CN113421383A - Medicine grabbing and positioning system for automatic medicine selling machine - Google Patents
Medicine grabbing and positioning system for automatic medicine selling machine Download PDFInfo
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- CN113421383A CN113421383A CN202110698480.3A CN202110698480A CN113421383A CN 113421383 A CN113421383 A CN 113421383A CN 202110698480 A CN202110698480 A CN 202110698480A CN 113421383 A CN113421383 A CN 113421383A
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07F—COIN-FREED OR LIKE APPARATUS
- G07F17/00—Coin-freed apparatus for hiring articles; Coin-freed facilities or services
- G07F17/0092—Coin-freed apparatus for hiring articles; Coin-freed facilities or services for assembling and dispensing of pharmaceutical articles
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07F—COIN-FREED OR LIKE APPARATUS
- G07F11/00—Coin-freed apparatus for dispensing, or the like, discrete articles
- G07F11/02—Coin-freed apparatus for dispensing, or the like, discrete articles from non-movable magazines
- G07F11/04—Coin-freed apparatus for dispensing, or the like, discrete articles from non-movable magazines in which magazines the articles are stored one vertically above the other
- G07F11/16—Delivery means
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07F—COIN-FREED OR LIKE APPARATUS
- G07F11/00—Coin-freed apparatus for dispensing, or the like, discrete articles
- G07F11/62—Coin-freed apparatus for dispensing, or the like, discrete articles in which the articles are stored in compartments in fixed receptacles
Abstract
The utility model relates to a medicine snatchs positioning system for automatic medicine selling machine, it is including selling the medicine machine body, set firmly at this internal medicine storage frame of medicine selling machine, the slide plate of connection on medicine storage frame slides, slide and connect the support frame in slide plate below, slide and connect the arm of snatching on the support frame, the setting is used for driving between support frame and the arm of snatching and snatchs the mechanism of snatching that the arm oscilaltion just snatchs the medicine box, a plurality of medicine storage units of connection on medicine storage frame that slide, a plurality of detachablels of connection are in medicine storage unit, the setting is used for adjusting the adjustment mechanism according to distance between two adjacent division boards of medicine box length adjustment between division board and the medicine storage unit, the setting is at the terminal camera of arm of snatching, the operating device and the display screen of setting on the medicine machine body of selling, a controller. The medicine box has the advantages that the medicine type information of the medicine box is bound with the position information of the medicine box before medicine selling, and convenience is provided for medicine selling.
Description
Technical Field
The application relates to the field of automatic medicine selling machines, in particular to a medicine grabbing and positioning system for an automatic medicine selling machine.
Background
The medicine is used for preventing, treating and diagnosing human diseases, is a substance which purposefully regulates the physiological function of human and prescribes indications or functional indications, usage and dosage, and is a machine for automatically selling the medicine without special personnel for guard as the name suggests.
The medicine storage unit of the automatic medicine selling machine is often adjustable in order to be suitable for medicine boxes of different sizes, and therefore when medicines are increased or decreased or changed in the medicine storage unit, the positions of the medicine boxes can be changed, and the positions of the medicine boxes do not correspond to the medicine information of the positions.
Disclosure of Invention
In order to match the position of medicine information and medicine in the automatic medicine selling machine, the application provides a medicine grabbing and positioning system for the automatic medicine selling machine.
The application provides a medicine snatchs positioning system for automatic medicine selling machine adopts following technical scheme:
a medicine grabbing system of an automatic medicine selling machine comprises a medicine selling machine body, a medicine storage frame fixedly arranged in the medicine selling machine body, a sliding plate connected to the medicine storage frame in a sliding mode, a support frame connected below the sliding plate in a sliding mode, a grabbing arm connected to the support frame in a sliding mode, a grabbing mechanism arranged between the support frame and the grabbing arm and used for driving the grabbing arm to lift up and down and grabbing medicine boxes, a plurality of medicine storage units connected to the medicine storage frame in a sliding mode, a plurality of partition plates detachably connected to the medicine storage units, an adjusting mechanism arranged between the partition plates and the medicine storage units and used for adjusting the distance between two adjacent partition plates according to the lengths of the medicine boxes, a camera arranged at the tail end of the grabbing arm, an operating mechanism and a display screen arranged on the medicine selling machine body, and a controller;
a plurality of storage chambers for storing medicine boxes are formed between the plurality of partition plates and the inner side walls of the medicine storage units, a placing plate for supporting the medicine boxes is connected in the storage chambers in a sliding manner, and a lifting mechanism for controlling the placing plate to lift up and down is arranged in each storage chamber;
the utility model discloses a medicine storage device, including the medicine machine body, the support frame is provided with the slide mechanism that is used for driving the slide plate to slide on the medicine storage frame, the slide plate slides along the length direction of selling the medicine machine body, be provided with between slide plate and the medicine machine body of selling and be used for driving the slide mechanism that the support frame is located slide plate and slide.
The camera is used for shooting the medicine box and outputting an image signal;
the operating mechanism is used for outputting a translation trigger signal, an identification trigger signal and a binding trigger signal;
the controller comprises a driving module, an identification module and an information binding module;
the driving module is used for receiving the translation trigger signal and outputting a driving signal, and the driving moving mechanism and the sliding mechanism cooperatively work to adjust the position of the grabbing arm in the horizontal direction;
the identification module is used for receiving the image signal, controlling the display screen to display the image, and identifying the medicine type information through the image signal when receiving the identification trigger signal;
the information binding module is used for binding the position information of the grabbing arm with the medicine type information after receiving a binding trigger signal
Through adopting above-mentioned technical scheme, the controller can receive translation trigger signal, then control power belt feeder drive moving mechanism and drive the length direction removal of slide plate along selling the medicine machine body, control driving motor drive glide machanism and drive the width direction removal of support frame along selling the medicine machine body after that. And the controller receives the identification trigger signal after the sucker is aligned with the medicine box, identifies the medicine type information on the medicine box, receives the binding trigger signal and binds the medicine type information with the position information of the medicine box.
