CN111806948A - Intelligent secondary warehouse for medicine storage and taking - Google Patents
Intelligent secondary warehouse for medicine storage and taking Download PDFInfo
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- CN111806948A CN111806948A CN202010817824.3A CN202010817824A CN111806948A CN 111806948 A CN111806948 A CN 111806948A CN 202010817824 A CN202010817824 A CN 202010817824A CN 111806948 A CN111806948 A CN 111806948A
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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
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
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Abstract
The invention discloses an intelligent secondary library for medicine access, which comprises: the frame assembly comprises at least two oppositely arranged medicine placing frames; the at least two manipulator assemblies run between the oppositely arranged medicine placing frames and are used for taking and placing the medicine boxes; and the skin assembly comprises a shell which covers the oppositely arranged medicine placing frames, and the front side and the rear side of the shell are provided with medicine box taking and placing ports. Through the mode, the mechanical arm component can process warehouse entry and exit tasks of a plurality of medicines simultaneously or separately, and the medicine storage and taking efficiency is greatly improved. Because the telescopic platform can be stretched out and drawn back along the front and back directions, the medicine boxes can be taken and placed on the medicine placing frames which are arranged oppositely, the structure of the manipulator assembly is simplified, and meanwhile, the storing and taking operation flow of the medicine boxes is optimized.
Description
Technical Field
The invention relates to the technical field of secondary libraries, in particular to an intelligent secondary library for medicine storage and taking.
Background
At present, with the rapid increase of hospital business volume in the medical industry, the traceability management requirements of medical consumables, particularly high-value consumables are enhanced, the original warehouse management mode cannot meet the actual working requirements, and a secondary library is required to be added, wherein the secondary library is a stock formed by receiving materials in a primary library of a hospital by each clinical department, an auxiliary medical department and each ward, relative to the primary library. At present, the secondary warehouse of the hospital is realized by placing a goods shelf in a warehouse, and when articles are taken and placed, manual searching and operation are needed, so that manpower is wasted. The automatic secondary warehouse also appears in the prior art, but the existing automatic secondary warehouse only has one taking and placing opening, which can not meet the working requirements of simultaneously storing and extracting medicines, and the working efficiency of entering and exiting the warehouse is low. In addition, the existing manipulator applied to the automatic secondary warehouse can rotate 180 degrees to take and place the front and rear articles, and the manipulator is complex in structure and complex in working process.
Disclosure of Invention
Aiming at the defects in the technology, the invention provides an intelligent secondary library for medicine access.
The technical scheme adopted by the invention for solving the technical problems is as follows:
an intelligent secondary library for drug access, comprising: the frame assembly comprises at least two oppositely arranged medicine placing frames for placing medicine boxes; the at least two manipulator assemblies walk between the oppositely arranged medicine placing frames along the length direction of the medicine placing frames and are used for taking and placing the medicine boxes; the skin assembly comprises a shell covered on the oppositely arranged medicine placing frames, and the front side and the rear side of the shell are both provided with medicine box taking and placing ports; the inventory checking machine is configured on the medicine placing frame and used for checking the quantity of the medicines stored in the intelligent secondary inventory; wherein the robot assemblies each operate independently to enable simultaneous extraction and/or storage of a plurality of medicine boxes.
Preferably, a plurality of medicine box supporting pieces are fixed on the medicine placing frame and used for supporting the medicine boxes; the medicine box support piece is including two relative medicine box backup pads that set up.
Preferably, the manipulator assembly is provided with a telescopic platform capable of vertically lifting; wherein, flexible platform can be followed front and back two-way flexible for all can get on putting the medicine frame and put the medical kit in relative setting.
Preferably, a lower slide rail is arranged between the oppositely arranged medicine placing frames, and the manipulator assembly runs on the lower slide rail; the manipulator assembly comprises a walking bottom plate; a walking top plate arranged in parallel on the top of the walking bottom plate; a lifting support frame fixedly arranged between the walking bottom plate and the walking top plate; the walking driving structure is used for driving the walking bottom plate to walk; the lifting driving structure is used for driving the telescopic platform to lift; wherein, the telescopic platform is arranged on the lifting support frame in a sliding way.
Preferably, the walking driving structure comprises a walking motor fixedly arranged on the walking bottom plate; a first toothed wheel rotatably arranged on the walking base plate; and a second toothed wheel rotating coaxially and synchronously with the first toothed wheel; wherein, a third toothed wheel is fixed on an output shaft of the traveling motor, and a synchronous toothed belt is arranged between the third toothed wheel and the second toothed wheel and is used for power transmission; a linear toothed belt is arranged on the lower sliding rail, and two end parts of the linear toothed belt are fixed on the lower sliding rail; the first toothed wheel is meshed with the linear toothed belt.
