CN109250492A - A kind of automatic medicine-dispensing method - Google Patents
A kind of automatic medicine-dispensing method Download PDFInfo
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- CN109250492A CN109250492A CN201811011064.6A CN201811011064A CN109250492A CN 109250492 A CN109250492 A CN 109250492A CN 201811011064 A CN201811011064 A CN 201811011064A CN 109250492 A CN109250492 A CN 109250492A
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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
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
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- Mechanical Engineering (AREA)
- Medical Preparation Storing Or Oral Administration Devices (AREA)
Abstract
The invention discloses a kind of automatic medicine-dispensing methods, realize tonic dispensing using manipulator crawl medicine box, working efficiency can be improved.
Description
Technical field
The present invention relates to a kind of automatic medicine-dispensing methods.
Background technique
Traditional dispensing machine generally uses transmission belt to carry out medicine box transmission, and dispensing machine need when tonic using artificial
Mode carries out tonic, and manual sorting places corresponding medicine box on corresponding laminate, when taking medicine, typically uses dispensing module
Carry out dispensing is matched with transmission belt.
Summary of the invention
The purpose of the present invention is overcoming the deficiencies of existing technologies, a kind of automatic medicine-dispensing method is provided, is grabbed using manipulator
Medicine box realizes tonic dispensing, and working efficiency can be improved.
Realizing the technical solution of above-mentioned purpose is: a kind of automatic medicine-dispensing method, comprising the following steps:
Several medicine boxs supplemented are placed at tonic mouth by S1, and several medicine boxs are transmitted along horizontal tonic belt
Belt is separated to medicine box；
Several medicine boxs thereon are divided into transmit process single box and transported by S2, the medicine box separation belt, single medicine box
Belt is separated by the medicine box and is sent to transmitted in both directions belt, and single medicine box is sent to medicine along the transmitted in both directions belt
Box measuring device；
S3, judges whether medicine box is bonded with the medicine box measuring device, carries out step S4 if fitted, otherwise carries out step
S5；
S4, the length, width and height size of the medicine box measuring device measurement medicine box, obtains the specification size of medicine box；Medicine box identification dress
It sets the bar code on scanning medicine box and identifies the image on medicine box, obtain the medicine information in medicine box；Then step S6 is carried out；
S5, the transmitted in both directions belt change the direction of motion, medicine box are retracted into the horizontal tonic belt, return step
S1 re-starts medicine box transmission；
S6 is placed on pill box storage laminate by the medicine box that step S4 measures identification scanning by manipulator mechanism for picking,
Realize tonic；
S7, the medicine information that automatic administration equipment takes needed for receiving；
S8, the manipulator mechanism for picking are taken from pill box storage laminate and are carried out from corresponding medicine box to medicine box identification device
Drug identification verification；
S9, the qualified medicine box of the medicine box identification device identification are taken by manipulator mechanism for picking to drug feed belt
On, medicine box is transmitted to medicine outlet by drug feed belt, and patient takes medicine in medicine outlet；The medicine box identification device recognition failures
Medicine box is put by the manipulator mechanism for picking to recovery area, the recognition failures include identification come out medicine information situation with
And identify medicine information adjacent to expiration date of drug or more than the situation of expiration date of drug.
A kind of above-mentioned automatic medicine-dispensing method, wherein the medicine box separation belt is obliquely installed, and the medicine box separates skin
The lower end of band is feed end, and upper end is discharge end；The external tonic mouth of feed end of the horizontal tonic belt；The horizontal tonic
The feed end that the discharge end of belt separates belt with the medicine box is connected；One end of the transmitted in both directions belt is located at the medicine box
Between the lower section of discharge end and the top of the horizontal tonic belt for separating belt, on the other end of the transmitted in both directions belt
It is provided with the medicine box measuring device and medicine box identification device.