Optionally, the operating mechanism includes a first trigger switch, a second trigger switch, a third trigger switch and a fourth trigger switch for driving the grabbing arm to move in different directions in the horizontal direction.
Optionally, the grabbing mechanism comprises a supporting plate fixedly arranged below the grabbing arm, a plurality of suckers arranged below the supporting plate and slidably connected with the supporting plate at intervals, an air suction pipe arranged between the suckers and the supporting plate, an air pipe joint arranged on one side, far away from the suckers, of the air suction pipe, a fixing plate arranged below the supporting plate and fixedly connected with the suckers, a guide rod penetrating through the supporting plate and connected with the fixing plate at one end, a spring partially sleeved on the guide rod and arranged between the supporting plate and the fixing plate, a pressure sensor arranged on the bottom surface of the supporting plate and abutted against the spring, a driving assembly arranged between the grabbing arm and the supporting frame and used for driving the grabbing arm to ascend and descend, and a guide assembly arranged between the grabbing arm and the supporting frame and used for guiding and limiting sliding of the grabbing arm, wherein the air suction pump is communicated with the vacuum pressure sensor and the suckers.
Through adopting above-mentioned technical scheme, when realizing snatching of medicine box through snatching the mechanism, at first drive assembly drives and snatchs the arm and move down under the guide effect of direction subassembly, it drives the backup pad and removes to snatch the arm, the backup pad drives the sucking disc and moves down, thereby make the upper surface butt of sucking disc and medicine box, pressure sensor detects the limit height of sucking disc compression, it is more durable to make the sucking disc adsorb the medicine box, also avoid the excessive sucking disc compression to cause the damage to the sucking disc, drive assembly drives and snatchs the arm and upwards promote afterwards, can realize snatching of medicine box.
Optionally, the driving assembly comprises a lifting belt conveyor arranged on the sliding plate, a pressing block abutted against a belt of the lifting belt conveyor, two connecting seats respectively fixedly arranged on two sides of the grabbing arm, and a connecting bolt arranged between the connecting seats and the pressing block;
and the two connecting seats are abutted to the pressing block, and the connecting bolt penetrates through the connecting seats and is in threaded connection with the pressing block.
By adopting the technical scheme, when the grabbing arm is driven to move up and down by the driving component, firstly, the motor of the lifting belt conveyor drives the belt pulley to rotate, the belt pulley drives the belt to move up and down, and the belt drives the pressing block and the connecting seat to move up and down, so that the connecting seat drives the grabbing arm fixedly connected with the connecting seat to move up and down; the medicine box is comparatively light, and is more nimble through the belt feeder transmission, and belt feeder simple structure, with low costs.
Optionally, the lifting mechanism includes an electric cylinder arranged along the height direction of the storage chamber, a proximity switch sensor arranged on an electric cylinder housing, and a button arranged on the electric cylinder housing;
the proximity switch sensor is located the top of electric jar direction of height, proximity switch sensor and button all communicate with the motor of electric jar, the slip table of electric jar with place board fixed connection, the shell and the storage unit fixed connection of electric jar.
By adopting the technical scheme, when the proximity switch sensor does not detect the medicine box, the proximity switch sensor controls the motor output shaft of the electric cylinder to rotate, the motor of the electric cylinder drives the screw rod to rotate, the screw rod of the electric cylinder drives the sliding table to move upwards, the sliding table of the electric cylinder drives the placing plate fixedly connected with the sliding table to move upwards, the placing plate drives the medicine box to move upwards, and when the medicine box is detected to rise to the proximity switch sensor, the motor of the electric cylinder stops rotating to enable the medicine box to keep the same height, so that the rising limit position of the medicine box is limited; when not having the medicine box on placing the board and need mending the medicine, staff operating button, the motor reversal of button control electric jar to the board descends is placed in control, exposes the space of mending the medicine, and the staff fills up the medicine box can.
Optionally, place the board include with the slip table fixed connection's of electric cylinder bearing plate, slide and connect the regulating plate in the bearing plate both sides, set up between regulating plate and bearing plate and be used for the fixing bolt, the nut of threaded connection on fixing bolt that both are connected, the adjustment tank has been seted up on the bearing plate, fixing bolt is located the adjustment tank and slides.
Through adopting above-mentioned technical scheme, when the staff adjusted the length of placing the board according to different specification and dimension's medicine box, at first unscrewed the nut, removed two regulating plates respectively to the one side that is close to each other or keeps away from after that, made distance and medicine size looks adaptation between two regulating plates, screwed down the nut afterwards, can realize placing the regulation of board length.
Optionally, the adjusting mechanism comprises a support rod fixedly arranged on one side of the partition plate close to the medicine storage unit, an insertion rod fixedly arranged on one end of the support rod far away from the partition plate, and a support assembly arranged between the partition plate and the inner bottom wall of the medicine storage unit and used for supporting the partition plates; the medicine storage unit is provided with an inserting hole, and the inserting rod is inserted into the inserting hole.
Through adopting above-mentioned technical scheme, when the staff adjusted the distance between two adjacent division boards through adjustment mechanism, at first upwards pull the division board, make the peg graft pole break away from the spliced eye, to keeping away from storage medicine unit one side pulling division board after that, take the division board out, adjust the distance between two adjacent division boards according to the medicine box size afterwards, and with the peg graft pole of two adjacent division boards insert the inserting groove in can, coupling assembling supports a plurality of division boards simultaneously, improved the stability of division board.
Optionally, the number of the inserting holes is set to be a plurality, and the inserting holes are evenly distributed at intervals along the length direction of the medicine storage unit.