Preferably, the telescopic platform comprises a bottom fixed disc which is arranged on the lifting support frame in a sliding manner; the middle pushing disc is telescopically arranged on the bottom fixed disc; the manipulator tray is telescopically arranged on the middle pushing tray; the telescopic driving structure is used for driving the middle pushing disc to stretch and retract; wherein, the middle propelling movement dish relative bottom fixed disk in-process that stretches out and draws back, manipulator tray can stretch out and draw back relative middle propelling movement dish in synchronous interlock ground.
Preferably, the telescopic driving structure comprises a telescopic motor fixed on the bottom fixed disc, and an output shaft of the telescopic motor is provided with a driving gear; the driven gear is rotationally arranged on the bottom fixed disc and is in meshed transmission with the driving gear; and a first rack fixed on the middle pushing disc and meshed with the driven gear.
Preferably, the middle pushing disc is rotatably provided with a linkage gear; a second rack meshed with the linkage gear is fixed on the bottom fixed disk; a third rack meshed with the linkage gear is fixed on the manipulator tray; wherein, the quantity of interlock gear is two at least, and it carries out synchronous drive through intermediate gear.
Preferably, the front side and the rear side of the shell are provided with touch screens for selecting to store or take out a needed medicine box; a plurality of indicator lamps are arranged at the side part of the medicine box taking and placing port; a plurality of medicine box supporting pieces exposed through the medicine box taking and placing ports are respectively provided with a medicine box sensor for detecting whether a medicine box exists or not; the indicator light is used for feeding back the storage and taking state of the medicine chest and is in one-to-one correspondence with the medicine chest sensors.
Preferably, the plurality of stockers are correspondingly arranged at the bottoms of the plurality of medicine box supporting members exposed through the medicine box access ports.
Compared with the prior art, the invention has the beneficial effects that: according to the intelligent secondary warehouse for medicine storage and taking, the front side and the rear side of the skin assembly are provided with the medicine box taking and placing ports, and the frame assembly is provided with the plurality of manipulator assemblies; through the mode, the mechanical arm component can process warehouse entry and exit tasks of a plurality of medicines simultaneously or separately, and the medicine storage and taking efficiency is greatly improved. The medicine placing frame in the application can be expanded in quantity according to the requirements so as to adjust the capacity of the medicine boxes in the secondary warehouse. Because the telescopic platform can be stretched out and drawn back along the front and back directions, the medicine boxes can be taken and placed on the medicine placing frames which are arranged oppositely, the structure of the manipulator assembly is simplified, and meanwhile, the storing and taking operation flow of the medicine boxes is optimized. In addition, the inventory making machine configured in the application can automatically check the quantity of the medicines stored in the secondary warehouse, so that a large amount of labor is saved, and the inventory making efficiency and the inventory making accuracy are improved.
Drawings
FIG. 1 is a schematic diagram of the external structure of an intelligent secondary library according to the present invention;
FIG. 2 is a schematic diagram of the internal structure of the intelligent secondary library of the present invention;
FIG. 3 is a schematic diagram of a partial structure of an intelligent secondary library according to the present invention;
FIG. 4 is a schematic view of the construction of the frame assembly of the present invention;
FIG. 5 is an isometric view of a drug-placement frame structure according to the invention;
FIG. 6 is a front view of the frame structure for holding traditional Chinese medicine in accordance with the present invention;
FIG. 7 is a schematic view showing the structure of a medicine-chest supporting plate according to the present invention;
FIG. 8 is a schematic view of a robot assembly according to the present invention;
FIG. 9 is a second schematic structural view of a robot assembly according to the present invention;
FIG. 10 is a schematic structural view of a retractable platform according to the present invention;
FIG. 11 is a second schematic structural view of the retractable platform of the present invention;
fig. 12 is an exploded view of the telescopic platform structure of the present invention.
Detailed Description
The present invention is further described in detail below with reference to the attached drawings so that those skilled in the art can implement the invention by referring to the description text.
