CN108750518A - Tonic manipulator, tonic device and automatic administration equipment - Google Patents
Tonic manipulator, tonic device and automatic administration equipment Download PDFInfo
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- CN108750518A CN108750518A CN201810947929.3A CN201810947929A CN108750518A CN 108750518 A CN108750518 A CN 108750518A CN 201810947929 A CN201810947929 A CN 201810947929A CN 108750518 A CN108750518 A CN 108750518A
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- Prior art keywords
- manipulator
- slideway
- axis
- tonic
- guide rail
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
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- Mechanical Engineering (AREA)
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Abstract
The present invention provides a kind of tonic manipulator, tonic device and automatic administration equipments, are related to the technical field of dispensing machine, and tonic machinery hand includes manipulator slideway, mechanical hand splint and manipulator baffle；The manipulator slideway with respect to the horizontal plane tilts down setting along drug conveying direction；At least side setting mechanical hand splint of the manipulator slideway, and the mechanical hand splint can be slided along manipulator chute width direction, to pile up drug；The manipulator baffle is located at the bottom of the manipulator slideway, and can rise or decline, and to be turned on or off manipulator slideway, solves manipulator and takes medicine complicated, the technical issues of having a single function.
Description
Technical field
The present invention relates to dispensing machine technical fields, more particularly, to a kind of tonic manipulator, tonic device and automatic medicine-dispensing
Machine.
Background technology
As the development of social economy, population increase, the medicines such as the people to go to a hospital to see a doctor is often lined up, pharmacy automatic medicine-dispensing
Machine is instead of using artificial drug putting and taking the complicated procedures of medicine.Pharmacy automatic administration equipment improves effect by the dispensing program of hospital
Rate, and save the time of the medicines such as patient.Prescription automatic administration equipment is the indispensable part of current hospital system.It is existing
Pharmacy automatic administration equipment generally by：Platform, medicine-feeding hand and the medicine storage cabinet three parts of adding medicine to form.
Tonic manipulator is disadvantageous in that in the prior art：The mobile etc. of drug needs driving device to directly drive medicine
Object, it is complicated, and drug place on a robotic arm when it is disorderly and unsystematic, be not easy to subsequent transportation.
In consideration of it, providing tonic manipulator a kind of simple in structure and can arranging drug is particularly important.
The information for being disclosed in the background technology part is merely intended to deepen understanding of the general background technology to the present invention, and
It is not construed as recognizing or implying in any form that the information constitutes the prior art known to those skilled in the art.
Invention content
The purpose of the present invention is to provide tonic manipulator, tonic device and automatic administration equipments, are asked with alleviating above-mentioned technology
Topic.
In a first aspect, a kind of tonic manipulator provided by the invention, including：Manipulator slideway, mechanical hand splint and machinery
Stick shift plate；
The manipulator slideway with respect to the horizontal plane tilts down setting along drug conveying direction；
At least side setting mechanical hand splint of the manipulator slideway, and the mechanical hand splint can be along described
Manipulator chute width direction is slided, to pile up drug；
The manipulator baffle is located at the bottom of the manipulator slideway, and can rise either decline with open or
Close manipulator slideway.
As a kind of further technical solution, mechanical hand splint and fixation is respectively set in manipulator slideway both sides
Plate；
It is described machinery hand splint can be along the manipulator slideway under the action of the first drive component width direction lean on
The close or separate fixed plate.
As a kind of further technical solution, first drive component includes first motor, the first belt pulley, screw rod
And movable block；
The first motor and the first belt pulley are installed in manipulator slideway side, described screw rod one end with it is described
First belt pulley is fixedly connected, and the other end is threadedly coupled with the movable block, and the movable block is installed on the mechanical hand splint
Bottom；
The first motor drives first belt pulley and screw rod rotation, the screw rod drive the movable block and
Mechanical hand splint is moved along the screw rod；
The length direction of the screw rod and the width direction of the manipulator slideway are arranged in parallel.
