CN109835565B - Automatic marking system and marking machine for prepared infusion finished products - Google Patents
Automatic marking system and marking machine for prepared infusion finished products Download PDFInfo
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- CN109835565B CN109835565B CN201910083756.XA CN201910083756A CN109835565B CN 109835565 B CN109835565 B CN 109835565B CN 201910083756 A CN201910083756 A CN 201910083756A CN 109835565 B CN109835565 B CN 109835565B
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- 238000001802 infusion Methods 0.000 title claims description 10
- 239000002904 solvent Substances 0.000 claims abstract description 69
- 238000002372 labelling Methods 0.000 claims abstract description 49
- 239000007788 liquid Substances 0.000 claims description 60
- 230000000007 visual effect Effects 0.000 claims description 22
- 239000011159 matrix material Substances 0.000 claims description 20
- 239000011521 glass Substances 0.000 claims description 15
- 238000011084 recovery Methods 0.000 claims description 6
- 238000004519 manufacturing process Methods 0.000 claims description 3
- 238000013178 mathematical model Methods 0.000 claims description 3
- 238000003756 stirring Methods 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 description 8
- 238000000034 method Methods 0.000 description 8
- 230000008569 process Effects 0.000 description 8
- 230000000712 assembly Effects 0.000 description 4
- 238000000429 assembly Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 239000003814 drug Substances 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000012790 confirmation Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 238000012856 packing Methods 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
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- Medical Preparation Storing Or Oral Administration Devices (AREA)
Abstract
The invention relates to an automatic marking system and a marking machine for a prepared transfusion finished product, wherein the automatic marking system comprises an auditing unit, a data unit, a marking unit and a vision module, and the S1 is used for selecting batches, dates and solvents processed at the time; s2, inquiring the tag data and sending the tag data to a marking unit; s3, the marking unit receives the label data to distribute sorting information; s4, checking the label data, if the label data are correct, starting to paste labels and prompting to place solvents; if so, returning to S1; s5, checking the solvent by the vision module, and if the solvent is correct, printing a label and sticking the label; if the error occurs, the error is sent to a fault-tolerant port; s6, checking the label data, and if the label data are correct, sending the label data to a sorting port; if the error occurs, the error is sent to a fault-tolerant port; s7, judging whether a label exists or not, if so, continuing to S4; if not, judging whether to continue marking, if so, adding the label to return to the S1, and if not, stopping. Automatic operation of labeling work is realized, and the operation efficiency and the control of labeling position are improved.
Description
Technical Field
The invention relates to the technical field of article labeling, in particular to an automatic labeling system and a labeling machine for a prepared transfusion finished product.
Background
At present, in order to distinguish the types and the quantity of the internal articles after the articles are packed, the labelling operation is required to be carried out on the surfaces of the articles, the labelling is often used in the aspects of packing in hospitals, express delivery and various industries, and the accuracy of the labelling is required, especially in hospitals, and the accuracy of the labelling is particularly important. At present, two labeling modes are mainly available, one is that after information is printed out by a printer, labels are manually attached to the outer package of an article, the efficiency of the mode is low, meanwhile, errors are often easy to occur, and the position of the labels is inconvenient to control; the second type is to carry out automatic labeling through a labeling machine, articles are conveyed to the lower part of a labeling device through a conveying belt, an article information label printed by a printer is conveyed between the articles and the labeling device, and the labeling device moves to realize labeling operation. Both the two modes have the defect that the label position is not fixed due to the uncertainty of the label position and the liquid bag position, so that the label on the surface of the article is stuck more messy, and the using look and feel is directly influenced; and for the liquid bag, the surface of the liquid bag is a complex curved surface and can change, and various reflecting surfaces can be formed to prevent the recognition of the surface information of the liquid bag under normal illumination conditions.
Disclosure of Invention
The invention aims to solve the technical problem of providing an automatic marking system and a marking machine for a prepared transfusion finished product, which can realize automatic labeling, control the label sticking position and improve the use impression.
