CN110239951B - Automatic dispensing device of full-coverage type sucker array and control method thereof - Google Patents
Automatic dispensing device of full-coverage type sucker array and control method thereof Download PDFInfo
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- CN110239951B CN110239951B CN201910614948.9A CN201910614948A CN110239951B CN 110239951 B CN110239951 B CN 110239951B CN 201910614948 A CN201910614948 A CN 201910614948A CN 110239951 B CN110239951 B CN 110239951B
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- 238000000034 method Methods 0.000 title claims abstract description 12
- 239000003814 drug Substances 0.000 claims abstract description 228
- 238000007599 discharging Methods 0.000 claims abstract description 63
- 229940079593 drug Drugs 0.000 claims abstract description 38
- 238000005303 weighing Methods 0.000 claims abstract description 33
- 238000001514 detection method Methods 0.000 claims description 12
- 239000000758 substrate Substances 0.000 claims description 9
- 238000005259 measurement Methods 0.000 abstract 1
- WUBBRNOQWQTFEX-UHFFFAOYSA-N 4-aminosalicylic acid Chemical compound NC1=CC=C(C(O)=O)C(O)=C1 WUBBRNOQWQTFEX-UHFFFAOYSA-N 0.000 description 2
- 238000007664 blowing Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
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
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
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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
- B65G47/912—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems with rectilinear movements only
Abstract
The invention discloses an automatic dispensing device of a full-coverage sucker array and a control method thereof, wherein the automatic dispensing device comprises a frame, a medicine taking device and a medicine weighing and discharging device; the medicine taking device comprises a guide rail, a sliding seat, a first linear driver, a full-coverage vacuum medicine sucking manipulator and a second linear driver; the weighing and drug discharging device comprises a weighing sensor, a drug receiving groove and a drug discharging mechanism; the control method comprises the following steps: 1) After receiving the command of grabbing and discharging the medicine, the singlechip sends a control signal to the fourth relay, so as to control the first linear driver to push the slide seat to move forward to the position of grabbing the medicine; 2) After the medicine storage box reaches the fixed station, the singlechip sends a control signal to the fifth relay, so as to control the second linear driver to drive the full-coverage type vacuum medicine sucking manipulator to move down … …. According to the invention, the medicine bag can be taken out from the medicine storage box with the fixed station, and the medicine bag with accurate measurement is discharged out of the medicine cabinet, so that the medicine taking device can replace manual medicine taking, the intelligent degree and medicine outlet efficiency of the medicine cabinet can be improved, and the labor cost is saved.
Description
Technical Field
The invention relates to the technical field of automatic pharmacy, in particular to an automatic dispensing device of a full-coverage sucker array and a control method thereof.
Background
In order to solve the technical problems that the traditional Chinese medicine pharmacy consumes more manpower and has low drug yield due to the fact that manual medicine grabbing and dispensing are relied on, the intelligent medicine cabinet becomes a research hotspot in the field of medical equipment. The existing semi-automatic intelligent medicine cabinet for small-package traditional Chinese medicine decoction pieces can only automatically search medicines according to prescriptions and transfer medicine boxes storing corresponding medicines to medicine outlet windows, so that medicine outlet efficiency of a pharmacy is improved to a certain extent, but the semi-automatic intelligent medicine cabinet still needs to manually take out the medicines from drawers and count the medicines.
Disclosure of Invention
In view of the above, the invention aims to provide an automatic dispensing device with a full-coverage sucker array and a control method thereof, so as to solve the technical problem that the traditional semiautomatic intelligent medicine cabinet needs to manually take out medicine bags from a medicine storage box and count the medicine bags.