As a kind of further technical solution, the manipulator baffle can rise under the action of the second drive component
Or decline；
Second drive component includes the second motor, rotating member and mobile station；
Second motor is mounted on manipulator slideway side, and described rotating member one end is articulated with second electricity
Machine, the other end are articulated with the mobile station, and the mobile station is fixedly connected with the manipulator baffle；
Second motor drives the rotating member rotation, with drive the mobile station and manipulator baffle to rise or under
Drop.
Second aspect, a kind of tonic device provided by the invention, including X-axis guide rail, Y-axis guide rail and tonic machinery
Hand；
The manipulator slideway is symmetrical arranged along Y-axis guide rail and is slidably mounted in the Y-axis guide rail, and the Y-axis is led
Rail can drive the manipulator slideway to be moved along the X-axis guide rail.
As a kind of further technical solution, the manipulator slideway is slidably connected to the Y by Y-axis drive component
On axis rail；
The Y-axis drive component includes rack-mounted y-axis motor and the second belt pulley；
The y-axis motor is installed on the Y-axis guide rail side, and the manipulator slideway is installed on second belt pulley；
The y-axis motor drives second belt pulley that the manipulator slideway is driven to be slided along the Y-axis guide rail.
As a kind of further technical solution, movable pulley is provided on the manipulator slideway, the movable pulley can
The manipulator slideway is driven to be slided along the Y-axis guide rail.
As a kind of further technical solution, the Y-axis guide rail is installed in the rack and can be in X-axis driving group
It is slided along X-axis guide rail under the action of part；
The X-axis drive component includes rack-mounted X-axis motor, third belt pulley and multiple movable pulleys, third
Belt pulley passes through multiple movable pulleys, and multiple movable pulleys are slidably connected to the side of the X-axis guide rail respectively；
The X-axis motor drives multiple movable pulleys to rotate by third belt pulley, and drives the rack along the X
Axis rail moves.
As a kind of further technical solution, the X-axis drive component further includes X-axis limit pulley, the X-axis limit
Pulley is located in one of movable pulley side, the shift position for limiting the manipulator slideway.
The third aspect, the present invention provide a kind of automatic administration equipment, including the tonic device.
Compared with prior art, use tonic manipulator, tonic device and automatic administration equipment provided by the invention have with
Lower advantageous effect：
A kind of tonic manipulator provided by the invention, including manipulator slideway, mechanical hand splint and manipulator baffle；It is described
Manipulator slideway with respect to the horizontal plane tilts down setting along drug conveying direction；At least side of the manipulator slideway is arranged
The machinery hand splint, and the mechanical hand splint can be slided along manipulator chute width direction, to pile up drug；Institute
It states manipulator baffle and is located at the bottom of the manipulator slideway, and can rise or decline, to be turned on or off manipulator
Slideway.
When work, drug is fallen on manipulator slideway, and since manipulator slideway is placed diagonally downward, drug is slided automatically
It falls, at this time according to the width of drug, mechanically moving hand splint is regular to drug progress, when drug is moved to manipulator slideway bottom
When portion, decline manipulator baffle, drug brakes landing under the effect of gravity.
A kind of tonic manipulator provided by the invention, since manipulator slideway is placed diagonally downward, drug is in its own gravity
Conveying can be completed under effect, driven again without extraneous driving device, it is simple in structure；By mechanical hand splint, can incite somebody to action
Drug is neatly packed, orderly slides, and by manipulator baffle, quantitative conveying may be implemented, prevent drug caused by excessively conveying
Accumulation.The configuration of the present invention is simple, easy to operation, tonic is efficient.
A kind of tonic device provided by the invention, including X-axis guide rail, Y-axis guide rail and the tonic manipulator；The machine
Tool rubber sleeve road is symmetrical arranged along Y-axis guide rail and is slidably mounted in the Y-axis guide rail, and the Y-axis guide rail can drive it is described
Manipulator slideway is moved along the X-axis guide rail.A kind of tonic device provided by the invention, including：Above-mentioned tonic manipulator, because
Here tonic device have the advantages that it is same as above-mentioned tonic manipulator, in addition, by the way that X-axis guide rail and Y-axis guide rail is arranged,
Tonic manipulator is moved in X-direction and Y direction, it is more convenient when taking medicine, it can be suitable for big
That is moved in range takes prescription formula.