Through adopting above-mentioned technical scheme, a plurality of spliced eyes make things convenient for the staff to adjust the position of division board to be convenient for adjust the distance between two adjacent division boards.
Optionally, the supporting assembly comprises a butt plate arranged below the partition plate, supporting seats arranged below the butt plate at intervals, a connecting plate fixedly arranged between the butt plate and the supporting seat and used for connecting the butt plate and the supporting seat, and a plurality of inserting blocks fixedly arranged below the supporting seat,
a plurality of inserting grooves are formed in the bottom wall of the medicine storage unit, a plurality of inserting blocks are in one-to-one correspondence with the inserting grooves, the inserting blocks can be inserted into the corresponding inserting grooves, and the abutting plates abut against the partition plates.
By adopting the technical scheme, when a worker installs the supporting component, firstly, the inserting block on the supporting seat is inserted into the corresponding inserting groove, and the supporting seat cannot move along the horizontal direction, so that the supporting component can be fixed; the supporting component can not only shield the motor of the electric cylinder, but also support the partition plate, so that the stability of the adjusting mechanism is improved.
In summary, the present application includes at least one of the following beneficial technical effects:
1. the automatic medicine selling machine can bind the medicine type information of the medicine boxes in the medicine storage unit with the position information of the medicine boxes before medicine selling, so that a medicine buyer can conveniently obtain the corresponding medicine through the medicine type information.
2. Different types of medicine boxes can be placed in each storage cavity of the automatic medicine selling machine, and the moving mechanism and the sliding mechanism can ensure that the grabbing mechanism reaches the upper part of each storage cavity, so that the automatic medicine selling machine can grab different types of medicines, and the practicability of the automatic medicine selling machine is improved;
3. the distance between two adjacent partition plates can be adjusted through the adjusting mechanism, so that the storage chamber can accommodate medicine boxes with different sizes.
Drawings
Fig. 1 is a schematic front structural view of a medicine vending machine in an embodiment of the present application;
FIG. 2 is a schematic diagram showing the construction of the grasping system;
FIG. 3 is a partial schematic view showing the positional relationship between the grasping mechanism and the slide mechanism;
FIG. 4 is a partial schematic view showing a grasping mechanism;
FIG. 5 is a view showing a partial structure of a moving mechanism;
fig. 6 is a partial structural view showing a slide mechanism;
FIG. 7 is a partial schematic view showing the construction of the elevating mechanism;
FIG. 8 is a partial enlarged view of portion A of FIG. 7;
FIG. 9 is a partial enlarged view showing a portion B of FIG. 7;
FIG. 10 is a schematic view of a partially exploded configuration showing the adjustment mechanism;
FIG. 11 is a partial enlarged view showing a portion C of FIG. 10;
fig. 12 is a schematic back structure diagram of the automatic medicine vending machine in the embodiment of the present application;
fig. 13 is a schematic system structure diagram according to an embodiment of the present application.
Description of reference numerals: 1. a medicine vending machine body; 11. a drug storage frame; 12. a slide plate; 13. a support frame; 14. a gripper arm; 15. an operating mechanism; 16. a display screen; 2. a grabbing mechanism; 21. a support plate; 22. a suction cup; 23. an air intake duct; 24. a gas pipe joint; 25. a fixing plate; 26. a drive assembly; 261. lifting the belt conveyor; 262. a compression block; 263. a connecting seat; 264. a connecting bolt; 27. a guide assembly; 271. a first slide rail; 272. a first slider; 28. a camera; 29. a guide bar; 3. a kit; 4. a moving mechanism; 41. a rotating shaft; 42. a transverse drive belt; 43. a fixed seat; 44. a power belt conveyor; 45. a second slide rail; 46. a second slider; 5. a sliding mechanism; 51. a rotating shaft; 52. a longitudinal drive belt; 53. a drive motor; 54. a third slide rail; 55. a third slider; 6. a medicine storage unit; 61. a slide rail with a lock; 62. a partition plate; 63. a storage chamber; 64. inserting holes; 65. inserting grooves; 7. an adjustment mechanism; 71. a support bar; 72. a plug rod; 73. a support assembly; 731. a butt joint plate; 732. a supporting seat; 733. a connecting plate; 734. an insertion block; 8. placing the plate; 81. a bearing plate; 811. an adjustment groove; 82. an adjusting plate; 83. fixing the bolt; 9. a lifting mechanism; 91. an electric cylinder; 92. a proximity switch sensor; 93. a button; 101. and a controller.
Detailed Description
The present application is described in further detail below with reference to figures 1-13.
The embodiment of the application discloses a medicine grabbing and positioning system for an automatic medicine selling machine. Referring to fig. 1 and 2, the grasping system comprises a medicine selling machine body 1, a medicine storage frame 11 is fixedly arranged in the medicine selling machine body 1, a sliding plate 12 is arranged at the top of the medicine storage frame 11, the sliding plate 12 is a rectangular plate, the sliding plate 12 is connected with the medicine storage frame 11 in a sliding manner, and the sliding plate 12 slides along the length direction of the medicine selling machine body 1. A support frame 13 is arranged below the sliding plate 12, and the support frame 13 is connected with the sliding plate 12 in a sliding manner; the support frame 13 is provided with a grabbing arm 14, the grabbing arm 14 is connected with the support frame 13 in a sliding mode, and the support frame 13 slides along the width direction of the medicine selling machine body 1. A grabbing mechanism 2 is arranged between the supporting frame 13 and the grabbing arm 14, and the grabbing mechanism 2 is used for driving the grabbing arm 14 to lift up and down and grab the medicine box 3; a moving mechanism 4 is arranged between the sliding plate 12 and the medicine selling machine body 1, and the moving mechanism 4 is used for driving the sliding plate 12 to slide on the medicine storage frame 11.
