CN109095086B - Liquid dispensing conveying system and method for full-automatic dispensing equipment - Google Patents
Liquid dispensing conveying system and method for full-automatic dispensing equipment Download PDFInfo
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- CN109095086B CN109095086B CN201811157013.4A CN201811157013A CN109095086B CN 109095086 B CN109095086 B CN 109095086B CN 201811157013 A CN201811157013 A CN 201811157013A CN 109095086 B CN109095086 B CN 109095086B
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- chain
- flexible chain
- tray
- chain wheel
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Classifications
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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
- B65G23/00—Driving gear for endless conveyors; Belt- or chain-tensioning arrangements
- B65G23/02—Belt- or chain-engaging elements
- B65G23/04—Drums, rollers, or wheels
- B65G23/06—Drums, rollers, or wheels with projections engaging abutments on belts or chains, e.g. sprocket wheels
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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
- B65G17/00—Conveyors having an endless traction element, e.g. a chain, transmitting movement to a continuous or substantially-continuous load-carrying surface or to a series of individual load-carriers; Endless-chain conveyors in which the chains form the load-carrying surface
- B65G17/30—Details; Auxiliary devices
- B65G17/38—Chains or like traction elements; Connections between traction elements and load-carriers
- B65G17/42—Attaching load carriers to traction elements
-
- 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
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
-
- 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
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
- B65G2203/0266—Control or detection relating to the load carrier(s)
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control Of Conveyors (AREA)
Abstract
The application belongs to the field of medical equipment, and particularly relates to a liquid dispensing conveying system and a liquid dispensing conveying method for full-automatic dispensing equipment, which are characterized in that: under the pushing of the chain wheel lifting mechanism, the top protruding points penetrate through the through grooves and upwards jack the tray, and the tray is enabled to move along with the flexible chain through the bearing component. The application has the advantages that: the travel of the flexible chain is directly detected by the flexible chain travel detection sensor, so that travel errors caused by abrasion of the flexible chain can be avoided. In addition, through directly detecting the travel of the flexible chain, a motor and a gear box with lower precision can be used for replacing a high-precision high-cost servo motor for closed-loop control, so that the cost of the system is effectively reduced.
Description
Technical Field
The application belongs to the field of medical appliances, and particularly relates to a liquid dispensing conveying system and a liquid dispensing conveying method for full-automatic dispensing equipment.
Background
In the full-automatic transfusion dispensing equipment, the liquid medicine to be dispensed needs to be frequently conveyed. In the prior art, a guide rail is generally adopted to convey the medicine to be prepared. The traditional guide rail is mainly made of rigid materials, the guide rail is fixed on the underframe, guide wheels are arranged on the guide rail, articles are linearly conveyed according to the guide rail and the guide wheels, and the guide wheels are arranged in the structure, so that the conveying structure is very complex, the maintenance is difficult, the cost is high, the use is limited, the universality is poor, and the rapid batch installation is difficult to realize.
Part of the prior art uses flexible chain drive mechanisms to deliver the drug. In the prior art, the flexible chain transmission mechanism mostly adopts a servo motor to control the stroke of the flexible chain, and in the process that the servo motor drives the flexible chain to move for a preset distance, the chain wheel is usually driven to rotate for a preset angle according to the pitch of the flexible chain, so that the flexible chain moves for a preset distance. Therefore, the flexible chain transmission mechanism can have higher precision only under the condition that the flexible chain pitch has higher precision. However, in the flexible chain transmission mechanism in the prior art, the flexible chain is mostly in a tension state, and after long-term use, the pitch of the flexible chain can generate errors due to abrasion of the chain link shaft. Although the servo motor has smaller angle errors, when the error of the flexible chain pitch becomes larger, the high-precision characteristic of the servo motor cannot offset the error of the flexible chain pitch, so that the error of the flexible chain stroke is overlarge, and particularly under the condition that the number of chain links of the flexible chain is large, the error of the flexible chain stroke can possibly reach the degree of a plurality of flexible chain pitches. The error of the flexible chain travel can cause other machines to be incapable of accurately positioning objects conveyed by the flexible chain, thereby affecting the reliability of the liquid distribution conveying system.
Disclosure of Invention
According to the defects of the prior art, the application provides a liquid dispensing conveying system and a conveying method for full-automatic dispensing equipment, and the equipment adopts a chain wheel for transmission, so that reliable conveying of liquid to be dispensed is realized.
