CN106695768A - Automatic drug feeding manipulator for tablet subpackaging - Google Patents
Automatic drug feeding manipulator for tablet subpackaging Download PDFInfo
- Publication number
- CN106695768A CN106695768A CN201710006562.0A CN201710006562A CN106695768A CN 106695768 A CN106695768 A CN 106695768A CN 201710006562 A CN201710006562 A CN 201710006562A CN 106695768 A CN106695768 A CN 106695768A
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- CN
- China
- Prior art keywords
- support arm
- manipulator
- medicine
- arm
- axis support
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 239000003814 drug Substances 0.000 title claims abstract description 96
- 229940079593 drug Drugs 0.000 title claims abstract description 33
- 239000000203 mixture Substances 0.000 claims description 3
- 230000002093 peripheral effect Effects 0.000 claims description 3
- 238000011897 real-time detection Methods 0.000 claims description 3
- 230000001960 triggered effect Effects 0.000 claims description 3
- 239000000463 material Substances 0.000 description 3
- 230000002411 adverse Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000857 drug effect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 239000002775 capsule Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000007634 remodeling Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/023—Cartesian coordinate type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an automatic drug feeding manipulator for tablet subpackaging. The automatic drug feeding manipulator for tablet subpackaging comprises a manipulator body, a mechanical arm and a control system. The manipulator body comprises a manipulator base and a manipulator clamping jaw. A telescopic supporting arm is fixedly arranged at the front end of the interior of the manipulator base. The manipulator clamping jaw is arranged at the rear end of the telescopic supporting arm. A rotary chassis is fixedly arranged at the lower end of the manipulator base. A lifting supporting arm is fixedly arranged at the left end of the manipulator base. An opening-closing supporting arm is fixedly arranged on a sliding block. The mechanical arm is composed of X-axis supporting arms, Z-axis supporting arms, a servo motor and the sliding block. A drug storage drawer is arranged on the rear side of a parallelogram formed by the X-axis supporting arms and the Z-axis supporting arms, and a plurality of drug boxes are arranged in the drug storage drawer. The automatic drug feeding manipulator for tablet subpackaging is high in automation degree, high in drug feeding efficiency and accurate in drug feeding control; and a single drug box can be purposefully taken out for operation, so that unnecessary movement of other drug boxes in the same drug storage drawer is avoided, and the safety and shelf life of all drugs can be guaranteed to the maximum extent.
Description
Technical field
The present invention relates to a kind of manipulator, more particularly to a kind of tablet subpackage automatic medicine-applicating machinery hand, belong to industrial machine
People's technical field.
Background technology
The subpackage equipment in present hospital or pharmacy is all made up of multiple drug storage drawers mostly.It is provided with drug storage drawer many
Individual medicinal box, after different tablets or capsule is individually placed in medicinal box, is positioned over according still further to same or like property classification
In same drug storage drawer.When medicine lacks certain in drug storage drawer simply, can only be added medicine to by way of manual operation,
I.e. by manually pulling open whole drug storage drawer, then to adding medicament in the medicinal box of scarce medicine.The mode of this artificial medicine-feeding
There is following defect：(1) manual hand manipulation, adds medicine to less efficient；(2) existing equipment medicine-feeding must shut down, and it is right to shut down meeting
Bag drug effect rate and accuracy have a negative impact；(3) on-mechanical control, it is easy to medicament is misplaced into position because manual operation is improper
Put, cause medicine-feeding accuracy rate relatively low；(4) artificial medicine-feeding needs continually to pull open drug storage drawer, this Temperature and Humidity Control to whole machine
Adverse effect is brought, while the security and the term of validity for having influence on other medicaments in same drawer can be given.Therefore, it is badly in need of exploitation
A kind of new automatic medicine-dispensing device is meeting the requirement that hospital pharmacy management development and new century work pharmacy.
The content of the invention
In order to solve the weak point existing for above-mentioned technology, the invention provides a kind of tablet subpackage automatic medicine-applicating machinery
Hand.