A kind of automatic administration equipment provided by the invention, including：Above-mentioned tonic device, therefore automatic medicine-dispensing equipment here
Have the advantages that same as above-mentioned tonic device, does not just repeat herein.
Description of the drawings
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution in the prior art
Embodiment or attached drawing needed to be used in the description of the prior art are briefly described, it should be apparent that, in being described below
Attached drawing is some embodiments of the present invention, for those of ordinary skill in the art, before not making the creative labor
It puts, other drawings may also be obtained based on these drawings.
Fig. 1 is a kind of structural schematic diagram at the first visual angle of tonic manipulator provided in an embodiment of the present invention；
Fig. 2 is a kind of structural schematic diagram at the second visual angle of tonic manipulator provided in an embodiment of the present invention；
Fig. 3 is a kind of structural representation of the Y-axis guide rail of tonic device provided in an embodiment of the present invention based on Fig. 1-Fig. 2
Figure；
Fig. 4 is that a kind of first viewing angle constructions of the X-axis guide rail of tonic device provided in an embodiment of the present invention based on Fig. 3 show
It is intended to；
Fig. 5 is that a kind of second viewing angle constructions of the X-axis guide rail of tonic device provided in an embodiment of the present invention based on Fig. 3 show
It is intended to；
Fig. 6 is a kind of structure of the X-axis limit pulley of tonic device provided in an embodiment of the present invention based on Fig. 4-Fig. 5
Schematic diagram.
Icon：1- manipulator slideways；2- machinery hand splints；21- fixed plates；The first belt pulleys of 22-；23- screw rods；
24- movable blocks；25- grooves；3- manipulator baffles；The first rotating members of 31-；The second rotating members of 32-；33- thirds rotate
Part；34- mobile stations；4-X axis rails；41-X spindle motors；42- third belt pulleys；43- movable pulleys；5-Y axis rails；
51-Y spindle motors；The second belt pulleys of 52-；6-X axis limits pulley；7- racks.
Specific implementation mode
Technical scheme of the present invention is clearly and completely described below in conjunction with attached drawing, it is clear that described implementation
Example is a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill
The every other embodiment that personnel are obtained without making creative work, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that term "center", "upper", "lower", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" be based on the orientation or positional relationship shown in the drawings, merely to
Convenient for the description present invention and simplify description, do not indicate or imply the indicated device or element must have a particular orientation,
With specific azimuth configuration and operation, therefore it is not considered as limiting the invention.In addition, term " first ", " second ",
" third " is used for description purposes only, and is not understood to indicate or imply relative importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
Can also be electrical connection to be mechanical connection；It can be directly connected, can also indirectly connected through an intermediary, Ke Yishi
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition
Concrete meaning in invention.
The specific implementation mode of the present invention is described in detail below in conjunction with attached drawing.It should be understood that this place is retouched
The specific implementation mode stated is merely to illustrate and explain the present invention, and is not intended to restrict the invention.
Fig. 1-Fig. 6 is please referred to, below in conjunction with attached drawing to tonic manipulator provided in an embodiment of the present invention, tonic device
And automatic administration equipment elaborates.
Embodiment one
As Figure 1-Figure 2, a kind of tonic manipulator provided in this embodiment, including manipulator slideway 1, manipulator folder
Plate 2 and manipulator baffle 3；Manipulator slideway 1 with respect to the horizontal plane tilts down setting along drug conveying direction；Manipulator slideway
The 1 mechanical hand splint 2 of at least side setting, and mechanical hand splint 2 can be slided along 1 width direction of manipulator slideway, to pile up
Drug；Manipulator baffle 3 is located at the bottom of manipulator slideway 1, and can rise or decline, to be turned on or off manipulator
Slideway 1.