As shown in fig. 1-12, the present invention provides an intelligent secondary library for drug access, comprising:
a frame assembly 2 including at least two oppositely disposed medicine placing frames 21 for placing the medicine boxes 3;
at least two manipulator assemblies 4 which run between the oppositely disposed medicine placing frames 21 in the longitudinal direction of the medicine placing frames 21 and are used for taking and placing the medicine boxes 3; and
the covering assembly 1 comprises a shell 11 covered on the oppositely arranged medicine placing frame 21, and the front side and the rear side of the shell 11 are provided with medicine box taking and placing ports 10;
wherein each of said robot assemblies 4 operates independently to be able to pick up and/or store a plurality of said medicine boxes 3 simultaneously.
Specifically, the medicine placing frames 21 are configured into two rows, and the number of the medicine placing frames 21 in each row is one or more, so as to obtain a larger holding space; the casing 11 is mounted on the two oppositely disposed medicine placing frames 21 in a covering manner, and the two medicine-box taking and placing ports 10 correspond to the two oppositely disposed medicine placing frames 21, so that a user can access the medicine boxes 3 on both the front and rear sides of the skin assembly 1.
As an embodiment of the present invention, a plurality of medicine-box supporting members for supporting the medicine boxes 3 are fixed to the medicine placing frame 21; the medicine-box supporting member includes two medicine-box supporting plates 22 disposed oppositely to bottom-support the medicine boxes 3.
Specifically, the medicine-box support plate 22 includes
A vertical plate 223 fixed on the medicine placing frame 21;
a first horizontal plate 221 formed at the bottom of the vertical plate 223 for supporting the medicine boxes 3; and
a second horizontal plate body 222 formed on the top of the vertical plate body 223 for guiding the medicine boxes 3;
wherein chamfers 224 are disposed at both ends of the second cross plate 222, and when the medicine boxes 3 are put into the medicine box support members, the chamfers 224 can facilitate the putting of the medicine boxes 3 and can correct the putting direction of the medicine boxes 3; the chamfer 224 is 20-60.
Further, a notch 225 is disposed on the first cross plate 221, and is disposed at a lower portion between the two chamfers 224; in this way, a transverse plate body extending portion is formed on the first transverse plate body 221 below the chamfer 224, so that the medicine boxes 3 are prevented from falling off from the first transverse plate body 221 when being placed into the medicine box supporting member, and the material consumption of the first transverse plate body 221 is saved.
In an embodiment of the present invention, the medicine placing frame 21 includes a plurality of cross beams 211 disposed along a length direction of the medicine placing frame 21, a plurality of longitudinal beams 212 disposed along a width direction of the medicine placing frame 21, and a plurality of vertical beams 213 disposed along a height direction of the medicine placing frame 21; a plurality of cross beams 211, longitudinal beams 212 and vertical beams 213 are combined to form a rectangular parallelepiped frame; a plurality of vertically arranged intermediate beams 214 are fixed to both the front and rear sides of the medicine placement frame 21, and the medicine box support plates 22 are fixedly arranged on the intermediate beams 214 and the vertical beams 213.
In a specific application scenario, two middle beams 214 are fixed on the front side and the rear side of the medicine placing frame 21, and the medicine box supporting pieces are arranged in the medicine placing frame 21 in a rectangular array manner; the medicine-box getting/putting port 10 can expose a set of the medicine-box supporting members arranged in the horizontal direction, and the user can take out or put in the medicine boxes 3 from the set of the medicine-box supporting members.
In order to improve the stability of the medicine placing frame 21, connecting pieces 210 are arranged among the cross beam 211, the longitudinal beam 212 and the vertical beam 213 which are connected with each other; the connecting member 210 includes two fixing plates (not shown) perpendicular to each other, fixing holes provided on the fixing plates, and reinforcing ribs between the two fixing plates, wherein the fixing plates pass through the fixing holes by bolts to connect adjacent beams.
The longitudinal beams 212 adopted on the two oppositely arranged medicine placing frames 21 are connected into a whole, that is, four whole longitudinal beams are used on the two oppositely arranged medicine placing frames 21.
The four corners of the bottom of the medicine placing frame 21 are fixed with support legs 215 capable of adjusting the height above the ground, so that the medicine placing frame 21 can be vertically placed on the ground.
In an embodiment of the present invention, touch panels 12 are disposed on both front and rear sides of the casing 11, and a user can select the medicine boxes 3 required to be put in or taken out by operating the touch panels 12.