In order to solve the above technical problems, the technical solution adopted by the present invention is：A kind of tablet subpackage automatic medicine-applicating machinery
Hand, is made up of manipulator, mechanical arm and control system；Manipulator includes manipulator base, manipulator clamping jaw；Manipulator base
Interior forward end is fixedly installed retractable support arm；The left side rear end of retractable support arm is fixedly installed telescope motor；Manipulator is pressed from both sides
Pawl is arranged at the rear end of telescope motor；Telescope motor is used to be transported before and after providing power, driving mechanical hand clamping jaw to retractable support arm
It is dynamic；
The lower end of manipulator base is fixedly installed swivel base；The lower end of swivel base passes through rotary shaft and electric rotating machine
It is connected；Electric rotating machine is used to provide power, driving mechanical hand clamping jaw left rotation and right rotation to swivel base；
The left end of manipulator base is fixedly installed lift supporting arm；The left end of lift supporting arm is provided with lifting motor；
Lifting motor is used to provide power to lift supporting arm, and driving mechanical hand clamping jaw moves up and down；
Lifting motor is fixedly installed on the upper end of folding support arm；The lower end of folding support arm is fixedly installed folding electricity
Machine；Folding motor is used to provide power to folding support arm, and driving mechanical hand clamping jaw does open and close movement；
Mechanical arm is made up of X-axis support arm, Z axis support arm, servomotor and sliding block；X-axis support arm and Z axis support arm are equal
It is two, two X-axis support arms and the end to end composition parallelogram of Z axis support arm；
Servomotor is two, and a left end for being arranged at X-axis support arm is used to drive Z axis support arm side-to-side movement, separately
One lower end for being arranged at Z axis support arm is used for band movable slider and moves up and down；Sliding block is arranged at the Z axis support of servomotor homonymy
On arm；
Folding support arm is fixedly installed on the right flank of sliding block；Parallel four side that X-axis support arm is constituted with Z axis support arm
Shape rear side is provided with drug storage drawer；Multiple medicine storage tanks are provided with drug storage drawer；Medicine box is provided with medicine storage tank；
Sensor for countering is provided with the base of medicine box bottom；The dispensing situation of sensor for countering real-time detection medicine box and on
Reach control system；When medicine box lacks medicine, do not triggered in the time window inside counting sensor signal of setting, then control system judges
For medicine box lacks medicine, and the system display prompting medicine-feeding for passing through peripheral hardware.
The present invention has the advantages that high degree of automation, medicine-feeding efficiency high, can significantly save human cost；Purely mechanic control
System makes medicine-feeding process more accurate, can avoid because medicine box mixes up the generation of accident caused by artificial maloperation；Additionally, this hair
It is bright single medicine box pointedly to be taken out according to medicine-feeding demand and operated, and then avoid to other medicine boxs in same drug storage drawer
It is unnecessary move, be truly realized dosing and do not shut down, and ensure the security and the term of validity of each medicament to greatest extent.
Brief description of the drawings
Fig. 1 is overall structure diagram of the invention.
Fig. 2 is the mplifying structure schematic diagram of manipulator.
In figure：1st, drug storage drawer；2nd, medicine storage tank；3rd, manipulator；4th, sliding block；5th, Z axis support arm；6th, X-axis support arm；7th, watch
Take motor；8th, manipulator base；9th, electric rotating machine；10th, swivel base；11st, retractable support arm；12nd, medicine box；13rd, lifting support
Arm；14th, manipulator clamping jaw；15th, telescope motor；16th, lifting motor；17th, folding support arm；18th, folding motor.
Specific embodiment
The present invention is further detailed explanation with reference to the accompanying drawings and detailed description.
As shown in Figure 1 and Figure 2, the present invention is made up of manipulator, mechanical arm and control system；Manipulator includes manipulator bottom
Seat 8, manipulator clamping jaw 14；The interior forward end of manipulator base 8 is fixedly installed retractable support arm 11；A left side for retractable support arm 11
Side rear end is fixedly installed telescope motor 15；Manipulator clamping jaw 14 is arranged at the rear end of telescope motor 15；Telescope motor 15 is used for
Power is provided to retractable support arm 11, driving mechanical hand clamping jaw 14 is moved forward and backward；
The lower end of manipulator base 8 is fixedly installed swivel base 10；The lower end of swivel base 10 is by rotary shaft and rotation
Rotating motor 9 is connected；Electric rotating machine 9 is used to provide power, the left rotation and right rotation of driving mechanical hand clamping jaw 14 to swivel base 10；This dress
Putting in practical application or so has drug storage drawer, so manipulator clamping jaw 14 can in left-right direction in 180 ° of rotations, for fitting
The medicine-feeding of left and right two ends drug storage drawer is answered to operate；
The left end of manipulator base 8 is fixedly installed lift supporting arm 13；The left end of lift supporting arm 13 is provided with lifting
Motor 16；Lifting motor 16 is used to provide power to lift supporting arm 13, and driving mechanical hand clamping jaw 14 moves up and down；Because of medicine storage tank
2 edge has block material step, so medicine box 12 needs first to raise in taking-up or placement, so as to avoid block material step；
Lifting motor 16 is fixedly installed on the upper end of folding support arm 17；The lower end of folding support arm 17 is fixedly installed out
Close motor 18；Folding motor 18 is used to provide power to folding support arm 17, and driving mechanical hand clamping jaw 14 does open and close movement to be used for
Crawl medicine box 12；
Mechanical arm is made up of X-axis support arm 6, Z axis support arm 5, servomotor 7 and sliding block 4；X-axis support arm 6 and Z axis branch
Brace 5 is two, two X-axis support arms 6 and the end to end composition parallelogram of Z axis support arm 5；Two X-axis support arms 6
On be provided with belt, the servomotor 7 of the left end of X-axis support arm 6 can operationally drive belt to rotate, so that Z axis branch
Brace 5 moves leftwards and rightwards；The lower end of Z axis support arm 5 is also equipped with servomotor, and the servomotor can be with movable slider when running
4 move up and down；Sliding block 4 is arranged on the Z axis support arm 5 of the homonymy of servomotor 7.By controlling two operation feelings of servomotor
Can be positioned at manipulator at the medicine box for needing medicine-feeding by condition.
