CN112389919A - Injection medicine dispensing system - Google Patents
Injection medicine dispensing system Download PDFInfo
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- CN112389919A CN112389919A CN202011140450.2A CN202011140450A CN112389919A CN 112389919 A CN112389919 A CN 112389919A CN 202011140450 A CN202011140450 A CN 202011140450A CN 112389919 A CN112389919 A CN 112389919A
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- 239000003814 drug Substances 0.000 title claims abstract description 434
- 238000002347 injection Methods 0.000 title claims abstract description 33
- 239000007924 injection Substances 0.000 title claims abstract description 33
- 229940079593 drug Drugs 0.000 claims abstract description 239
- 230000010365 information processing Effects 0.000 claims abstract description 35
- 238000012377 drug delivery Methods 0.000 claims abstract description 8
- 210000000078 claw Anatomy 0.000 claims description 20
- 230000005674 electromagnetic induction Effects 0.000 claims description 16
- 241000252254 Catostomidae Species 0.000 claims description 6
- 230000000149 penetrating effect Effects 0.000 claims description 4
- 230000032258 transport Effects 0.000 description 11
- 238000010586 diagram Methods 0.000 description 9
- 238000012856 packing Methods 0.000 description 6
- 238000003491 array Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 3
- 239000000243 solution Substances 0.000 description 3
- 239000003795 chemical substances by application Substances 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 230000005672 electromagnetic field Effects 0.000 description 2
- 230000002452 interceptive effect Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000001179 sorption measurement Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
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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 provides an injection dispensing system, and relates to the field of automatic equipment. The system comprises a dispensing information acquisition module, a dispensing information processing module, a medicine warehouse, a medicine grabbing module and a medicine transportation module. The dispensing information acquisition module is used for acquiring dispensing order information and sending the dispensing order information to the dispensing information processing module. The drug storage comprises a plurality of drug storage cabinets; the dispensing information processing module is used for receiving dispensing order information acquired by the dispensing information acquisition module, generating type information of the medicines to be grabbed, position information of each kind of medicine to be grabbed and quantity information of each kind of medicine to be grabbed according to the dispensing order information and transmitting the information to the medicine grabbing module; the drug grasping module is used for grasping the drug and transporting the drug to the drug transportation module; the drug delivery module is used for delivering the drug out of the drug depot. The system has the advantages of reducing labor force required by dispensing and improving the dispensing work efficiency.
Description
Technical Field
The invention relates to the technical field of automatic equipment, in particular to an injection dispensing system.
Background
Currently, the medicines stored in the pharmacy of the hospital are stored in batches according to the medicine categories. After the doctor has prescribed the drug and has charged the fee, the patient's drug prescription is handed over to the hospital pharmacy, where the pharmacist will follow the drug prescription with the corresponding drug.
When a large number of prescriptions of medicines to be taken are faced, the medicine dispensing mode has the following defects:
1) a pharmacist needs to take out corresponding medicines from the medicine storage according to a medicine prescription and send the taken-out medicines to the corresponding medicine taking window to be delivered to a patient, so that the pharmacist can continuously go back and forth between the medicine storage and the medicine taking window, the labor intensity is high, the working efficiency is low, the hands and feet are difficult to avoid, and mistakes are easy to make;
2) a hospital pharmacy usually has a plurality of medicine taking windows, and when a pharmacist sends a medicine to a corresponding medicine taking window, the pharmacist needs to check which medicine taking window the medicine prescription belongs to, so that the working efficiency of the pharmacist is further reduced;
3) when a patient takes medicine, a pharmacist needs to search a medicine basket filled with medicine according to a medicine taking guide list of the patient, the checking process is usually completed manually, the labor intensity is high, the working efficiency is low, and mistakes are easily made.
Disclosure of Invention
The invention aims to provide an injection dispensing system, which solves the defects of the prior art and has the advantages of reducing labor force required by dispensing and improving the dispensing working efficiency.
The embodiment of the invention is realized by the following steps:
the embodiment of the application provides an injection medicine dispensing system, which comprises a medicine dispensing information acquisition module, a medicine dispensing information processing module, a medicine warehouse, a medicine grabbing module and a medicine transportation module. The dispensing information acquisition module is used for acquiring dispensing order information and sending the dispensing order information to the dispensing information processing module. The drug depot includes a plurality of drug storage cabinets for storing a plurality of drugs. The dispensing information processing module is used for receiving dispensing order information acquired by the dispensing information acquisition module, generating type information of the medicines to be grabbed, position information of each type of the medicines to be grabbed and quantity information of each type of the medicines to be grabbed according to the dispensing order information, and sending the information to the medicine grabbing module. The medicine grabbing module is used for receiving the type information of the medicines to be grabbed, the position information of each kind of the medicines to be grabbed and the quantity information of each kind of the medicines to be grabbed, grabbing the medicines and transporting the medicines to the medicine transporting module. The drug delivery module is used for delivering drugs out of the drug depot.
When the injection agent needs to be dispensed, an operator can upload a dispensing order of the injection agent to the dispensing information acquisition module, the dispensing information acquisition module sends the acquired dispensing order information to the dispensing information processing module, and the dispensing information processing module further receives the dispensing order information acquired by the dispensing information acquisition module, generates type information of the to-be-grasped drugs, position information of each to-be-grasped drug and quantity information of each to-be-grasped drug according to the dispensing order information, and sends the type information, the position information and the quantity information of each to-be-grasped drug to the drug grasping module. The medicine grabbing module receives the type information of the medicines to be grabbed, the position information of each kind of the medicines to be grabbed and the quantity information of each kind of the medicines to be grabbed, grabs the medicines and transports the medicines to the medicine transportation module, and the medicine transportation module transports the medicines out of the medicine warehouse to finish the injection medicine dispensing work.
