CN106240915B - A kind of manipulator precisely takes medicine device under medicine - Google Patents
A kind of manipulator precisely takes medicine device under medicine Download PDFInfo
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- CN106240915B CN106240915B CN201610501745.5A CN201610501745A CN106240915B CN 106240915 B CN106240915 B CN 106240915B CN 201610501745 A CN201610501745 A CN 201610501745A CN 106240915 B CN106240915 B CN 106240915B
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- medicine
- manipulator
- drawer
- prescribe
- driving
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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
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Abstract
The invention discloses a kind of manipulators precisely to take medicine device under medicine, including manipulator, manipulator displacement drive mechanism, the drawer type multilayer medicine frame medicine storage cabinet for being placed with Chinese medicinal granule medicine bottle and the multistation prescribe medicine driving device for carrying out driving prescribe medicine；Manipulator displacement drive mechanism includes horizontal drive mechanism and upright driving mechanism, and horizontal drive mechanism and upright driving mechanism respectively drive manipulator and move along X-axis, Y-axis.The configuration of the present invention is simple, using the above structure, when grabbing medicine bottle, the drawer of medicine storage cabinet is first opened, then manipulator moves down into required position in the driving of manipulator displacement drive mechanism, the FRID label on Chinese medicinal granule medicine bottle is identified by the FRID automatic identification sensor of setting, is grabbed after identification is accurate；It is then placed into multistation prescribe medicine driving device and carries out driving prescribe medicine, after the completion of prescribe medicine, manipulator can accurately put back to medicine bottle on the placement position in drawer again.
Description
Technical field
The present invention relates to medical production technical field, especially a kind of manipulator precisely takes medicine device under medicine.
Background technique
Currently, being mainly manifested in two aspects to Chinese medicine granulating research both at home and abroad.First is that Chinese medicine decoction made from powder, i.e., drink Chinese medicine
Piece is ground into the particle with certain particle size, to improve fried efficiency, increases curative effect, saving Chinese medicaments resource.Second is that single or multiple
Square concentrated extract particle, i.e., will be single in conjunction with other scientific achievements of processing, medicament, Phytochemistry and modern age with modern science and technology
Taste Chinese medicine or traditional classical compound directly extract, are condensed into medicinal extract, are reprocessed into granule, directly take for patient.
Standardization and standardization are had been realized in for the production process of Chinese medicine, but for the terminal sale of Chinese medicine, especially
It is the process of making up a prescription according to doctor formula in hospital and pharmacy, the mode that scale was grabbed, weighed with a small steelyard to traditional hand is followed in many hospitals and pharmacy,
The defects of there are dispensing methods to fall behind, metering inaccuracy, inefficiency.
To solve the problems, such as to grab to make up a prescription by hand to exist, application No. is 201510596956.7 Chinese invention patents, 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, operation panel and the controller being fixed on storage bottle；And measure blanking side
Method is made up a prescription using the continuous metering blanking device, is fallen into again after capable of being measured by the dip hatch of Quantitative dosing lid
Weight verification is carried out into pulp-collecting box, it can be found that error and solving, improves the weight accuracy of Quantitative dosing.People in whole process
Hand is without contacting drug, safety and sanitation.But in practical applications, because the Chinese medicinal granule continuous metering blanking device is used alone
Efficiency it is lower, be unable to satisfy the actual needs that make up a prescription, mating related device needed to guarantee its efficient operation, therefore, need to set
A kind of system that can automatically make up a prescription according to prescriptions of traditional Chinese medicine is counted, which need to transmit, certainly including box, medicine box under the removing of medicine box
Move the devices such as make up a prescription into medicine box, encapsulate, send out.
Summary of the invention
It is an object of the invention to overcome the shortcomings of above-mentioned prior art, provide a kind of structure it is simple, can fast and stable take
The manipulator of medicine prescribe medicine precisely takes medicine device under medicine.