A kind of above-mentioned automatic medicine-dispensing method, wherein the medicine box measuring device includes that vacuum slot mechanism and size are surveyed
Measuring mechanism, the vacuum slot mechanism include right angle rack and two hollow tubules, and two hollow tubules are correspondingly
It is arranged on two right-angle sides of the right angle rack, two hollow tubules distinguish external vacuum pump, and in described two
Angle is formed between empty tubule, keyhole formation suction nozzle is offered on every hollow tubule, and the suction nozzle of every hollow tubule is respectively positioned on
The inside of the right angle rack；The dimensional measurement mechanism includes three laser range finders, laser range finder described in two of them
Correspondingly positioned at the outside of two right-angle sides of the right angle rack, another described laser range finder passes through trapezoidal branch
Frame is mounted on the surface of the right angle rack, and three laser range finders measure the length, width and height ruler of medicine box correspondingly
It is very little；
In the step S3, judge whether a rib of medicine box is fitted tightly over the right angle of the right angle rack, medicine box
Corresponding two adjacent sides of a rib correspondingly by the suction of two hollow tubules, if two hollow tubules
Suction nozzle is blocked by the respective side of medicine box completely correspondingly, is in respectively vacuum state in two hollow tubules, is then determined medicine
One rib of box is fitted tightly over the right angle of the right angle rack, carries out step S4；Conversely, if the suction nozzle of two hollow tubules
It is not blocked by the respective side of medicine box, is not determined then all in vacuum state in two hollow tubules completely correspondingly
One rib of medicine box is not fitted tightly over the right angle of the right angle rack, carries out step S5.
A kind of above-mentioned automatic medicine-dispensing method, wherein in the step S4, the medicine box identification device includes six barcode scannings
Rifle and an image recognition sensor, six barcode scanning guns scan six faces upper and lower all around of medicine box correspondingly,
The image recognition of described image identification sensor progress medicine box.
A kind of above-mentioned automatic medicine-dispensing method, wherein in the step S4, there are two sides correspondingly by institute for medicine box
Two right-angle sides for stating right angle rack block, and the lower surface of medicine box is blocked by the transmitted in both directions belt, first by other sides pair
The barcode scanning gun answered checks whether to scan to bar code, if scanning is less than bar code, the manipulator mechanism for picking lifts medicine box, medicine
The lower surface of two sides and medicine box that box is blocked by two right-angle sides of the right angle rack is respectively by corresponding barcode scanning gun
Scanning, until discovery bar code.
A kind of above-mentioned automatic medicine-dispensing method, wherein the manipulator mechanism for picking includes manipulator installation pedestal, machinery
Hand ontology and vacuum chuck mechanism, the manipulator ontology are rotatably installed in the manipulator installation pedestal；It is described true
Suction disc mechanism includes sucker mounting plate, sucker and vaccum suction pipe, and the sucker mounting plate is fixed on the manipulator ontology
At finger, the sucker is arranged in the bottom of the sucker mounting plate, the inside of the sucker mounting plate offer vacuumize it is logical
Road, one end of the evacuation passageway are provided with suction attachment, and the other end is connected to the sucker；One end of the vaccum suction pipe
It is connected with the suction attachment, the external vacuum pump of the other end；The manipulator mechanism for picking draws medicine box by sucker.
A kind of above-mentioned automatic medicine-dispensing method, wherein in step S9, when such as encountering postponement granting drug, in dispensing process
In there are also caching step, caching step is as follows: when the medicine information of medicine box identification device identification is to postpone providing drug,
The manipulator mechanism for picking puts corresponding medicine box to caching drug storage laminate, then return step S8；The postponement is provided
Drug includes that the medicine box identification device identifies medicine information and the required incongruent medicine box of medicine information and the medicine taken
Box, which is placed, is placed on the required all medicine boxs taken before drug on laminate.
A kind of above-mentioned automatic medicine-dispensing method, wherein the qualified medicine box of the medicine box identification device identification is by the machinery
After hand mechanism for picking is taken to the drug feed belt, the manipulator mechanism for picking again will be on the caching drug storage laminate
Medicine box be returned on the pill box storage laminate.
Automatic medicine-dispensing method of the invention realizes tonic dispensing using manipulator crawl medicine box, working efficiency can be improved.