The invention relates to an automatic dispensing device of a full-coverage sucker array, which comprises a rack, wherein a medicine taking device and a medicine weighing and discharging device are arranged on the rack;
the medicine taking device comprises a guide rail horizontally arranged on a machine frame, a sliding seat arranged on the guide rail, a first linear driver arranged on the machine frame and used for driving the sliding seat to move along the guide rail, a full-coverage type vacuum medicine sucking manipulator positioned below the sliding seat, and a second linear driver arranged on the sliding seat and used for driving the full-coverage type vacuum medicine sucking manipulator to move up and down, wherein the full-coverage type vacuum medicine sucking manipulator comprises a full-coverage type substrate connected with the second linear driver and vacuum sucking discs arranged on the full-coverage type substrate in an array mode, the vacuum sucking discs are uniformly distributed on the whole opening surface of a medicine storage box, air pipes independently connected with an air source are arranged on each vacuum sucking disc, and a vacuum generator and a first electromagnetic valve are arranged on each air pipe connected with each vacuum sucking disc;
the medicine weighing and discharging device comprises a weighing sensor arranged on a frame and a medicine receiving groove arranged on the weighing sensor, wherein the medicine receiving groove is positioned below a guide rail, the longitudinal direction of the medicine receiving groove is parallel to the longitudinal direction of the guide rail, a front medicine discharging opening and a rear medicine discharging opening are respectively arranged at two longitudinal ends of the medicine receiving groove, the front medicine discharging opening is used for discharging medicine back to a medicine storage box, and the rear medicine discharging opening is used for discharging medicine out of a medicine cabinet; the drug weighing and discharging device further comprises a drug discharging mechanism which is arranged on the frame and used for discharging the drugs in the drug receiving groove from the front drug discharging port and the rear drug discharging port.
Further, the medicine discharging mechanism comprises a front nozzle, a rear nozzle, a second electromagnetic valve and a third electromagnetic valve, wherein the front nozzle is arranged on the frame and blows air from the front medicine discharging port to the rear medicine discharging port, the rear nozzle is arranged on the frame and blows air from the rear medicine discharging port to the front medicine discharging port, the second electromagnetic valve is arranged on a connecting pipeline of the front nozzle and the air source, and the third electromagnetic valve is arranged on a connecting pipeline of the rear nozzle and the air source.
Further, the medicine taking device further comprises a guiding mechanism for guiding the up-and-down movement of the full-coverage vacuum medicine sucking manipulator, the guiding mechanism comprises a guiding rod, a fixing plate arranged on the sliding seat or the second linear driver, and a linear bearing arranged on the fixing plate and matched with the guiding rod, and the lower end of the guiding rod is fixedly arranged on the full-coverage substrate.
Further, the first linear driver and the second linear driver are air cylinders or electric screw rods.
Further, the first linear driver and the second linear driver are air cylinders, the first linear driver is connected with an air source through an air pipe provided with a fourth electromagnetic valve, and the second linear driver is connected with the air source through an air pipe provided with a fifth electromagnetic valve.
Further, the automatic dispensing device of the full-coverage sucker array further comprises a control device, wherein the control device comprises a singlechip, a first relay connected with a first electromagnetic valve, a second relay connected with a second electromagnetic valve, a third relay connected with a third electromagnetic valve, a fourth relay connected with a fourth electromagnetic valve, a fifth relay connected with a fifth electromagnetic valve and a power module;
the power module is respectively connected with the single chip microcomputer, the first relay, the second relay, the third relay, the fourth relay, the fifth relay, the first electromagnetic valve, the second electromagnetic valve, the third electromagnetic valve, the fourth electromagnetic valve and the fifth electromagnetic valve, and the first relay, the second relay, the third relay, the fourth relay and the fifth relay are respectively connected with the single chip microcomputer;
the weighing sensor is connected with the singlechip;
the control device also comprises a pressure reducing valve arranged on an air pipe connecting the second linear driver and the air source.