A plurality of indicator lights 13 are disposed on the side of the medicine box pick-and-place port 10, and a plurality of medicine box sensors (not shown) for detecting the presence or absence of the medicine boxes 3 are disposed on the medicine box supporting members exposed through the medicine box pick-and-place port 10;
the indicator lights 13 correspond to the medicine chest sensors one by one and are used for feeding back the access state of the medicine chests 3; specifically, the indicator light 13 can display red and green, when the medicine boxes 3 are stored on the medicine box supporting members exposed through the medicine box taking and placing port 10, the medicine box sensor can sense the medicine boxes, and the indicator light 13 emits red light according to sensing signals to prompt a user that the medicine boxes 3 are in a state to be stored or lifted; when the medicine box 3 is not present on the medicine box supporting member exposed through the medicine box taking and placing port 10, the medicine box sensor can sense the medicine box, and the indicator lamp 13 emits green light according to a sensing signal to prompt a user that the station is in a standby state.
To facilitate the user to take and place the medicine boxes 3, a platform 14 for temporarily placing the medicine boxes 3 is fixed to an outer side of the medicine-box taking and placing port 10. A hand-operated door 16 is disposed on the medicine box opening 10, and the hand-operated door 16 can close the medicine box opening 10, so that a user can open the hand-operated door 16 when taking out or storing the medicine boxes 3, thereby ensuring the intelligent secondary warehouse closing operation and reducing the working noise.
As an embodiment of the present invention, at least one inventory making machine 6 is configured on the frame assembly 2 for checking the quantity of the drugs stored in the intelligent secondary library;
specifically, the medicine boxes 3 are provided with information codes for displaying the types of medicines contained therein; the stocker 6 is provided with a scanner (not shown) capable of recognizing the information code and an electronic scale unit (not shown) capable of weighing the medicine boxes 3.
Further, the robot assembly 4 is capable of placing the medicine boxes 3 on the stocker 6; the inventory making machine 6 can recognize the types of the medicines contained in the medicine boxes 3 and know the single mass of the medicines, and then the inventory making machine 6 can accurately calculate the number of the medicines contained in the medicine boxes 3 according to the weighing information of the detection electronic scale assembly.
The inventory making machine 6 may be any inventory making device capable of calculating the number of medicines in the prior art, and is not limited in this application.
As an embodiment of the present invention, a telescopic platform 5 capable of vertically lifting is disposed on the manipulator assembly 4, and is used for taking and placing the medicine boxes 3 on the medicine placing frame 21;
the telescopic platform 5 can be extended and retracted in a front-back direction, so that the medicine boxes 3 can be taken and placed on the medicine placing frames 21 which are arranged oppositely.
In an application scene, a lower slide rail 151 and an upper slide rail 152 are arranged between the medicine placing frames 21 which are oppositely arranged, and the manipulator assembly 4 walks on the lower slide rail 151 and the upper slide rail 152;
in particular, the manipulator assembly 4 comprises
A traveling base plate 41;
a walking top plate 44 disposed in parallel on the top of the walking bottom plate 41;
a lifting support frame 43 fixedly arranged between the walking bottom plate 41 and the walking top plate 44;
a walking driving structure for driving the walking base plate 41 to walk; and
the lifting driving structure is used for driving the telescopic platform 5 to lift;
wherein the telescopic platform 5 is slidably disposed on the lifting support frame 43.
Further, the traveling base plate 41 is provided with
A plurality of walking rollers 461 rolled on the top of the lower sliding rail 151 for reducing walking resistance; and
at least two limit rollers 462 respectively disposed at both sides of the lower slide rail 151;
the walking top plate 44 is provided with
A plurality of walking rollers 461 rolling on the bottom of the upper slide rail 152 for reducing walking resistance; and
at least two limit rollers 462 respectively disposed at both sides of the upper slide rail 152;
in this way, the robot assembly 4 can travel along the lower slide rail 151 and the upper slide rail 152.
Still further, the walking drive structure comprises
A traveling motor 42 fixedly disposed on the traveling base plate 41;
a first toothed wheel 422 rotatably disposed on the traveling base plate 41; and
a second toothed wheel (not shown) that rotates coaxially and synchronously with the first toothed wheel 422;
a third toothed wheel (not shown) is fixed on an output shaft of the traveling motor 42, and a synchronous toothed belt 421 is arranged between the third toothed wheel and the second toothed wheel for power transmission; a linear toothed belt 45 is arranged on the lower slide rail 151, and two end parts of the linear toothed belt 45 are fixed on the lower slide rail 151; the first toothed wheel 422 is meshed with the linear toothed belt 45; in this way, when the traveling motor 42 is linked with the first toothed wheel 422 to rotate, the first toothed wheel 422 can travel on the linear toothed belt 45, so that the manipulator assembly 4 travels on the lower slide rail 151 and the upper slide rail 152.