Folding support arm 17 is fixedly installed on the right flank of sliding block 4；It is flat that X-axis support arm 6 and Z axis support arm 5 are constituted
Row quadrangle rear side is provided with drug storage drawer 1；Multiple medicine storage tanks 2 are provided with drug storage drawer 1；Medicine is provided with medicine storage tank 2
Box 12；
Sensor for countering is provided with the base of the bottom of medicine box 12；The dispensing situation of sensor for countering real-time detection medicine box 12
And it is uploaded to control system；When medicine box lacks medicine, do not triggered in the time window inside counting sensor signal of setting, then control system
It is judged to that medicine box lacks medicine, and the system display prompting medicine-feeding for passing through peripheral hardware.
Operation principle of the invention is：Sensor for countering uploads data, and control system judges that medicine box lacks medicine, then servomotor
7 start, and manipulator is positioned at the medicine box of scarce medicine；
Power is provided to swivel base 10 by electric rotating machine 9 first, manipulator clamping jaw 14 is rotated to medicine box front；Then
Power is provided to retractable support arm 11 by telescope motor 15, manipulator clamping jaw 14 extands rearward to medicine box position；Again by folding electricity
Machine 18 provides power to folding support arm 17, and tool hand clamping jaw 14 firmly grasps medicine box；Carried to lift supporting arm 13 by lifting motor 16 again
For power, medicine box lifting departs from medicine storage tank, finally provides power, manipulator clamping jaw 14 to retractable support arm 11 by telescope motor 15
Withdrawn forward is to initial position；
Then under the allotment of control system, power is provided by servomotor 7, manipulator is moved into pharmacist's medicine-feeding position
Put；Next power is provided to swivel base 10 by electric rotating machine 9, manipulator clamping jaw 14 rotates to pharmacist front medicine box；
After pharmacist adds good correspondence medicine to medicine box, power is provided to swivel base 10 by electric rotating machine 9, manipulator clamping jaw 14 revolves medicine box
Go to the front of medicine storage tank；
Again under the allotment of control system, power is provided by servomotor 7, manipulator is moved into corresponding medicine storage tank position
Put；
Power is provided to retractable support arm 11 by telescope motor 15, manipulator clamping jaw 14 is extended to medicine storage tank, with
Avoid block material step；Power is provided to lift supporting arm 13 by lifting motor 16 again, manipulator clamping jaw 14 drops to medicine storage tank position
Put；Then power is provided to folding support arm 17 by folding motor 18, tool hand clamping jaw 14 puts down medicine box；Again in the tune of control system
Under matching somebody with somebody, manipulator is returned to original position, waits automatic medicine-applicating operation next time.
The present invention compared with prior art, with advantages below：
1) high degree of automation, medicine-feeding efficiency is higher, can significantly save human cost；
2) can realize that medicine-feeding is not shut down, exclude because of the adverse effect that equipment downtime is produced to bag drug effect rate and accuracy；
3) purely mechanic control medicine-feeding is more accurate, can avoid because medicine box mixes up the hair of accident caused by artificial maloperation
It is raw；
4) can pointedly take out single medicine box according to medicine-feeding demand to be operated, and then avoid in same drug storage drawer
The unnecessary of other medicine boxs is moved, and can to greatest extent ensure the security and the term of validity of each medicament, it is ensured that people's uses peace
Entirely.