The technical scheme adopted for solving the technical problems is as follows: an automatic marking system for a finished product of a prepared transfusion comprises an auditing unit, a data unit and a marking unit, wherein a vision module is arranged in the marking unit,
s1, selecting a batch and a date to be processed at an auditing unit, and selecting a solvent to be processed;
s2, inquiring corresponding tag data information in the data unit, and sending the tag data information to the marking unit;
s3, the marking unit receives the label data information and distributes sorting information according to the label data information, different label data information is distributed to different sorting ports, error-tolerant ports are reserved, and corresponding label data information is returned to the auditing unit;
s4, auditing the tag data information in the auditing unit, and sending a tag starting signal to the marking unit and prompting the solvent placement if the tag data information is correct; if the label data information is wrong, returning to the step S1 until the label data information is correct;
s5, the marking unit receives the labeling start signal and the solvent is placed in place, firstly, the solvent is checked through the vision module, the vision module collects the information of the solvent for checking, and if the placed solvent is correct, the label data information is printed on the label through the printer in the marking unit and the solvent is labeled; if the solvent is placed in error, the error solvent is conveyed to a fault-tolerant port through a manipulator for recovery;
s6, checking the label data information on the labeled menstruum in the marking unit, and if the label data information is correct, conveying the correct menstruum to a corresponding sorting opening through the manipulator; if the label data information is wrong, the wrong solvent is conveyed to a fault tolerance port for recovery;
s7, judging whether the label is in the label unit, if so, returning to the auditing unit to continue the step S4; if no label is needed, returning to the auditing unit and judging whether the label is needed to be continued, if the label is needed to be continued, adding the label and returning to the step S1, and if the label is not needed to be continued, stopping the machine and ending the operation.
More specifically, the visual module checking step is that,
s51, establishing a database of solvent information, photographing and collecting characteristic patterns and position coordinate information of an external package of the solvent from bottom to top through a solvent placement platform to form corresponding matrix information, and storing the corresponding matrix information into the database as a mathematical model to serve as a standard of matching identification;
s52, photographing and collecting the external package information of the solvent to be checked, and converting the collected image into matrix information;
s53, comparing, analyzing and matching the matrix information obtained in the step S52 with standard matrix information in a database to obtain corresponding solvent information and solvent position coordinate information, and feeding back corresponding results to the manipulator;
and S54, the manipulator moves to the upper part of the solvent to grasp the solvent according to the fed-back position coordinate information.
More specifically, in the step S52, the acquired matrix information converted from the image is corrected by the matrix information of the standard in the database in the step S51.
More specifically, in the step S51, the feature pattern includes a shape feature, a color feature, a font feature, a specification feature, a bar code or two-dimensional code feature, a validity period feature, and a production lot feature of the solvent package.
More specifically, in the step S51, the positional coordinate information is stored by assigning corresponding coordinate points to respective positions of the surface of the platform and forming a two-dimensional coordinate system.
An automatic marking machine for preparing transfusion finished products comprises a frame and a labeling module arranged on the frame, wherein a scanning module for checking information is arranged behind the labeling module, a visual recognition module for recognizing a liquid bag is arranged at the front end of the labeling module, a manipulator for grabbing the liquid bag is arranged beside the visual recognition module, the manipulator sends the liquid bag to the labeling module for labeling operation, and then the manipulator continuously grabs the liquid bag through the scanning module and then sends the liquid bag out; the labeling module, the scanning module and the manipulator are controlled by the control module.
Further specifically, the labeling module comprises printing equipment and a roller conveying assembly for conveying labels, wherein the roller conveying assembly faces the labels upwards, and the mechanical hand grabs the liquid bags to be pressed on the labels downwards.
More specifically, a guide rail is arranged on the frame, the roller conveying component is arranged on the guide rail, and the roller conveying component is close to or far away from the printing equipment through the guide rail; and a fixing piece combination for fixing the position of the roller conveying component is arranged between the printing equipment and the roller conveying component.
Further specifically, the mounting assembly include the mounting that sets up on printing apparatus and set up the round pin axle on roller conveying assembly, the mounting set up on printing apparatus through the axis of rotation, the free end of mounting set up the recess, recess and round pin axle cooperation realize fixedly.
Further specifically, the visual recognition module comprises a visual support, an industrial camera positioned in the visual support and a recognition window positioned above the industrial camera, wherein a glass plate for bearing a liquid bag is arranged on the recognition window.
Further specifically, the industrial camera photographs the liquid bag to determine the actual position of the liquid bag, and transmits the position information to the control module, and the control module controls the manipulator to find the corresponding position of the liquid bag to grasp, so that the same position is ensured in multiple operations.