When work, drug is fallen on manipulator slideway 1, and since manipulator slideway 1 is placed diagonally downward, drug is slided automatically
It falls, at this time according to the width of drug, mechanically moving hand splint 2 is regular to drug progress, when drug is moved to manipulator slideway 1
When bottom, decline manipulator baffle 3, drug brakes landing under the effect of gravity.
A kind of tonic manipulator provided in this embodiment, since manipulator slideway 1 is placed diagonally downward, drug is in itself weight
Conveying can be completed under force effect, driven again without extraneous driving device, it is simple in structure；It, can be with by mechanical hand splint 2
Drug is neatly packed, it orderly slides, by manipulator baffle 3, quantitative conveying may be implemented, prevent medicine caused by excessively conveying
Object is accumulated.The present embodiment is simple in structure, easy to operation, and tonic is efficient.
For mechanical hand splint 2, as shown in Figure 1,1 both sides of manipulator slideway are respectively set mechanical hand splint 2 and consolidate
Fixed board 21；Mechanical hand splint 2 can be along manipulator slideway 1 under the action of the first drive component width direction it is close or remote
From fixed plate 21.
Specifically, the first drive component includes first motor, the first belt pulley 22, screw rod 23 and movable block 24；First electricity
Machine and the first belt pulley 22 are installed in 1 side of manipulator slideway, and 23 one end of screw rod is fixedly connected with the first belt pulley 22, another
End is threadedly coupled with movable block 24, and movable block 24 is installed on 2 bottom of mechanical hand splint；First motor drives 22 He of the first belt pulley
Screw rod 23 rotates, and screw rod 23 drives movable block 24 and mechanical hand splint 2 to be moved along screw rod 23；The length direction of screw rod 23 and machinery
The width direction in rubber sleeve road 1 is arranged in parallel.
For manipulator baffle 3, as shown in Fig. 2, manipulator baffle 3 can be under the action of the second drive component on
It rises or declines；Second drive component includes the second motor, rotating member and mobile station 34；Second motor is mounted on manipulator slideway
1 side, rotating member one end are articulated with the second motor, and the other end is articulated with mobile station 34, and mobile station 34 is fixed with manipulator baffle 3
Connection；Second motor-driven rotation part rotates, to drive mobile station 34 and manipulator baffle 3 to rise or decline.Specifically, turning
Moving part includes the first rotating member 31, the second rotating member 32 and third rotating member 33, and the first rotating member 31 connects second by shaft
Rotating member 32, the second rotating member 32 are rotatablely connected third rotating member 33, and third rotating member 33 drives mobile station 34 to move down.
If being pointed out that manipulator baffle 3 not on the motion track of mechanical hand splint 2, the complementary interference of the two,
If manipulator baffle 3 is located on the motion track of mechanical hand splint 2, a groove 25 is set on mechanical hand splint 2, in movement
When mechanical hand splint 2, it can be passed through from mechanical stick shift plate 3, the two is non-interference.
Embodiment two
On the basis of embodiment one, as seen in figures 3-6, a kind of tonic device provided in this embodiment, including X-axis are led
The tonic manipulator of rail 4,5 sum of Y-axis guide rail；Manipulator slideway 1 is symmetrical arranged along Y-axis guide rail 5 and is slidably mounted on Y-axis guide rail 5
On, and Y-axis guide rail 5 can drive manipulator slideway 1 to be moved along X-axis guide rail 4.A kind of tonic device provided in this embodiment, packet
It includes：Above-mentioned tonic manipulator, thus tonic device here have the advantages that it is same as above-mentioned tonic manipulator, in addition, logical
Cross setting X-axis guide rail 4 and Y-axis guide rail 5 so that tonic manipulator can move in X-direction and Y direction, take medicine
When it is more convenient, can be suitable for mobile in a wide range of taking prescription formula.