Detailed description of the invention
Fig. 1 is the flow chart of automatic medicine-dispensing method of the invention；
Fig. 2 is the horizontal tonic belt used in automatic medicine-dispensing method of the invention, medicine box separation belt and transmitted in both directions
The scheme of installation of belt；
Fig. 3 is the installation signal of the medicine box measuring device and medicine box identification device that use in automatic medicine-dispensing method of the invention
Figure；
Fig. 4 a is the structure chart of the manipulator mechanism for picking used in automatic medicine-dispensing method of the invention；
Fig. 4 b is the partial enlarged view of part A in Fig. 4 a.
Specific embodiment
It is right with reference to the accompanying drawing in order to make those skilled in the art be better understood when technical solution of the present invention
Its specific embodiment is described in detail:
It please refers to Fig.1 to Fig.3, highly preferred embodiment of the present invention, a kind of automatic medicine-dispensing method, comprising the following steps:
Several medicine boxs supplemented are placed at tonic mouth by S1, and several medicine boxs are passed along horizontal tonic belt 11
It is sent to medicine box separation belt 12；
S2, medicine box separate belt 12 and several medicine boxs thereon are divided into single box transport in transmit process, and single medicine box is logical
It crosses medicine box separation belt 12 and is sent to transmitted in both directions belt 13, and single medicine box is sent to medicine box along transmitted in both directions belt 13 and surveys
Measure device 2；
S3, judges whether medicine box is bonded with medicine box measuring device 2, carries out step S4 if fitted, otherwise carries out step S5；
S4, medicine box measuring device 2 measure the length, width and height size of medicine box, obtain the specification size of medicine box；Medicine box identification device
It scans the bar code on medicine box and identifies the image on medicine box, obtain the medicine information in medicine box；Then step S6 is carried out；
S5, transmitted in both directions belt 13 change the direction of motion, and medicine box is retracted into horizontal tonic belt 11, return step S1 weight
It is new to carry out medicine box transmission；
S6 is placed on pill box storage laminate by the medicine box that step S4 measures identification scanning by manipulator mechanism for picking 5,
Realize tonic；
S7, the medicine information that automatic administration equipment takes needed for receiving；
S8, manipulator mechanism for picking 5 is taken from pill box storage laminate carries out medicine from corresponding medicine box to medicine box identification device
Product identification verification；
S9, the qualified medicine box of medicine box identification device identification are taken by manipulator mechanism for picking to drug feed belt, out
Medicine box is transmitted to medicine outlet by medicine feed belt, and patient takes medicine in medicine outlet, identifies the qualified medicine box i.e. medicine information of medicine box
The situation that the medicine information taken needed for receiving with automatic administration equipment meets；The medicine box of medicine box identification device recognition failures is by machinery
Hand mechanism for picking is put to recovery area, and recognition failures include that identification does not come out the situation of medicine information and identifies medicine information
Neighbouring expiration date of drug or the situation more than expiration date of drug.
In step S9, when such as encountering postponement granting drug, there are also caching step during dispensing, caching step is as follows:
When the medicine information of medicine box identification device identification is to postpone providing drug, manipulator mechanism for picking puts corresponding medicine box to slow
It stores on medicine laminate, then return step S8；Postpone provide drug include medicine box identification device identify medicine information with it is required
The incongruent medicine box of the medicine information taken.Postpone providing drug further including before taking drug needed for being placed on medicine box placement laminate
All medicine boxs taken needed for first positioning for example, medicine box takes medicine box before drug generally without scanning needed for placing on laminate
Drug places which box of laminate in medicine box, and the required all medicine boxs taken before drug are first placed on by manipulator mechanism for picking 5
It caches on drug storage laminate, then manipulator mechanism for picking 5 is taken to required and taken at drug corresponding medicine box to medicine box identification device 3
Carry out drug identification verification.If required the second box for taking drug to place laminate in medicine box, the head on laminate is placed in medicine box
Box medicine box will be first placed on caching drug storage laminate, and so on.