To achieve the goals above, the technical solution adopted by the present invention is that: a kind of manipulator precisely takes medicine device under medicine,
It is characterized in that: including manipulator, manipulator displacement drive mechanism, drawer type multilayer medicine frame medicine storage cabinet and multistation prescribe medicine driving device；It is mechanical
Hand includes mechanical finger, opening and closing driving mechanism, FRID automatic identification sensor, installation supporting plate and the control being fixed on installation supporting plate
Device processed, opening and closing driving mechanism include drive shell, drive link, flat horizontal block and lead screw motor, and the end of mechanical finger is by turning
Axis is mounted in drive shell, and the both ends of drive link are hinged with mechanical finger and balance weight respectively, and lead screw motor is fixed on
On installation supporting plate and the end of screw rod is fixedly connected with flat horizontal block center, and FRID automatic identification sensor is mounted on balance weight；
Manipulator displacement drive mechanism includes horizontal drive mechanism and upright driving mechanism, and horizontal drive mechanism and upright driving mechanism divide
Other driving manipulator is moved along X-axis, Y-axis；Drawer type multilayer medicine frame medicine storage cabinet includes the column drawer and driving dress of cabinet body, installation on the cabinet
It sets, driving device can drive drawer to open or close, the placement position of Chinese medicinal granule medicine bottle is uniformly arranged on drawer inner bottom plating,
It is placed adjacent between position and is provided with positioning column；Multistation prescribe medicine driving device includes strip cabinet and drives medicine bottle blanking lid certainly
The prescribe medicine driver of dynamic prescribe medicine, multiple prescribe medicine holes are offered on the cover board of strip cabinet, are equipped with one at each prescribe medicine hole
Prescribe medicine driver.
Further, the mechanical finger is equipped with 4, is provided with non-slip mat at each mechanical finger finger tip；The machinery
Hand includes an anti-collision sensor, and anti-collision sensor is mounted on the balance weight and is located at FRID automatic identification sensor one
Side.
Further, the lower part of each drawer is equipped with medicinal powder collection box.
Further, the driving device of the drawer type multilayer medicine frame medicine storage cabinet includes servo motor and belt component, belt component by
Belt wheel, belt and the pushing block being fixedly mounted on belt are constituted, and pushing block is fixedly connected with the rear portion of the drawer.
Further, the placement position is rectangular, and the positioning column is respectively provided on four angles.
Further, the prescribe medicine driver includes bearing mounting base, bearing, blanking drive ring and servo motor, blanking
The fixture block and be arranged outside ring body that drive ring includes ring body, is arranged on ring body inner wall and can cooperate with medicine bottle blanking lid
Double wedge on side wall, blanking drive ring are mounted on bearing mounting base by bearing, are led between blanking drive ring and servo motor
It crosses tooth band to be connected, bearing mounting base and servo motor installation are on the cover board.The bearing mounting base includes pedestal and and pedestal
Flap is matched, it is present to cover the mounting groove for offering and passing through for the tooth band.
The beneficial effects of the present invention are: structure is simple, and using the above structure, when grabbing Chinese medicinal granule medicine bottle, medicine storage cabinet
Drawer is first opened, and then manipulator moves down into required position in the driving of manipulator displacement drive mechanism, passes through the FRID of setting
Automatic identification sensor identifies to be grabbed after the FRID label on Chinese medicinal granule medicine bottle, identification are accurate；It is then placed into multiplexing
Driving prescribe medicine is carried out in the prescribe medicine driving device of position, and after the completion of prescribe medicine, medicine bottle accurately can be put back to putting in drawer again by manipulator
In set.
In addition, Chinese medicinal granule medicine bottle can be limited on the placement position stablized and be placed in drawer by setting positioning column,
Will not occur to swing during the opening and closing of drawer etc., when use, matches with automatic manipulator, since use is dedicated
Position and placement stabilization, can be realized the accurate crawl of manipulator.Specifically, each layer of drawer is evenly equipped with Chinese medicinal granule medicine bottle
Placement position, the medicine bottle quantity that can be placed is more, and drawer automatic adjustment stretch out position, it is every stretch out one placement position away from
From being exactly the medicine bottle of another a herb, cooperate with manipulator and run, can reduce the operating path of manipulator, improve allotment speed
Degree.