Above-mentioned implementation method is not limitation of the present invention, and the present invention is also not limited to the example above, this technology neck
Change, remodeling, addition or replacement that the technical staff in domain is made in the range of technical scheme, also belong to this hair
Bright protection domain.
Claims (1)
1. a kind of tablet subpackage automatic medicine-applicating machinery hand, it is characterised in that：It is made up of manipulator, mechanical arm and control system；
The manipulator includes manipulator base (8), manipulator clamping jaw (14)；The interior forward end of the manipulator base (8) is fixed and set
It is equipped with retractable support arm (11)；The left side rear end of the retractable support arm (11) is fixedly installed telescope motor (15)；The machine
Tool hand clamping jaw (14) is arranged at the rear end of telescope motor (15)；The telescope motor (15) to retractable support arm (11) for providing
Power, driving mechanical hand clamping jaw (14) is moved forward and backward；
The lower end of the manipulator base (8) is fixedly installed swivel base (10)；The lower end of the swivel base (10) passes through
Rotary shaft is connected with electric rotating machine (9)；The electric rotating machine (9) to swivel base (10) for providing power, driving mechanical
Hand clamping jaw (14) left rotation and right rotation；
The left end of the manipulator base (8) is fixedly installed lift supporting arm (13)；The left end of the lift supporting arm (13)
It is provided with lifting motor (16)；The lifting motor (16) to lift supporting arm (13) for providing power, driving mechanical hand folder
Pawl (14) moves up and down；
The lifting motor (16) is fixedly installed on the upper end of folding support arm (17)；The lower end of the folding support arm (17) is consolidated
Surely it is provided with folding motor (18)；The folding motor (18) to folding support arm (17) for providing power, driving mechanical hand
Clamping jaw (14) does open and close movement；
The mechanical arm is made up of X-axis support arm (6), Z axis support arm (5), servomotor (7) and sliding block (4)；The X-axis branch
Brace (6) and Z axis support arm (5) are two, and two X-axis support arm (6) compositions end to end with Z axis support arm (5) are parallel
Quadrangle；
The servomotor (7) is two, and a left end for being arranged at X-axis support arm (6) is used to drive Z axis support arm (5) left
Right motion, another lower end for being arranged at Z axis support arm (5) is used for band movable slider (4) and moves up and down；The sliding block (4) is set
In on the Z axis support arm (5) of servomotor (7) homonymy；
The folding support arm (17) is fixedly installed on the right flank of sliding block (4)；The X-axis support arm (6) and Z axis support arm
(5) the parallelogram rear side for constituting is provided with drug storage drawer (1)；Multiple medicine storage tanks are provided with the drug storage drawer (1)
(2)；Medicine box (12) is provided with the medicine storage tank (2)；
Sensor for countering is provided with the base of medicine box (12) bottom；The sensor for countering real-time detection medicine box (12)
Dispensing situation is simultaneously uploaded to control system；When medicine box lacks medicine, do not triggered in the time window inside counting sensor signal of setting, then
Control system is judged to that medicine box lacks medicine, and the system display prompting medicine-feeding for passing through peripheral hardware.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710006562.0A CN106695768A (en) | 2017-01-05 | 2017-01-05 | Automatic drug feeding manipulator for tablet subpackaging |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710006562.0A CN106695768A (en) | 2017-01-05 | 2017-01-05 | Automatic drug feeding manipulator for tablet subpackaging |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106695768A true CN106695768A (en) | 2017-05-24 |
Family
ID=58907840
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710006562.0A Pending CN106695768A (en) | 2017-01-05 | 2017-01-05 | Automatic drug feeding manipulator for tablet subpackaging |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106695768A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109276801A (en) * | 2018-09-30 | 2019-01-29 | 东莞理工学院 | A kind of automatic debridement application robot |
| CN114145597A (en) * | 2021-12-24 | 2022-03-08 | 天津市第四中心医院 | Intelligent medicine storage and dispensing machine |
-
2017
- 2017-01-05 CN CN201710006562.0A patent/CN106695768A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109276801A (en) * | 2018-09-30 | 2019-01-29 | 东莞理工学院 | A kind of automatic debridement application robot |
| CN109276801B (en) * | 2018-09-30 | 2023-12-01 | 东莞理工学院 | Automatic debridement and pesticide application robot |
| CN114145597A (en) * | 2021-12-24 | 2022-03-08 | 天津市第四中心医院 | Intelligent medicine storage and dispensing machine |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170524 |
|
| RJ01 | Rejection of invention patent application after publication |