The invention discloses a control method of an automatic dispensing device of a full-coverage sucker array, which comprises the following steps:
1) After receiving the command of grabbing and discharging the medicine, the singlechip sends a control signal to the fourth relay, so that the fourth relay controls the fourth electromagnetic valve to act to switch on the forward gas circuit, and the first linear driver is controlled to push the sliding seat to move forward to the medicine grabbing position;
2) The singlechip sends a control signal to the fifth relay, so that the fifth relay controls the fifth electromagnetic valve to act to switch on the forward gas circuit, and the second linear driver is controlled to drive the full-coverage vacuum drug sucking manipulator to move downwards;
3) The single chip microcomputer sends control signals to each first relay, so that the first relays control the first electromagnetic valves to act to switch on the gas paths, and accordingly gas flows enter the vacuum generator, and then negative pressure is generated by the vacuum sucking disc connected with the vacuum generator, and medicine bags are sucked;
4) The singlechip sends a control signal to the fifth relay, so that the fifth relay controls the fifth electromagnetic valve to act to switch on the reverse air path, and the second linear driver is controlled to drive the full-coverage vacuum drug sucking manipulator to move upwards;
5) The singlechip sends a control signal to the fourth relay, so that the fourth relay controls the first electromagnetic valve to act to switch on the reverse air circuit, and the first linear driver is controlled to push the sliding seat to retreat to the medicine discharging position;
6) The single chip microcomputer selects corresponding first relays according to the difference between the number of the medicine bags prescribed by the prescription and the detection number of the current weighing sensor, the first relays are selected randomly, and control signals are sent to the selected first relays, so that the corresponding first relays control the corresponding first electromagnetic valves to switch off the air paths, and the medicine bags are put down by the corresponding vacuum suction cups;
7) The singlechip collects detection data of the weighing sensor in real time, compares the collected data with the medicine package quantity specified by the prescription, and makes the following judgment and control:
if the comparison result is equal to the first relay, the singlechip sends a control signal to the second relay, so that the second relay controls the second electromagnetic valve to be communicated with the gas channel to enable the gas flow to be sprayed out from the front nozzle, and the medicine in the medicine receiving groove is discharged out of the medicine cabinet; then the singlechip judges whether the air passage of the first electromagnetic valve is not closed, if not, the control flow is ended, if so, a control signal is sent to a first relay corresponding to the air passage which is not closed, the corresponding first electromagnetic valve is disconnected, the vacuum chuck puts down the medicine bag, and finally the singlechip sends a control signal to a third relay, so that the third relay controls the third electromagnetic valve to be connected with the air passage to enable air flow to be sprayed out from a rear nozzle, and therefore medicine in the medicine receiving groove is blown back to the medicine storage box, and the control flow is ended;
if the comparison result is that the detection data of the weighing sensor is smaller than the medicine bag quantity prescribed by the prescription, and the first electromagnetic valve does not cut off all the air paths yet, the singlechip jumps to execute the step 6), otherwise, the singlechip jumps to execute the step 1);
if the comparison result is that the detection data of the weighing sensor is larger than the medicine bag quantity prescribed by the prescription, the singlechip firstly sends a control signal to the third relay, so that the third relay controls the third electromagnetic valve to be communicated with the air passage to enable the air flow to be sprayed out from the rear nozzle, and medicine in the medicine receiving groove is blown back to the medicine storage box; and then comparing the number of the air paths which are not closed by the first electromagnetic valve with the number of the medicine bags prescribed by the prescription, if the comparison result is that the number of the air paths which are not closed by the first electromagnetic valve is larger than the number of the medicine bags prescribed by the prescription, the singlechip jumps to execute the step 6), otherwise, the singlechip jumps to execute the step 1).
The invention has the beneficial effects that:
the automatic medicine dispensing device of the full-coverage sucking disc array and the control method thereof can automatically take out medicine bags from the medicine storage box of the medicine cabinet fixing station and discharge the medicine bags which are accurately measured and equal to prescription regulation out of the medicine cabinet, thereby replacing manual medicine taking, further improving the intelligent degree of the medicine cabinet, improving the medicine efficiency and saving the labor cost.
Drawings
FIG. 1 is a schematic perspective view of an APAS with a fully covered suction cup array in accordance with an exemplary embodiment;
FIG. 2 is a schematic view of the pneumatic connection of an APAS with a fully covered suction cup array in an embodiment;
fig. 3 is a schematic diagram of a connection structure of the control device.
Detailed Description
The invention is further described below with reference to the drawings and examples.
As shown in the figure, the automatic dispensing device of the full-coverage sucker array of the embodiment comprises a frame 1, wherein a medicine taking device and a medicine weighing and discharging device are arranged on the frame.