Referring to fig. 2 and 3, a sliding mechanism 5 is arranged between the sliding plate 12 and the supporting frame 13, and the sliding mechanism 5 is used for driving the supporting frame 13 to slide on the sliding plate 12. The medicine storage frame 11 is provided with a plurality of medicine storage units 6, the medicine storage units 6 are used for stacking medicine boxes 3, the medicine storage units 6 are obliquely arranged from top to bottom, and the medicine boxes 3 placed in the medicine storage units 6 are not easy to drop or move and misplace when the medicine selling machine is vibrated by external force due to the oblique arrangement; store up and be provided with between medicine unit 6 and the medicine storage frame 11 and take lock slide rail 61, take lock slide rail 61 to be used for making and store up medicine unit 6 and be located and store up medicine frame 11 and slide to make things convenient for the staff to fill medicine box 3. A plurality of partition plates 62 are arranged in the medicine storage unit 6, the partition plates 62 are rectangular plates, the partition plates 62 are detachably connected with the medicine storage unit 6, and the partition plates 62 are parallel to each other and are arranged at intervals; an adjusting mechanism 7 is arranged between the partition plates 62 and the medicine storage unit 6, and the adjusting mechanism 7 is used for adjusting the distance between two adjacent partition plates 62 according to the length of the medicine box 3. A plurality of storage chambers 63 for storing medicine boxes 3 are formed between the inner side walls of the plurality of partition plates 62 and the medicine storage unit 6, a placing plate 8 is arranged in each storage chamber 63, the placing plate 8 is used for supporting the medicine boxes 3, a lifting mechanism 9 is arranged in each storage chamber 63, and the lifting mechanism 9 is used for controlling the lifting of the placing plate 8.
When the medicine is taken through the automatic medicine selling machine, firstly, the moving mechanism 4 drives the sliding plate 12 to move along the length direction of the medicine selling machine body 1, then the sliding mechanism 5 drives the supporting frame 13 to move along the width direction of the medicine selling machine body 1, so that the grabbing mechanism 2 moves and positions to the position above a storage cavity 63 for storing the needed medicine box 3, then the grabbing mechanism 2 controls the grabbing arm 14 to slide downwards on the supporting frame 13, the medicine box 3 is grabbed, and a certain height is lifted, and the medicine box 3 can be grabbed; after the medicine boxes 3 are grabbed, the lifting mechanism 9 drives the placing plate 8 to move upwards, and the placing plate 8 drives the medicine boxes 3 placed above the placing plate to move upwards, so that the upper surfaces of the medicine boxes 3 at the top in the storage cavity 63 are always at the preset horizontal height, and the medicine boxes 3 are always kept at the same height; when the kind of medicine box 3 will be changed, the interval between two adjacent division boards 62 can be adjusted through the adjusting mechanism 7, thereby the cavity 63 for storage can satisfy the accommodation of the medicine boxes 3 with different dimensions, and each cavity 63 for storage of the automatic medicine selling machine can be used for placing the medicine boxes 3 with different types, thereby the practicability of the automatic medicine selling machine is improved.
Referring to fig. 3 and 4, the grabbing mechanism 2 includes a supporting plate 21 fixedly arranged below the grabbing arm 14, three suction cups 22 are arranged below the supporting plate 21 at intervals, an air suction pipe 23 is arranged between the suction cups 22 and the supporting plate 21, an air pipe joint 24 is arranged on one side of the air suction pipe 23 away from the suction cups 22, the air pipe joint 24 is used for being connected with an external air suction pump, and the air pipe joint 24 is communicated with the air suction pipe 23 and the suction cups 22. The pipe joint 24 is provided with vacuum sensor on the pipeline of being connected with external aspiration pump, and when sucking disc 22 adsorbs medicine box 3, the aspiration pump lasts and bleeds to sucking disc 22, and at this moment, the vacuum that vacuum sensor detected is higher, otherwise, the vacuum that detects is lower, can judge through vacuum sensor promptly whether sucking disc 22 successfully adsorbs medicine box 3.
Three sucking disc 22 can be at the vertical slip of certain extent for backup pad 21, and is concrete, and the below of backup pad 21 is provided with fixed plate 25, and three sucking disc 22 of fixed plate 25 fixed connection vertically wears to be equipped with guide bar 29 in the backup pad 21, and guide bar 29's bottom and fixed plate 25 fixed connection, guide bar 29 can play the guide effect to the slip of three sucking disc 22. A spring is sleeved on the guide rod 29 between the support plate 21 and the fixing plate 25, a pressure sensor (not shown) is arranged on the bottom surface of the support plate 21, and one end of the spring abuts against the pressure sensor. When grabbing medicine box 3, if the sucking disc contradicts medicine box 3, the distance between backup pad 21 and fixed plate 25 diminishes, and the pressure that pressure sensor detected increases. Whether the suction cup 22 collides with the medicine box 3 or not and the force of the suction cup 22 colliding with the medicine box 3 can be detected through the pressure sensor, so that the possibility that the medicine box 3 is damaged due to the fact that the suction cup 22 successfully adsorbs the medicine box 3 and the force of the suction cup 22 colliding with the medicine box 3 is reduced.
A driving assembly 26 is arranged between the grabbing arm 14 and the supporting frame 13, and the driving assembly 26 is used for driving the grabbing arm 14 to lift up and down; a guide assembly 27 is arranged between the grabbing arm 14 and the supporting frame 13, and the guide assembly 27 is used for guiding and limiting the sliding of the grabbing arm 14.
