracket 21 are arranged on displacement connecting gear 23 and can move horizontally under the driving of displacement connecting gear.
Concrete, above-mentioned displacement connecting gear 23 can use following structure, slide block 233, the transmission case 234 being arranged on slide block, cogged drive belt 235 and the servomotor 236 that displacement connecting gear 23 includes base housing 231, the guide rail 232 that is arranged in base housing coordinates with guide rail.Transmission case 234 includes casing 2341, driving gear the 2342, first directive wheel 2343 and the second directive wheel 2344；Driving gear 2342 is arranged in casing 2341, casing 2341 is provided with the inlet and outlet of cogged drive belt, first directive wheel, the second directive wheel are separately mounted to the import department of casing 2341, exit, transmit cingulum 235 one end and be fixed on one end of base housing 231, the other end is entered by transmission case import, engage with driving gear 2342 after the first directive wheel 2343, then stretch out after the second directive wheel 2344 guides, fix with the other end of base housing 231 and be connected.Driving gear 2342 is driven by servomotor 236.
Further, for more stable transmission, in above-mentioned transmission case 234, it is also equipped with a driven gear 2345, driven gear 2345 and driving gear 2342 interval arranges, between driven gear 2345 and driving gear 2342, be also equipped with the 3rd directive wheel 2346.Above-mentioned transmission cingulum 235 engages with driven gear 2345 after engaging with driving gear 2342 after the 3rd directive wheel 2346 guides, then stretches out after the second directive wheel 2344 guides.Above-mentioned electric elevator 224 and medicine box bracket 21 are arranged on transmission case 234.
In the present embodiment, above-mentioned medicine box bracket is provided with 24 medicine box putting holes.It is of course also possible to be configured according to actual needs, such as 3,5 etc..Above-mentioned electric elevator 224 is leading screw motor.Above-mentioned medicine box bracket 21 includes panel 212 and U-shaped installing rack 213, and medicine box putting hole 211 is opened on panel 212, and panel 212 is fixed on U-shaped installing rack 213.
During use, medicine box is fallen in the medicine box putting hole of medicine box bracket, passes through movement and transmission mechanism, it is possible to carries out the reciprocal medicine that connects in rectilinear direction and moves, the most accurate.When prescribe medicine, electric elevator is by weight sensor and medicine box pallet the most upwards jack-up, and medicine box pallet independently supports medicine box, makes medicine box completely disengage from the support of medicine box bracket, to reach the purpose of precision weighing.
As it is shown in figure 9, above-mentioned mechanical hand is precisely got it filled, lower medicine device 3 includes mechanical hand 31, drawer type multilayer medicine frame medicine storage cabinet 32, mechanical hand displacement drive mechanism and multistation prescribe medicine driving means 35.Mechanical hand displacement drive mechanism includes that horizontal drive mechanism 33 and upright driving mechanism 34, horizontal drive mechanism 33 and upright driving mechanism 34 drive mechanical hand to move along X-axis, Y-axis respectively.In actual applications, mechanical hand lower medicine device 3 of precisely getting it filled can arrange many sets according to actual needs, meets and deposits and assort a greater variety of middle drug class.
Such as Figure 10, shown in 11, above-mentioned mechanical hand 31 includes mechanical finger 311, controller 312, folding drive mechanism, FRID automatic identification sensor 313 and installs support plate 314.Wherein, folding drive mechanism includes drive shell 315, drive link 316, balance weight 317 and lead screw motor 318.The end of mechanical finger 311 is arranged in drive shell 315 by rotating shaft；The two ends of drive link 316 are hinged with mechanical finger 311 and balance weight 317 respectively.Lead screw motor 318 and controller 312 are separately fixed on two installed surfaces installing support plate 314, and the screw mandrel end of lead screw motor 318 is fixing with the center of balance weight 317 to be connected, and FRID automatic identification sensor 313 is arranged on balance weight.During work, lead screw motor 318 action, screw mandrel rotational band dynamic balance weight 317 downwards or moves down, and is swung by drive link 316 driving mechanical finger 311, it is achieved the purpose of folding.
In the present embodiment, above-mentioned mechanical finger 311 is provided with 4.It is provided with slipmat 3111 at the finger tip of each mechanical finger 311.Strengthen the friction with medicine bottle when capturing, prevent medicine bottle from dropping during capturing.