The medicine taking device comprises a guide rail 2 horizontally arranged on a frame, a sliding seat 3 arranged on the guide rail, a first linear driver 4 arranged on the frame and used for driving the sliding seat to move along the guide rail, a full-coverage type vacuum medicine sucking manipulator positioned below the sliding seat, and a second linear driver 5 arranged on the sliding seat and used for driving the full-coverage type vacuum medicine sucking manipulator to move up and down, wherein the full-coverage type vacuum medicine sucking manipulator comprises a full-coverage type substrate 6 connected with the second linear driver and vacuum sucking discs 7 arranged on the full-coverage type substrate in an array mode, the vacuum sucking discs are uniformly distributed on the whole opening surface of a medicine storage box 8, air pipes independently connected with an air source 9 are arranged on each vacuum sucking disc, and a vacuum generator 10 and a first electromagnetic valve 11 are arranged on each air pipe connected with each vacuum sucking disc.
The weighing and discharging device comprises a weighing sensor 12 arranged on a frame and a medicine receiving groove 13 arranged on the weighing sensor, wherein the medicine receiving groove is positioned below a guide rail, the longitudinal direction of the medicine receiving groove is parallel to the longitudinal direction of the guide rail, front medicine discharging openings and rear medicine discharging openings are respectively arranged at two longitudinal ends of the medicine receiving groove, the front medicine discharging openings are used for discharging medicines back to a medicine storage box, and the rear medicine discharging openings are used for discharging the medicines out of a medicine cabinet; the drug weighing and discharging device further comprises a drug discharging mechanism which is arranged on the frame and used for discharging the drugs in the drug receiving groove from the front drug discharging port and the rear drug discharging port. The medicine receiving groove 13 consists of a U-shaped groove bottom and a medicine receiving sloping plate which is arranged at the bottom opening of the U-shaped groove and is in inverted splayed arrangement, the medicine receiving sloping plate discharges the received medicine bags into the U-shaped groove bottom, and the U-shaped groove bottom is smaller in shape and is convenient for intensively discharging the medicine bags. Of course, in different embodiments, the medicine receiving slot 13 may be formed in other open bottom slot-like structures.
In this embodiment, the medicine discharging mechanism includes a front nozzle 14 provided on the frame and blowing air from the front medicine discharging port to the rear medicine discharging port, a rear nozzle 15 provided on the frame and blowing air from the rear medicine discharging port to the front medicine discharging port, a second electromagnetic valve 16 provided on the front nozzle and air source connecting line, and a third electromagnetic valve 17 provided on the rear nozzle and air source connecting line. Of course, in different embodiments, the drug expelling mechanism may take other forms.
In this embodiment, the medicine taking device further includes a guiding mechanism for guiding the up-and-down movement of the fully covered vacuum medicine sucking manipulator, the guiding mechanism includes a guiding rod 18, a fixing plate 19 disposed on the slide, and a linear bearing disposed on the fixing plate and matched with the guiding rod, and the lower end of the guiding rod is fixedly disposed on the fully covered substrate. Of course, in different embodiments, the fixing plate 19 may also be provided on the second linear drive. The full-coverage vacuum drug sucking manipulator can be better guaranteed to not deflect and shake in the up-and-down moving process through the guide device, so that the full-coverage vacuum drug sucking manipulator can accurately enter the drug storage box to grasp the drug.
In this embodiment, the first linear driver and the second linear driver are cylinders; of course, in different embodiments, the first linear actuator and the second linear actuator may also be electric screw rods.
In this embodiment, the first linear actuator is connected to the air source through an air pipe provided with a fourth electromagnetic valve 20, and the second linear actuator is connected to the air source through an air pipe provided with a fifth electromagnetic valve 21.
The automatic dispensing device of the full-coverage sucker array in the embodiment further comprises a control device, wherein the control device comprises a singlechip 22, a first relay 23 connected with a first electromagnetic valve, a second relay 24 connected with a second electromagnetic valve, a third relay 25 connected with a third electromagnetic valve, a fourth relay 26 connected with a fourth electromagnetic valve, a fifth relay 27 connected with a fifth electromagnetic valve and a power module 28.
The power module is respectively connected with the singlechip, the first relay, the second relay, the third relay, the fourth relay, the fifth relay, the first electromagnetic valve, the second electromagnetic valve, the third electromagnetic valve, the fourth electromagnetic valve and the fifth electromagnetic valve, and the first relay, the second relay, the third relay, the fourth relay and the fifth relay are respectively connected with the singlechip.
The weighing sensor is connected with the singlechip.