In some embodiments of the invention, the drug depot comprises a plurality of groups of the cabinet columns, the plurality of groups of the cabinet columns are arranged in parallel with each other, each group of the cabinet columns comprises a plurality of drug storage cabinets, the drug grasping module comprises a plurality of drug grasping members, and one drug grasping member is mounted on one group of the cabinet columns for grasping drugs of the plurality of drug storage cabinets of the group of the cabinet columns.
Divide into the drug depot and organize the cabinet row more, every group cabinet is listed as including a plurality of medicine cabinet, the storage range upon range of storage has a medicine in a medicine cabinet, the medicine snatchs the module and includes that a plurality of medicines grab the piece, a medicine snatchs the piece and installs and be used for snatching the medicine of a plurality of medicine cabinets that this group cabinet was listed on a group cabinet row, make a plurality of medicines grab the piece and can receive the kind information of waiting to snatch the medicine, the medicine is grabbed and the medicine is transported to medicine transportation module to every kind of positional information and every kind of quantity information of waiting to snatch the medicine to be snatched the position information of medicine, improve dispensing efficiency.
In some embodiments of the present invention, the medicine storage cabinet includes a placing table, a fixing plate and a spacing adjustment plate, a placing groove is formed between the fixing plate and the spacing adjustment plate for placing the medicine, the fixing plate is fixedly disposed on the placing table, the fixing plate and the spacing adjustment plate are disposed in parallel, the fixing plate and the spacing adjustment member are both parallel in a vertical direction, and a fixing member for fixing the spacing adjustment plate is further disposed on the placing table.
Before placing the medicine, adjust the interval between fixed plate and the interval adjusting plate earlier for interval between fixed plate and the interval adjusting plate matches with the size of the packing carton of medicine, then through the fixed interval adjusting plate of mounting, form the standing groove between fixed plate and the interval adjusting plate and be used for placing the medicine, the medicine is range upon range of in the standing groove, and the interval between fixed plate and the interval adjusting plate matches with the size of the packing carton of medicine and prevents grabbing the medicine in-process, and range upon range of medicine is emptyd.
In some embodiments of the present invention, a first sliding groove is disposed on the placing table, a length direction of the sliding groove is perpendicular to the distance adjustment plate, the first sliding groove is provided with a plurality of threaded openings along a length of the first sliding groove, the distance adjustment plate is connected with a first sliding block sliding in the sliding groove, the fixing member includes a bolt, the bolt is disposed in the first sliding block in a penetrating manner, and the bolt is in threaded fit with the threaded opening of the first sliding groove.
When the position of the distance adjusting plate needs to be adjusted, the distance adjusting plate is pushed, so that the first sliding block moves in the first sliding groove. When the distance adjusting plate needs to be fixed, the bolt is connected with the threaded opening at the corresponding position through threads.
In some embodiments of the present invention, the medicine gripping member includes a microcontroller, a movement driving device, and a medicine gripping device, the microcontroller is configured to receive the information on the type of the medicine to be gripped, the information on the position of each medicine to be gripped, and the information on the quantity of each medicine to be gripped sent by the medicine dispensing information processing module, and control the movement driving device to operate, the movement driving device is configured to drive the medicine gripping device to move, and the medicine gripping device is configured to grip the medicine in the medicine storage cabinet.
The microcontroller receives the type information of the medicines to be grabbed, the position information of each kind of medicines to be grabbed and the quantity information of each kind of medicines to be grabbed sent by the medicine dispensing information processing module and controls the mobile driving device to drive the medicine grabbing device to grab the medicines in the medicine storage cabinet.
In some embodiments of the present invention, the movement driving device includes a frame, a supporting cross bar, a reciprocating screw, a first motor, an internal threaded sleeve and a second slider, the supporting cross bar is fixedly disposed on the frame, a length direction of the supporting cross bar is parallel to an arrangement direction of a plurality of drug storage cabinets in a group of the cabinet rows, a second sliding slot is disposed on the supporting cross bar, a length direction of the second sliding slot is parallel to a length direction of the supporting cross bar, the reciprocating screw is rotatably disposed in the second sliding slot, the first motor is fixedly disposed on the frame, the first motor is electrically connected to the microcontroller, an output shaft of the first motor is coaxially connected to one end of the reciprocating screw, the internal threaded sleeve is threadedly sleeved on the reciprocating screw, and the second slider is slidably disposed in the second sliding slot, the second sliding block is fixedly connected with the internal thread sleeve, and the medicine grabbing device is fixedly connected with the second sliding block.
The output shaft of first motor drives reciprocal lead screw and rotates, and the internal thread sleeve produces along with reciprocal lead screw pivoted trend, and the second slider slides and sets up in the second spout and prevents the internal thread sleeve to rotate along with reciprocal lead screw, so, under first motor drive, reciprocal lead screw rotates around its axis, and the internal thread sleeve moves along the length direction of reciprocal lead screw on reciprocal lead screw, drives the removal of medicine grabbing device, carries out the snatching work of the medicine in the medicine cabinet.
In some embodiments of the present invention, the medicine gripping member further includes a positioning device, the positioning device includes an RFID reader and a plurality of RFID tags, the RFID reader is disposed on the mobile driving device, the RFID reader is electrically connected to the microcontroller, and the plurality of RFID tags are respectively disposed on a plurality of medicine storage cabinets in a group of the cabinet columns.