In the alternative of the present embodiment, as shown in figure 3, manipulator slideway 1 is slidably connected to Y by Y-axis drive component
On axis rail 5；Y-axis drive component includes the y-axis motor 51 and the second belt pulley 52 being mounted in rack 7；Y-axis motor 51 is installed
In installation manipulator slideway 1 on 5 side of Y-axis guide rail, the second belt pulley 52；Y-axis motor 51 drives the second belt pulley 52 with motivation
It is slided along Y-axis guide rail 5 in tool rubber sleeve road 1.Specifically, being provided with movable pulley 43 on manipulator slideway 1, movable pulley 43 being capable of band
It is slided along Y-axis guide rail 5 in motivation tool rubber sleeve road 1.
In the alternative of the present embodiment, as shown in fig. 4-5, Y-axis guide rail 5 is installed in rack 7 and can be in X-axis
It is slided along X-axis guide rail 4 under the action of drive component；X-axis drive component includes the X-axis motor 41 being mounted in rack 7, third skin
Belt wheel 42 and multiple movable pulleys 43, third belt pulley 42 passes through multiple movable pulleys 43, and multiple movable pulleys 43 are slided respectively
The dynamic side for being connected to X-axis guide rail 4；X-axis motor 41 drives multiple movable pulleys 43 to rotate by third belt pulley 42, and drives
Rack 7 (and Y-axis guide rail 5, Y-axis drive component and manipulator slideway 1 in rack 7) is moved along X-axis guide rail 4.It may be noted that
, can also multiple movable pulleys 43 that can be slided along X-axis guide rail 4 be set in the bottom of rack 7, when to improve mobile
Stability.
In addition, as shown in fig. 6, X-axis drive component further includes X-axis limit pulley 6, X-axis limit pulley 6 is located in one of
43 side of movable pulley is used for the shift position in limit mechanical rubber sleeve road 1.X-axis limit pulley 6 and other dynamic cunnings in order to prevent
43 interference of wheel, therefore, the shaft at one of them 43 center of movable pulley is extended on Y-axis guide rail 5, and is arranged outside it
Movable pulley 43, in 43 side of movable pulley, setting X-axis limits pulley 6, passes through between movable pulley 43 and X-axis limit pulley 6
Conveyer belt is sequentially connected, and when movable pulley 43 is moved to Y-axis guide rail 5 at X-axis limit pulley 6, Y-axis guide rail 5 stops at X-axis
Movement on guide rail 4 can prevent it from excessively moving.
Embodiment three
On the basis of embodiment one and embodiment two, a kind of automatic administration equipment provided in this embodiment, including：Tonic fills
It sets.
It should be noted that automatic administration equipment provided in this embodiment, due to including above-mentioned tonic device, here from
Dynamic dispensing machine has the advantages that same as above-mentioned tonic device, and details are not described herein again.It should be pointed out that the present embodiment provides
Automatic administration equipment, further include other structures, but be uniformly disclosed as the prior art, details are not described herein again.
Finally it should be noted that：The above various embodiments is only to illustrate the technical solution of the present embodiment, rather than its limitations；
Although the present embodiment is described in detail with reference to foregoing embodiments, it will be understood by those of ordinary skill in the art that：
It still can be either special to which part or whole technologies with technical scheme described in the above embodiments is modified
Sign carries out equivalent replacement；And these modifications or replacements, it does not separate the essence of the corresponding technical solution, and the present embodiment is respectively implemented
The range of example technical solution.
Claims (10)
1. a kind of tonic manipulator, which is characterized in that including：Manipulator slideway, mechanical hand splint and manipulator baffle；
The manipulator slideway with respect to the horizontal plane tilts down setting along drug conveying direction；
At least side setting mechanical hand splint of the manipulator slideway, and the mechanical hand splint can be along the machinery
Hand chute width direction is slided, to pile up drug；
The manipulator baffle is located at the bottom of the manipulator slideway, and can rise or decline, to be turned on or off
Manipulator slideway.
2. tonic manipulator according to claim 1, which is characterized in that machinery is respectively set in manipulator slideway both sides
Hand splint and fixed plate；
It is described machinery hand splint can be along the manipulator slideway under the action of the first drive component width direction it is close or
Person is far from the fixed plate.