The control device further comprises a pressure reducing valve 29 arranged on the gas pipe connecting the second linear actuator and the gas source. The pressure reducing valve is used for controlling the stroke of the downward movement of the second linear driver, in the downward movement process of the full-coverage vacuum drug sucking manipulator driven by the second linear driver, when the vacuum suction disc is in contact with the drug bag, the air pressure in a pipeline connected with the air source of the second linear driver is increased, and when the air pressure is increased to exceed the pressure set by the pressure reducing valve, the pressure reducing valve is used for exhausting and releasing pressure, so that the air pressure is stabilized at a set value, good sealing fit between the opening of the vacuum suction disc and the drug bag can be ensured under certain contact pressure, the drug grabbing success rate is improved, and the problem that equipment is damaged due to overlarge stroke of the second linear driver and the problem that drug grabbing fails due to insufficient stroke can be avoided.
The control method of the automatic dispensing device of the full-coverage sucker array in the embodiment comprises the following steps:
1) After the singlechip receives the command of grabbing and discharging the medicine, the singlechip sends a control signal to the fourth relay, so that the fourth relay controls the fourth electromagnetic valve to act to switch on the forward gas circuit, and the first linear driver is controlled to push the sliding seat to move forward to the medicine grabbing position.
2) The singlechip sends a control signal to the fifth relay, so that the fifth relay controls the fifth electromagnetic valve to act to switch on the forward gas circuit, and the second linear driver is controlled to drive the full-coverage vacuum drug sucking manipulator to move downwards.
3) The singlechip sends control signals to each first relay, so that the first relay controls the first electromagnetic valve to act to switch on the gas path, thereby enabling the gas flow to enter the vacuum generator, further enabling the vacuum sucker connected with the vacuum generator to generate negative pressure, and sucking the medicine bag.
4) The singlechip sends a control signal to the fifth relay, so that the fifth relay controls the fifth electromagnetic valve to act to switch on the reverse air path, and the second linear driver is controlled to drive the full-coverage vacuum drug sucking manipulator to move upwards.
5) The singlechip sends a control signal to the fourth relay, so that the fourth relay controls the first electromagnetic valve to act to switch on the reverse air circuit, and the first linear driver is controlled to push the sliding seat to retreat to the medicine discharging position.
6) The single chip microcomputer selects corresponding first relays according to the difference between the medicine bag quantity specified by the prescription and the detection quantity of the current weighing sensor, the first relays are selected randomly, and control signals are sent to the selected first relays, so that the corresponding first relays control the corresponding first electromagnetic valves to switch off the air paths, and the medicine bags are put down by the corresponding vacuum suction cups.
7) The singlechip collects detection data of the weighing sensor in real time, compares the collected data with the medicine package quantity specified by the prescription, and makes the following judgment and control:
if the comparison result is equal to the first relay, the singlechip sends a control signal to the second relay, so that the second relay controls the second electromagnetic valve to be communicated with the gas channel to enable the gas flow to be sprayed out from the front nozzle, and the medicine in the medicine receiving groove is discharged out of the medicine cabinet; then the singlechip judges whether the air passage of the first electromagnetic valve is not closed, if not, the control flow is ended, if so, a control signal is sent to a first relay corresponding to the air passage which is not closed, the corresponding first electromagnetic valve is disconnected, the vacuum chuck puts down the medicine bag, and finally the singlechip sends a control signal to a third relay, so that the third relay controls the third electromagnetic valve to be connected with the air passage to enable air flow to be sprayed out from a rear nozzle, and therefore medicine in the medicine receiving groove is blown back to the medicine storage box, and the control flow is ended;
if the comparison result is that the detection data of the weighing sensor is smaller than the medicine bag quantity prescribed by the prescription, and the first electromagnetic valve does not cut off all the air paths yet, the singlechip jumps to execute the step 6), otherwise, the singlechip jumps to execute the step 1);
if the comparison result is that the detection data of the weighing sensor is larger than the medicine bag quantity prescribed by the prescription, the singlechip firstly sends a control signal to the third relay, so that the third relay controls the third electromagnetic valve to be communicated with the air passage to enable the air flow to be sprayed out from the rear nozzle, and medicine in the medicine receiving groove is blown back to the medicine storage box; and then comparing the number of the air paths which are not closed by the first electromagnetic valve with the number of the medicine bags prescribed by the prescription, if the comparison result is that the number of the air paths which are not closed by the first electromagnetic valve is larger than the number of the medicine bags prescribed by the prescription, the singlechip jumps to execute the step 6), otherwise, the singlechip jumps to execute the step 1).
