CN106240915A - A kind of mechanical hand is precisely got it filled lower medicine device - Google Patents
A kind of mechanical hand is precisely got it filled lower medicine device Download PDFInfo
- Publication number
- CN106240915A CN106240915A CN201610501745.5A CN201610501745A CN106240915A CN 106240915 A CN106240915 A CN 106240915A CN 201610501745 A CN201610501745 A CN 201610501745A CN 106240915 A CN106240915 A CN 106240915A
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- medicine
- mechanical hand
- drawer
- drive mechanism
- precisely
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Classifications
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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
- B65B37/00—Supplying or feeding fluent-solid, plastic, or liquid material, or loose masses of small articles, to be packaged
Abstract
The invention discloses a kind of mechanical hand precisely to get it filled lower medicine device, including mechanical hand, mechanical hand displacement drive mechanism, be placed with the drawer type multilayer medicine frame medicine storage cabinet of Chinese medicinal granule medicine bottle and be driven the multistation prescribe medicine driving means of prescribe medicine；Mechanical hand displacement drive mechanism includes that horizontal drive mechanism and upright driving mechanism, horizontal drive mechanism and upright driving mechanism drive mechanical hand to move along X-axis, Y-axis respectively.Present configuration is simple, use said structure, when capturing medicine bottle, the drawer of medicine storage cabinet is first opened, 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 of setting, capture 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.
Description
Technical field
The present invention relates to medicine production technical field, especially a kind of mechanical hand is precisely got it filled lower medicine device.
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. Chinese medicine is drunk
Sheet is ground into the granule with certain particle size, to improve fried efficiency, increases curative effect, saving Chinese medicaments resource.Two is single or multiple
Side's 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, will be single
Taste Chinese medicine or traditional classical compound recipe extracting directly, it is condensed into extractum, is reprocessed into granule, directly takes for patient.
Production process for Chinese medicine has been realized in standardization and standardization, but for the terminal sale of Chinese medicine, especially
It is to follow traditional hands according to doctor formula grab, weigh with a small steelyard the mode of scale in hospital and the process of making up a prescription of pharmacy, a lot of hospitals and pharmacy,
There is dispensing method to fall behind, measure the defects such as inaccurate, inefficiency.
For solving the manual problem existed of making up a prescription of grabbing, the Chinese invention patent of Application No. 201510596956.7, open
A kind of Chinese medicinal granule continuous metering blanking device and metering baiting method, wherein, continuous metering blanking device include workbench,
Storage bottle, Quantitative dosing lid, pulp-collecting box, electronic scale, guidance panel and the controller being fixed on storage bottle；And measure blanking side
Method is to utilize this continuous metering blanking device to make up a prescription, it is possible to fall into after being measured by the dip hatch of Quantitative dosing lid again
In pulp-collecting box, carry out weight verification, it is possible to find error and solve, improve the weight accuracy of Quantitative dosing.People during whole
Hands without contacting medicine, safety and sanitation.But in actual applications, because being used alone this Chinese medicinal granule continuous metering blanking device
Inefficient, it is impossible to meet the actual needs that make up a prescription, need supporting related device to ensure its Effec-tive Function, therefore, need badly and set
Count a kind of system automatically can made up a prescription according to prescriptions of Chinese medicine, this system need to include box under the stripping of medicine box, medicine box transmission, from
Dynamic make up a prescription in medicine box, 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 take
The mechanical hand of medicine prescribe medicine is precisely got it filled lower medicine device.
To achieve these goals, the technical solution used in the present invention is: a kind of mechanical hand is precisely got it filled lower medicine device, its
It is characterised by: include mechanical hand, mechanical hand displacement drive mechanism, drawer type multilayer medicine frame medicine storage cabinet and multistation prescribe medicine driving means；Machinery
Hands includes mechanical finger, folding drive mechanism, FRID automatic identification sensor, installs support plate and be fixed on the control installed on support plate
Device processed, folding drive mechanism includes drive shell, drive link, flat horizontal block and lead screw motor, and the end of mechanical finger is by turning
Axle is arranged in drive shell, and the two ends of drive link are hinged with mechanical finger and balance weight respectively, and lead screw motor is fixed on
Installing 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 that horizontal drive mechanism and upright driving mechanism, horizontal drive mechanism and upright driving mechanism divide
Qu Dong not move along X-axis, Y-axis by mechanical hand；Drawer type multilayer medicine frame medicine storage cabinet includes cabinet, be arranged on cabinet string drawer and drive dress
Putting, 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,
Placed adjacent is provided with locating dowel between position；Multistation prescribe medicine driving means includes strip casing and drives medicine bottle blanking lid certainly
The prescribe medicine driver of dynamic prescribe medicine, offers multiple prescribe medicine hole on the cover plate of strip casing, is provided with one at each prescribe medicine hole
Prescribe medicine driver.