And the RFID reader on the mobile driving device is used for scanning the RFID tags on the medicine storage cabinets, acquiring the information of the mobile driving device and sending the information to the microcontroller, and the microcontroller generates position information.
In some embodiments of the present invention, the mobile driving device includes an electromagnetic induction guided AGV cart, the electromagnetic induction guided AGV cart is in communication with the microcontroller, the medicine gripping device is mounted on the electromagnetic induction guided AGV cart, and a path wire is preset in the medicine storage.
Generally, electric wires are buried in the ground along a preset running path, when high-frequency current flows through the wires, an electromagnetic field is generated around the wires, two electromagnetic inductors are symmetrically mounted on the electromagnetic induction guided AGV left and right, and the intensity difference of electromagnetic signals received by the two electromagnetic inductors can reflect the degree of deviation of the electromagnetic induction guided AGV from the path. The automatic control system of the electromagnetic induction guided AGV controls the steering of the vehicle according to the deviation, and the continuous dynamic closed-loop control can ensure the stable automatic tracking of the electromagnetic induction guided AGV to the set path.
In some embodiments of the present invention, the medicine gripping device includes a supporting vertical plate, a rotating rod, a gripping circular truncated cone, and a plurality of gripping claws, the supporting vertical plate is fixedly connected to the movement driving device, the rotating rod is rotatably disposed on the supporting vertical plate, a length direction of the rotating rod is parallel to a vertical direction, a second motor is disposed on the supporting vertical plate, an output shaft of the second motor is coaxially connected to one end of the rotating rod, the other end of the rotating rod is fixedly connected to the gripping circular truncated cone, and the plurality of gripping claws are disposed at the bottom of the gripping circular truncated cone and are disposed around the circumference of the gripping circular truncated cone.
The plurality of grabbing claws are arranged at the bottom of the grabbing round table and are arranged around the circumference of the grabbing round table, after one grabbing claw grabs the medicines in one medicine storage cabinet, the second motor drives the rotating rod to rotate, so that the next grabbing claw which does not grab the medicines can grab the medicines, and the medicine grabbing device can continuously grab the medicines.
In some embodiments of the present invention, the grabbing claw includes an electric push rod, a grabbing plate and an adsorbing member, the electric push rod is fixedly disposed at the bottom of the grabbing table, a piston rod of the electric push rod extends in a vertical downward direction, the grabbing plate is fixedly disposed on the piston rod of the electric push rod, the adsorbing member includes an air pump and a plurality of suckers, the air pump is fixedly disposed on the grabbing plate, the plurality of suckers are disposed at the bottom of the grabbing plate, and the plurality of suckers are all connected to an air inlet of the air pump.
When needing to snatch the medicine, electric putter's piston rod extends along vertical decurrent direction for a plurality of sucking discs and medicine box butt, air pump work, make a plurality of sucking discs adsorb the medicine, accomplish the medicine and snatch work.
Compared with the prior art, the embodiment of the invention has at least the following advantages or beneficial effects:
1) the system does not need manual medicine dispensing operation, and has the advantages of reducing the labor force required by medicine dispensing and improving the work efficiency of medicine dispensing;
2) the medicine grabbing device of this system is including supporting the riser, the dwang, snatch round platform and a plurality of claw of snatching, support riser and mobile drive device fixed connection, the dwang rotates and sets up on supporting the riser, the length direction of dwang is parallel with vertical direction, be provided with the second motor on the support riser, the output shaft of second motor and the one end coaxial coupling of dwang, the other end of dwang with snatch round platform fixed connection, a plurality of claws of snatching set up in the bottom of snatching the round platform and around the circumference setting of snatching the round platform, snatch the claw at one and snatch the back of the medicine in the medicine cabinet, second motor drive dwang rotates, make the next claw of snatching that does not snatch the medicine snatch the work, thereby make medicine grabbing device can carry out the work of snatching of a plurality of medicines in succession, have the.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
FIG. 1 is a schematic view of an injection dispensing system of the present invention;
FIG. 2 is a schematic diagram showing the structure of a drug library of the injection dispensing system provided in example 1 of the present invention;
FIG. 3 is a schematic diagram of the injection dispensing system of the present invention showing a drug storage cabinet;
FIG. 4 is a schematic view of a first chute of the injection dispensing system of the present invention for displaying a drug storage cabinet;
FIG. 5 is a schematic structural view of a first slide channel of an injection dispensing system for displaying a drug storage cabinet according to embodiment 1 of the present invention;
fig. 6 is a partially enlarged schematic view of a portion a in fig. 5;
fig. 7 is a schematic structural diagram of an injection dispensing system according to embodiment 1 of the present invention, showing a gripping circular table.
Icon: 1-drug depot; 11-cabinet column; 111-a drug storage cabinet; 1111-placing table; 1112-a fixation plate; 1113-spacing adjustment plate; 1121-a first chute; 1122-a first slider; 1123-threaded opening; 1124-bolt; 2-a movement drive; 21-a frame; 22-reciprocating screw; 23-a first motor; 24-an internally threaded sleeve; 25-a second slide; 26-a support rail; 261-a second chute; 31-a supporting vertical plate; 32-rotating rods; 33-grabbing the circular truncated cone; 34-a grasping claw; 341-electric push rod; 342-grasping plate; 343-an air pump; 344-suction cup; 35-a second motor; 4-a drug delivery module.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the embodiments of the present invention, it should be noted that if the terms "upper", "lower", "inside", etc. are used for indicating the orientation or positional relationship based on the orientation or positional relationship shown in the drawings or the orientation or positional relationship which is usually arranged when the product of the present invention is used, the description is only for convenience of describing the present invention and simplifying the description, but the indication or suggestion that the referred device or element must have a specific orientation, be constructed in a specific orientation and be operated, and thus, the present invention cannot be understood as being limited.