The fixed position opened using servo motor as power drive, drawer by the opening and closing of medicine storage cabinet drawer
It is more acurrate, conducive to the crawl of manipulator.By the way that medicinal powder collection box is arranged, it can prevent the medicinal powder on upper layer from descending slowly and lightly to lower layer, cause
Pollution.Chinese medicinal granule medicine bottle is stored using drawer type multilayer medicine frame medicine storage cabinet, space can be saved, stores drug class in more, manipulator is in X
Axis and Y-axis operation, speed are conducive to Quick medicine-taking fastly.
Finger fingertip is provided with non-slip mat, can guarantee that crawl is firm, prevent medicine bottle from falling in the process of grasping.
Detailed description of the invention
The present invention is described in further detail with reference to the accompanying drawing.
Fig. 1 is the structural diagram of the present invention.
Fig. 2 is the structural schematic diagram of manipulator in the present invention.
Fig. 3 is the diagrammatic cross-section of manipulator in the present invention.
Fig. 4 is the structural schematic diagram of drawer type multilayer medicine frame medicine storage cabinet in the present invention.
Fig. 5 is the status diagram that drawer type multilayer medicine frame medicine storage cabinet is locally placed with Chinese medicinal granule medicine bottle in the present invention.
Fig. 6 is the structural schematic diagram of another angle of drawer type multilayer medicine frame medicine storage cabinet in the present invention.
Fig. 7 is the structural schematic diagram of multistation prescribe medicine driving device in the utility model.
Fig. 8 is the structural schematic diagram of prescribe medicine driver in Fig. 7.
Fig. 9 is the decomposition diagram of Fig. 8.
Figure 10 is the action flow chart of the present invention when in use.
Specific embodiment
As shown in Figure 1, a kind of manipulator of the present invention precisely takes medicine device under medicine, a kind of manipulator precisely takes medicine prescribe medicine dress
It sets, including manipulator 1, drawer type multilayer medicine frame medicine storage cabinet 2, manipulator displacement drive mechanism and multistation prescribe medicine driving device 5.Manipulator position
Moving driving mechanism includes horizontal drive mechanism 3 and upright driving mechanism 4, and horizontal drive mechanism 3 and upright driving mechanism 4 drive respectively
Dynamic manipulator is moved along X-axis, Y-axis.
As Figure 2-3, above-mentioned manipulator 1 is automatic including mechanical finger 11, controller 12, opening and closing driving mechanism, FRID
Identification sensor 13 and installation supporting plate 14.Wherein, opening and closing driving mechanism includes drive shell 15, drive link 16, balance weight 17
With lead screw motor 18.The end of mechanical finger 11 is mounted in drive shell 15 by shaft；Distinguish at the both ends of drive link 16
It is hinged with mechanical finger 11 and balance weight 17.Lead screw motor 18 and controller 12 are separately fixed at two peaces of installation supporting plate 14
On dress face, the screw rod end of lead screw motor 18 is fixedly connected with the center of balance weight 17, and FRID automatic identification sensor 13 is installed
On balance weight.When work, lead screw motor 18 is acted, and screw rod rotation band dynamic balance weight 17 is downward or moves down, and passes through driving
Connecting rod 16 drives mechanical finger 11 to swing, and realizes the purpose of folding.
In the present embodiment, above-mentioned mechanical finger 11 is equipped with 4.Non-slip mat is provided at the finger tip of each mechanical finger 11
111.Enhancing crawl when and medicine bottle friction, prevent medicine bottle from falling in the process of grasping.
In order to avoid manipulator collides drawer in moving process, it is additionally provided with an anti-collision sensor on a robotic arm
19, anti-collision sensor 19 is mounted on balance weight 17 and is located at 13 side of FRID automatic identification sensor.
As Figure 4-Figure 6, above-mentioned drawer type multilayer medicine frame medicine storage cabinet 2 includes cabinet body 21, installs a column drawer 22 on the cabinet and drive
Dynamic device；Driving device can drive drawer 22 to open or close, and each drawer corresponds to a set of driving device.Specifically, the 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 fixedly connected with the rear portion of drawer 21；Link position can be the rear panel either bottom surface of drawer
Rear end.In the present embodiment, driving motor can be servo motor.In use, being rotated by servo motor drive belt 24, drive
Pushing block 25 is moved forward and backward, and realizes the opening and closing of drawer.