The walking driving structure also comprises
A first toothed wheel 422 rotatably disposed on the traveling top plate 44; and
a second toothed wheel (not shown) coaxially and synchronously rotating with the first toothed wheel 422;
a power transmission rod 423 is fixed between the two second gear wheels; a linear toothed belt 45 is arranged on the upper slide rail 152, and two end parts of the linear toothed belt 45 are fixed on the upper slide rail 152; the first toothed wheel 422 is meshed with the linear toothed belt 45; in this way, the traveling motor 42 can drive the two first toothed wheels 422 to travel on the corresponding linear toothed belts 45, so that the traveling stability of the manipulator assembly 4 is improved.
As an embodiment of the present invention, the first tension wheel 424 rolled on the timing belt 421 is disposed on both the walking bottom plate 41 and the walking top plate 44; both sides of the first toothed wheel 422 are provided with a second tensioning wheel 463 which is rolled on the linear toothed belt 45; so as to improve the reliability of walking power transmission.
In a specific application scenario, the lifting driving structure comprises
A lift motor 46 fixedly disposed on the traveling base plate 41;
a first driving wheel and a second driving wheel (not shown) vertically arranged on the lifting support frame 43; and
a belt (not shown) connected between the first transmission wheel and the second transmission wheel;
the telescopic platform 5 is fixed on a belt body on one side of the transmission belt; the first driving wheel or the second driving wheel is connected to an output shaft of the lifting motor 46.
In order to enable the telescopic platform 5 to be stably lifted, the number of the first driving wheel, the second driving wheel and the driving belt is limited to be two; two sides of the telescopic platform 5 are respectively fixed on the two transmission belts; and a synchronous rotating rod 47 is connected between the two first driving wheels and/or between the two second driving wheels.
It is understood that the lifting driving structure may also be a linear actuator fixed on the walking base plate 41, and the telescopic platform 5 is fixed on a telescopic rod end of the linear actuator.
As an embodiment of the present invention, the telescopic platform 5 comprises
A bottom fixed disc 51 slidably disposed on the elevating support frame 43;
an intermediate push tray 52 telescopically disposed on the bottom fixed tray 51;
a robot tray 53 telescopically arranged on the intermediate pushing tray 52; and
a telescopic driving structure for driving the middle pushing disc 52 to stretch and retract;
in the process of extending and retracting the intermediate pushing tray 52 relative to the bottom fixed tray 51, the manipulator tray 53 can be extended and retracted relative to the intermediate pushing tray 52 in a synchronized linkage manner, so that the mobility of the telescopic platform 5 is improved, and the taking and placing distance of the medicine boxes 3 is increased.
Specifically, two lifting slide rails (not shown) are disposed on the lifting support frame 43, and two sides of the bottom fixed disk 51 are both disposed with sliders 50 capable of being slidably mounted on the lifting slide rails. The slide block 50 comprises a slide block body 501 and a transmission belt fixing plate 502 fixed on the slide block body 501 through bolts; one side of the transmission belt is fixed between the slider body 501 and the transmission belt fixing plate 502.
More specifically, side flaps 55 for restricting the medicine boxes 3 are disposed on both sides of the bottom fixed tray 51, and guide plates 551 are provided on both ends of the side flaps 55; the two opposite guide plates 551 are arranged in an outward expanding manner, so that the medicine boxes 3 can be picked up conveniently, and the medicine boxes 3 can be corrected in the picking process.
Further, the telescopic driving structure comprises
A telescopic motor 57 fixed on the bottom fixed disk 51, wherein an output shaft of the telescopic motor is provided with a driving gear 571;
a driven gear 572 rotatably disposed on the bottom fixed disk 51 and meshed with the driving gear 571 for transmission; and
a first rack 521 fixed to the intermediate pushing disk 52 and engaged with the driven gear 572;
in this way, when the extension motor 57 is linked with the driven gear 572 to rotate, the intermediate pushing plate 52 can extend and retract relative to the bottom fixed plate 51.
The number of the driven gears 572 is two, and the driven gears 572 are respectively disposed on two sides of the driving gear 571, so as to improve the extension and retraction stability of the middle push plate 52 and increase the extension length of the middle push plate 52.
Still further, a linking gear 541 is rotatably disposed on the intermediate pushing disk 52;
a second rack 511 engaged with the linkage gear 541 is fixed on the bottom fixed disk 51;
a third rack 531 engaged with the linkage gear 541 is fixed on the manipulator tray 53;
in this way, when the middle pushing tray 52 extends and contracts relative to the bottom fixed tray 51, the manipulator tray 53 can synchronously extend and contract relative to the middle pushing tray 52.