In the description of the embodiments of the present invention, it should be further noted that unless otherwise explicitly stated or limited, the terms "disposed" and "connected" should be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Example 1
Referring to fig. 1, the present embodiment provides an injection dispensing system. The system comprises a dispensing information acquisition module, a dispensing information processing module, a medicine warehouse 1, a medicine grabbing module and a medicine transportation module 4. The dispensing information acquisition module is used for acquiring dispensing order information and sending the dispensing order information to the dispensing information processing module. The drug library 1 includes a plurality of drug storage cabinets 111, and the plurality of drug storage cabinets 111 are used to store a plurality of drugs. The dispensing information processing module stores position information of a plurality of medicines in the medicine warehouse 1, and is further used for receiving dispensing order information acquired by the dispensing information acquisition module, generating type information of the medicines to be grabbed, position information of each type of the medicines to be grabbed and quantity information of each type of the medicines to be grabbed according to the dispensing order information, and sending the information to the medicine grabbing module. The medicine grabbing module is used for receiving the type information of the medicines to be grabbed, the position information of each kind of the medicines to be grabbed and the quantity information of each kind of the medicines to be grabbed, grabbing the medicines and transporting the medicines to the medicine transportation module 4. The drug delivery module 4 is used to deliver drugs out of the drug depot 1.
Specifically, when the injection needs to be dispensed, an operator can upload a dispensing order of the injection to the dispensing information acquisition module, the dispensing information acquisition module sends the acquired dispensing order information to the dispensing information processing module, and the dispensing information processing module further receives the dispensing order information acquired by the dispensing information acquisition module, generates type information of the to-be-grasped drugs, position information of each to-be-grasped drug and quantity information of each to-be-grasped drug according to the dispensing order information, and sends the information to the drug grasping module. The medicine grabbing module receives the type information of the medicines to be grabbed, the position information of each kind of medicines to be grabbed and the quantity information of each kind of medicines to be grabbed, grabs the medicines and transports the medicines to the medicine transportation module 4, and the medicine transportation module 4 transports the medicines out of the medicine warehouse 1 to finish the injection medicine dispensing work.
The details of each part will be described in turn.
Referring to fig. 2, the medicine storage 1 includes a plurality of groups of cabinet rows 11, the plurality of groups of cabinet rows 11 are arranged in parallel, each group of cabinet rows 11 includes a plurality of medicine storage cabinets 111, the medicine grasping module includes a plurality of medicine grasping members, and one medicine grasping member is mounted on one group of cabinet rows 11 for grasping the medicines of the plurality of medicine storage cabinets 111 of the group of cabinet rows 11. Referring to fig. 3 and 4, the medicine storage cabinet 111 includes a placing table 1111, a fixing plate 1112 and a spacing adjustment plate 1113, a placing groove is formed between the fixing plate 1112 and the spacing adjustment plate 1113 for placing the medicine, the fixing plate 1112 is fixedly disposed on the placing table 1111, the fixing plate 1112 and the spacing adjustment plate 1113 are parallel to each other, and the fixing plate 1112 and the spacing adjustment member are parallel to each other in the vertical direction. The placement table 1111 is further provided with a fixing member for fixing the spacing adjustment plate 1113. The placing table 1111 is provided with a first sliding chute 1121, the length direction of the sliding chute is perpendicular to the spacing adjustment plate 1113, and the first sliding chute 1121 is provided with a plurality of threaded openings 1123 along the length thereof. The spacing adjustment plate 1113 is connected with a first sliding block 1122 sliding in the sliding groove, the fixing member includes a bolt 1124, the bolt 1124 is arranged on the first sliding block 1122 in a penetrating manner, and the bolt 1124 is in threaded matching with a threaded opening 1123 of the first sliding groove 1121.
Specifically, the drug storage 1 is divided into a plurality of groups of cabinet rows 11, each group of cabinet rows 11 includes a plurality of drug storage cabinets 111, and one drug storage cabinet 111 stores one drug in a stacked manner. The medicine grabbing module comprises a plurality of medicine grabbing pieces, one medicine grabbing piece is installed on one group of cabinets 11 and used for grabbing medicines of a plurality of medicine storage cabinets 111 of the group of cabinets 11, so that the plurality of medicine grabbing pieces can receive type information of medicines to be grabbed, position information of each type of medicines to be grabbed and quantity information of each type of medicines to be grabbed, grab the medicines and transport the medicines to the medicine transportation module 4, and the medicine dispensing efficiency is improved. Before the medicines are placed in the medicine storage cabinet 111, the distance between the fixing plate 1112 and the distance adjusting plate 1113 is adjusted firstly, so that the distance between the fixing plate 1112 and the distance adjusting plate 1113 is matched with the size of a packing box of the medicines, then the distance adjusting plate 1113 is fixed through the fixing part, a placing groove is formed between the fixing plate 1112 and the distance adjusting plate 1113 and used for placing the medicines, the medicines are stacked in the placing groove, and the distance between the fixing plate 1112 and the distance adjusting plate 1113 is matched with the size of the packing box of the medicines to prevent the stacked medicines from toppling over in the process of grabbing the medicines. When the position of the spacing adjustment plate 1113 needs to be adjusted, the operator pushes the spacing adjustment plate 1113, so that the first slider 1122 moves in the first sliding slot 1121. When the distance adjustment plate 1113 needs to be fixed, the bolt 1124 may be screwed into the corresponding threaded opening 1123.