Referring to fig. 3 and 4, the driving assembly 26 includes a lifting belt conveyor 261 disposed on the sliding plate 12, a pressing block 262 is disposed on a belt of the lifting belt conveyor 261, the pressing block 262 is a rectangular block, and the pressing block 262 abuts against the belt of the lifting belt conveyor 261. Connecting seats 263 are fixedly arranged on two sides of the grabbing arm 14 respectively, the connecting seats 263 are rectangular plates, and the connecting seats 263 are abutted to the pressing block 262; and the connecting bolt 264 is arranged between the connecting seat 263 and the pressing block 262 and penetrates through the connecting seat 263 and is in threaded connection with the pressing block 262.
Referring to fig. 3 and 4, the guiding assembly 27 includes a first sliding rail 271 fixedly disposed on one side of the supporting frame 13 close to the grabbing arm 14, a first sliding block 272 adapted to the first sliding rail 271 is disposed on the first sliding rail 271, the first sliding block 272 is connected to the first sliding rail 271 in a sliding manner, the first sliding block 272 is fixedly connected to the grabbing arm 14, and the first sliding rail 271 is used for guiding and limiting the movement of the first sliding block 272, so that the first sliding block 272 cannot be separated from the first sliding rail 271, thereby improving the stability of the grabbing arm 14 during movement.
When the medicine box 3 is grabbed by the grabbing mechanism 2, firstly, the motor of the lifting belt conveyor 261 is started, the motor of the lifting belt conveyor 261 drives the belt pulley to rotate, the belt pulley drives the belt pulley to move up and down, the belt drives the pressing block 262 and the connecting seat 263 to move up and down, so that the connecting seat 263 drives the grabbing arm 14 fixedly connected with the connecting seat 263 to move up and down, meanwhile, the grabbing arm 14 drives the first sliding block 272 to slide along the arrangement direction of the first sliding rail 271, then, the grabbing arm 14 drives the supporting plate 21 to move downwards, the supporting plate 21 drives the sucking disc 22 to move downwards, so that the sucking disc 22 is abutted to the upper surface of the medicine box 3, then, the air suction pump is started, then, the grabbing arm 14 continues to move downwards, the vacuum sensor detects the pressure value inside the sucking disc 22, the sucking disc 22 is ensured to suck the medicine box 3, meanwhile, the pressure sensor detects the limit height of the sucking disc 22, so that the sucking disc 22 can suck the medicine box 3 more firmly, and also avoids damage to the suction cup 22 caused by over-compression of the suction cup 22, and then the drive assembly 26 drives the grabbing arm 14 to lift upwards, so that the medicine box 3 can be grabbed.
Referring to fig. 2 and 5, the moving mechanism 4 includes two rotating shafts 41 rotatably connected to the medicine storage frame 11, the two rotating shafts 41 are located at two sides of the length direction of the medicine storage frame 11, the rotating shafts 41 are arranged along the width direction of the medicine storage frame 11, and the two rotating shafts 41 are parallel to each other; two transverse transmission belts 42 are arranged between the two rotating shafts 41, and the two transverse transmission belts 42 are in a tensioning state. The medicine storage frame 11 is fixedly provided with a fixed seat 43, and a power belt conveyor 44 is arranged between one of the rotating shafts 41 and the fixed seat 43. The medicine storage frame 11 is fixedly provided with a second slide rail 45, the second slide rail 45 is provided with a second slide block 46 matched with the second slide rail 45, the second slide block 46 is connected with the second slide rail 45 in a sliding manner, the second slide block 46 is fixedly connected with the sliding plate 12, and the second slide block 46 is fixedly connected with the transverse transmission belt 42.
When the moving mechanism 4 drives the sliding plate 12 to move along the length direction of the medicine selling machine body 1, the power belt conveyor 44 is firstly started, the power belt conveyor 44 drives one of the rotating shafts 41 to rotate, the rotating shaft 41 drives the rotating shaft 41 on the other side to rotate through the transverse transmission belt 42, meanwhile, the transverse transmission belt 42 drives the second sliding block 46 fixedly connected with the transverse transmission belt to slide under the guiding action of the second sliding rail 45, the second sliding block 46 drives the sliding plate 12 fixedly connected with the transverse transmission belt to slide, and therefore the sliding plate 12 is moved along the length direction of the medicine selling machine body 1.
Referring to fig. 5 and 6, the sliding mechanism 5 includes two rotating shafts 51 rotatably connected to the sliding plate 12, the two rotating shafts 51 are located at two sides of the sliding plate 12 in the length direction, the rotating shafts 51 are arranged along the width direction of the sliding plate 12, and the two rotating shafts 51 are parallel to each other; a longitudinal transmission belt 52 is arranged between the two rotating shafts 51, and the longitudinal transmission belt 52 is in a tension state. One end of one of the rotating shafts 51 is fixedly provided with a driving motor 53, and the shell of the driving motor 53 is fixedly connected with the sliding plate 12. Two third slide rails 54 are fixedly arranged on the sliding plate 12, a third slide block 55 matched with the third slide rails 54 is arranged on the third slide rails 54, the third slide block 55 is connected with the third slide rails 54 in a sliding manner, the third slide block 55 is fixedly connected with the support frame 13, and the third slide block 55 is fixedly connected with the longitudinal transmission belt 52.
When the sliding mechanism 5 drives the support frame 13 to move along the width direction of the medicine selling machine body 1, the driving motor 53 is started at first, the driving motor 53 drives one of the rotating shafts 51 to rotate, the rotating shaft 51 drives the rotating shaft 51 on the other side to rotate through the longitudinal transmission belt 52, meanwhile, the longitudinal transmission belt 52 drives the third sliding block 55 fixedly connected with the third sliding block to slide under the guiding action of the third sliding rail 54, the third sliding block 55 drives the support frame 13 fixedly connected with the third sliding block to slide, and therefore the support frame 13 is moved along the width direction of the medicine selling machine body 1.