The number of the linkage gears 541 is at least two, and the linkage gears 541 are synchronously transmitted through the intermediate gear 542; it can be understood that one intermediate gear 542 is disposed between two adjacent interlocking gears 541 for synchronous transmission; this not only improves the telescopic stability of the robot tray 53, but also increases the extension length of the robot tray 53.
As an embodiment of the present invention, two i-shaped rails (not shown) are disposed in parallel on the middle pushing plate 52, and an outer rail 522 and an inner rail 523 are formed on the i-shaped rails;
wherein, both sides of the bottom fixed tray 51 are provided with a plurality of first telescopic pulleys 512 capable of rolling in the outer rails 522; a plurality of second telescopic pulleys 532 capable of rolling in the inner rail 523 are arranged on both sides of the manipulator tray 53; in this way, the telescopic trajectories of the intermediate push tray 52 and the robot tray 53 are defined.
In a specific application scenario, a position sensing plate 561 is fixed on the middle pushing plate 52; the bottom fixed disk 51 is provided with a plurality of position sensors 56 for detecting the position sensing plate 561. When the position sensor 56 at a preset position detects the position sensing plate 561, the telescopic motor 57 can be correspondingly rotated forward, rotated backward, or stopped, so that the robot tray 53 can be appropriately extended or retracted.
In the process of accessing the medicines in the intelligent secondary library, a user selects the type of the medicines to be accessed through the touch screen 12; and the manipulator assembly 4 takes out the medicine boxes 3 used for placing the medicines of the type from the medicine placing frame 21 according to the medicine information collected by the touch screen 12 and conveys the medicine boxes to the medicine box supporting members exposed through the medicine box taking and placing ports 10.
In the process of conveying the medicine boxes 3 by the manipulator assemblies 4, the walking motors 42 are started firstly until the manipulator assemblies 4 move to the side parts of the corresponding medicine placing frames 21; starting the lifting motor 46 until the telescopic platform 5 is lifted to a height suitable for taking out the medicine boxes 3 for placing the medicines; the telescopic motor 57 is started to extend the robot tray 53 to the bottom of the medicine boxes 3, and the telescopic motor 57 is started in the reverse direction to enable the robot tray 53 to carry out the medicine boxes 3. Starting the walking motor 42 until the manipulator assembly 4 moves to the side of the corresponding medicine box support; the lifting motor 46 is started until the telescopic platform 5 is lifted to a height suitable for taking out the medicine boxes 3, and the telescopic motor 57 is started to reset the robot tray 53 after the robot tray 53 places the medicine boxes 3 on the corresponding medicine box support members.
When the medicine box sensor senses the medicine boxes 3, the indicator lamps 13 on the corresponding medicine box supporting pieces are guided to give an alarm to remind a user of putting medicines into the medicine boxes or taking the medicines out of the medicine boxes. After completion of the medicine taking and placing, the robot assembly 4 can reposition the medicine boxes 3 to the preset positions of the medicine placement frame 21 along the reverse trajectory.
Because this application has set up a plurality of manipulator assemblies 4, the user can get it filled or deposit the medicine with the multistation ground, also can deposit the medicine and get it filled and go on simultaneously.
In the present application, the stocker 6 may be correspondingly provided at the bottom of the medicine-box supporting member exposed through the medicine-box taking and placing port 10; based on the structure, when a user accesses the medicines, the inventory making machine 6 can check the quantity of the medicines in the intelligent secondary inventory in real time. Of course, the stocker 6 may be disposed at another position in the frame assembly 2, and when the user does not take in and out the medicines, the robot assembly 4 may place all the medicine boxes 3 in the intelligent secondary stocker one by one on the stocker 6 and weigh the medicine boxes one by one to calculate the number of the medicines stored in the intelligent secondary stocker.
To sum up, this application has all seted up the medical kit in skin assembly's preceding rear side and has got and put the mouth, and has walked among the frame subassembly 2 a plurality of manipulator subassemblies 4, and its warehouse entry and exit task that can simultaneously or separately handle a plurality of medicines has promoted the access efficiency of medicine greatly. Because the telescopic platform 5 can be extended and retracted in a front-back direction, the medicine boxes 3 can be taken and placed on the medicine placing frames 21 which are arranged oppositely, the structure of the manipulator assembly 4 is simplified, and meanwhile, the operation flow of taking and placing the medicine boxes 3 is optimized.