Further specifically, the scanning module is followed by a sorting module controlled by the control module, the sorting module comprises a sorting support, a transmission roller positioned on the sorting support, a transmission belt positioned on the transmission roller, a driving motor for driving the transmission belt to move, a sorting assembly positioned above the transmission belt and used for stirring liquid bags to two sides of the transmission belt, and sorting boxes arranged on two sides and at the end parts of the transmission belt.
The invention has the beneficial effects that: 1. by adopting the system, automatic operation of labeling can be realized, checking, position confirmation and grabbing are realized through the vision module, the vision system photographs from bottom to top, and the contact surface of the liquid bag is changed into a plane through the platform, so that identification of surface information of the liquid bag is not hindered in the photographing process, medicine information is confirmed without errors, the operation efficiency is improved, and accurate control of labeling position is realized; 2. the automatic operation is carried out in the use realization label work through above-mentioned marking machine, through the use of manipulator, improves the liquid bag and snatchs the precision, realizes the label operation through the manipulator pushing down simultaneously, the position of control label that can be fine, and the manipulator is put into the letter sorting unit after checking the liquid bag through scanning module and is sorted, improves the precision of label and the quality of letter sorting, improves the efficiency of label.
Drawings
FIG. 1 is a system control diagram of the present invention;
FIG. 2 is a schematic diagram of the structure of the present invention;
FIG. 3 is an enlarged schematic view of the portion A in FIG. 1;
FIG. 4 is a schematic top view of the present invention (without a sorting module);
FIG. 5 is a schematic diagram of the visual recognition module of the present invention;
FIG. 6 is a schematic diagram of the construction of the label module of the present invention;
FIG. 7 is an enlarged schematic view of the portion B in FIG. 6;
fig. 8 is a schematic structural view of the fastener assembly of the present invention.
In the figure: 1. a frame; 2. a visual recognition module; 3. a manipulator; 4. a label sticking module; 5. a sorting module; 6. a scanning module; 21. a visual support; 22. a glass plate; 23. an industrial camera; 24. a protection groove; 41. a printing apparatus; 42. a roller transport assembly; 51. sorting brackets; 52. a transmission belt; 53. a sorting assembly; 61. a scanning support; 62. a scanner; 421. a roller bracket; 422. a roller; 423. a guide rail; 424. a baffle; 425. a pin shaft; 426. a tag sensor; 427. a second belt; 428. and a fixing piece.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings.
The automatic marking system for the finished product of the prepared transfusion as shown in fig. 1 comprises an auditing unit, a data unit and a marking unit, wherein a vision module is arranged in the marking unit, the system comprises the following steps of,
s1, firstly selecting a batch and a date to be processed at an auditing unit, selecting a solvent to be processed, manually selecting the batch and the date to be processed in the auditing unit, and simultaneously selecting the solvent to be processed; the selection of the batch and date is presented directly on the label after the job is completed; after the solvent is selected, the selected solvent is manually placed at a corresponding position during the later labeling operation, and the solvent is usually an infusion bag in the medical industry.
S2, inquiring corresponding tag data information in the data unit, generating and storing the tag data information in the data unit according to a prescription made by a doctor, and sending the tag data information to the marking unit; and inquiring the label data information of the batch to be labeled and sending the label data information to a labeling unit for processing.
S3, the marking unit receives the label data information of the batch and distributes sorting information according to the label data information of the batch, the same label data information is distributed to the same sorting port, different label data information is distributed to different sorting ports, error-tolerant ports are reserved, the error-tolerant ports accommodate solvents with errors in later check, and meanwhile, the corresponding label data information is returned to the checking unit.
S4, auditing the tag data information in an auditing unit, and sending a tag starting signal to a marking unit and prompting the placement of a solvent if the tag data information is correct through manual comparison; if the label data information is wrong, returning to the step S1 to reselect the batch, the date and the solvent until the label data information is correct.
S5, the marking unit receives the labeling start signal and simultaneously places the solvent in place manually or automatically, firstly, the solvent is checked through the vision module, the vision module collects the information of the solvent for checking, and if the placed solvent is correct, the label data information is printed on the label through the printer in the marking unit and labeling operation is carried out on the solvent; if the solvent is placed in error, the error solvent is conveyed to a fault tolerance port through a manipulator for recovery.