Referring to fig. 7 and 8, the lifting mechanism 9 includes an electric cylinder 91 disposed in the storage chamber 63, the electric cylinder 91 is disposed in the height direction of the storage chamber 63, the housing of the electric cylinder 91 is fixedly connected to the medicine storage unit 6, and the slide table of the electric cylinder 91 is fixedly connected to the placement plate 8. A proximity switch sensor 92 is arranged on the shell of the electric cylinder 91, and the proximity switch sensor 92 is positioned at the top of the electric cylinder 91 in the height direction; the electric cylinder 91 is provided with a button 93 on the housing, and the proximity switch sensor 92 and the button 93 are both communicated with the motor of the electric cylinder 91.
When the proximity switch sensor 92 does not detect the medicine box 3, the proximity switch sensor 92 controls the motor output shaft of the electric cylinder 91 to rotate, the motor of the electric cylinder 91 drives the screw rod to rotate, the screw rod of the electric cylinder 91 drives the sliding table to move upwards, the sliding table of the electric cylinder 91 drives the placing plate 8 fixedly connected with the sliding table to move upwards, the placing plate 8 drives the medicine box 3 to move upwards, and when the medicine box 3 is detected to rise to the proximity switch sensor 92, the motor of the electric cylinder 91 stops rotating, so that the medicine box 3 keeps the same height, and the rising limit position of the medicine box 3 is limited; when no medicine box 3 needs to be replenished on the placing plate 8, the worker operates the button 93, the button 93 controls the motor of the electric cylinder 91 to reversely rotate, so that the placing plate 8 is controlled to descend, the medicine replenishing space is exposed, and the worker fills the medicine box 3.
Referring to fig. 7 and 9, the placing plate 8 includes a bearing plate 81 fixedly connected to the sliding table of the electric cylinder 91, the bearing plate 81 is a rectangular plate, adjusting plates 82 are disposed on two sides of the bearing plate 81, the adjusting plates 82 are also rectangular plates, and the adjusting plates 82 are slidably connected to the bearing plate 81; a fixing bolt 83 for connecting the adjusting plate 82 and the bearing plate 81 is arranged between the adjusting plate 82 and the bearing plate 81, a nut is connected to the fixing bolt 83 through a thread, an adjusting groove 811 is formed in the bearing plate 81, the adjusting groove 811 is arranged along the length direction of the bearing plate 81, and the fixing bolt 83 is located in the adjusting groove 811 and slides.
When the staff adjusted the length of placing board 8 according to different specification and dimension's medicine box 3, at first unscrewed the nut, removed two regulating plates 82 respectively to the one side that is close to each other or keeps away from after that, made distance and medicine size looks adaptation between two regulating plates 82, screwed down the nut afterwards, can realize placing the regulation of board 8 length.
It should be noted that, the placing plate 8 includes but is not limited to the above structure, the placing plate 8 may also be a strip-shaped plate with a fixed size, the placing plate 8 is detachably connected with the sliding table of the cylinder 91, and the worker may install the placing plates 8 with different sizes according to the medicine boxes 3 with different sizes.
Referring to fig. 10 and 11, the adjusting mechanism 7 includes two support rods 71 fixedly disposed on one side of the partition plate 62 close to the medicine storage unit 6, the two support rods 71 are disposed along the length direction of the partition plate 62, the support plate 21 is perpendicular to the partition plate 62, one end of the support rod 71 away from the partition plate 62 is fixedly disposed with an insertion rod 72, and the insertion rod 72 is perpendicular to the support rods 71; store up and seted up a plurality of spliced eye 64 on the medicine unit 6, a plurality of spliced eye 64 are along the even interval distribution of length direction of storing up medicine unit 6, and a plurality of spliced eye 64 are used for making things convenient for the staff to adjust the position of division board 62 to be convenient for adjust the distance between two adjacent division boards 62, peg graft 72 is pegged graft to in the spliced eye 64. A support assembly 73 is disposed between the partition plate 62 and the bottom wall of the medicine storage unit 6, and the support assembly 73 is used for supporting the plurality of partition plates 62.
Referring to fig. 10 and 11, the support assembly 73 includes a contact plate 731 disposed below the partition plate 62, the contact plate 731 is an elongated rectangular plate, and the contact plate 731 is in contact with the partition plate 62; supporting seats 732 are arranged below the abutting plates 731 at intervals, the supporting seats 732 are also long strip-shaped rectangular plates, the supporting seats 732 are parallel to the abutting plates 731, a connecting plate 733 is fixedly arranged between the abutting plates 731 and the supporting seats 732, and the connecting plate 733 is a long strip-shaped rectangular plate. A plurality of insertion blocks 734 are fixedly arranged below the supporting seat 732, a plurality of insertion grooves 65 are formed in the bottom wall of the medicine storage unit 6, the plurality of insertion blocks 734 correspond to the plurality of insertion grooves 65 one by one, and the insertion blocks 734 can be inserted into the corresponding card insertion grooves 65.
When a worker installs the supporting component 73, firstly, the inserting block 734 on the supporting seat 732 is inserted into the corresponding inserting groove 65, the supporting seat 732 cannot move in the horizontal direction, and the abutting plate 731, the supporting seat 732 and the connecting plate 733 shield and protect the motor of the electric cylinder 91, then the separating plate 62 is moved downwards in sequence, the inserting rod 72 on the separating plate 62 is inserted into the inserting hole 64, and then the separating plate 62 is abutted with the abutting plate 731 to fix the supporting component 73; when the distance between two adjacent partition plates 62 is adjusted by the adjusting mechanism 7, the partition plates 62 are firstly pulled upwards to enable the insertion rods 72 to be separated from the insertion holes 64, then the partition plates 62 are pulled to the side far away from the medicine storage unit 6 to draw out the partition plates 62, then the distance between two adjacent partition plates 62 is adjusted according to the size of the medicine box 3, and the insertion rods 72 of two adjacent partition plates 62 are inserted into the insertion grooves 65, so that the adjustment of the distance between two adjacent partition plates 62 can be realized.
