CN111056203B - Automatic medicine discharging method for automatic pharmacy - Google Patents
Automatic medicine discharging method for automatic pharmacy Download PDFInfo
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- CN111056203B CN111056203B CN201911422422.7A CN201911422422A CN111056203B CN 111056203 B CN111056203 B CN 111056203B CN 201911422422 A CN201911422422 A CN 201911422422A CN 111056203 B CN111056203 B CN 111056203B
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- medicine
- connecting rod
- automatic
- medicine discharging
- control system
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- 239000003814 drug Substances 0.000 title claims abstract description 146
- 238000007599 discharging Methods 0.000 title claims abstract description 54
- 238000000034 method Methods 0.000 title claims abstract description 23
- 210000001503 joint Anatomy 0.000 claims abstract description 16
- 229940079593 drug Drugs 0.000 claims abstract description 11
- 230000008569 process Effects 0.000 claims abstract description 5
- 230000009471 action Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000003032 molecular docking Methods 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 210000000078 claw Anatomy 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
Abstract
The invention discloses an automatic medicine discharging method for an automatic pharmacy, wherein a double-shaft rectangular coordinate robot and a power assembly of the automatic pharmacy are both connected with a control system, and the automatic medicine discharging method comprises the following steps: when the control system receives a signal that a certain medicine is needed, the control system drives the double-shaft rectangular coordinate robot to move so that the power assembly and the medicine taking drawer move to the front of the medicine discharging device corresponding to the medicine, and then the linear execution element is controlled to act so that the power output part extends out to be in butt joint with the butt joint part, and the medicine discharging assembly acts to separate a box of medicine; and performing reciprocating operation according to the process until all required medicines are discharged, and then controlling the double-shaft rectangular coordinate robot to drive the medicine taking drawer to a fixed position by the control system so as to allow a worker to take medicines. The automatic medicine discharging method of the automatic pharmacy can simply and conveniently perform medicine discharging operation, is simple in control method, and each medicine discharging module does not need to be provided with a power element, so that the hardware cost can be greatly saved, and the failure rate is reduced.
Description
The application is a divisional application of an invention patent with application number 201810529044.1, application date 2018, 5 and 29, and entitled "drug dispensing device, automated pharmacy and automatic drug dispensing method".
Technical Field
The invention relates to the field of medicine automation, in particular to an automatic medicine discharging method for an automated pharmacy.
Background
At present, automation in the field of medicine tends to be great, a plurality of automatic medicine room products are also available on the market, the current automatic medicine room products comprise a plurality of groups of medicine discharging devices, and each medicine discharging device is generally provided with a power element (such as a motor), so that the cost is high, and the control method for automatically discharging the medicines is complex and has high failure rate.
Disclosure of Invention
The purpose of the invention is as follows: in order to overcome the defects in the prior art, the invention provides the automatic medicine discharging method of the automatic pharmacy, which is simple to control.
The technical scheme is as follows: in order to achieve the purpose, the automatic medicine discharging method of the automatic pharmacy is applied to the automatic pharmacy, the automatic medicine room comprises a rack, a plurality of groups of medicine discharging devices are arranged on the rack in a rectangular array, a double-shaft rectangular coordinate robot is further installed on the rack, a medicine taking drawer and a power assembly for providing power for a driving assembly are installed on the double-shaft rectangular coordinate robot, and an opposite-emitting sensor is arranged at the inlet of the medicine taking drawer; the power assembly comprises a motor, a linear actuating element and a power output piece which can be butted with the butting piece; the power output part is fixed relative to the output shaft of the motor in the circumferential direction and can axially translate relative to the output shaft of the motor, and the axial translation motion of the power output part is driven by the linear executing element;
the double-shaft rectangular coordinate robot and the power assembly are both connected with a control system;
the automatic medicine discharging method comprises the following steps: when the control system receives a signal that a certain medicine is needed, the control system drives the double-shaft rectangular coordinate robot to move so that the power assembly and the medicine taking drawer move to the front of the medicine discharging device corresponding to the medicine, then the linear execution element is controlled to act so that the power output element extends out to be in butt joint with the butt joint element, then the control system controls the motor to drive the power output element to rotate, the butt joint element rotates along with the power output element, and therefore the medicine discharging assembly acts to separate a box of medicine; and performing reciprocating operation according to the process until all required medicines are discharged, and then controlling the double-shaft rectangular coordinate robot to drive the medicine taking drawer to a fixed position by the control system so as to allow a worker to take medicines.