The application is realized by the following technical scheme:
a join in marriage liquid conveying system for full-automatic dispensing equipment, its characterized in that: the device comprises a bracket, a rigid substrate, a chain wheel lifting mechanism, a tray, a bearing component and a chain wheel transmission mechanism, wherein the rigid substrate is arranged above the bracket, the chain wheel lifting mechanism is arranged in a space formed by the bracket and the rigid substrate, the chain wheel transmission mechanism comprises two chain wheels and a flexible chain sleeved between the two chain wheels, the chain wheels are respectively arranged at two ends of the top of the chain wheel lifting mechanism, the bearing component is arranged on the flexible chain and used for bearing the tray, the rigid substrate is provided with a through groove serving as a track, and the top surface of the bearing component is provided with a top salient point; under the pushing of the chain wheel lifting mechanism, the top protruding points penetrate through the through grooves and upwards jack the tray, and the tray is enabled to move along with the flexible chain through the bearing component.
Two grooves parallel to each other are formed in the surface of the rigid substrate, and the bearing part is provided with the top protruding points which are matched with the two grooves in size and position.
And the chain wheel lifting mechanism is provided with a flexible chain travel detection sensor.
The chain wheel of the chain wheel transmission mechanism is connected with a chain wheel driving mechanism; the chain wheel driving mechanism, the chain wheel lifting mechanism and the flexible chain travel detection sensor are all in communication connection with the industrial personal computer.
The top salient point is arranged to be of a ball head structure, and a groove matched with the top salient point of the ball head structure is formed in the bottom of the tray.
The conveying method of the liquid dispensing conveying system for the full-automatic dispensing equipment is characterized by comprising the following steps of: the sprocket lifting mechanism is driven to work so as to drive the sprocket transmission mechanism to move upwards until the top protruding points on the bearing component penetrate through the through grooves on the rigid substrate and jack the tray; the sprocket transmission mechanism is driven to work, so that the flexible chain drives the bearing component to move, and the bearing component drives the tray to move along the through groove through the top protruding point.
The flexible chain forming detection sensor detects the movement stroke of the flexible chain and sends detection data to the industrial personal computer, and the industrial personal computer controls the action of the sprocket transmission mechanism according to the detection data.
The medicine and the medicine liquid in the medicine liquid bag carried on the tray are uniformly mixed through the fluctuation of the flexible chain during movement.
The application has the advantages that: the travel of the flexible chain is directly detected by the flexible chain travel detection sensor, so that travel errors caused by abrasion of the flexible chain can be avoided. In addition, through directly detecting the travel of the flexible chain, a motor and a gear box with lower precision can be used for replacing a high-precision high-cost servo motor for closed-loop control, so that the cost of the system is effectively reduced.
Drawings
FIG. 1 is a schematic diagram of the structure of the present application;
FIG. 2 is a schematic view of the structure of the present application in operation;
FIG. 3 is a partial cross-sectional view of a flexible chain travel detection sensor in accordance with the present application;
FIG. 4 is a schematic top view of a rigid substrate according to the present application;
FIG. 5 is a block diagram of a control system in a fluid delivery system according to the present application.
Detailed Description
The features of the present application and other related features are described in further detail below by way of example in conjunction with the following drawings, to facilitate understanding by those skilled in the art:
as shown in fig. 1-5, reference numerals 1-18 are respectively: the device comprises a bracket 1, a bearing part 2, a chain wheel lifting mechanism 3, a tray 4, a chain wheel transmission mechanism 5, a chain wheel 6, a flexible chain 7, a chain wheel driving mechanism 8, a through groove 9, a top protruding point 10, a rigid substrate 11, an industrial personal computer 12, a flexible chain travel detection sensor 13, a CCD sensor 14, an image processing unit 15, a polaroid 16, an optical filter 17 and a laser light source array 18.
Examples: as shown in fig. 1, the embodiment relates to a liquid dispensing and conveying system for a full-automatic dispensing device, which comprises a bracket 1, a bearing part 2, a sprocket lifting mechanism 3, a tray 4 and two sprocket conveying mechanisms 5.