The checking of the vision module in this step is achieved by:
s51, before checking, firstly, a database of solvent information is required to be established, wherein the establishment mode is that a platform for placing the solvent is used for shooting and collecting characteristic patterns and position coordinate information of an external package of the solvent from bottom to top to form corresponding matrix information, and the corresponding matrix information is stored in the database and used as a mathematical model and simultaneously used as a standard of matching identification; the characteristic pattern mainly comprises shape characteristics, color characteristics, font characteristics, specification characteristics, bar codes or two-dimensional code characteristics, validity period characteristics and production batch number characteristics of the solvent outer package; the position coordinate information is stored by distributing corresponding coordinate points to each position of the surface of the platform and forming a two-dimensional coordinate system; in the shooting and collecting process, a transparent glass platform is adopted, so that shooting is conveniently carried out from bottom to top, and when the solvent is placed on the glass platform, the surface close to the glass platform is planar due to gravity, so that shooting is conveniently carried out.
S52, photographing and collecting the external package information of the solvent to be checked, photographing and collecting the external package information by adopting a glass platform from bottom to top, enabling the liquid bag to be in contact with the glass platform so that the liquid bag contact part is changed into a plane, photographing and collecting the external package information, and then, preventing recognition work of the surface information of the liquid bag due to various reflecting surfaces, improving recognition efficiency and effect, and converting the collected image into matrix information.
And S53, comparing, analyzing and matching the matrix information obtained in the step S52 with standard matrix information in a database to obtain corresponding solvent information and solvent position coordinate information, and feeding back corresponding results to the manipulator.
S54, the manipulator moves to the upper side of the solvent to grasp the solvent according to the fed-back position coordinate information, and due to the fact that the determined position coordinate information exists, the manipulator can accurately grasp the same position of the solvent when grasping operation each time according to the coordinate information, and follow-up labeling operation is convenient.
S6, checking the label data information on the labeled menstruum in the marking unit, and if the label data information is correct, conveying the correct menstruum to a corresponding sorting opening through the manipulator; if the label data information is wrong, the wrong solvent is conveyed to a fault tolerance port for recovery.
S7, judging whether a label exists in the label unit after each label pasting is completed, and if so, returning to the auditing unit to continue the step S5; if no label is needed, returning to the auditing unit and judging whether the label is needed to be continued, if the label is needed to be continued, adding the label and returning to the step S1, and if the label is not needed to be continued, stopping the machine and ending the operation.
The automatic marking machine for preparing transfusion finished products as shown in fig. 2 and 4 comprises a frame 1, a labeling module 4 and a sorting module 5 which are arranged on the frame 1, wherein a scanning module 6 for checking information is arranged between the labeling module 4 and the sorting module 5, a visual recognition module 2 for recognizing a liquid bag is arranged at the front end of the labeling module 4, a manipulator 3 for grabbing the liquid bag is arranged beside the visual recognition module 2, the manipulator 3 sends the liquid bag to the labeling module 4 for labeling operation, and then the manipulator 3 continuously grabs the liquid bag through the scanning module 6 and then enters the sorting module 5; the labeling module 4, the sorting module 5, the scanning module 6 and the manipulator 3 are controlled by a control module; in the use process, the control module controls the manipulator 3 to grab the liquid bag at the visual identification module 2 first, and then the liquid bag passes through the labeling module 4 and the scanning module 6 in sequence and then is released at the sorting module 5.
As shown in fig. 5, the visual recognition module 2 includes a visual support 21, an industrial camera 23 located in the visual support 21, and a recognition window located above the industrial camera 23, wherein a liquid bag sensor is disposed beside the recognition window for starting the action of the manipulator 3 for grabbing a liquid bag, a glass plate 22 for carrying the liquid bag is disposed on the recognition window, the liquid bag is directly placed on the glass plate 22 for scanning, the industrial camera 23 is placed below the glass plate 22, and no barrier is formed between the industrial camera 23 and the glass plate 22 through a conical protection groove 24 between the industrial camera 23 and the glass plate 22, so that the shooting accuracy is improved; because the liquid bag is placed on the glass plate 22, the surface of the liquid bag, which contacts with the glass plate 22, is in a plane shape due to the gravity, so that the image pick-up and the image pick-up of the industrial camera 23 are facilitated. The industrial camera 23 processes the extracted image, and according to the actual placement position of the liquid bag, the control module controls the mechanical arm 3 to find the corresponding position of the liquid bag and grasp the liquid bag, so that the same position of grasping the liquid bag in the process of grasping for multiple times can be ensured, and the same position of the subsequent label is ensured.