Has the advantages that: according to the automatic medicine discharging method for the automated pharmacy, the medicine discharging requirement is firstly obtained, then the power assembly is controlled to be in butt joint with the driving assembly of the corresponding medicine discharging device, so that the medicine is discharged to the medicine taking drawer, the medicine discharging operation can be simply and conveniently carried out, the control method is simple, and each medicine discharging module is not required to be provided with a power element, so that the hardware cost can be greatly saved, and the failure rate is reduced.
Drawings
FIG. 1 is a first perspective view of the dispensing device;
FIG. 2 is a second perspective view of the dispensing device;
FIG. 3 is an enlarged view of portion A of FIG. 2;
FIG. 4 is a front elevation view of an automated pharmacy;
FIG. 5 is a side view of an automated pharmacy;
FIG. 6 is a combination diagram of the medicine discharging device, the medicine taking drawer and the power assembly;
FIG. 7 is a block diagram of a power assembly;
fig. 8 is a structural view of a biaxial cartesian robot.
Detailed Description
The present invention will be further described with reference to the accompanying drawings.
The medicine discharging device shown in fig. 1 and fig. 2 comprises a medicine storage track 1 which is obliquely arranged (the preferable inclination angle of the medicine storage track 1 is 20 °), a medicine discharging component 2 is arranged at the lower end of the medicine storage track 1, and the medicine discharging component 2 comprises a first connecting rod 21, a second connecting rod 22, a third connecting rod 23, a stop lever 24 and a pressing block 25; one end of each of the first connecting rod 21 and the second connecting rod 22 is hinged on the medicine storage track 1, and the other end of each of the first connecting rod 21 and the second connecting rod 22 is connected through a third connecting rod 23; the first connecting rod 21 is arranged at the lowest end of the medicine storage track 1, the stop lever 24 is fixed on the first connecting rod 21, and in an initial state, the stop lever 24 is stopped at the outlet position of the medicine storage track 1; the pressing block 25 is mounted on the second connecting rod 22 through a sliding part 26, and the pressing block 25 is suspended in front of the medicine storage track 1; the sliding piece 26 can slide relative to the second connecting rod 22, and a spring 27 is arranged between the sliding piece 26 and the second connecting rod 22; a torsion spring 29 is arranged between the first connecting rod 21 and the medicine storage track 1, and a limiting rod 210 for limiting the initial position of the first connecting rod 21 is arranged on the medicine storage track 1; the medicine discharging device also comprises a driving component 3 for driving the first connecting rod 21 or the second connecting rod 22 of the medicine discharging component 2 to rotate.
The pressing block 25 is rotatably connected with the sliding part 26, an angle retaining part 28 is arranged between the pressing block 25 and the sliding part 26, the medicine storage rail 1 is obliquely arranged, the angle retaining part 28 can keep the pressing block 25 parallel to the bottom surface of the medicine storage rail 1, and after the pressing block 25 contacts with a medicine box, the pressing block 25 can have a certain rotating floating space, so that the pressing block 25 is ensured to be in surface contact with the medicine box, and the effect of increasing friction is achieved; the second link 22 is provided with a slide rail 221 on which the slide member 26 slides. Preferably, the sliding track 221 is arc-shaped, and the center of the arc is the rotation center of the second link 22 relative to the medicine storage track 1. Thus, after the pressing piece 25 contacts the medicine box, the pressing piece 25 does not change the position along with the movement of the second connecting rod 22.
As shown in fig. 3, the angle holder 28 is a zigzag elastic torsion wire, and two ends of the zigzag elastic torsion wire are respectively fixed to the pressing block 25 and the sliding member 26; the angle maintaining members 28 are two, and the two angle maintaining members 28 are symmetrically arranged on both sides of the relative rotation center of the pressing piece 25 and the sliding piece 26. The angle holder 28 is simple in structure and highly practical.