The qualified medicine box of medicine box identification device identification is taken by the manipulator mechanism for picking to the drug feed belt
After upper, the medicine box on the caching drug storage laminate is returned on the pill box storage laminate by the manipulator mechanism for picking again.
Again referring to Fig. 2, medicine box separation belt 12 is obliquely installed, and the lower end of medicine box separation belt 12 is feed end, on
End is discharge end；The external tonic mouth of the feed end of horizontal tonic belt 11；The discharge end of horizontal tonic belt 12 is separated with medicine box
The feed end of belt 12 is connected；One end of transmitted in both directions belt 13 is located at lower section and the level of the discharge end of medicine box separation belt 12
Between the top of tonic belt 11, medicine box measuring device and medicine box identification dress are provided on the other end of transmitted in both directions belt 13
It sets.
Again referring to Fig. 3, medicine box measuring device 2 includes vacuum slot mechanism and dimensional measurement mechanism, vacuum slot mechanism
Including right angle rack 21 and two hollow tubules, the top of transmitted in both directions belt 13, and right angle rack is arranged in right angle rack 21
21 right angle is arranged towards horizontal tonic belt 11；Two hollow tubules are arranged in two of right angle rack 21 directly correspondingly
On the arm of angle, two hollow tubules distinguish external vacuum pumps, and are in 90 degree of angles between two hollow tubules, on every hollow tubule
Keyhole formation suction nozzle is offered, the suction nozzle of every hollow tubule is respectively positioned on the inside of right angle rack 21；Dimensional measurement mechanism includes
Three laser range finders 22, two of them laser range finder 22 is correspondingly positioned at the outer of two right-angle sides of right angle rack 21
Side, another laser range finder 22 are mounted on the surface of right angle rack 21, three laser range finders by trapezoid support 23
22 measure the length, width and height size of medicine box correspondingly.The laser range finder 22 in the outside of two right-angle sides of right angle rack 21 divides
Not Wei Yu corresponding right angle rack 21 right-angle side extended line on, and with it is hollow on the right-angle side of corresponding right angle rack 21
Tubule is vertically arranged.In measurement process, medicine box specification is calculated by the change that laser range finder 22 measures distance.
Medicine box identification device includes six barcode scanning guns 31 and an image recognition sensor 32, and six barcode scanning guns 31 are solid respectively
It is scheduled on the periphery of transmitted in both directions belt 13, six barcode scanning guns 31 scan six faces upper and lower all around of medicine box correspondingly,
Preferably, barcode scanning gun 31 corresponding with the upper surface of medicine box is fixed on trapezoid support 23, corresponding with the lower surface of medicine box
Barcode scanning gun 31 and right angle rack 21 be disposed opposite to each other；Other two barcode scanning gun 31 is straight with two of right angle rack 21 correspondingly
The laser range finder 22 in the outside of the arm of angle is disposed adjacent；Most latter two barcode scanning gun 31 is located on trapezoid support 23 correspondingly
The two sides of laser range finder 22.Image recognition sensor 32 is mounted on the top of right angle rack 21 by sensor stand, and schemes
As identification sensor 32 is located at the lower section of the laser range finder 22 on trapezoid support 23.
In step s3, judge whether a rib of medicine box is fitted tightly over the right angle of right angle rack 21, the one of medicine box
Corresponding two adjacent sides of rib are correspondingly by the suction of two hollow tubules, if the suction nozzle of two hollow tubules
It is blocked completely by the respective side of medicine box correspondingly, is in respectively vacuum state in two hollow tubules, then determines medicine box
One rib is fitted tightly over the right angle of right angle rack 21, carries out step S4；Conversely, if the suction nozzle of two hollow tubules is without one
One is accordingly blocked by the respective side of medicine box completely, does not determine medicine box then all in vacuum state in two hollow tubules
One rib is not fitted tightly over the right angle of right angle rack 21, carries out step S5.