The placement position 26 of Chinese medicinal granule medicine bottle 20 is uniformly arranged on above-mentioned 22 inner bottom plating of drawer, be placed adjacent position 26 it
Between be provided with positioning column 27.It can be set to rectangular specifically, placing position 26, a positioning column 27 be respectively provided on four angles.When
So, can also according to the actual situation, such as contour structures of Chinese medicinal granule medicine bottle 20 will place position and be arranged to other shapes.
Chinese medicinal granule medicine bottle 20 in the present embodiment can be used application No. is storage bottle disclosed in 201510596956.7 and it is quantitative under
The structure of material lid cooperation, is here not described in detail its specific structure；FRID label is provided on Chinese medicinal granule medicine bottle 20.
Further, medicinal powder collection box 28 is equipped in the lower part of each drawer 22.Since Chinese medicinal granule medicine bottle 20 is automatic
After prescribe medicine, it may also be stained with medicinal powder end out in prescribe medicine mouth, therefore, it is necessary to receive by medicinal powder collection box 28 to these powder
Collection, prevents them from falling in the drawer of lower layer, pollutes.
As Figure 7-9, above-mentioned multistation prescribe medicine driving device includes prescribe medicine driver 510 and strip cabinet 520,
Multiple prescribe medicine holes 530 are offered on the cover board of strip cabinet 520, and a prescribe medicine driver is installed at each prescribe medicine hole 530
510。
Wherein, prescribe medicine driver 510 includes bearing mounting base 51, bearing 52, blanking drive ring 53 and servo motor 54.Its
In, blanking drive ring 53 includes ring body 531, fixture block 532 and the double wedge being arranged on ring body lateral wall, and fixture block 532 is arranged
It can match on 531 inner wall of ring body and with medicine bottle blanking lid.Blanking drive ring 53 is mounted on bearing installation by bearing 52
On seat 51, a driving gear 541 is installed on the output shaft of servo motor 54, blanking drive ring 53 and driving gear 541 it
Between be connected by tooth band 55.Bearing mounting base 51 and servo motor 54 are mounted on the cover board of strip cabinet 520.
Specifically, bearing mounting base 51 includes pedestal 511 and matches flap 512 with pedestal, offered on flap 512
The mounting groove 513 passed through for tooth band 55.
Finally it should be noted that the above content is merely illustrative of the technical solution of the present invention, rather than the present invention is protected
The limitation of range, the simple modification or equivalent replacement that those skilled in the art carry out technical solution of the present invention,
All without departing from the spirit and scope of technical solution of the present invention.
Claims (8)
1. a kind of manipulator precisely takes medicine device under medicine, it is characterised in that: including manipulator, manipulator displacement drive mechanism, take out
Drawer formula medicine storage cabinet and multistation prescribe medicine driving device；
Manipulator includes mechanical finger, opening and closing driving mechanism, FRID automatic identification sensor, installation supporting plate and is fixed on installation branch
Controller on plate, opening and closing driving mechanism include drive shell, drive link, flat horizontal block and lead screw motor, the end of mechanical finger
Portion is mounted in drive shell by shaft, and the both ends of drive link are hinged with mechanical finger and balance weight respectively, screw rod electricity
Machine is fixed on installation supporting plate and the end of screw rod is fixedly connected with flat horizontal block center, and FRID automatic identification sensor is mounted on flat
It weighs on block；
Manipulator displacement drive mechanism includes horizontal drive mechanism and upright driving mechanism, horizontal drive mechanism and vertical driving machine
Structure respectively drives manipulator and moves along X-axis, Y-axis；
Drawer type multilayer medicine frame medicine storage cabinet includes that cabinet body, an installation column drawer on the cabinet and driving device, driving device can drive drawer
It opens or closes, the placement position of Chinese medicinal granule medicine bottle is uniformly arranged on drawer inner bottom plating, is placed adjacent between position and is provided with
Positioning column；
Multistation prescribe medicine driving device includes the prescribe medicine driver that strip cabinet and driving medicine bottle blanking lid are put in poison automatically, in length
Multiple prescribe medicine holes are offered on the cover board of bar shaped cabinet, and a prescribe medicine driver is installed at each prescribe medicine hole.
2. manipulator according to claim 1 precisely takes medicine device under medicine, it is characterised in that: the mechanical finger is equipped with 4
It is a, non-slip mat is provided at each mechanical finger finger tip.