The driving assembly 3 comprises a driving shaft 31 rotatably mounted on the medicine storage track 1 and an abutment member 32 fixedly mounted on the driving shaft 31, wherein the driving shaft 31 transmits power to the second connecting rod 22 through a bevel gear set 33. The butt-joint part 32 is a disk shape, and a plurality of clamping jaws 321 are distributed on the circumference of the outward surface of the butt-joint part.
The medicine discharging principle of the medicine discharging device is as follows: when the driving assembly 3 is driven by power transmitted from the outside (namely, a power assembly 7 hereinafter) to drive the second connecting rod 22 to rotate, the second connecting rod 22 drives the first connecting rod 21 to rotate together through the third connecting rod 23, the pressing block 25 arranged on the second connecting rod 22 presses the second medicine box on the medicine storage track 1 due to the rotation of the second connecting rod 22 before the stop lever 24 rotates to a position where the stop lever no longer blocks the outlet of the medicine storage track 1, and the spring 27 starts to be pulled along with the continuous rotation of the second connecting rod 22, so that the pressure of the pressing block 25 on the second medicine box is increased, and the position of the pressing block 25 does not change any more; when the stop lever 24 rotates to the position where the outlet of the medicine storage track 1 is no longer blocked, the first box of medicine on the medicine storage track 1 slides out to the outside of the medicine storage track 1 under the action of self gravity to finish medicine discharging. After the medicine is discharged, the power input to the driving assembly 3 from the outside (hereinafter, the power assembly 7) is released, the first link 21 is restored to the initial state by the action of the torsion spring 29, and in the initial state, the first link 21 abuts against the limiting rod 210, and the second link 22 is also restored to the initial position by the action of the first link 21.
Automatic change drugstore, as shown in figure 4 and figure 5, contain frame 4, it is the rectangle array and is provided with the multiunit device of drawing medicine on the frame 4, and still installs biax cartesian robot 5 on the frame 4, installs on the biax cartesian robot 5 and gets it filled steamer tray 6 and be used for providing the power component 7 of power for drive assembly 3, and the entrance of the steamer tray 6 of getting it filled is provided with correlation sensor (not shown in the figure), and whether there is the medicine to penetrate sensor detectable and get into the figure of getting it filled steamer tray 6 and detectable entering and getting it filled steamer tray 6. The structure of the two-axis cartesian robot 5 is shown in fig. 8, which is a common structure and belongs to the prior art, and is not specifically described here.
As shown in fig. 6 and 7, the power assembly 7 includes a motor 71, a linear actuator 72, and a power take-off 73 that can be docked with the docking member 32; the power take-off 73 is fixed circumferentially relative to the output shaft of the electric motor 71 and is axially translatable relative thereto, the axial translational movement of which is driven by the linear actuator 72. The linear actuator 72 is an electromagnet, and when the electromagnet is energized, the telescopic rod of the electromagnet extends to enable the power output part 73 to be in butt joint with the butt joint part 32, and when the electromagnet is de-energized, the telescopic rod is retracted by a spring of the electromagnet, and the power output part 73 is separated from the butt joint part 32. Specifically, the pto 73 is provided with a sleeve having an inner hole and a hole key groove, and the output shaft of the motor 71 is provided with a sliding key which can slide in the hole key groove of the sleeve, which is a common measure.
Similar to the structure of the docking element 32, the pto 73 has a disk shape, and a plurality of second claws 731 are circumferentially distributed on a surface of the pto facing the medicine discharging device.