In step s 4, three laser range finders 22 measure the length, width and height size of medicine box correspondingly, obtain medicine box
Specification size；Six barcode scanning guns 31 scan the bar code on six direction up and down all around of medicine box correspondingly, no matter item
Code bit can be by the barcode scanning gun scanning recognition in any position of medicine box；Image recognition sensor 32 also carries out medicine box simultaneously
Image recognition, by medicine box medicine information and characteristic identify；Then step S6 is carried out.Since there are two sides one for medicine box
One is accordingly blocked by two right-angle sides of right angle rack 21, and the lower surface of medicine box is transmitted bi-directionally belt 13 and blocks, Ke Yixian
It checks whether to scan to bar code by the corresponding barcode scanning gun in other sides, if scanning is less than bar code, manipulator mechanism for picking is mentioned
Medicine box is played, the lower surface of two sides and medicine box that medicine box is blocked by two right-angle sides of right angle rack 21 is respectively by corresponding
Barcode scanning gun scanning, until discovery bar code.
Fig. 4 a and Fig. 4 b is please referred to again, and manipulator mechanism for picking 5 includes manipulator installation pedestal 51,52 and of manipulator ontology
Vacuum chuck mechanism, manipulator ontology 52 are rotatably installed in manipulator installation pedestal 51；Vacuum chuck mechanism includes inhaling
Disk mounting plate 53, sucker 54 and vaccum suction pipe 55, sucker mounting plate 53 are fixed at the finger of manipulator ontology 52, and sucker 54 is set
It sets in the bottom of sucker mounting plate 53, the inside of sucker mounting plate 53 offers evacuation passageway, and one end of evacuation passageway is set
It is equipped with suction attachment 56, the other end is connected to sucker 54；One end of vaccum suction pipe 55 is connected with suction attachment 56, and the other end is external
Vacuum pump.Manipulator mechanism for picking 5 draws medicine box by sucker 54.Again referring to Fig. 2, when in use, manipulator mechanism for picking 5
Horizontal guide rail 41,42 up and down and upright guide rail 43 is cooperated to use, the upper and lower side of upright guide rail 43 is led with upper level correspondingly
Rail 41 is connected with lower horizontal guide rail 42, and manipulator installation pedestal 51 can be mounted on up or down on upright guide rail 43, leads vertically
Vertically horizontal guide rail 41,42 moves horizontally rail 43, drives the realization of manipulator mechanism for picking 5 thereon to move horizontally, manipulator
Installation pedestal 51 is moved up and down along upright guide rail, drives the realization of manipulator ontology 52 to move up and down, manipulator ontology 52 is rotatable
Ground is mounted in manipulator installation pedestal 51, ensures that flexibly movement side of vacuum chuck mechanism on manipulator ontology 52 in this way
Just medicine box is picked and placed.Preferably, the size of sucker 54 is 30mm*10mm, and absorption firmness is good.
In conclusion automatic medicine-dispensing method of the invention, realizes tonic dispensing using manipulator crawl medicine box, can be improved
Working efficiency.
Those of ordinary skill in the art it should be appreciated that more than embodiment be intended merely to illustrate the present invention,
And be not used as limitation of the invention, as long as the change in spirit of the invention, to embodiment described above
Change, modification will all be fallen within the scope of claims of the present invention.
Claims (8)
1. a kind of automatic medicine-dispensing method, which comprises the following steps:
Several medicine boxs supplemented are placed at tonic mouth by S1, and several medicine boxs are transmitted to medicine along horizontal tonic belt
Box separates belt；
Several medicine boxs thereon are divided into transmit process single box and transported by S2, the medicine box separation belt, and single medicine box passes through
The medicine box separation belt is sent to transmitted in both directions belt, and single medicine box is sent to medicine box along the transmitted in both directions belt and surveys
Measure device；
S3, judges whether medicine box is bonded with the medicine box measuring device, carries out step S4 if fitted, otherwise carries out step S5；
S4, the length, width and height size of the medicine box measuring device measurement medicine box, obtains the specification size of medicine box；Medicine box identification device is swept
It retouches the bar code on medicine box and identifies the image on medicine box, obtain the medicine information in medicine box；Then step S6 is carried out；
S5, the transmitted in both directions belt change the direction of motion, and medicine box is retracted into the horizontal tonic belt, return step S1 weight
It is new to carry out medicine box transmission；
S6 is placed on pill box storage laminate by manipulator mechanism for picking by the medicine box that step S4 measures identification scanning, is realized
Tonic；
S7, the medicine information that automatic administration equipment takes needed for receiving；
S8, the manipulator mechanism for picking is taken from pill box storage laminate carries out drug from corresponding medicine box to medicine box identification device
Identification verification；
S9, the qualified medicine box of the medicine box identification device identification are taken by manipulator mechanism for picking to drug feed belt, out
Medicine box is transmitted to medicine outlet by medicine feed belt, and patient takes medicine in medicine outlet；The medicine box of the medicine box identification device recognition failures
It is put by the manipulator mechanism for picking to recovery area, the recognition failures include the situation and knowledge that identification does not come out medicine information
Not Chu Lai medicine information adjacent to expiration date of drug or more than the situation of expiration date of drug.