In order to avoid mechanical hand collides drawer in moving process, being additionally provided with an anticollision sensor 319 on a robotic arm, anticollision sensor 319 is arranged on balance weight 317 and is positioned at FRID automatic identification sensor 313 side.
As shown in figs. 12-14, above-mentioned drawer type multilayer medicine frame medicine storage cabinet 32 include cabinet 321, the string drawer 322 that is arranged on cabinet and driving means；Driving means can drive drawer 322 to open or close, the corresponding a set of driving means of each drawer.Concrete, this driving means includes driving motor 323 and belt component, and belt component is made up of belt wheel, belt 324 and the pushing block 325 being fixedly mounted on belt, and pushing block 325 is fixing with the rear portion of drawer 321 to be connected；Link position can be rear board or the rearward end of bottom surface of drawer.In the present embodiment, driving motor can be servomotor.During use, driven by servomotor belt 324 rotate, drive pushing block 325 to move forward and backward, it is achieved the opening and closing of drawer.
On above-mentioned drawer 322 inner bottom plating, the uniform placement position 326 being provided with Chinese medicinal granule medicine bottle 320, is provided with locating dowel 327 between placed adjacent position 326.Concrete, each placement position 326 could be arranged to square, and four angles are respectively provided with a locating dowel 327.It is of course also possible to according to practical situation, the such as contour structures of Chinese medicinal granule medicine bottle 320, placement position is arranged to other shape.Chinese medicinal granule medicine bottle 320 in the present embodiment can use the structure that the storage bottle disclosed in Application No. 201510596956.7 coordinates with Quantitative dosing lid, its concrete structure is not described in detail here；Chinese medicinal granule medicine bottle 320 is provided with FRID label.
Further, the bottom at each drawer 322 is provided with medicated powder disposable box 328.Owing to Chinese medicinal granule medicine bottle 320 is after prescribe medicine automatically, may go out also to be stained with medicated powder end at prescribe medicine mouth, accordingly, it would be desirable to these powder are collected by medicated powder disposable box 328, prevent them from dropping to, in the drawer of lower floor, pollute.
During use, the drawer of medicine storage cabinet is first opened, and then mechanical hand moves down into desired location in the driving of mechanical hand displacement drive mechanism, by the FRID label on the FRID automatic identification sensor identification Chinese medicinal granule medicine bottle that arranges, captures after identifying accurately；Being then placed in multistation prescribe medicine driving means being driven prescribe medicine, after having put in poison, medicine bottle can be put back on the placement position in drawer again by mechanical hand accurately.The drawer 322 of each layer is evenly equipped with the placement position 326 of Chinese medicinal granule medicine bottle 320, the medicine bottle quantity that can place is many, the position stretched out it is automatically adjusted plus drawer 322, often stretch out a distance placing position, it it is exactly the medicine bottle of another a herb, coordinate operation with mechanical hand, it is possible to reduce the operating path of mechanical hand, improve allotment speed.
As seen in figs. 15-17, above-mentioned multistation prescribe medicine driving means 35 includes put in poison driver 3510 and strip casing 3520, offers multiple prescribe medicine hole 3530, be provided with a prescribe medicine driver 3510 at each prescribe medicine hole 3530 on the cover plate of strip casing 3520.
Wherein, prescribe medicine driver 3510 includes that bearing mounting base 351, bearing 352, blanking drive ring 353 and servomotor 354.Wherein, blanking drives ring 353 to include ring body 3531, fixture block 3532 and the double wedge being arranged on ring outer body wall, and fixture block 3532 is arranged on ring body 3531 inwall and can match with Chinese medicinal granule medicine bottle medicine dispensing cover.Blanking drives ring 353 to be arranged on bearing mounting base 351 by bearing 352, is provided with a driving gear 3541 on the output shaft of servomotor 354, and blanking is driven and is connected by cingulum 355 between ring 353 and driving gear 3541.Bearing mounting base 351 and servomotor 354 are arranged on the cover plate of strip casing 3520.
Concrete, bearing mounting base 351 includes base 3511 and the flap 3512 that matches with base, offers the mounting groove 3513 passed for cingulum 355 on flap 3512.