It should be noted that, in this embodiment, the dispensing information obtaining module may be a computer system, or may also be other general purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field-Programmable Gate arrays (FPGAs), or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components, and the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The operator inputs the dispensing order information to the dispensing information obtaining module through the interactive device, for example, one or more of a display screen, a mouse, a keyboard or a touch screen.
The dispensing information processing module stores position information of a plurality of drugs in the drug library 1, for example, the actual position information of each drug storage container 111 is obtained in advance, the dispensing information processing module creates a table diagram, marks each grid in the table diagram and gives a position information attribute, one grid in the table represents one drug storage container 111, and the position information diagram of each drug storage container 111 in the drug library 1 is created. The dispensing information processing module is further used for receiving the dispensing order information acquired by the dispensing information acquisition module, generating type information of the medicines to be grasped, position information of each type of the medicines to be grasped and quantity information of each type of the medicines to be grasped according to the dispensing order information, and sending the information to the medicine grasping module.
It should be noted that, in this embodiment, the dispensing information processing module may be a computer system, and may also be another general-purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA) or another Programmable logic device, a discrete Gate or transistor logic device, a discrete hardware component, and the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The medicine grabbing piece comprises a microcontroller, a mobile driving device 2 and a medicine grabbing device, the microcontroller is used for receiving the type information of the medicines to be grabbed, the position information of each kind of medicines to be grabbed and the quantity information of each kind of medicines to be grabbed sent by the medicine dispensing information processing module and controlling the mobile driving device 2 to work, the mobile driving device 2 is used for driving the medicine grabbing device to move, and the medicine grabbing device is used for grabbing the medicines in the medicine storage cabinet 111. It should be noted that, in this embodiment, the microcontroller may be a computer system, and may also be other general purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field-Programmable Gate arrays (FPGAs), or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components, and the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
Referring to fig. 5, the moving driving device 2 includes a frame 21, a supporting cross bar 26, a reciprocating screw 22, a first motor 23, an internal threaded sleeve 24 and a second slider 25, wherein the supporting cross bar 26 is fixedly disposed on the frame 21, and a length direction of the supporting cross bar 26 is parallel to an arrangement direction of the plurality of drug storage cabinets 111 of the group of cabinet rows 11. The supporting cross bar 26 is provided with a second sliding groove 261, the length direction of the second sliding groove 261 is parallel to the length direction of the supporting cross bar 26, and the reciprocating screw 22 is rotatably arranged in the second sliding groove 261 through a bearing. First motor 23 is fixed to be set up in frame 21, and first motor 23 is connected with the microcontroller electricity, and the output shaft of first motor 23 and the one end coaxial coupling of reciprocal lead screw 22, and 24 screw sockets of internal thread sleeve are on reciprocal lead screw 22, and second slider 25 slides and sets up in second spout 261, second slider 25 and internal thread sleeve 24 fixed connection, medicine grabbing device and second slider 25 fixed connection. The medicine grabbing piece further comprises a positioning device, the positioning device comprises an RFID reader and a plurality of RFID tags, the RFID reader is arranged on the rack 21 and electrically connected with the microcontroller, and the RFID tags are respectively arranged on the medicine storage cabinets 111 of the cabinet row 11.
Specifically, the microcontroller receives the type information of the drugs to be grasped, the position information of each type of the drugs to be grasped, and the quantity information of each type of the drugs to be grasped, which are sent by the dispensing information processing module, and controls the mobile driving device 2 to drive the drug grasping device to grasp the drugs in the drug storage cabinet 111. The microcontroller controls the output shaft of the first motor 23 to drive the reciprocating lead screw 22 to rotate, the internal thread sleeve 24 tends to rotate along with the reciprocating lead screw 22, the second sliding block 25 is arranged in the second sliding groove 261 in a sliding mode and prevents the internal thread sleeve 24 from rotating along with the reciprocating lead screw 22, therefore, under the driving of the first motor 23, the reciprocating lead screw 22 rotates around the axis of the reciprocating lead screw, the internal thread sleeve 24 moves on the reciprocating lead screw 22 along the length direction of the reciprocating lead screw 22 to drive the medicine grabbing device to move, and grabbing work of medicines in the medicine storage cabinet 111 is carried out. The RFID reader on the rack 21 is configured to scan RFID tags on the individual drug storage cabinets 111, acquire information of the drug grasping device, and send the information to the microcontroller, and the microcontroller generates position information, thereby generating a control instruction of the drug grasping device. It should be noted that both the RFID reader and the RFID tag are in the prior art, and this embodiment is not described too much.