2. a kind of automatic medicine-dispensing method according to claim 1, which is characterized in that the medicine box separation belt inclination is set
It sets, and the lower end of medicine box separation belt is feed end, upper end is discharge end；The feed end of the horizontal tonic belt is external
Tonic mouth；The feed end that the discharge end of the horizontal tonic belt separates belt with the medicine box is connected；The transmitted in both directions skin
One end of band is located between the lower section of discharge end and the top of the horizontal tonic belt of medicine box separation belt, described double
The medicine box measuring device and medicine box identification device are provided on the other end of transmission belt.
3. a kind of automatic medicine-dispensing method according to claim 1, which is characterized in that the medicine box measuring device includes vacuum
Suction nozzle body and dimensional measurement mechanism, the vacuum slot mechanism include right angle rack and two hollow tubules, in described two
Empty tubule is arranged in correspondingly on two right-angle sides of the right angle rack, and two hollow tubules distinguish external vacuum
Pump, and angle is formed between two hollow tubules, keyhole formation suction nozzle is offered on every hollow tubule, it is every hollow thin
The suction nozzle of pipe is respectively positioned on the inside of the right angle rack；The dimensional measurement mechanism includes three laser range finders, two of them
The laser range finder is located at the outside of two right-angle sides of the right angle rack correspondingly, another described Laser Measuring
Distance meter is mounted on the surface of the right angle rack by trapezoid support, and three laser range finders measure medicine correspondingly
The length, width and height size of box；
In the step S3, judge whether a rib of medicine box is fitted tightly over the right angle of the right angle rack, the one of medicine box
Corresponding two adjacent sides of rib are correspondingly by the suction of two hollow tubules, if the suction nozzle of two hollow tubules
It is blocked completely by the respective side of medicine box correspondingly, is in respectively vacuum state in two hollow tubules, then determines medicine box
One rib is fitted tightly over the right angle of the right angle rack, carries out step S4；Conversely, if the suction nozzle of two hollow tubules does not have
It is blocked completely by the respective side of medicine box correspondingly, does not determine medicine box then all in vacuum state in two hollow tubules
A rib be not fitted tightly over the right angle of the right angle rack, carry out step S5.
4. a kind of automatic medicine-dispensing method according to claim 3, which is characterized in that in the step S4, the medicine box is known
Other device includes six barcode scanning guns and an image recognition sensor, before six barcode scanning guns scan medicine box correspondingly
Lower six faces of rear left upper right, described image identification sensor carry out the image recognition of medicine box.
5. a kind of automatic medicine-dispensing method according to claim 4, which is characterized in that in the step S4, there are two medicine boxs
Side is blocked by two right-angle sides of the right angle rack correspondingly, and the lower surface of medicine box is kept off by the transmitted in both directions belt
Firmly, it first checks whether to scan to bar code by the corresponding barcode scanning gun in other sides, if scanning is less than bar code, the manipulator is picked up
Mechanism is taken to lift medicine box, the lower surface point of two sides and medicine box that medicine box is blocked by two right-angle sides of the right angle rack
It is not scanned by corresponding barcode scanning gun, until discovery bar code.