3. manipulator according to claim 1 or 2 precisely takes medicine device under medicine, it is characterised in that: the manipulator includes
One anti-collision sensor, anti-collision sensor are mounted on the balance weight and are located at FRID automatic identification sensor side.
4. manipulator according to claim 1 precisely takes medicine device under medicine, it is characterised in that: the lower part of each drawer
Equipped with medicinal powder collection box.
5. manipulator according to claim 1 precisely takes medicine device under medicine, it is characterised in that: the drawer type multilayer medicine frame medicine storage cabinet
Driving device includes servo motor and belt component, and belt component is by belt wheel, belt and the pushing block being fixedly mounted on belt
It constitutes, pushing block is fixedly connected with the rear portion of the drawer.
6. manipulator according to claim 4 or 5 precisely takes medicine device under medicine, it is characterised in that: the placement position is side
Shape is respectively provided with the positioning column on four angles.
7. manipulator according to claim 1 precisely takes medicine device under medicine, it is characterised in that: the prescribe medicine driver includes
Bearing mounting base, bearing, blanking drive ring and servo motor, blanking drive ring include ring body, are arranged on ring body inner wall
And the fixture block that can cooperate with medicine bottle blanking lid and the double wedge that is arranged on ring body lateral wall, blanking drive ring pass through bearing installation
On bearing mounting base, it is connected between blanking drive ring and servo motor by tooth band, bearing mounting base and servo motor peace
Dress is on the cover board.
8. manipulator according to claim 7 precisely takes medicine device under medicine, it is characterised in that: the bearing mounting base includes
Pedestal and flap is matched with pedestal, it is present to cover the mounting groove for offering and passing through for the tooth band.
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 CN106240915A (en) | 2016-12-21 |
| CN106240915B true CN106240915B (en) | 2019-09-27 |
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| 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 |
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| Country | Link |
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| CN (1) | CN106240915B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107823745A (en) * | 2017-10-31 | 2018-03-23 | 王志秀 | A kind of automatic dispensation apparatus of clinical care medical treatment |
| CN111292473B (en) * | 2018-12-10 | 2023-10-13 | 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 |
| CN204431259U (en) * | 2015-01-19 | 2015-07-01 | 浙江海洋学院 | A kind of underwater robot changeable type composite machine hand |
| CN104757789A (en) * | 2015-04-22 | 2015-07-08 | 霍智勇 | Intelligent medicine safety cabinet and intelligent medicine management system |
| CN104924288A (en) * | 2015-05-08 | 2015-09-23 | 江苏大学 | Full-automatic picking car for warehouse and control method of full-automatic picking car |
| CN105270677A (en) * | 2015-11-30 | 2016-01-27 | 四川新绿色药业科技发展股份有限公司 | Medicine discharging medicine |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4429752B2 (en) * | 2004-01-30 | 2010-03-10 | 株式会社湯山製作所 | Tablet storage device |
| JP5649487B2 (en) * | 2011-03-10 | 2015-01-07 | 株式会社トーショー | Drug handing agent |
| CN104555212A (en) * | 2015-01-06 | 2015-04-29 | 北京航空航天大学 | Automatic rapid medicine loading system |
| CN105151339B (en) * | 2015-09-18 | 2018-03-13 | 广东一方制药有限公司 | A kind of Chinese medicinal granule continuous metering blanking device and metering baiting method |
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2016
- 2016-06-30 CN CN201610501745.5A patent/CN106240915B/en not_active Ceased
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN204431259U (en) * | 2015-01-19 | 2015-07-01 | 浙江海洋学院 | A kind of underwater robot changeable type composite machine hand |
| CN104757789A (en) * | 2015-04-22 | 2015-07-08 | 霍智勇 | Intelligent medicine safety cabinet and intelligent medicine management system |
| CN104924288A (en) * | 2015-05-08 | 2015-09-23 | 江苏大学 | Full-automatic picking car for warehouse and control method of full-automatic picking car |
| CN105270677A (en) * | 2015-11-30 | 2016-01-27 | 四川新绿色药业科技发展股份有限公司 | Medicine discharging medicine |
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| CN106240915A (en) | 2016-12-21 |
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