While embodiments of the invention have been described above, it is not limited to the applications set forth in the description and the embodiments, which are fully applicable in various fields of endeavor to which the invention pertains, and further modifications may readily be made by those skilled in the art, it being understood that the invention is not limited to the details shown and described herein without departing from the general concept defined by the appended claims and their equivalents.
Claims (10)
1. An intelligent secondary library for drug access, comprising:
a frame assembly (2) comprising at least two oppositely arranged medicine placing frames (21) for placing medicine boxes (3);
at least two manipulator assemblies (4) which run between the oppositely arranged medicine placing frames (21) along the length direction of the medicine placing frames (21) and are used for taking and placing the medicine boxes (3);
the skin assembly (1) comprises a shell (11) covered on the oppositely arranged medicine placing frames (21), and the front side and the rear side of the shell (11) are provided with medicine box taking and placing ports (10); and
at least one inventory making machine (6) configured on the medicine placing frame (21) and used for checking the quantity of the medicines stored in the intelligent secondary inventory;
wherein the robot assemblies (4) each operate independently to enable simultaneous extraction and/or storage of a plurality of the medicine boxes (3).
2. The intelligent secondary warehouse for medicine access according to claim 1, wherein a plurality of medicine box supports are fixed on the medicine placing frame (21) for supporting the medicine boxes (3);
wherein, the medicine box support piece comprises two medicine box supporting plates (22) which are arranged oppositely.
3. The intelligent secondary library for medicine access as claimed in claim 1, wherein the manipulator assembly (4) is provided with a telescopic platform (5) capable of being vertically lifted;
the telescopic platform (5) can be stretched back and forth in a two-way mode, so that the medicine boxes (3) can be taken and placed on the medicine placing frames (21) which are arranged oppositely.
4. The intelligent secondary library for medicine storage and retrieval as claimed in claim 3, wherein a lower slide rail (151) is arranged between the oppositely arranged medicine placing frames (21), and the manipulator assembly (4) runs on the lower slide rail (151);
the manipulator assembly (4) comprises
A traveling floor (41);
a walking top plate (44) arranged in parallel on the top of the walking bottom plate (41);
a lifting support frame (43) fixedly arranged between the walking bottom plate (41) and the walking top plate (44);
the walking driving structure is used for driving the walking bottom plate (41) to walk; and
the lifting driving structure is used for driving the telescopic platform (5) to lift;
wherein, the telescopic platform (5) is arranged on the lifting support frame (43) in a sliding way.
5. The intelligent secondary library for drug access of claim 4, wherein the walking drive structure comprises
A traveling motor (42) fixedly arranged on the traveling base plate (41);
a first toothed wheel (422) rotatably disposed on the running base (41); and
a second toothed wheel rotating coaxially and synchronously with the first toothed wheel (422);
a third toothed wheel is fixed on an output shaft of the traveling motor (42), and a synchronous toothed belt (421) is arranged between the third toothed wheel and the second toothed wheel and used for power transmission; a linear toothed belt (45) is arranged on the lower sliding rail (151), and two end parts of the linear toothed belt (45) are fixed on the lower sliding rail (151); the first toothed wheel (422) is meshed with the linear toothed belt (45).
6. Intelligent secondary library for drug access according to claim 3, characterized in that the telescopic platform (5) comprises
A bottom fixed tray (51);
an intermediate pushing disc (52) telescopically arranged on the bottom fixed disc (51);
a manipulator tray (53) which is telescopically arranged on the intermediate pushing disc (52); and
the telescopic driving structure is used for driving the middle pushing disc (52) to stretch and retract;
wherein, in the process that the middle pushing disc (52) stretches relative to the bottom fixed disc (51), the manipulator tray (53) can stretch relative to the middle pushing disc (52) in a synchronous linkage manner.
7. The intelligent secondary library for drug access of claim 6, wherein the telescoping drive structure comprises
A telescopic motor (57) fixed on the bottom fixed disc (51), and an output shaft of the telescopic motor is provided with a driving gear (571);
a driven gear (572) rotatably arranged on the bottom fixed disk (51) and meshed with the driving gear (571) for transmission; and
and a first rack (521) fixed on the middle pushing disc (52) and meshed with the driven gear (572).