Referring to fig. 12, an operating mechanism 15 and a display screen 16 are arranged on the outer wall of the medicine vending machine body 1, and the operating mechanism 15 includes a first trigger switch, a second trigger switch, a third trigger switch, a fourth trigger switch, an identification trigger switch and an information binding trigger switch, wherein the first trigger switch, the second trigger switch, the third trigger switch and the fourth trigger switch are used for outputting a translation trigger signal, the identification trigger switch is used for outputting an identification trigger signal, and the information binding trigger switch is used for outputting an information binding signal. The four trigger switches of the operating mechanism 15 are used for controlling the movement of the grasping arm 14 in the horizontal direction, specifically, the first trigger switch and the second trigger switch control the reverse movement of the sliding plate 12 along the length of the medicine selling machine body 1 by controlling the power belt conveyor 44, and the third trigger switch and the fourth trigger switch control the movement of the sliding plate 12 along the width direction of the medicine selling machine body 1 by controlling the driving motor 53.
Referring to fig. 13, the camera 28, the operating mechanism 15, the moving mechanism 4, the sliding mechanism 5 and the display screen 16 are all connected to a controller 101, the controller 101 may be a PLC controller, and the controller 101 includes a driving module, an identification module and an information binding module. Before selling the medicine, the medicine type information and the position information of the medicine box 3 need to be bound, so that a medicine buyer can obtain the corresponding medicine in the medicine selling machine through the medicine type information. Due to the different sizes of the medicine boxes 3 of different medicines, after the medicines are replaced in the medicine storage unit 6, the medicine type information and the position information of the medicine boxes 3 need to be bound again.
The recognition module can receive image signals and control the display screen 16 to display images, the central position of the displayed images is provided with a positioning mark, and the positioning mark corresponds to the central position among the three suckers 22; the identification module is also used for identifying the information on the medicine box 3 after receiving the identification trigger signal to obtain the medicine type information. The drive module is capable of receiving the translation trigger signal and outputting a drive signal to control the gripper arm 14 to move in the horizontal direction to align the cartridges 3. The information binding module is used for binding the position information of the grabbing arm 14 with the medicine type information after receiving the information binding signal. After the operator completes the medicine supplement to the medicine in the medicine storage unit 6, the medicine type information and the position information in the medicine storage unit 6 need to be bound again, the operator can firstly control the first trigger switch, the second trigger switch, the third trigger switch and the fourth trigger switch to adjust the position of the grabbing arm 14, the image is observed through the display screen 16, when the positioning mark is aligned to the central position of the medicine box 3, the situation that the medicine box 3 can be grabbed at the position is indicated, the identification trigger switch is pressed down to identify the medicine type information on the medicine box 3, after the identification is completed, the binding trigger switch is pressed down again, and the medicine type information and the position information of the grabbing arm 14 at the moment are bound. And after the binding is finished, the operating mechanism 15 is controlled to bind the medicine type information and the position information of the next medicine box 3 until all the operations are finished.
The implementation principle of the medicine grabbing and positioning system for the automatic medicine selling machine in the embodiment of the application is as follows: the controller 101 can receive the translation trigger signal, then control the power belt conveyor 44 to drive the moving mechanism 4 to drive the sliding plate 12 to move along the length direction of the medicine selling machine body 11, and then control the driving motor 53 to drive the sliding mechanism 5 to drive the supporting frame 13 to move along the width direction of the medicine selling machine body 1. And the position aligned by the suction cup 22 is displayed by displaying an image, and after the suction cup 22 is aligned with the medicine box 3, the controller 101 receives the identification trigger signal, identifies the medicine type information on the medicine box 3, and then receives the binding trigger signal, and binds the medicine type information with the position information of the medicine box 3.
The above embodiments are preferred embodiments of the present application, and the protection scope of the present application is not limited by the above embodiments, so: all equivalent changes made according to the structure, shape and principle of the present application shall be covered by the protection scope of the present application.
Claims (9)
1. The utility model provides a medicine snatchs positioning system for automatic medicine selling machine which characterized in that: comprises a medicine selling machine body (1), a medicine storage frame (11) fixedly arranged in the medicine selling machine body (1), a sliding plate (12) connected to the medicine storage frame (11) in a sliding manner, a support frame (13) connected below the sliding plate (12) in a sliding manner, a grabbing arm (14) connected to the support frame (13) in a sliding manner, a grabbing mechanism (2) arranged between the support frame (13) and the grabbing arm (14) and used for driving the grabbing arm (14) to ascend and descend and grab a medicine box (3), a plurality of medicine storage units (6) connected to the medicine storage frame (11) in a sliding manner, a plurality of partition plates (62) detachably connected to the medicine storage units (6), an adjusting mechanism (7) arranged between the partition plates (62) and the medicine storage units (6) and used for adjusting the distance between two adjacent partition plates (62) according to the length of the medicine box (3), and a camera (28) arranged at the tail end of the grabbing arm, An operating mechanism (15) and a display screen (16) which are arranged on the medicine selling machine body, and a controller (101);
a plurality of storage chambers (63) for storing the medicine boxes (3) are formed between the plurality of partition plates (62) and the inner side walls of the medicine storage units (6), a placing plate (8) for supporting the medicine boxes (3) is connected in the storage chambers (63) in a sliding manner, and a lifting mechanism (9) for controlling the placing plate (8) to lift up and down is arranged in the storage chambers (63);
the medicine selling machine is characterized in that the sliding plate (12) slides along the length direction of the medicine selling machine body (1), a moving mechanism (4) for driving the sliding plate (12) to slide on the medicine storage frame (11) is arranged between the sliding plate (12) and the medicine selling machine body (1), the support frame (13) slides along the width direction of the medicine selling machine body (1), and a sliding mechanism (5) for driving the support frame (13) to slide on the sliding plate (12) is arranged between the sliding plate (12) and the support frame (13);
the camera (28) is used for shooting the medicine box (3) and outputting an image signal;
the operating mechanism (15) is used for outputting a translation trigger signal, an identification trigger signal and a binding trigger signal;
the controller (101) comprises a driving module, an identification module and an information binding module;
the driving module is used for receiving the translation trigger signal and outputting a driving signal, and the driving moving mechanism (4) and the sliding mechanism (5) are cooperatively operated to adjust the position of the grabbing arm (14) in the horizontal direction;
the identification module is used for receiving the image signal, controlling a display screen (16) to display the image, and identifying the drug type information through the image signal when receiving the identification trigger signal;
the binding module is used for binding the position information of the grabbing arm (14) with the medicine type information after receiving a binding trigger signal.