As shown in figure 18, above-mentioned overlay film closing device 4 includes conveyer mechanism 41 and film-covering mechanism 42.Wherein, film-covering mechanism 42 includes that frame 421, overlay film pressure head 422, ram drive mechanism 4221, packaging film install wheel 423, packaging film traction wheel 424, traction wheel driving motor 425 and the position sensor put in place for detection kit.Ram drive mechanism, packaging film install wheel 423, packaging film traction wheel 424 and position sensor are installed in frame 421, and overlay film pressure head 422 is connected with ram drive mechanism and is arranged on the top of conveyer mechanism 41.
In the present embodiment, above-mentioned conveyer mechanism 41 includes conveyer belt 411, conveyer belt mounting assembly 412 and motor 413, and conveyer belt 411 is arranged in conveyer belt mounting assembly 412, and during use, motor 413 drives conveyer belt 11 to rotate.
Being additionally provided with an overlay film gripper shoe 426 below the upper zone face of above-mentioned conveyer belt 411, one end of overlay film gripper shoe 426 is arranged in frame 421.By arranging overlay film gripper shoe 426, it is possible to support the upper zone face of conveyer belt when overlay film pressure head is pressed downward against, overlay film effect is more preferable.
For packaging orientation film more accurately, film-covering mechanism also has the sensor that a detection packaging film puts in place.This sensor is to be arranged on the photoelectric sensor in frame 421 by mounting rod, packaging film is provided with station detection cursor, at overlay film is, can be by photoelectric sensor monitoring station detection cursor, can realize after an overlay film, being accurately positioned during tractive packaging film.
During use, a coil packing Membrane cover being contained in packaging film and installs on wheel 423, packaging film movable end pulls up after passing below overlay film pressure head, is wrapped in packaging film traction wheel 424.After medicine box is admitted to conveyer belt 411, motor 413 drives conveyer belt 411 to rotate, and when immediately below medicine box walks overlay film pressure head 422, trigger position sensor, motor 413 stops operating；Ram drive mechanism 4221 drives overlay film pressure head 422 action, is covered by packaging film and is pressed on medicine box.After overlay film completes, motor 413 drives conveyer belt 411 to rotate, and medicine box is sent this device.Packaging film traction wheel 424 action, rotates the packaging film of one station of traction, waits overlay film next time.
When the guide rail that film covering device 4 and medicine box transmit metering device 2 is arranged not at same straight line, it is necessary to arranging the most a set of medicine box corner striking gear 6, as shown in figure 19, medicine box corner striking gear 6 includes mounting bracket 61, motor 62 and driving lever 63.Wherein, motor 62 is arranged in mounting bracket 61, and driving lever 63 includes swing arm 631 and pulling part 632, and one end of swing arm 631 is connected with the output shaft of motor 62, and the other end is fixing with pulling part 632 to be connected.By arranging medicine box corner striking gear 6, it is possible to the medicine box installing Chinese medicinal granule is pushed on the conveyer belt 411 of overlay film closing device 4.
Owing in use, the display of Computer Control Unit and input equipment are located in work top, and the mouth of putting into of empty medicine box is also to put into from work top.For convenience the medicine box installing Chinese medicinal granule is taken out, a medicine box lowering or hoisting gear 7 can be set medicine box is delivered on work top.Concrete, medicine box lowering or hoisting gear 7 includes medicine box chute 71, chute lowering or hoisting gear and is arranged on the locating piece 72 on chute lowering or hoisting gear top as described in Figure 20, chute lowering or hoisting gear includes that lifting drives assembly 73 and elevator 74, medicine box chute 71 is arranged on elevator 74 and is obliquely installed, and can swing around elevator 74, it is also associated with a spring 75 between one end and the elevator of medicine box chute.Wherein lifting drives assembly 73 to use the structure that displacement connecting gear 23 is identical, is simply vertically arranged, is the most no longer described in detail its concrete structure.
In use, packaged medicine box enters in medicine box chute, drives medicine box chute to move up by chute lowering or hoisting gear, and when the medicine box chute one end risen touches locating piece, medicine box chute is rocked to level, is sent on table top by medicine box；After medicine box is taken away, it is reset to lowermost end and waits.
Finally should be noted that; above content is only in order to illustrate technical scheme; rather than limiting the scope of the invention, simple modification that technical scheme is carried out by those of ordinary skill in the art or equivalent, all without departing from the spirit and scope of technical solution of the present invention.