3. tonic manipulator according to claim 2, which is characterized in that first drive component include first motor,
First belt pulley, screw rod and movable block；
The first motor and the first belt pulley are installed in manipulator slideway side, described screw rod one end and described first
Belt pulley is fixedly connected, and the other end is threadedly coupled with the movable block, and the movable block is installed on the mechanical hand splint bottom；
The first motor drives first belt pulley and screw rod rotation, the screw rod to drive the movable block and machinery
Hand splint is moved along the screw rod；
The length direction of the screw rod and the width direction of the manipulator slideway are arranged in parallel.
4. tonic manipulator according to claim 1, which is characterized in that the manipulator baffle can be in the second driving group
Rise under the action of part or declines；
Second drive component includes the second motor, rotating member and mobile station；
Second motor is mounted on manipulator slideway side, and described rotating member one end is articulated with second motor, separately
One end is articulated with the mobile station, and the mobile station is fixedly connected with the manipulator baffle；
Second motor drives the rotating member rotation, to drive the mobile station and manipulator baffle to rise or decline.
5. a kind of tonic device, which is characterized in that including X-axis guide rail, Y-axis guide rail and according to any one of claims 1-4
Tonic manipulator；
The manipulator slideway is symmetrical arranged along Y-axis guide rail and is slidably mounted in the Y-axis guide rail, and the Y-axis guide rail energy
The manipulator slideway is enough driven to be moved along the X-axis guide rail.
6. tonic device according to claim 5, which is characterized in that the manipulator slideway is slided by Y-axis drive component
It is dynamic to be connected in the Y-axis guide rail；
The Y-axis drive component includes rack-mounted y-axis motor and the second belt pulley；
The y-axis motor is installed on the Y-axis guide rail side, and the manipulator slideway is installed on second belt pulley；
The y-axis motor drives second belt pulley that the manipulator slideway is driven to be slided along the Y-axis guide rail.
7. tonic device according to claim 6, which is characterized in that be provided with movable pulley on the manipulator slideway, institute
Stating movable pulley can drive the manipulator slideway to be slided along the Y-axis guide rail.
8. tonic device according to claim 6, which is characterized in that the Y-axis guide rail is installed in the rack and energy
It is enough to be slided along X-axis guide rail under the action of X-axis drive component；
The X-axis drive component includes rack-mounted X-axis motor, third belt pulley and multiple movable pulleys, third belt
Wheel is across multiple movable pulleys, and multiple movable pulleys are slidably connected to the side of the X-axis guide rail respectively；
The X-axis motor drives multiple movable pulleys to rotate by third belt pulley, and the rack is driven to be led along the X-axis
Rail moves.
9. tonic device according to claim 8, which is characterized in that the X-axis drive component further includes that X-axis limit is slided
Wheel, the X-axis limit pulley are located in one of movable pulley side, the shift position for limiting the manipulator slideway.
10. a kind of automatic administration equipment, which is characterized in that including：Claim 5-9 any one of them tonic devices.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810947929.3A CN108750518A (en) | 2018-08-22 | 2018-08-22 | Tonic manipulator, tonic device and automatic administration equipment |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810947929.3A CN108750518A (en) | 2018-08-22 | 2018-08-22 | Tonic manipulator, tonic device and automatic administration equipment |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110902234A (en) * | 2019-11-29 | 2020-03-24 | 武汉库柏特科技有限公司 | Medicine supplementing and distributing integrated machine |
| CN110902233A (en) * | 2019-11-29 | 2020-03-24 | 武汉库柏特科技有限公司 | Medicine supplementing and distributing integrated machine |
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| CN110902234A (en) * | 2019-11-29 | 2020-03-24 | 武汉库柏特科技有限公司 | Medicine supplementing and distributing integrated machine |
| CN110902233A (en) * | 2019-11-29 | 2020-03-24 | 武汉库柏特科技有限公司 | Medicine supplementing and distributing integrated machine |
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