The medicine grabbing device comprises a supporting vertical plate 31, a rotating rod 32, a grabbing round table 33 and a plurality of grabbing claws 34, the supporting vertical plate 31 is fixedly connected with the mobile driving device 2, the rotating rod 32 is rotatably arranged on the supporting vertical plate 31 through a bearing, and the length direction of the rotating rod 32 is parallel to the vertical direction. Referring to fig. 7, a second motor 35 is disposed on the supporting vertical plate 31, an output shaft of the second motor 35 is coaxially connected to one end of the rotating rod 32, the other end of the rotating rod 32 is fixedly connected to the grabbing circular truncated cone 33, and the grabbing claws 34 are disposed at the bottom of the grabbing circular truncated cone 33 and around the circumference of the grabbing circular truncated cone 33. The grabbing claw 34 comprises an electric push rod 341, a grabbing plate 342 and an adsorption piece, the electric push rod 341 is fixedly arranged at the bottom of the grabbing table, a piston rod of the electric push rod 341 extends along the vertical downward direction, and the grabbing plate 342 is fixedly arranged on the piston rod of the electric push rod 341. The adsorption part comprises an air pump 343 and a plurality of suction cups 344, the air pump 343 is fixedly arranged on the grabbing plate 342, the suction cups 344 are arranged at the bottom of the grabbing plate 342, and the suction cups 344 are connected with an air inlet of the air pump 343. The grabbing plate 342 is further provided with an infrared distance measuring device, the infrared distance measuring device is used for obtaining the distance between the grabbing plate 342 and the medicine, the infrared distance measuring device is electrically connected with the microcontroller, and the microcontroller controls the electric push rod 341 to work according to the information obtained by the infrared distance measuring device. A relay can be connected in series between the air pump 343 and the external power supply, and the microcontroller controls the working state of the air pump 343 by controlling the state of the contact of the relay, so that the air pump 343 works in cooperation with the electric push rod 341.
Specifically, the plurality of gripping claws 34 are arranged at the bottom of the gripping circular truncated cone 33 and arranged around the circumference of the gripping circular truncated cone 33, and after one gripping claw 34 grips the medicine in one medicine storage cabinet 111, the second motor 35 drives the rotating rod 32 to rotate, so that the next gripping claw 34 which does not grip the medicine performs gripping work, and the medicine gripping device can continuously perform gripping work on the plurality of medicines. When the medicine needs to be grabbed, the piston rod of the electric push rod 341 extends along the vertical downward direction, so that the plurality of suction cups 344 are abutted to the medicine box, and the air pump 343 works to enable the plurality of suction cups 344 to adsorb the medicine, thereby completing the medicine grabbing work.
Referring to fig. 2, the drug delivery device includes one or more conveyors, one or more of which are located on one or both sides of the plurality of groups of rows 11.
Specifically, the microcontroller controls the mobile driving device 2 to move to a conveyer after the medicine grabbing work is finished, the grabbed medicines are placed on the conveyer, and the conveyer transports the medicines out of the medicine warehouse 1.
Example 2
Referring to fig. 1, an injection dispensing system includes a dispensing information acquisition module, a dispensing information processing module, a drug library 1, a drug grasping module, and a drug transport module 4. The dispensing information acquisition module is used for acquiring dispensing order information and sending the dispensing order information to the dispensing information processing module. The drug library 1 includes a plurality of drug storage cabinets 111, and the plurality of drug storage cabinets 111 are used to store a plurality of drugs. The dispensing information processing module stores position information of a plurality of medicines in the medicine warehouse 1, and is further used for receiving dispensing order information acquired by the dispensing information acquisition module, generating type information of the medicines to be grabbed, position information of each type of the medicines to be grabbed and quantity information of each type of the medicines to be grabbed according to the dispensing order information, and sending the information to the medicine grabbing module. The medicine grabbing module is used for receiving the type information of the medicines to be grabbed, the position information of each kind of the medicines to be grabbed and the quantity information of each kind of the medicines to be grabbed, grabbing the medicines and transporting the medicines to the medicine transportation module 4. The drug delivery module 4 is used to deliver drugs out of the drug depot 1.
Specifically, when the injection needs to be dispensed, an operator can upload a dispensing order of the injection to the dispensing information acquisition module, the dispensing information acquisition module sends the acquired dispensing order information to the dispensing information processing module, and the dispensing information processing module further receives the dispensing order information acquired by the dispensing information acquisition module, generates type information of the to-be-grasped drugs, position information of each to-be-grasped drug and quantity information of each to-be-grasped drug according to the dispensing order information, and sends the information to the drug grasping module. The medicine grabbing module receives the type information of the medicines to be grabbed, the position information of each kind of medicines to be grabbed and the quantity information of each kind of medicines to be grabbed, grabs the medicines and transports the medicines to the medicine transportation module 4, and the medicine transportation module 4 transports the medicines out of the medicine warehouse 1 to finish the injection medicine dispensing work.
The details of each part will be described in turn.
The drug storage 1 comprises a plurality of groups of cabinet rows 11, the plurality of groups of cabinet rows 11 are arranged in parallel, each group of cabinet rows 11 comprises a plurality of drug storage cabinets 111, the drug grasping module comprises a plurality of drug grasping pieces, and one drug grasping piece is arranged on one group of cabinet rows 11 and used for grasping drugs of the plurality of drug storage cabinets 111 of the group of cabinet rows 11. Referring to fig. 3 and 4, the medicine storage cabinet 111 includes a placing table 1111, a fixing plate 1112 and a spacing adjustment plate 1113, a placing groove is formed between the fixing plate 1112 and the spacing adjustment plate 1113 for placing the medicine, the fixing plate 1112 is fixedly disposed on the placing table 1111, the fixing plate 1112 and the spacing adjustment plate 1113 are parallel to each other, and the fixing plate 1112 and the spacing adjustment member are parallel to each other in the vertical direction. The placement table 1111 is further provided with a fixing member for fixing the spacing adjustment plate 1113. The placing table 1111 is provided with a first sliding chute 1121, the length direction of the sliding chute is perpendicular to the spacing adjustment plate 1113, and the first sliding chute 1121 is provided with a plurality of threaded openings 1123 along the length thereof. The spacing adjustment plate 1113 is connected with a first sliding block 1122 sliding in the sliding groove, the fixing member includes a bolt 1124, the bolt 1124 is arranged on the first sliding block 1122 in a penetrating manner, and the bolt 1124 is in threaded matching with a threaded opening 1123 of the first sliding groove 1121.