As shown in fig. 1, the bottom surface of the bracket 1 is elongated, and a rigid substrate 11 is mounted on the top of the bracket 1. The sprocket lifting mechanism 3 and the sprocket transmission mechanism 5 are arranged in a closed space enclosed by the bracket 1 and the rigid substrate 11. The sprocket lifting mechanism 3 is used for bearing the sprocket transmission mechanism 5, and the sprocket lifting mechanism 3 is also used for driving the sprocket transmission mechanism 5 to lift.
As shown in connection with fig. 1 and 5, the sprocket transfer mechanism 5 is used for mounting the carrier 2 and for driving the carrier 2 to translate in a horizontal direction. Each sprocket transfer mechanism 5 comprises two sprockets 6 and a flexible chain 7 nested between the two sprockets 6. One sprocket 6 of the sprocket transmission mechanism 5 is coaxially connected with a sprocket drive mechanism 8, and the sprocket drive mechanism 8 includes a motor and a decelerator for driving the sprocket 6 to rotate. Two sprockets 6 of the sprocket transfer mechanism 5 are respectively mounted at both ends of the top of the sprocket lifting mechanism 3.
As shown in connection with fig. 1 and 4, the bottom of the carrier member 2 is mounted and fixed on the flat sections of the flexible chains 7 of the two sprocket conveyor mechanisms 5, and the carrier member 2 moves on the flexible chains 7 when the sprocket conveyor mechanisms 5 are in operation. In particular, the flat sections of the flexible chains 7 of the two sprocket transfer mechanisms 5 are parallel to each other and are located at the same height, and the carrier member 2 makes a reciprocating rectilinear motion in the flat section of the flexible chain 7 located above.
As shown in connection with fig. 1, 2 and 5, the upper surface of the carrier member 2 is provided with a top protrusion 10, the top protrusion 10 being adapted to support the tray 4. As shown in fig. 4, two through grooves 9 serving as rails are formed on the surface of the rigid substrate 11, and the shape, size and position of the notch of the through groove 9 are matched with the top protruding points 10 arranged on the upper surface of the bearing part 2.
As shown in fig. 2, the carrier member 2 is configured to jack the tray 4 in a state where the sprocket lifting mechanism 3 lifts the sprocket conveying mechanism 5, and the tray 4 is configured to carry medicine and a liquid bag.
As shown in fig. 1, in the present embodiment, a flexible chain stroke detection sensor 13 is mounted on the sprocket lifting mechanism 3. The flexible chain stroke detection sensor 13 is used to directly detect the flexible chain moving distance and moving speed of the sprocket transmission mechanism 5. The sprocket drive mechanism 8 can precisely control the moving distance of the flexible chain 7 according to the detection result of the flexible chain travel detection sensor 13.
As shown in fig. 1 and 3, the flexible chain stroke detection sensor 13 includes a CCD sensor 14, an image processing unit 15, a polarizing plate 16, an optical filter 17, and a laser light source array 18. The CCD sensor 14 and the laser light source array 18 are disposed on the upper and lower sides of the flexible chain 7. The length of the CCD sensor 14 in the extending direction of the flexible chain 7 is greater than 2 times the flexible chain pitch. The silicon wafer of the laser light source array 18 is provided with densely arranged laser sources, and the polarization direction and the laser emission direction of each laser source are the same. Part of the laser emitted by the laser source array 18 can pass through the internode gaps of the flexible chain 7 to irradiate the CCD sensor 14, while the other part of the laser emitted by the laser source array 18 is blocked by the flexible chain 7 and cannot irradiate the CCD sensor 14. The array of laser light sources 18 can thus project images forming the flexible chain 7 on the CCD sensor 14.
A polarizer 16 and a filter 17 are laminated on the surface of the CCD sensor 14 to eliminate the influence of ambient light. The filter 17 is a narrow-band filter, and the wavelength of the laser light source array 18 is within the on-band range of the filter 17. The polarization direction of the laser light emitted from the laser light source array 18 is the same as that of the polarizing plate 16. The image processing unit 15 is connected to the CCD sensor. In the moving process of the flexible chain 7, the images acquired by the CCD sensor 14 also move, so the image processing unit 15 can calculate the moving speed and the moving distance of the flexible chain 7 according to the images continuously acquired by the CCD sensor 14.