The labeling module 4 as shown in fig. 6 comprises a printing device 41 and a roller conveying assembly 42 for conveying labels, wherein the roller conveying assembly 42 faces the labels upwards, and the manipulator 3 grabs the liquid bags and presses the liquid bags downwards on the labels; the roller conveying assembly 42 includes a roller frame 421, a plurality of rollers 422 disposed on the roller frame 421, and a motor and a first belt disposed on the roller frame 421 for driving the rollers 422 to rotate; a baffle 424 for blocking the label is arranged at the outermost side of the roller bracket 421; the rotation of the rollers 422 can be a plurality of rollers 422 which are arranged in parallel and are arranged in a clearance way, gears are arranged on the rollers 422 and are arranged at the end parts of the rollers 422, the gears are driven by a toothed belt, a motor drives one of the rollers 422 to rotate through a first belt, and the other rollers 422 realize rotation through the cooperation of the gears and the toothed belt; the roller 422 may be composed of a rotating shaft and a plurality of wheels fixed on the rotating shaft, gaps are formed between the wheels, a second belt 427 for driving the roller 422 to rotate is arranged on the gap between the adjacent rollers, the motor drives one of the rollers 422 to rotate through a first belt, the other rollers 422 are driven to rotate through the second belt 427, and at least one second belt 427 is arranged, but in order to ensure the stability of the running of the roller 422 in the use process, the scheme adopts 8 second belts 427; meanwhile, a label sensor 426 is arranged in or beside the roller bracket 421 and connected with the control module, and when the label sensor 426 is arranged in the roller bracket 421, the label sensor 426 is positioned between two rollers 422 close to the outer side as shown in fig. 7; when the labels are transmitted to the appointed position through the roller 422, the label sensor 426 detects the labels and controls the roller 422 to stop moving through the control module, at the moment, the manipulator 3 rotates to be right above the labels with the liquid bags and aligns with the labels, and the manipulator 3 presses down the labels with the liquid bags to enable the labels to be attached to the proper positions, so that the labeling operation is completed; a guide rail 423 is arranged on the frame 1, the roller conveying assembly 42 is arranged on the guide rail 423, and the roller conveying assembly 42 is close to or far from the printing equipment 41 through the guide rail 423; a fixing member combination for fixing the position of the roller conveying assembly 42 is arranged between the printing equipment 41 and the roller conveying assembly 42; as shown in fig. 8, the fixing member assembly includes a fixing member 428 disposed on the printing device 41 and a pin shaft 425 disposed on the roller conveying assembly 42, the fixing member 428 is disposed on the printing device 41 through a rotating shaft, a free end of the fixing member 41 is provided with a groove, the groove is matched with the pin shaft 425 to achieve fixation, when printing paper in the printing device 41 is needed to be replaced after being used up, the printing device 41 and the roller conveying assembly 42 are separated from each other due to the fact that the distance between the printing device 41 and the roller conveying assembly 42 is relatively short, firstly, the fixing member 428 is separated from the pin shaft 425 through rotation, the roller conveying assembly 42 is pulled outwards manually, the roller conveying assembly 42 moves outwards away from the printing device 41 due to the effect of the guide rail 423, at this time, printing paper is replaced, then the roller conveying assembly 42 is pushed to be close to the printing device 41 along the guide rail 423, and the groove on the fixing member 428 is rotated to be clamped on the pin shaft 425, so that the roller conveying assembly 42 is prevented from moving in the using process of the machine.
The scanning module 6 includes a scanning bracket 61 installed on the frame 1 and a scanner 62 (as shown in fig. 4) installed on the scanning bracket 61, the scanner 62 is connected to the control module, the scanner 62 scans the labels on the manipulator 3 and checks them, and the labels are sent into the sorting module 5 for sorting operation after checking.