Further, described mechanical finger is provided with 4, is provided with slipmat at each mechanical finger finger tip；Described machinery
Hands includes an anticollision sensor, and anticollision sensor is arranged on described balance weight FRID and is positioned at automatic identification sensor one
Side.
Further, the bottom of each described drawer is provided with medicated powder disposable box.
Further, the driving means of described drawer type multilayer medicine frame medicine storage cabinet includes servomotor and belt component, belt component by
Belt wheel, belt and the pushing block being fixedly mounted on belt are constituted, and pushing block is fixing with the rear portion of described drawer to be connected.
Further, described each placement position is square, and four angles are respectively provided with a described locating dowel.
Further, described prescribe medicine driver includes that bearing mounting base, bearing, blanking drive ring and servomotor, blanking
Drive 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 being arranged on
Double wedge on ring outer body wall, blanking drives ring to be arranged on bearing mounting base by bearing, and blanking drives ring and servo electricity
Being connected by cingulum between machine, bearing mounting base and servomotor are installed on the cover board.Described bearing mounting base includes base
And the flap that matches with base, present covering offers the mounting groove passed for described cingulum.
The invention has the beneficial effects as follows: simple in construction, use said structure, when capturing Chinese medicinal granule medicine bottle, medicine storage cabinet
Drawer is first opened, and then mechanical hand moves down into desired location in the driving of mechanical hand displacement drive mechanism, by the FRID arranged
FRID label on automatic identification sensor identification Chinese medicinal granule medicine bottle, captures after identifying accurately；It is then placed into multiplexing
Being driven prescribe medicine in the prescribe medicine driving means of position, after having put in poison, medicine bottle can be put back to again putting in drawer by mechanical hand accurately
In set.
It addition, by arranging locating dowel, it is possible to by spacing for the Chinese medicinal granule medicine bottle placement position being stably placed in drawer,
Swing etc. will not occur during the opening and closing of drawer, match with automatic manipulator during use, special owing to using
Position and placement are stable, it is possible to realize the accurate crawl of mechanical hand.Concrete, the drawer of each layer is evenly equipped with Chinese medicinal granule medicine bottle
Placement position, it is possible to the medicine bottle quantity of placement is many, adds that drawer is automatically adjusted the position stretched out, often stretch out one place position away from
From, it is simply that 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
Degree.
By the opening and closing employing servomotor of medicine storage cabinet drawer as power drive, the fixed position that drawer is opened
More accurate, the beneficially crawl of mechanical hand.By arranging medicated powder disposable box, it is possible to prevent the medicated powder on upper strata from descending slowly and lightly to lower floor, cause
Pollute.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 is at X
Axle and Y-axis are run, and speed is conducive to Quick medicine-taking soon.
Finger fingertip is provided with slipmat, it is possible to ensure that crawl is firm, prevents medicine bottle from dropping during capturing.
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 mechanical hand in the present invention.
Fig. 3 is the generalized section of mechanical hand in the present invention.
Fig. 4 is the structural representation of drawer type multilayer medicine frame medicine storage cabinet in the present invention.
Fig. 5 is the view that in the present invention, drawer type multilayer medicine frame medicine storage cabinet local is placed with Chinese medicinal granule medicine bottle.
Fig. 6 is the structural representation of another angle of drawer type multilayer medicine frame medicine storage cabinet in the present invention.
Fig. 7 is the structural representation of multistation prescribe medicine driving means in the present invention.
Fig. 8 is the structural representation of driver of putting in poison in Fig. 7.
Fig. 9 is the decomposing schematic representation of Fig. 8.
Figure 10 is present invention action flow chart in use.
Detailed description of the invention
The lower medicine device as it is shown in figure 1, one mechanical hand of the present invention is precisely got it filled, a kind of mechanical hand is precisely got it filled to put in poison and is filled
Put, including mechanical hand 1, drawer type multilayer medicine frame medicine storage cabinet 2, mechanical hand displacement drive mechanism and multistation prescribe medicine driving means 5.Mechanical hand position
Move drive mechanism and include that horizontal drive mechanism 3 and upright driving mechanism 4, horizontal drive mechanism 3 and upright driving mechanism 4 drive respectively
Dynamic mechanical hand moves along X-axis, Y-axis.