2. The system of claim 1, wherein the system further comprises: the operating mechanism (15) comprises a first trigger switch, a second trigger switch, a third trigger switch and a fourth trigger switch which are used for driving the grabbing arm (14) to move to different directions in the horizontal direction.
3. The system of claim 1, wherein the system further comprises: the grabbing mechanism (2) comprises a supporting plate (21) fixedly arranged below the grabbing arm (14), a plurality of suckers (22) arranged below the supporting plate (21) and connected with the supporting plate in a sliding mode at intervals, an air suction pipe (23) arranged between the suckers (22) and the supporting plate (21), an air pipe connector (24) arranged on one side, far away from the suckers (22), of the air suction pipe (23), a fixing plate (25) arranged below the supporting plate (21) and fixedly connected with the suckers (22), a guide rod (29) penetrating through the supporting plate (21) and connected with the fixing plate (25) at one end, a spring partially sleeved on the guide rod (29) and arranged between the supporting plate (21) and the fixing plate (25), a pressure sensor arranged on the bottom surface of the supporting plate (21) and abutted against the spring, a driving assembly (26) arranged between the grabbing arm (14) and the supporting frame (13) and used for driving the grabbing arm (14) to lift up and down, The guide component (27) is arranged between the grabbing arm (14) and the supporting frame (13) and used for guiding and limiting the sliding of the grabbing arm (14).
4. The system of claim 3, wherein the system further comprises: the driving assembly (26) comprises a lifting belt conveyor (261) arranged on the sliding plate (12), a pressing block (262) abutted against the belt of the lifting belt conveyor (261), two connecting seats (263) fixedly arranged on two sides of the grabbing arm (14) respectively, and a connecting bolt (264) arranged between the connecting seats (263) and the pressing block (262);
two connecting seat (263) all with compact heap (262) butt, connecting bolt (264) run through connecting seat (263) and compact heap (262) threaded connection.
5. The system of claim 1, wherein the system further comprises: the lifting mechanism (9) comprises an electric cylinder (91) arranged along the height direction of the storage chamber (63), a proximity switch sensor (92) arranged on the shell of the electric cylinder (91), and a button (93) arranged on the shell of the electric cylinder (91);
proximity switch sensor (92) are located the top of electric jar (91) direction of height, proximity switch sensor (92) and button (93) all communicate with the motor of electric jar (91), the slip table of electric jar (91) with place board (8) fixed connection, the shell and the medicine storage unit (6) fixed connection of electric jar (91).
6. The system of claim 5, wherein the system further comprises: place board (8) including with slip table fixed connection's of electric cylinder (91) bearing plate (81), slide and connect regulating plate (82) in bearing plate (81) both sides, set up and be used for fixing bolt (83), the nut of threaded connection on fixing bolt (83) of being connected between regulating plate (82) and bearing plate (81), adjustment tank (811) have been seted up on bearing plate (81), fixing bolt (83) are located adjustment tank (811) and slide.
7. The system of claim 1, wherein the system further comprises: the adjusting mechanism (7) comprises a supporting rod (71) fixedly arranged on one side of the partition plate (62) close to the medicine storage unit (6), an inserting rod (72) fixedly arranged at one end of the supporting rod (71) far away from the partition plate (62), and a supporting assembly (73) arranged between the partition plate (62) and the inner bottom wall of the medicine storage unit (6) and used for supporting the partition plates (62); the medicine storage unit (6) is provided with an inserting hole (64), and the inserting rod (72) is inserted into the inserting hole (64).
8. The system of claim 7, wherein the system further comprises: the number of the inserting holes (64) is set to be a plurality, and the inserting holes (64) are evenly distributed at intervals along the length direction of the medicine storage unit (6).
9. The system of claim 7, wherein the system further comprises: the supporting component (73) comprises a butt plate (731) arranged below the partition plate (62), supporting seats (732) arranged below the butt plate (731) at intervals, a connecting plate (733) fixedly arranged between the butt plate (731) and the supporting seats (732) and used for connecting the butt plate (731) and the supporting seats (732), and a plurality of inserting blocks (734) fixedly arranged below the supporting seats (732),
a plurality of insertion grooves (65) are formed in the bottom wall of the medicine storage unit (6), a plurality of insertion blocks (734) are in one-to-one correspondence with the insertion grooves (65), the insertion blocks (734) can be inserted into the corresponding card insertion grooves (65), and the abutting plate (731) abuts against the partition plate (62).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110698480.3A CN113421383B (en) | 2021-06-23 | 2021-06-23 | Medicine grabbing and positioning system for automatic medicine selling machine |
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| CN202110698480.3A CN113421383B (en) | 2021-06-23 | 2021-06-23 | Medicine grabbing and positioning system for automatic medicine selling machine |
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| CN113421383B (en) | 2022-01-25 |
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