As shown in fig. 5, the liquid dispensing system of the full-automatic dispensing apparatus of this embodiment includes an industrial personal computer 19, and the sprocket driving mechanism 8, the sprocket lifting mechanism 3, and the flexible chain travel detection sensor 13 are all in communication connection with the industrial personal computer 19. In this embodiment, the travel of the flexible chain 7 is directly detected by the flexible chain travel detection sensor 13, so that a travel error caused by abrasion of the flexible chain can be avoided. In addition, by directly detecting the travel of the flexible chain 7, a motor and a gear box with lower precision can be used for replacing a high-precision high-cost servo motor for closed-loop control, so that the cost of the system is effectively reduced.
Compared with the conveying system based on the guide rail in the prior art, the conveying system of the embodiment not only simplifies the existing track structure, but also reduces the complexity of equipment in use, installation and maintenance, and when the equipment fails, the failed parts can be independently disassembled and maintained at any time, so that the labor cost and the production cost are reduced.
As shown in fig. 1 to 5, the dispensing liquid conveying system of the full-automatic dispensing apparatus in this embodiment has the following conveying method, and specifically includes the following steps:
(1) The sprocket transmission mechanism 5 drives the bearing part 2 to translate below the tray 4; at this time, the carrying member 2 is in a low position, the tray 4 is in an original position, and the tray 4 is carried on the upper surface of the rigid substrate 11.
(2) The sprocket lifting mechanism 3 drives the sprocket transmission mechanism 5 to lift upwards, so that the top protruding points 10 of the bearing part 2 pass through the through grooves 9 on the rigid substrate 11 and lift the tray from the rigid substrate 11; the sprocket wheel transmission mechanism 5 starts to work, and the flexible chain 7 drives the bearing part 2 and the tray 4 to move along the arrangement direction of the through groove 9;
(3) The sprocket lifting mechanism 3 drives the sprocket transfer mechanism 5 to move downward and causes the tray 4 to be set up on the rigid substrate 11 for the subsequent operation.
In addition, when the tray 4 carries the bagged medicine filled with the medicine, the flexible chain 7 may be set to an incompletely tensioned state on the sprocket 6, but the incompletely tensioned state refers to a state in which the flexible chain 7 is ensured to normally drive the carrier member 2 to move but slightly undulate. At this time, when the bagged medicine liquid filled with the medicine moves on the tray 4 along with the bearing part 2, the bagged medicine liquid can be shaken by the fluctuation of the flexible chain 7, so that the medicine liquid and the medicine can be fully and uniformly mixed, and the drop of the medicine effect caused by the incapability of uniformly mixing the medicine is avoided. Therefore, the conveying mechanism can complete the mixing step while conveying the medicine bags, ensures safe conveying, has a shaking function, does not need to additionally arrange a shaking oscillation device for bagged medicine liquid, and has strong concentration. At this time, the top protruding point 10 on the bearing component 2 is preferably of a ball structure, and meanwhile, a groove matched with the ball structure is formed on the lower surface of the tray 4, so that the tray 4 can be ensured to stably displace through matching of the ball structure and the groove, and overturning caused by fluctuation is avoided.
At the same time, the sprocket lifting mechanism 3 in the embodiment can also be used for cross-cavity translation of the full-automatic dispensing equipment. Specifically, the existing full-automatic dispensing equipment is generally divided into a plurality of chambers according to functions, the chambers are independently formed, and gaps are often reserved between every two chambers. Therefore, when the situation is met, the conveying system in the embodiment is arranged in each chamber, and at the moment, the chain wheel lifting mechanism 3 pushes the bearing component 2 to push the tray upwards, so that the gap between the chambers can be spanned.
The flexible chain stroke detection sensor 13 detects the moving distance of the flexible chain in the course of the sprocket transmission mechanism 5 driving the carrier member 2 to translate. The detection process specifically comprises the following steps: the laser light source array 18 of the flexible chain stroke detection sensor 13 emits laser light, and the laser light sequentially passes through the internode space of the flexible chain 7, the optical filter 17 and the polarizing plate 16, and finally irradiates the CCD sensor 14 of the flexible chain stroke detection sensor 13. During the movement of the flexible chain 7, the image processing unit 15 of the flexible chain stroke detection sensor 13 samples the image acquired by the CCD sensor 14 at predetermined intervals, and calculates the movement distance of the flexible chain 7 in each sampling interval according to each sampling result.
In this embodiment, the image processing unit samples the image once every 40ms, and the translation distance of the image between two adjacent samples can be used as the movement distance of the flexible chain 7 in the current sampling interval. The total movement distance of the flexible chain 7 in a certain period of time can be obtained by accumulating the movement distances in the certain period of time.