Finally, it is noted that the above embodiments are only for illustrating the technical solution of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications and equivalents may be made thereto without departing from the spirit and scope of the technical solution of the present invention, which is intended to be covered by the scope of the claims of the present invention.
Claims (1)
1. An automatic dispensing device of full coverage formula sucking disc array, its characterized in that: the device comprises a frame, wherein a medicine taking device and a medicine weighing and discharging device are arranged on the frame;
the medicine taking device comprises a guide rail horizontally arranged on a machine frame, a sliding seat arranged on the guide rail, a first linear driver arranged on the machine frame and used for driving the sliding seat to move along the guide rail, a full-coverage type vacuum medicine sucking manipulator positioned below the sliding seat, and a second linear driver arranged on the sliding seat and used for driving the full-coverage type vacuum medicine sucking manipulator to move up and down, wherein the full-coverage type vacuum medicine sucking manipulator comprises a full-coverage type substrate connected with the second linear driver and vacuum sucking discs arranged on the full-coverage type substrate in an array mode, the vacuum sucking discs are uniformly distributed on the whole opening surface of a medicine storage box, air pipes independently connected with an air source are arranged on each vacuum sucking disc, and a vacuum generator and a first electromagnetic valve are arranged on each air pipe connected with each vacuum sucking disc;
the medicine weighing and discharging device comprises a weighing sensor arranged on a frame and a medicine receiving groove arranged on the weighing sensor, wherein the medicine receiving groove is positioned below a guide rail, the longitudinal direction of the medicine receiving groove is parallel to the longitudinal direction of the guide rail, a front medicine discharging opening and a rear medicine discharging opening are respectively arranged at two longitudinal ends of the medicine receiving groove, the front medicine discharging opening is used for discharging medicine back to a medicine storage box of a medicine cabinet fixing station, and the rear medicine discharging opening is used for discharging medicine out of the medicine cabinet; the medicine weighing and discharging device also comprises a medicine discharging mechanism which is arranged on the frame and used for discharging the medicine in the medicine receiving groove from the front medicine discharging port and the rear medicine discharging port;
the medicine discharging mechanism comprises a front nozzle, a rear nozzle, a second electromagnetic valve and a third electromagnetic valve, wherein the front nozzle is arranged on the frame and blows air from a front medicine discharging port to a rear medicine discharging port;
the medicine taking device further comprises a guide mechanism for guiding the up-and-down movement of the full-coverage vacuum medicine sucking manipulator, the guide mechanism comprises a guide rod, a fixed plate arranged on the sliding seat or the second linear driver, and a linear bearing arranged on the fixed plate and matched with the guide rod, and the lower end of the guide rod is fixedly arranged on the full-coverage substrate;
the first linear driver and the second linear driver are air cylinders, the first linear driver is connected with an air source through an air pipe provided with a fourth electromagnetic valve, and the second linear driver is connected with the air source through an air pipe provided with a fifth electromagnetic valve;
the automatic dispensing device of the full-coverage sucker array further comprises a control device, wherein the control device comprises a singlechip, a first relay connected with a first electromagnetic valve, a second relay connected with a second electromagnetic valve, a third relay connected with a third electromagnetic valve, a fourth relay connected with a fourth electromagnetic valve, a fifth relay connected with a fifth electromagnetic valve and a power module;
the power module is respectively connected with the single chip microcomputer, the first relay, the second relay, the third relay, the fourth relay, the fifth relay, the first electromagnetic valve, the second electromagnetic valve, the third electromagnetic valve, the fourth electromagnetic valve and the fifth electromagnetic valve, and the first relay, the second relay, the third relay, the fourth relay and the fifth relay are respectively connected with the single chip microcomputer;
the weighing sensor is connected with the singlechip;
the control device also comprises a pressure reducing valve arranged on an air pipe connecting the second linear driver and the air source;
the control method of the automatic dispensing device of the full-coverage sucker array comprises the following steps:
1) After receiving the command of grabbing and discharging the medicine, the singlechip sends a control signal to the fourth relay, so that the fourth relay controls the fourth electromagnetic valve to act to switch on the forward gas circuit, and the first linear driver is controlled to push the sliding seat to move forward to the medicine grabbing position;
2) The singlechip sends a control signal to the fifth relay, so that the fifth relay controls the fifth electromagnetic valve to act to switch on the forward gas circuit, and the second linear driver is controlled to drive the full-coverage vacuum drug sucking manipulator to move downwards;
3) The single chip microcomputer sends control signals to each first relay, so that the first relays control the first electromagnetic valves to act to switch on the gas paths, and accordingly gas flows enter the vacuum generator, and then negative pressure is generated by the vacuum sucking disc connected with the vacuum generator, and medicine bags are sucked;
4) The singlechip sends a control signal to the fifth relay, so that the fifth relay controls the fifth electromagnetic valve to act to switch on the reverse air path, and the second linear driver is controlled to drive the full-coverage vacuum drug sucking manipulator to move upwards;
5) The singlechip sends a control signal to the fourth relay, so that the fourth relay controls the first electromagnetic valve to act to switch on the reverse air circuit, and the first linear driver is controlled to push the sliding seat to retreat to the medicine discharging position;
6) The single chip microcomputer selects corresponding first relays according to the difference between the number of the medicine bags prescribed by the prescription and the detection number of the current weighing sensor, the first relays are selected randomly, and control signals are sent to the selected first relays, so that the corresponding first relays control the corresponding first electromagnetic valves to switch off the air paths, and the medicine bags are put down by the corresponding vacuum suction cups;
7) The singlechip collects detection data of the weighing sensor in real time, compares the collected data with the medicine package quantity specified by the prescription, and makes the following judgment and control:
if the comparison result is equal to the first relay, the singlechip sends a control signal to the second relay, so that the second relay controls the second electromagnetic valve to be communicated with the gas channel to enable the gas flow to be sprayed out from the front nozzle, and the medicine in the medicine receiving groove is discharged out of the medicine cabinet; then the singlechip judges whether the air passage of the first electromagnetic valve is not closed, if not, the control flow is ended, if so, a control signal is sent to a first relay corresponding to the air passage which is not closed, the corresponding first electromagnetic valve is disconnected, the vacuum chuck puts down the medicine bag, and finally the singlechip sends a control signal to a third relay, so that the third relay controls the third electromagnetic valve to be connected with the air passage to enable air flow to be sprayed out from a rear nozzle, and therefore medicine in the medicine receiving groove is blown back to the medicine storage box, and the control flow is ended;
if the comparison result is that the detection data of the weighing sensor is smaller than the medicine bag quantity prescribed by the prescription, and the first electromagnetic valve does not cut off all the air paths yet, the singlechip jumps to execute the step 6), otherwise, the singlechip jumps to execute the step 1);
if the comparison result is that the detection data of the weighing sensor is larger than the medicine bag quantity prescribed by the prescription, the singlechip firstly sends a control signal to the third relay, so that the third relay controls the third electromagnetic valve to be communicated with the air passage to enable the air flow to be sprayed out from the rear nozzle, and medicine in the medicine receiving groove is blown back to the medicine storage box; and then comparing the number of the air paths which are not closed by the first electromagnetic valve with the number of the medicine bags prescribed by the prescription, if the comparison result is that the number of the air paths which are not closed by the first electromagnetic valve is larger than the number of the medicine bags prescribed by the prescription, the singlechip jumps to execute the step 6), otherwise, the singlechip jumps to execute the step 1).
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| CN201910614948.9A CN110239951B (en) | 2019-07-09 | 2019-07-09 | Automatic dispensing device of full-coverage type sucker array and control method thereof |
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| CN110834954A (en) * | 2019-12-17 | 2020-02-25 | 南京极智嘉机器人有限公司 | Pickup system |
| CN111854908B (en) * | 2020-07-21 | 2022-04-15 | 重庆大学 | Dynamic weighing method for traditional Chinese medicine in small bulk bag |
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