As Figure 2-3, above-mentioned mechanical hand 1 includes that mechanical finger 11, controller 12, folding drive mechanism, FRID are automatic
Identify sensor 13 and support plate 14 is installed.Wherein, folding drive mechanism includes drive shell 15, drive link 16, balance weight 17
With lead screw motor 18.The end of mechanical finger 11 is arranged in drive shell 15 by rotating shaft；The two ends of drive link 16 are respectively
It is hinged with mechanical finger 11 and balance weight 17.Lead screw motor 18 and controller 12 are separately fixed at two peaces installing support plate 14
On dress face, the screw mandrel end of lead screw motor 18 is fixing with the center of balance weight 17 to be connected, and FRID automatic identification sensor 13 is installed
On balance weight.During work, lead screw motor 18 action, screw mandrel rotational band dynamic balance weight 17 downwards or moves down, by driving
Connecting rod 16 driving mechanical finger 11 swings, it is achieved the purpose of folding.
In the present embodiment, above-mentioned mechanical finger 11 is provided with 4.It is provided with slipmat at the finger tip of each mechanical finger 11
111.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, it is additionally provided with an anticollision sensor on a robotic arm
19, anticollision sensor 19 is arranged on balance weight 17 and is positioned at FRID automatic identification sensor 13 side.
As Figure 4-Figure 6, above-mentioned drawer type multilayer medicine frame medicine storage cabinet 2 include cabinet 21, the string drawer 22 that is arranged on cabinet and driving
Dynamic device；Driving means can drive drawer 22 to open or close, the corresponding a set of driving means of each drawer.Concrete, this driving
Device includes driving motor 23 and belt component, and belt component is by belt wheel, belt 24 and the pushing block being fixedly mounted on belt
25 are constituted, and pushing block 25 is fixing with the rear portion of drawer 21 to be connected；Link position can be rear board or the bottom surface of drawer
Rearward end.In the present embodiment, driving motor can be servomotor.During use, driven by servomotor belt 24 rotate, drive
Pushing block 25 moves forward and backward, it is achieved the opening and closing of drawer.
The uniform placement position 26 being provided with Chinese medicinal granule medicine bottle 20 on above-mentioned drawer 22 inner bottom plating, placed adjacent position 26 it
Between be provided with locating dowel 27.Concrete, each placement position 26 could be arranged to square, and four angles are respectively provided with a locating dowel
27.It is of course also possible to according to practical situation, the such as contour structures of Chinese medicinal granule medicine bottle 20, be arranged to other by placing position
Shape.Chinese medicinal granule medicine bottle 20 in the present embodiment can use the storage bottle disclosed in Application No. 201510596956.7 with fixed
The structure that amount blanking lid coordinates, is not described in detail its concrete structure here；Chinese medicinal granule medicine bottle 20 is provided with FRID
Label.
Further, the bottom at each drawer 22 is provided with medicated powder disposable box 28.Owing to Chinese medicinal granule medicine bottle 20 is automatically
After prescribe medicine, may go out also to be stained with medicated powder end at prescribe medicine mouth, accordingly, it would be desirable to these powder are received by medicated powder disposable box 28
Collection, prevents them from dropping to, in the drawer of lower floor, pollute.
As Figure 7-9, above-mentioned multistation prescribe medicine driving means includes put in poison driver 510 and strip casing 520,
Offer multiple prescribe medicine hole 530 on the cover plate of strip casing 520, a prescribe medicine driver is installed at each prescribe medicine hole 530
510。
Wherein, prescribe medicine driver 510 includes that bearing mounting base 51, bearing 52, blanking drive ring 53 and servomotor 54.Its
In, blanking drives ring 53 to include ring body 531, fixture block 532 and the double wedge being arranged on ring outer body wall, and fixture block 532 is arranged
On ring body 531 inwall and can match with Chinese medicinal granule medicine bottle medicine dispensing cover.Blanking drives ring 53 to be arranged on by bearing 52
On bearing mounting base 51, being provided with a driving gear 541 on the output shaft of servomotor 54, blanking drives ring 53 and driving tooth
It is connected by cingulum 55 between wheel 541.Bearing mounting base 51 and servomotor 54 are arranged on the cover plate of strip casing 520
On.
Concrete, bearing mounting base 51 includes base 511 and the flap 512 that matches with base, offers on flap 512
The mounting groove 513 passed for cingulum 55.
Last it should be noted that, above content is only in order to illustrate technical scheme, rather than the present invention is protected
The restriction of scope, simple modification that technical scheme is carried out by those of ordinary skill in the art or equivalent,
Spirit and scope all without departing from technical solution of the present invention.