Claims (10)
1. the full-automatic dispensing system of prescriptions of Chinese medicine, it is characterised in that: include lower box device, medicine box transmit metering device, mechanical hand precisely get it filled lower medicine device, overlay film closing device and control whole system action Computer Control Unit；Medicine box sent by lower box device, transmit metering device through medicine box transmits, and cooperative mechanical hands is precisely got it filled after lower medicine device quantitatively puts in poison, overlay film closing device carry out sealing and send；
Medicine box transmits metering device and includes medicine box bracket, metrological service and displacement connecting gear, medicine box bracket offers multiple medicine box putting hole, metrological service includes mounting rod, medicine box pallet, weight sensor and electric elevator, weight sensor is arranged on mounting rod, medicine box pallet is arranged on immediately below medicine box putting hole and is arranged on weight sensor, mounting rod is fixing with electric elevator to be connected, and electric elevator and medicine box bracket are separately mounted to shift on connecting gear and can move horizontally under the driving of displacement connecting gear；
Mechanical hand lower medicine device of precisely getting it filled includes mechanical hand, mechanical hand displacement drive mechanism, is placed with the drawer type multilayer medicine frame medicine storage cabinet of Chinese medicinal granule medicine bottle and is driven the multistation prescribe medicine driving means of prescribe medicine；Mechanical hand includes mechanical finger, folding drive mechanism, FRID automatic identification sensor, support plate is installed and is fixed on the controller installed on support plate, folding drive mechanism includes drive shell, drive link, flat horizontal block and lead screw motor, the end of mechanical finger is arranged in drive shell by rotating shaft, the two ends of drive link are hinged with mechanical finger and balance weight respectively, lead screw motor is fixed on installs on support plate and the end of screw mandrel is fixed with Ping Hengkuai center and is connected, FRID automatic identification sensor is arranged on balance weight, mechanical hand displacement drive mechanism includes horizontal drive mechanism and upright driving mechanism；Drawer type multilayer medicine frame medicine storage cabinet includes cabinet, be arranged on cabinet string drawer and driving means, driving means can drive drawer to open or close, the uniform placement position being provided with Chinese medicinal granule medicine bottle on drawer inner bottom plating；Multistation prescribe medicine driving means includes strip casing and the prescribe medicine driver driving medicine bottle blanking lid automatically to put in poison, the cover plate of strip casing offers multiple prescribe medicine hole, one prescribe medicine driver is installed at each prescribe medicine hole, medicine box transmit metering device displacement connecting gear be arranged on strip casing, it is corresponding with hole of putting in poison that medicine box bracket can make medicine box putting hole when mobile.
The full-automatic dispensing system of prescriptions of Chinese medicine the most according to claim 1, it is characterized in that: described lower box device includes gripper shoe, medicine box storehouse cylinder, medicine box mechanism for stripping and medicine box sensor for countering, medicine box storehouse cylinder is through gripper shoe and fixes on the supporting plate, medicine box sensor for countering is arranged on below the cylinder of medicine box storehouse, medicine box mechanism for stripping includes motor, toggle and slip stripping bracket, motor and slip stripping bracket are installed on the supporting plate, being connected by toggle between slip stripping bracket and motor output shaft, motor can drive slip stripping bracket to reciprocate；
Described slip stripping bracket includes U-shaped support body, release member and guide rail mechanism, U-shaped support body is connected with described toggle, the both sides inwall of U-shaped support body is mounted on a release member, release member include lower receiving sheet, upper receiving sheet and under press separating sheet, described U-shaped support body both sides are respectively provided with one group of guide rail mechanism, guide rail mechanism includes the guide rail being arranged on U-shaped support body and installs track base on the supporting plate, and guide rail matches with track base.
The full-automatic dispensing system of prescriptions of Chinese medicine the most according to claim 1, it is characterized in that: described overlay film closing device includes conveyer mechanism and film-covering mechanism, film-covering mechanism includes that frame, overlay film pressure head, ram drive mechanism, packaging film install wheel, packaging film traction wheel, traction wheel drive motor and the position sensor put in place for detection kit, ram drive mechanism, packaging film are installed wheel, packaging film traction wheel and position sensor and are installed in frame, and overlay film pressure head is connected with ram drive mechanism and is arranged on the top of conveyer mechanism.