8. The intelligent secondary library for drug access of claim 7, wherein a linkage gear (541) is rotatably arranged on the intermediate pushing disk (52);
a second rack (511) meshed with the linkage gear (541) is fixed on the bottom fixed disc (51);
a third rack (531) meshed with the linkage gear (541) is fixed on the manipulator tray (53);
wherein, the number of the linkage gears (541) is at least two, and the linkage gears perform synchronous transmission through the intermediate gear (542).
9. The intelligent secondary warehouse for medicine access according to claim 2, characterized in that the front and back sides of the housing (11) are provided with touch screens (12) for selecting the needed medicine boxes (3) to be stored or taken out;
a plurality of indicator lamps (13) are arranged on the side part of the medicine box taking and placing port (10);
a plurality of medicine box supporting pieces exposed through the medicine box taking and placing ports (10) are respectively provided with a medicine box sensor for detecting whether the medicine boxes (3) exist or not;
the indicating lamp (13) is used for feeding back the access state of the medicine boxes (3) and is in one-to-one correspondence with the medicine box sensors.
10. The intelligent secondary stocker for storing and dispensing medicine according to claim 2, wherein a plurality of said stocker machines (6) are disposed at the bottoms of a plurality of said medicine-box supporting members exposed through said medicine-box receiving/dispensing ports (10), respectively.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010817824.3A CN111806948A (en) | 2020-08-14 | 2020-08-14 | Intelligent secondary warehouse for medicine storage and taking |
| PCT/CN2020/131738 WO2022032932A1 (en) | 2020-08-14 | 2020-11-26 | Intelligent secondary warehouse for medicine access |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010817824.3A CN111806948A (en) | 2020-08-14 | 2020-08-14 | Intelligent secondary warehouse for medicine storage and taking |
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| CN111806948A true CN111806948A (en) | 2020-10-23 |
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| CN202010817824.3A Pending CN111806948A (en) | 2020-08-14 | 2020-08-14 | Intelligent secondary warehouse for medicine storage and taking |
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| CN (1) | CN111806948A (en) |
| WO (1) | WO2022032932A1 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022032932A1 (en) * | 2020-08-14 | 2022-02-17 | 苏州艾隆科技股份有限公司 | Intelligent secondary warehouse for medicine access |
| CN114620401A (en) * | 2022-02-22 | 2022-06-14 | 苏州艾隆科技股份有限公司 | Integrated intelligent warehouse |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114751126A (en) * | 2022-04-25 | 2022-07-15 | 广东振越智能家具有限公司 | Compact shelf based on cooperation of unattended manipulator |
| CN115399580B (en) * | 2022-08-31 | 2024-01-12 | 武汉库柏特科技有限公司 | Intelligent medicine access equipment and system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000118638A (en) * | 1998-10-19 | 2000-04-25 | Itoki Crebio Corp | Carry-in/out control method for automated storage and retrieval system |
| CN106429149B (en) * | 2016-11-04 | 2019-04-23 | 广东易库智能仓储设备科技有限公司 | A kind of intelligent storage tunnel robot mechanical arm |
| CN207467481U (en) * | 2017-10-26 | 2018-06-08 | 深圳华数机器人有限公司 | A kind of tiered warehouse facility |
| CN210479817U (en) * | 2019-05-05 | 2020-05-08 | 浙江亿诚智能科技有限公司 | Medicine box taking and placing mechanism in pharmacy and control device thereof |
| CN210654764U (en) * | 2019-08-07 | 2020-06-02 | 武汉库柏特科技有限公司 | Intelligent secondary warehouse for pharmacy |
| CN110980091B (en) * | 2019-12-25 | 2021-08-27 | 深圳市丰巢科技有限公司 | Storage system, method and storage medium |
| CN111319905B (en) * | 2020-02-27 | 2022-03-15 | 深圳格兰达智能装备股份有限公司 | Intelligent warehouse for automatically storing and taking electrical components |
| CN111806948A (en) * | 2020-08-14 | 2020-10-23 | 苏州艾隆科技股份有限公司 | Intelligent secondary warehouse for medicine storage and taking |
-
2020
- 2020-08-14 CN CN202010817824.3A patent/CN111806948A/en active Pending
- 2020-11-26 WO PCT/CN2020/131738 patent/WO2022032932A1/en active Application Filing
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022032932A1 (en) * | 2020-08-14 | 2022-02-17 | 苏州艾隆科技股份有限公司 | Intelligent secondary warehouse for medicine access |
| CN114620401A (en) * | 2022-02-22 | 2022-06-14 | 苏州艾隆科技股份有限公司 | Integrated intelligent warehouse |
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| WO2022032932A1 (en) | 2022-02-17 |
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