The automatic medicine discharging method comprises the steps that a double-shaft rectangular coordinate robot 5, a power assembly 7 and an opposite-jet sensor are connected with a control system, when the control system receives a signal that a certain medicine is needed, the control system drives the double-shaft rectangular coordinate robot 5 to move so that the power assembly 7 and a medicine taking drawer 6 move to the front of a medicine discharging device corresponding to the medicine, then a linear execution element 72 is controlled to act so that a power output element 73 extends out to be in butt joint with a butt joint element 32, then the control system controls a motor 71 to drive the power output element 73 to rotate so that the butt joint element 32 rotates along with the power output element, and therefore a medicine box is separated by the action of a medicine discharging assembly 2; and performing reciprocating operation according to the process until all required medicines are discharged, and then controlling the double-shaft rectangular coordinate robot 5 to drive the medicine taking drawer 6 to a fixed position by the control system so as to allow a worker to take medicines. In the medicine taking process, the control system judges whether the medicine discharging device discharges the medicine and whether the medicine discharging number is correct or not by reading the feedback data of the correlation sensor, and the accuracy of medicine discharging is further ensured.
The medicine discharging device, the automatic pharmacy and the automatic medicine discharging method can realize accurate medicine discharging, when the medicine discharging device discharges a first box of medicine, the pressing block of the medicine discharging device can press a second box of medicine, so that the second box of medicine cannot be discharged, meanwhile, the injection sensor on the medicine taking drawer can detect whether the first box of medicine is discharged successfully, and the situations of less medicine discharge and more medicine discharge are effectively avoided; the medicine discharging device is not provided with a power source, when corresponding medicine needs to be discharged, the power assembly can be in butt joint with the driving assembly corresponding to the medicine discharging device, so that the medicine is discharged to the medicine taking drawer, the cost can be greatly saved, and the failure rate is reduced.
The above description is only of the preferred embodiments of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention and these are intended to be within the scope of the invention.
Claims (1)
1. An automatic medicine discharging method of an automatic pharmacy is applied to the automatic pharmacy and is characterized in that:
the automatic pharmacy comprises a rack (4), a plurality of groups of medicine discharging devices are arranged on the rack (4) in a rectangular array, a double-shaft cartesian robot (5) is further mounted on the rack (4), a medicine taking drawer (6) and a power assembly (7) for providing power for a driving assembly (3) are mounted on the double-shaft cartesian robot (5), and an opposite-emitting sensor is arranged at an inlet of the medicine taking drawer (6); the power assembly (7) comprises a motor (71), a linear actuator (72) and a power output part (73) which can be butted with the butting part (32); the power output member (73) is fixed relative to the output shaft of the motor (71) in the circumferential direction and can axially translate relative to the output shaft, and the axial translation motion of the power output member is driven by a linear actuator (72);
the medicine discharging device comprises a medicine storage track (1) which is obliquely arranged, a medicine discharging component (2) is arranged at the lower end of the medicine storage track (1), and the medicine discharging component (2) comprises a first connecting rod (21), a second connecting rod (22), a third connecting rod (23), a stop lever (24) and a pressing block (25); one ends of the first connecting rod (21) and the second connecting rod (22) are hinged on the medicine storage track (1), and the other ends of the first connecting rod and the second connecting rod are connected through a third connecting rod (23); the first connecting rod (21) is arranged at the lowest end of the medicine storage track (1), the stop lever (24) is fixed on the first connecting rod (21), and the stop lever (24) is stopped at the outlet position of the medicine storage track (1) in an initial state; the pressing block (25) is mounted on the second connecting rod (22) through a sliding part (26), and the pressing block (25) is suspended in front of the medicine storage track (1); the sliding piece (26) can slide relative to the second connecting rod (22), and a spring (27) is arranged between the sliding piece (26) and the second connecting rod (22); a torsion spring (29) is arranged between the first connecting rod (21) and the medicine storage track (1), and a limiting rod (210) for limiting the initial position of the first connecting rod (21) is arranged on the medicine storage track (1); the medicine discharging device also comprises a driving component (3) for driving a first connecting rod (21) or a second connecting rod (22) of the medicine discharging component (2) to rotate;