The full-automatic dispensing system of prescriptions of Chinese medicine the most according to claim 1, it is characterized in that: also include a medicine box corner striking gear, medicine box corner striking gear includes mounting bracket, motor and driving lever, motor is arranged in mounting bracket, driving lever includes swing arm and pulling part, one end of swing arm is connected with motor output shaft, and the other end is fixing with pulling part to be connected.
The full-automatic dispensing system of prescriptions of Chinese medicine the most according to claim 1, it is characterized in that: also include a medicine box lowering or hoisting gear, medicine box lowering or hoisting gear includes medicine box chute, chute lowering or hoisting gear and is arranged on the locating piece on chute lowering or hoisting gear top, chute lowering or hoisting gear includes that lifting drives assembly and elevator, medicine box chute is arranged on elevator and is obliquely installed, and can swing around elevator, it is also associated with a spring between one end and the elevator of medicine box chute.
The full-automatic dispensing system of prescriptions of Chinese medicine the most according to claim 1, it is characterized in that: described mechanical hand includes an anticollision sensor, anticollision sensor is arranged on described balance weight FRID and is positioned at automatic identification sensor side, is provided with slipmat at each mechanical finger finger tip.
The full-automatic dispensing system of prescriptions of Chinese medicine the most according to claim 1, it is characterised in that: it is provided with medicated powder disposable box in the bottom of each described drawer；The driving means of described drawer type multilayer medicine frame medicine storage cabinet includes servomotor and belt component, and belt component is made up of belt wheel, belt and the pushing block being fixedly mounted on belt, and pushing block is fixing with the rear portion of described drawer to be connected.
The full-automatic dispensing system of prescriptions of Chinese medicine the most according to claim 1, it is characterized in that: described prescribe medicine driver includes that bearing mounting base, bearing, blanking drive ring and servomotor, blanking drives ring to include ring body, be arranged in ring inner body wall and the fixture block that can coordinate with Chinese medicinal granule medicine bottle medicine dispensing cover and the double wedge being arranged on ring outer body wall, blanking drives ring to be arranged on bearing mounting base by bearing, blanking is driven and is connected by cingulum between ring and servomotor, and bearing mounting base and servomotor are installed on the cover board.
null9. according to the full-automatic dispensing system of prescriptions of Chinese medicine described in claim 1-8 any one claim，It is characterized in that: described displacement connecting gear includes base housing、The guide rail being arranged in base housing、The slide block coordinated with guide rail、The transmission case being arranged on slide block、Cogged drive belt and servomotor，Transmission case includes casing、Driving gear、First directive wheel and the second directive wheel，Driving gear is arranged in casing，Casing is provided with the inlet and outlet of cogged drive belt，First directive wheel、Second directive wheel is separately mounted to the import department of casing、Exit，Transmit cingulum one end and be fixed on one end of base housing，The other end is entered by transmission case import，Engage with driving gear after the first directive wheel，Stretch out after the second directive wheel guides again，Fix with the other end of base housing and be connected，Driving gear is by driven by servomotor，Described electric elevator and described medicine box bracket are arranged on transmission case.
The full-automatic dispensing system of prescriptions of Chinese medicine the most according to claim 9, it is characterized in that: in described transmission case, be also equipped with a driven gear, driven gear and described driving gear interval are arranged, the 3rd directive wheel it is also equipped with between driven gear and described driving gear, described transmission cingulum engages with driven gear after engaging with described driving gear after the 3rd directive wheel guides, then stretches out after the second directive wheel guides.
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Application publication date: 20160928 Assignee: Foshan Yueji Machinery Equipment Service Co., Ltd. Assignor: Guangdong E.Fong Pharmaceutical Co., Ltd. Contract record no.: 2019440020021 Denomination of invention: Full-automatic medicine dispensing system of traditional Chinese medicine prescriptions Granted publication date: 20180511 License type: Common License Record date: 20190416 Application publication date: 20160928 Assignee: Guangzhou Chengxiang Distribution Machine Technology Service Co., Ltd. Assignor: Guangdong E.Fong Pharmaceutical Co., Ltd. Contract record no.: 2019440020022 Denomination of invention: Full-automatic medicine dispensing system of traditional Chinese medicine prescriptions Granted publication date: 20180511 License type: Common License Record date: 20190416 |
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