Although the foregoing embodiments have been described in some detail with reference to the accompanying drawings, it will be appreciated by those skilled in the art that various modifications and changes may be made thereto without departing from the scope of the application as defined in the appended claims, and thus are not repeated herein.
Claims (6)
1. The conveying method of the liquid dispensing conveying system for the full-automatic dispensing equipment is characterized by comprising the following steps of: the liquid distribution conveying system comprises a bracket, a rigid substrate, a chain wheel lifting mechanism, a tray, a bearing component and a chain wheel conveying mechanism, wherein the rigid substrate is arranged above the bracket, the chain wheel lifting mechanism is arranged in a space formed by the bracket and the rigid substrate, the chain wheel conveying mechanism comprises two chain wheels and a flexible chain sleeved between the two chain wheels, the chain wheels are respectively arranged at two ends of the top of the chain wheel lifting mechanism, the bearing component is arranged on the flexible chain and used for bearing the tray, a through groove serving as a track is formed in the rigid substrate, and a top salient point is arranged on the top surface of the bearing component; under the pushing of the chain wheel lifting mechanism, the top protruding points penetrate through the through grooves and upwards jack the tray, and the tray is enabled to move along with the flexible chain by the bearing component; the flexible chain is set in an incompletely tensioned state;
the sprocket lifting mechanism is driven to work so as to drive the sprocket transmission mechanism to move upwards until the top protruding points on the bearing component penetrate through the through grooves on the rigid substrate and jack the tray; the sprocket transmission mechanism is driven to work, so that the flexible chain of the sprocket transmission mechanism drives the bearing component to move, and the bearing component drives the tray to move along the through groove through the top protruding point; the medicine and the medicine liquid in the medicine liquid bag carried on the tray are uniformly mixed through the fluctuation of the flexible chain during movement.
2. A delivery method for a dispensing delivery system of a full-automatic dispensing apparatus as in claim 1, wherein: two grooves parallel to each other are formed in the surface of the rigid substrate, and the bearing part is provided with the top protruding points which are matched with the two grooves in size and position.
3. A delivery method for a dispensing delivery system of a full-automatic dispensing apparatus as in claim 1, wherein: and the chain wheel lifting mechanism is provided with a flexible chain travel detection sensor.
4. A delivery method for a dispensing delivery system of a full-automatic dispensing apparatus as in claim 1, wherein: the chain wheel of the chain wheel transmission mechanism is connected with a chain wheel driving mechanism; the chain wheel driving mechanism, the chain wheel lifting mechanism and the flexible chain travel detection sensor are all in communication connection with the industrial personal computer.
5. A delivery method for a dispensing delivery system of a full-automatic dispensing apparatus as in claim 1, wherein: the top salient point is arranged to be of a ball head structure, and a groove matched with the top salient point of the ball head structure is formed in the bottom of the tray.
6. A delivery method for a dispensing delivery system of a full-automatic dispensing apparatus as in claim 1, wherein: the flexible chain forming detection sensor detects the movement stroke of the flexible chain and sends detection data to the industrial personal computer, and the industrial personal computer controls the action of the sprocket transmission mechanism according to the detection data.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811157013.4A CN109095086B (en) | 2018-09-30 | 2018-09-30 | Liquid dispensing conveying system and method for full-automatic dispensing equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811157013.4A CN109095086B (en) | 2018-09-30 | 2018-09-30 | Liquid dispensing conveying system and method for full-automatic dispensing equipment |
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| Publication Number | Publication Date |
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| CN109095086A CN109095086A (en) | 2018-12-28 |
| CN109095086B true CN109095086B (en) | 2023-10-03 |
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| CN201811157013.4A Active CN109095086B (en) | 2018-09-30 | 2018-09-30 | Liquid dispensing conveying system and method for full-automatic dispensing equipment |
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| CN112938541B (en) * | 2021-01-29 | 2023-03-31 | 江苏海晨物流股份有限公司 | Reduce goods vanning equipment of inclined plane transportation degree of difficulty |
| CN112811090A (en) * | 2021-02-01 | 2021-05-18 | 无锡新松机器人自动化有限公司 | Sword gate conveying equipment and period zero clearing method for precise transmission of double-side plate chain |
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| CN109095086A (en) | 2018-12-28 |
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