Specifically, the drug storage 1 is divided into a plurality of groups of cabinet rows 11, each group of cabinet rows 11 includes a plurality of drug storage cabinets 111, and one drug storage cabinet 111 stores one drug in a stacked manner. The medicine grabbing module comprises a plurality of medicine grabbing pieces, one medicine grabbing piece is installed on one group of cabinets 11 and used for grabbing medicines of a plurality of medicine storage cabinets 111 of the group of cabinets 11, so that the plurality of medicine grabbing pieces can receive type information of medicines to be grabbed, position information of each type of medicines to be grabbed and quantity information of each type of medicines to be grabbed, grab the medicines and transport the medicines to the medicine transportation module 4, and the medicine dispensing efficiency is improved. Before the medicines are placed in the medicine storage cabinet 111, the distance between the fixing plate 1112 and the distance adjusting plate 1113 is adjusted firstly, so that the distance between the fixing plate 1112 and the distance adjusting plate 1113 is matched with the size of a packing box of the medicines, then the distance adjusting plate 1113 is fixed through the fixing part, a placing groove is formed between the fixing plate 1112 and the distance adjusting plate 1113 and used for placing the medicines, the medicines are stacked in the placing groove, and the distance between the fixing plate 1112 and the distance adjusting plate 1113 is matched with the size of the packing box of the medicines to prevent the stacked medicines from toppling over in the process of grabbing the medicines. When the position of the spacing adjustment plate 1113 needs to be adjusted, the operator pushes the spacing adjustment plate 1113, so that the first slider 1122 moves in the first sliding slot 1121. When the distance adjustment plate 1113 needs to be fixed, the bolt 1124 may be screwed into the corresponding threaded opening 1123.
It should be noted that, in this embodiment, the dispensing information obtaining module may be a computer system, or may also be other general purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field-Programmable Gate arrays (FPGAs), or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components, and the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The operator inputs the dispensing order information to the dispensing information obtaining module through the interactive device, for example, one or more of a display screen, a mouse, a keyboard or a touch screen.
The dispensing information processing module stores position information of a plurality of drugs in the drug library 1, for example, the actual position information of each drug storage container 111 is obtained in advance, the dispensing information processing module creates a table diagram, marks each grid in the table diagram and gives a position information attribute, one grid in the table represents one drug storage container 111, and the position information diagram of each drug storage container 111 in the drug library 1 is created. The dispensing information processing module is further used for receiving the dispensing order information acquired by the dispensing information acquisition module, generating type information of the medicines to be grasped, position information of each type of the medicines to be grasped and quantity information of each type of the medicines to be grasped according to the dispensing order information, and sending the information to the medicine grasping module.
It should be noted that, in this embodiment, the dispensing information processing module may be a computer system, and may also be another general-purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA) or another Programmable logic device, a discrete Gate or transistor logic device, a discrete hardware component, and the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The medicine grabbing piece comprises a microcontroller, a mobile driving device 2 and a medicine grabbing device, the microcontroller is used for receiving the type information of the medicines to be grabbed, the position information of each kind of medicines to be grabbed and the quantity information of each kind of medicines to be grabbed sent by the medicine dispensing information processing module and controlling the mobile driving device 2 to work, the mobile driving device 2 is used for driving the medicine grabbing device to move, and the medicine grabbing device is used for grabbing the medicines in the medicine storage cabinet 111. It should be noted that, in this embodiment, the microcontroller may be a computer system, and may also be other general purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field-Programmable Gate arrays (FPGAs), or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components, and the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The mobile driving device 2 comprises an electromagnetic induction guided AGV trolley which is communicated with a microcontroller, the medicine gripping device is installed on the electromagnetic induction guided AGV trolley, and a path wire is preset in the medicine storage 1.
Specifically, electromagnetic induction type guidance is generally that electric wires are buried in the ground along a preset running path, when high-frequency current flows through the wires, an electromagnetic field is generated around the wires, two electromagnetic inductors are symmetrically installed on the electromagnetic induction guided type AGV left and right, and the intensity difference of electromagnetic signals received by the two electromagnetic inductors can reflect the degree of deviation of the electromagnetic induction guided type AGV from the path. The automatic control system of the electromagnetic induction guided AGV controls the steering of the vehicle according to the deviation, and the continuous dynamic closed-loop control can ensure the stable automatic tracking of the electromagnetic induction guided AGV to the set path.
It should be noted that, in this embodiment, the medicine gripping device may be a robot gripper with any feasible structure, and may also be any feasible structure for realizing the medicine gripping function.
The drug delivery device comprises one or more conveyors located on one or both sides of the plurality of rows 11.