6. a kind of automatic medicine-dispensing method according to claim 1, which is characterized in that the manipulator mechanism for picking includes machine
Tool hand installation pedestal, manipulator ontology and vacuum chuck mechanism, the manipulator ontology are rotatably installed in the manipulator
In installation pedestal；The vacuum chuck mechanism includes sucker mounting plate, sucker and vaccum suction pipe, and the sucker mounting plate is fixed on
At the finger of the manipulator ontology, the sucker is arranged in the bottom of the sucker mounting plate, the sucker mounting plate it is interior
Portion offers evacuation passageway, and one end of the evacuation passageway is provided with suction attachment, and the other end is connected to the sucker；Institute
The one end for stating vaccum suction pipe is connected with the suction attachment, the external vacuum pump of the other end；The manipulator mechanism for picking passes through suction
Disk draws medicine box.
7. a kind of automatic medicine-dispensing method according to claim 1, which is characterized in that in step S9, such as encounter postponement and provide
When drug, there are also caching step during dispensing, caching step is as follows: when the medicine information of medicine box identification device identification
When to postpone providing drug, the manipulator mechanism for picking puts corresponding medicine box to caching drug storage laminate, then returns to step
Rapid S8；It includes that the medicine box identification device identifies that medicine information is not inconsistent with the required medicine information taken that drug is provided in the postponement
The medicine box of conjunction and the medicine box, which are placed, is placed on the required all medicine boxs taken before drug on laminate.
8. a kind of automatic medicine-dispensing method according to claim 7, which is characterized in that the medicine box identification device identification is qualified
Medicine box taken by the manipulator mechanism for picking to the drug feed belt after, the manipulator mechanism for picking is again by institute
The medicine box stated on caching drug storage laminate is returned on the pill box storage laminate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811011064.6A CN109250492B (en) | 2018-08-31 | 2018-08-31 | Automatic medicine dispensing method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811011064.6A CN109250492B (en) | 2018-08-31 | 2018-08-31 | Automatic medicine dispensing method |
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| CN109250492A true CN109250492A (en) | 2019-01-22 |
| CN109250492B CN109250492B (en) | 2019-12-31 |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10108767A (en) * | 1996-10-08 | 1998-04-28 | Ritsuku:Kk | Device for making commodity prominent |
| CN101214107A (en) * | 2008-01-11 | 2008-07-09 | 苏州艾隆科技有限公司 | Automatization hospital pharmacy |
| CN103209670A (en) * | 2010-10-14 | 2013-07-17 | 株式会社汤山制作所 | Medicine box dispensing apparatus |
| CN104414814A (en) * | 2013-08-29 | 2015-03-18 | 鸿富锦精密工业（深圳）有限公司 | Medicine dispensing apparatus and medicine feeding method |
| JP2015134122A (en) * | 2014-01-18 | 2015-07-27 | 治 川原田 | Automatic frontal display device |
| CN106081451A (en) * | 2016-05-19 | 2016-11-09 | 苏州吉成智能科技有限公司 | Medicine management system |
-
2018
- 2018-08-31 CN CN201811011064.6A patent/CN109250492B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10108767A (en) * | 1996-10-08 | 1998-04-28 | Ritsuku:Kk | Device for making commodity prominent |
| CN101214107A (en) * | 2008-01-11 | 2008-07-09 | 苏州艾隆科技有限公司 | Automatization hospital pharmacy |
| CN103209670A (en) * | 2010-10-14 | 2013-07-17 | 株式会社汤山制作所 | Medicine box dispensing apparatus |
| CN104414814A (en) * | 2013-08-29 | 2015-03-18 | 鸿富锦精密工业（深圳）有限公司 | Medicine dispensing apparatus and medicine feeding method |
| JP2015134122A (en) * | 2014-01-18 | 2015-07-27 | 治 川原田 | Automatic frontal display device |
| CN106081451A (en) * | 2016-05-19 | 2016-11-09 | 苏州吉成智能科技有限公司 | Medicine management system |
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| Publication number | Publication date |
|---|---|
| CN109250492B (en) | 2019-12-31 |
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