the driving assembly (3) comprises a driving shaft (31) rotatably arranged on the medicine storage track (1) and an abutting piece (32) fixedly arranged on the driving shaft (31), and the driving shaft (31) transmits power to the second connecting rod (22) through a bevel gear set (33);
the double-shaft rectangular coordinate robot (5) and the power assembly (7) are both connected with a control system;
the method comprises the following steps: when the control system receives a signal that a certain medicine is needed, the control system drives the double-shaft rectangular coordinate robot (5) to move so that the power assembly (7) and the medicine taking drawer (6) move to the front of a medicine outlet device corresponding to the medicine, then the linear execution element (72) is controlled to act so that the power output piece (73) extends out to be in butt joint with the butt joint piece (32), then the control system controls the motor (71) to drive the power output piece (73) to rotate so that the butt joint piece (32) rotates along with the power output piece, and therefore the medicine outlet assembly (2) acts to separate a box of medicine; and performing reciprocating operation according to the process until all required medicines are discharged, and then controlling the double-shaft rectangular coordinate robot (5) to drive the medicine taking drawer (6) to a fixed position by the control system so as to allow a worker to take medicines.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911422422.7A CN111056203B (en) | 2018-05-29 | 2018-05-29 | Automatic medicine discharging method for automatic pharmacy |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911422422.7A CN111056203B (en) | 2018-05-29 | 2018-05-29 | Automatic medicine discharging method for automatic pharmacy |
| CN201810529044.1A CN108996090B (en) | 2018-05-29 | 2018-05-29 | Medicine discharging device, automatic pharmacy and automatic medicine discharging method |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810529044.1A Division CN108996090B (en) | 2018-05-29 | 2018-05-29 | Medicine discharging device, automatic pharmacy and automatic medicine discharging method |
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| CN111056203A CN111056203A (en) | 2020-04-24 |
| CN111056203B true CN111056203B (en) | 2021-06-22 |
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| CN201810529044.1A Active CN108996090B (en) | 2018-05-29 | 2018-05-29 | Medicine discharging device, automatic pharmacy and automatic medicine discharging method |
| CN201911422421.2A Active CN111056202B (en) | 2018-05-29 | 2018-05-29 | Automatic pharmacy |
| CN201911422422.7A Active CN111056203B (en) | 2018-05-29 | 2018-05-29 | Automatic medicine discharging method for automatic pharmacy |
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| CN201810529044.1A Active CN108996090B (en) | 2018-05-29 | 2018-05-29 | Medicine discharging device, automatic pharmacy and automatic medicine discharging method |
| CN201911422421.2A Active CN111056202B (en) | 2018-05-29 | 2018-05-29 | Automatic pharmacy |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112237352B (en) * | 2020-09-15 | 2021-12-10 | 昊天行医学科技(北京)股份有限公司 | Flowable traditional Chinese medicine intelligent pharmacy system based on big data |
| CN113200276B (en) * | 2021-05-24 | 2022-06-14 | 滁州学院 | Automatic medicine discharging device for injection |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN111056202B (en) | 2021-06-22 |
| CN108996090B (en) | 2020-04-07 |
| CN111056202A (en) | 2020-04-24 |
| CN108996090A (en) | 2018-12-14 |
| CN111056203A (en) | 2020-04-24 |
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Effective date of registration: 20210527 Address after: 343199 room 09, office building, surong Health Industrial Park, 258 Zhanzhan Avenue, Jinggangshan economic and Technological Development Zone, Ji'an City, Jiangxi Province Applicant after: Jiangxi Qiqi Medical Instrument Co.,Ltd. Address before: 215100 17 17, Swan Road, Heng Jing, Wuzhong District, Suzhou, Jiangsu Applicant before: SUZHOU SANTI INTELLIGENT TECHNOLOGY Co.,Ltd. |
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Effective date of registration: 20231206 Address after: Room 8401, 4th Floor, Industrial Building 101, Xinhe Pharmaceutical Park, No. 410 Zhengxing Road, High tech Development Zone, Changsha City, Hunan Province, 410000 Patentee after: Hunan Xinfukang Pharmaceutical Chain Co.,Ltd. Address before: 343199 room 09, office building, surong Health Industrial Park, 258 Zhanzhan Avenue, Jinggangshan economic and Technological Development Zone, Ji'an City, Jiangxi Province Patentee before: Jiangxi Qiqi Medical Instrument Co.,Ltd. |
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