The sorting module 5 comprises a sorting bracket 51, conveying rollers arranged on the sorting bracket 51, a conveying belt 52 arranged on the conveying rollers, a driving motor for driving the conveying belt 52 to move, sorting assemblies 53 arranged above the conveying belt 52 and used for stirring liquid bags to two sides of the conveying belt, and sorting boxes 54 arranged at two sides and at the end parts of the conveying belt 53, wherein 3 sorting boxes 54 are arranged at the two sides, and 1 sorting box 54 is arranged at the end part; each label corresponds to 1 of 6 sorting bins 54 on two sides, the labels are matched with the sorting bins 54 through scanning of the scanner 62, the liquid bags with the labels move along with the conveying belt 52, when the liquid bags move above the matched sorting bins 54, the control unit controls the conveying belt 52 to stop moving, and at the moment, the sorting assembly 53 is controlled to move to push the liquid bags into the sorting bins 54 matched with the liquid bags; when no sort bin 54 matching the label is found after scanning by scanner 62, the conveyor belt 52 moves to transport the bag to the end into the end sort bin 54, where it is confirmed by manual intervention.
The sorting assembly 53 as shown in fig. 3 comprises a sorting roller arranged on the sorting bracket 51, a sorting belt 531 arranged on the sorting roller, a sorting motor for driving the sorting belt 531 to move, and a sorting plate 532 arranged on the surface of the sorting belt 531 and perpendicular to the sorting belt 531, wherein the sorting belt 531 and the moving direction of the conveying belt 52 are mutually perpendicular; when the liquid bags move above the matched sorting boxes 54 along with the conveying belt 52, the control module controls the sorting motor to drive the sorting belt 531 to move, the liquid bags are moved into the matched sorting boxes 54 through the sorting plates 532 arranged on the sorting belt 531 to finish sorting tasks, and the sorting assemblies 53 are arranged into a plurality of sorting boxes 54; when the plurality of sorting boxes 54 are only positioned in the same row, the sorting assemblies 53 are in one-to-one correspondence with the sorting boxes 54, and the sorting belts 531 in the sorting assemblies 53 only need to be controlled to rotate in the same direction; when a plurality of letter sorting casees 54 are located both sides, letter sorting subassembly 53 is a pair of two this moment, and control module makes letter sorting area 531 corotation or reversal come to sort as required, improves letter sorting efficiency.
In sum, the system can improve the efficiency of labeling, solves the problem that complex curved surfaces of liquid bags obstruct surface information identification, integrally improves the identification accuracy, and confirms that medicine information is correct; the automatic marking machine improves the efficiency of the whole label pasting work, meanwhile, the visual recognition module 2 is used for improving the grabbing accuracy of the manipulator 3, the pressing mode of the manipulator 3 is adopted, the accuracy of the label pasting position is improved, the label pasting position is always pasted at the same position in the label pasting process, the label is rechecked through the scanning module 6, the sorting accuracy is improved, the sorting efficiency and the sorting accuracy are improved by the sorting module 5, and the accurate label pasting and sorting operation are realized.
It is emphasized that: the above embodiments are merely preferred embodiments of the present invention, and the present invention is not limited in any way, and any simple modification, equivalent variation and modification made to the above embodiments according to the technical substance of the present invention still fall within the scope of the technical solution of the present invention.
Claims (8)
1. An automatic marking system for a finished product of a prepared transfusion comprises an auditing unit, a data unit and a marking unit, wherein a vision module is arranged in the marking unit, and is characterized in that the system comprises the following steps of,
s1, selecting a batch and a date to be processed at an auditing unit, and selecting a solvent to be processed;
s2, inquiring corresponding tag data information in the data unit, and sending the tag data information to the marking unit;
s3, the marking unit receives the label data information and distributes sorting information according to the label data information, different label data information is distributed to different sorting ports, error-tolerant ports are reserved, and corresponding label data information is returned to the auditing unit;
s4, auditing the tag data information in the auditing unit, and sending a tag starting signal to the marking unit and prompting the solvent placement if the tag data information is correct; if the label data information is wrong, returning to the step S1 until the label data information is correct;
s5, the marking unit receives the labeling start signal and the solvent is placed in place, firstly, the solvent is checked through the vision module, the vision module collects the information of the solvent for checking, and if the placed solvent is correct, the label data information is printed on the label through the printer in the marking unit and the solvent is labeled; if the solvent is placed in error, the error solvent is conveyed to a fault-tolerant port through a manipulator for recovery;
s6, checking the label data information on the labeled menstruum in the marking unit, and if the label data information is correct, conveying the correct menstruum to a corresponding sorting opening through the manipulator; if the label data information is wrong, the wrong solvent is conveyed to a fault tolerance port for recovery;
s7, judging whether the label is in the label unit, if so, returning to the auditing unit to continue the step S4; if no label is needed, returning to the auditing unit and judging whether the label is needed to be continued, if the label is needed to be continued, adding the label and returning to the step S1, and if the label is not needed to be continued, stopping the machine and ending the operation.