Specifically, the microcontroller controls the mobile driving device 2 to move to a conveyer after the medicine grabbing work is finished, the grabbed medicines are placed on the conveyer, and the conveyer transports the medicines out of the medicine warehouse 1.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. An injection medicine dispensing system is characterized by comprising a medicine dispensing information acquisition module, a medicine dispensing information processing module, a medicine warehouse, a medicine grabbing module and a medicine transportation module;
the dispensing information acquisition module is used for acquiring dispensing order information and sending the dispensing order information to the dispensing information processing module;
the drug storage comprises a plurality of drug storage cabinets, and the drug storage cabinets are used for storing a plurality of drugs;
the dispensing information processing module is used for receiving dispensing order information acquired by the dispensing information acquisition module, generating type information of the medicines to be grasped, position information of each kind of medicine to be grasped and quantity information of each kind of medicine to be grasped according to the dispensing order information, and sending the information to the medicine grasping module;
the medicine grabbing module is used for receiving the type information of the medicines to be grabbed, the position information of each kind of the medicines to be grabbed and the quantity information of each kind of the medicines to be grabbed, grabbing the medicines and transporting the medicines to the medicine transportation module;
the drug delivery module is used for delivering drugs out of the drug depot.
2. The injection dispensing system of claim 1 wherein said drug depot comprises a plurality of sets of cabinet columns, said sets of cabinet columns being arranged in parallel with one another, each of said sets of cabinet columns comprising a plurality of drug storage cabinets, said drug grasping module comprising a plurality of drug grasping members, one of said drug grasping members being mounted on a set of said cabinet columns for grasping drug from a plurality of drug storage cabinets of that set of cabinet columns.
3. The injection dispensing system of claim 2, wherein the drug storage cabinet comprises a placement platform, a fixing plate and a spacing adjustment plate, a placement groove is formed between the fixing plate and the spacing adjustment plate for placing the drugs, the fixing plate is fixedly arranged on the placement platform, the fixing plate and the spacing adjustment plate are arranged in parallel, the fixing plate and the spacing adjustment member are both parallel in the vertical direction, and a fixing member for fixing the spacing adjustment plate is further arranged on the placement platform.
4. The injection dispensing system of claim 3, wherein the placement table is provided with a first sliding groove, a length direction of the sliding groove is perpendicular to the distance adjustment plate, the first sliding groove is provided with a plurality of threaded openings along a length of the first sliding groove, the distance adjustment plate is connected with a first sliding block sliding in the sliding groove, the fixing member comprises a bolt, the bolt is arranged in the first sliding block in a penetrating manner, and the bolt is in threaded matching with the threaded opening of the first sliding groove.
5. The injection dispensing system of claim 4, wherein the drug grasping unit comprises a microcontroller, a movement driving device and a drug grasping device, the microcontroller is configured to receive the information on the type of the drug to be grasped, the information on the position of each drug to be grasped and the information on the amount of each drug to be grasped sent by the drug dispensing information processing module and control the movement driving device to operate, the movement driving device is configured to drive the drug grasping device to move, and the drug grasping device is configured to grasp the drugs in the drug storage cabinet.
6. The injection dispensing system of claim 5, wherein the moving driving device comprises a frame, a supporting cross bar, a reciprocating screw, a first motor, an internally threaded sleeve and a second slider, the supporting cross bar is fixedly disposed on the frame, a length direction of the supporting cross bar is parallel to an arrangement direction of a plurality of drug storage cabinets in a group of cabinet rows, a second chute is disposed on the supporting cross bar, a length direction of the second chute is parallel to a length direction of the supporting cross bar, the reciprocating screw is rotatably disposed in the second chute, the first motor is fixedly disposed on the frame, the first motor is electrically connected to the microcontroller, an output shaft of the first motor is coaxially connected to one end of the reciprocating screw, the internally threaded sleeve is threadedly sleeved on the reciprocating screw, and the second slider is slidably disposed in the second chute, the second sliding block is fixedly connected with the internal thread sleeve, and the medicine grabbing device is fixedly connected with the second sliding block.
7. An injection dispensing system as defined in claim 6 wherein said drug grasping element further comprises a positioning device, said positioning device including an RFID reader and a plurality of RFID tags, said RFID reader being disposed on said mobile drive device, said RFID reader being electrically connected to said microcontroller, said plurality of RFID tags being disposed on a plurality of drug storage bins of a set of said bins, respectively.
8. The injection dispensing system of claim 5 wherein the movement driving device comprises an electromagnetic induction guided AGV that communicates with the microcontroller, the drug grasping device is mounted on the electromagnetic induction guided AGV, and path wires are pre-installed in the pharmacy.
9. The injection medicine dispensing system of claim 5, wherein the medicine gripping device comprises a supporting vertical plate, a rotating rod, a gripping circular truncated cone and a plurality of gripping claws, the supporting vertical plate is fixedly connected with the mobile driving device, the rotating rod is rotatably arranged on the supporting vertical plate, the length direction of the rotating rod is parallel to the vertical direction, a second motor is arranged on the supporting vertical plate, the output shaft of the second motor is coaxially connected with one end of the rotating rod, the other end of the rotating rod is fixedly connected with the gripping circular truncated cone, and the gripping claws are arranged at the bottom of the gripping circular truncated cone and surround the circumference of the gripping circular truncated cone.
10. The injection dispensing system of claim 9, wherein the gripping claw comprises an electric push rod, a gripping plate and an adsorbing member, the electric push rod is fixedly arranged at the bottom of the gripping table, a piston rod of the electric push rod extends in a vertical downward direction, the gripping plate is fixedly arranged on a piston rod of the electric push rod, the adsorbing member comprises an air pump and a plurality of suckers, the air pump is fixedly arranged on the gripping plate, the suckers are arranged at the bottom of the gripping plate, and the suckers are all connected with an air inlet of the air pump.
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| CN202011140450.2A CN112389919A (en) | 2020-10-22 | 2020-10-22 | Injection medicine dispensing system |
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| CN202011140450.2A CN112389919A (en) | 2020-10-22 | 2020-10-22 | Injection medicine dispensing system |
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