Claims (8)
1. a mechanical hand is precisely got it filled lower medicine device, it is characterised in that: include mechanical hand, mechanical hand displacement drive mechanism, take out
Drawer formula medicine storage cabinet and multistation prescribe medicine driving means；
Mechanical hand includes mechanical finger, folding drive mechanism, FRID automatic identification sensor, installs support plate and be fixed on installation
Controller on plate, folding drive mechanism includes drive shell, drive link, flat horizontal block and lead screw motor, the end of mechanical finger
Portion is arranged in drive shell by rotating shaft, and the two ends of drive link are hinged with mechanical finger and balance weight respectively, screw mandrel electricity
Machine is fixed on to be installed on support plate and the end of screw mandrel is fixed with Ping Hengkuai center and is connected, and FRID automatic identification sensor is arranged on flat
On weighing apparatus block；
Mechanical hand displacement drive mechanism includes horizontal drive mechanism and upright driving mechanism, horizontal drive mechanism and vertically drive machine
Structure drives mechanical hand to move along X-axis, Y-axis respectively；
Drawer type multilayer medicine frame medicine storage cabinet includes cabinet, be arranged on cabinet string drawer and driving means, driving means can drive drawer
Opening or closing, the uniform placement position being provided with Chinese medicinal granule medicine bottle on drawer inner bottom plating, placed adjacent is provided with between position
Locating dowel；
Multistation prescribe medicine driving means includes strip casing and the prescribe medicine driver driving medicine bottle blanking lid automatically to put in poison, and is growing
Offer multiple prescribe medicine hole on the cover plate of bar shaped casing, a prescribe medicine driver is installed at each prescribe medicine hole.
Mechanical hand the most according to claim 1 is precisely got it filled lower medicine device, it is characterised in that: described mechanical finger is provided with 4
Individual, it is provided with slipmat at each mechanical finger finger tip.
Mechanical hand the most according to claim 1 and 2 is precisely got it filled lower medicine device, it is characterised in that: described mechanical hand includes
One anticollision sensor, anticollision sensor is arranged on described balance weight FRID and is positioned at automatic identification sensor side.
Mechanical hand the most according to claim 1 is precisely got it filled lower medicine device, it is characterised in that: the bottom of each described drawer
It is provided with medicated powder disposable box.
Mechanical hand the most according to claim 1 is precisely got it filled lower medicine device, it is characterised in that: described drawer type multilayer medicine frame medicine storage cabinet
Driving means includes servomotor and belt component, and belt component is by belt wheel, belt and the pushing block being fixedly mounted on belt
Constituting, pushing block is fixing with the rear portion of described drawer to be connected.
6. precisely get it filled lower medicine device according to the mechanical hand described in claim 4 or 5, it is characterised in that: described each placement position
For square, four angles are respectively provided with a described locating dowel.
Mechanical hand the most according to claim 1 is precisely got it filled lower medicine device, it is characterised in that: described prescribe medicine driver includes
Bearing mounting base, bearing, blanking drive ring and servomotor, and 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 pass through
Bearing is arranged on bearing mounting base, and blanking drives and is connected by cingulum between ring and servomotor, bearing mounting base with watch
Take motor to install on the cover board.
Mechanical hand the most according to claim 7 is precisely got it filled lower medicine device, it is characterised in that: described bearing mounting base includes
Base and the flap that matches with base, present covering offers the mounting groove passed for described cingulum.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610501745.5A CN106240915B (en) | 2016-06-30 | 2016-06-30 | A kind of manipulator precisely takes medicine device under medicine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610501745.5A CN106240915B (en) | 2016-06-30 | 2016-06-30 | A kind of manipulator precisely takes medicine device under medicine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106240915A true CN106240915A (en) | 2016-12-21 |
| CN106240915B CN106240915B (en) | 2019-09-27 |
Family
ID=57613049
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610501745.5A Ceased CN106240915B (en) | 2016-06-30 | 2016-06-30 | A kind of manipulator precisely takes medicine device under medicine |
Country Status (1)
| Country | Link |
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| CN (1) | CN106240915B (en) |
Cited By (3)
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| CN107823745A (en) * | 2017-10-31 | 2018-03-23 | 王志秀 | A kind of automatic dispensation apparatus of clinical care medical treatment |
| CN111292473A (en) * | 2018-12-10 | 2020-06-16 | 上海宝群医疗科技有限公司 | Medicine bottle grabbing system and medicine bottle grabbing method |
| CN113716332A (en) * | 2021-08-27 | 2021-11-30 | 严瑶婷 | Chinese herbal medicine grabbing device |
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| CN1491859A (en) * | 2002-10-25 | 2004-04-28 | 成都三九数码医药设备有限公司 | Electronic mixing method and system for Chinese medicine granular recipe |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111292473A (en) * | 2018-12-10 | 2020-06-16 | 上海宝群医疗科技有限公司 | Medicine bottle grabbing system and medicine bottle grabbing method |
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| CN113716332A (en) * | 2021-08-27 | 2021-11-30 | 严瑶婷 | Chinese herbal medicine grabbing device |
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| CN106240915B (en) | 2019-09-27 |
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