2. The automatic marking system for finished infusion products according to claim 1, wherein said visual module checking step is,
s51, establishing a database of solvent information, photographing and collecting characteristic patterns and position coordinate information of an external package of the solvent from bottom to top through a solvent placement platform to form corresponding matrix information, and storing the corresponding matrix information into the database as a mathematical model to serve as a standard of matching identification;
s52, photographing and collecting the external package information of the solvent to be checked, and converting the collected image into matrix information;
s53, comparing, analyzing and matching the matrix information obtained in the step S52 with standard matrix information in a database to obtain corresponding solvent information and solvent position coordinate information, and feeding back corresponding results to the manipulator;
and S54, the manipulator moves to the upper part of the solvent to grasp the solvent according to the fed-back position coordinate information.
3. The automatic marking system for finished infusion products according to claim 2, wherein the acquired image is converted into matrix information in step S52 and the matrix information is corrected by the standard matrix information in the database in step S51.
4. The automatic marking system for finished infusion products according to claim 2, wherein the characteristic pattern in the step S51 includes shape, color, font, specification, bar code or two-dimensional code, expiration date and production lot characteristics of the solvent package.
5. The automatic marking system for finished infusion products according to claim 2, wherein the positional coordinate information is stored by assigning corresponding coordinate points to respective positions of the surface of the platform and forming a two-dimensional coordinate system in said step S51.
6. The automatic marking machine for preparing the infusion finished product comprises a frame (1) and a labeling module (4) arranged on the frame (1), wherein a scanning module (6) for checking information is arranged behind the labeling module (4), and the automatic marking machine is characterized in that a visual recognition module (2) for recognizing a liquid bag is arranged at the front end of the labeling module (4), a manipulator (3) for grabbing the liquid bag is arranged beside the visual recognition module (2), the liquid bag is sent to the labeling module (4) by the manipulator (3) for labeling operation, and then the liquid bag is continuously grabbed by the manipulator (3) and is sent out after passing through the scanning module (6); the labeling module (4), the scanning module (6) and the manipulator (3) are controlled by the control module; the label sticking module (4) comprises printing equipment (41) and a roller conveying assembly (42) for conveying labels, the roller conveying assembly (42) faces the labels upwards, and the mechanical arm (3) grabs the liquid bags to be pressed on the labels downwards; a guide rail (423) is arranged on the frame (1), the roller conveying component (42) is arranged on the guide rail (423), and the roller conveying component (42) is close to or far from the printing equipment (41) through the guide rail (423); a fixing piece combination for fixing the position of the roller conveying component (42) is arranged between the printing equipment (41) and the roller conveying component (42); the fixing piece assembly comprises a fixing piece (428) arranged on the printing equipment (41) and a pin shaft (425) arranged on the roller conveying assembly (42), the fixing piece (428) is arranged on the printing equipment (41) through a rotating shaft, a groove is formed in the free end of the fixing piece (428), and the groove is matched with the pin shaft (425) to achieve fixation; the scanning module (6) is followed by a sorting module (5) controlled by the control module, the sorting module (5) comprises a sorting support (51), a conveying roller arranged on the sorting support (51), a conveying belt (52) arranged on the conveying roller, a driving motor for driving the conveying belt (52) to move, a sorting assembly (53) arranged above the conveying belt (52) and used for stirring liquid bags to two sides of the conveying belt, and sorting boxes (54) arranged on two sides and at the end parts of the conveying belt (52).
7. The automatic marking machine for finished infusion products according to claim 6, wherein the visual identification module (2) comprises a visual support (21), an industrial camera (23) positioned in the visual support (21), and an identification window positioned above the industrial camera (23), and a glass plate (22) for bearing a liquid bag is arranged on the identification window.
8. The automatic marking machine for finished infusion products according to claim 7, wherein the industrial camera (23) photographs the liquid bags to determine the actual positions of the liquid bags, and transmits the position information to the control module, and the control module controls the mechanical arm (3) to find the corresponding positions of the liquid bags for grabbing, so that the same grabbing positions are ensured in multiple operations.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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