CN113998450A - Medicine feeding mechanical arm for medicine dispensing machine and control method thereof - Google Patents
Medicine feeding mechanical arm for medicine dispensing machine and control method thereof Download PDFInfo
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- CN113998450A CN113998450A CN202111334088.7A CN202111334088A CN113998450A CN 113998450 A CN113998450 A CN 113998450A CN 202111334088 A CN202111334088 A CN 202111334088A CN 113998450 A CN113998450 A CN 113998450A
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- 239000003814 drug Substances 0.000 title claims abstract description 428
- 238000000034 method Methods 0.000 title claims abstract description 14
- 229940079593 drug Drugs 0.000 title claims description 41
- 238000001514 detection method Methods 0.000 claims description 8
- 238000012840 feeding operation Methods 0.000 claims description 7
- 230000000903 blocking effect Effects 0.000 claims description 4
- 230000000694 effects Effects 0.000 abstract description 2
- 238000012377 drug delivery Methods 0.000 description 9
- 230000000712 assembly Effects 0.000 description 4
- 238000000429 assembly Methods 0.000 description 4
- 238000010276 construction Methods 0.000 description 2
- 238000007726 management method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 241001391944 Commicarpus scandens Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000008676 import Effects 0.000 description 1
- 238000004804 winding Methods 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
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/901—Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/905—Control arrangements
-
- 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
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0235—Containers
- B65G2201/025—Boxes
-
- 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
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
- B65G2203/0208—Control or detection relating to the transported articles
- B65G2203/0241—Quantity of articles
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Medical Preparation Storing Or Oral Administration Devices (AREA)
Abstract
The invention relates to a medicine feeding manipulator for a medicine feeder and a control method thereof, and the medicine feeding manipulator comprises a fixed frame, an X-axis moving assembly arranged on the fixed frame, a Y-axis moving assembly arranged on the X-axis moving assembly, and a medicine feeding assembly arranged on the Y-axis moving assembly. Through sending medicine passageway both sides to set up the belt group of sending medicine, send the belt group of medicine to play the centre gripping to box-packed medicine and send the medicine effect, can realize sending box-packed medicine into the medicine storage tank fast, simultaneously, if box-packed medicine spanes in the medicine storage tank and send the medicine passageway after, send the medicine belt group's reversal to send the box-packed medicine to send the medicine passageway into again, realized automatic adjustment, in time adjusted the trouble of adding medicine to when improving the efficiency of adding medicine.
Description
Technical Field
The invention relates to the technical field of pharmacy automation equipment, in particular to a medicine feeding mechanical arm for a medicine dispensing machine and a control method thereof.
Background
The pharmacy is a comprehensive department integrating management, technology, management and service in a hospital. The pharmacy not only needs to ensure that the accurate and qualified medicine is provided for the patient, but also needs to ensure that the patient can safely and effectively use the medicine, and the medical expense is more economic and reasonable.
In order to accelerate the medicine dispensing process of pharmacies, at present, most pharmacies in hospitals adopt automatic medicine dispensing machines for medicine dispensing, the automatic medicine dispensing machines can receive prescriptions prescribed by doctors, required medicines are dispensed through the medicine dispensing machines according to the prescriptions and are gathered into a medicine frame, so a large number of different kinds of medicines need to be stored in the medicine dispensing machines, the medicine dispensing of the existing medicine dispensing machines is usually carried out through medicine dispensing manipulators, operators stack boxed medicines into a column and place the boxed medicines on the medicine dispensing manipulators, the medicine dispensing manipulators dispense the medicines into medicine storage grooves of the medicine dispensing machines through lifting assemblies, the boxed medicines enter the medicine storage grooves one by one from top to bottom, the medicine dispensing mode is low in efficiency, meanwhile, after the medicine storage grooves are full, the lifting assemblies continue to lift the medicine dispensing upwards, the boxed medicines are prone to cross between the medicine storage grooves and the medicine dispensing manipulators, at the moment, the boxed medicines at the moment need to be manually taken out, the medicine feeding operation can be continued, so that the medicine feeding process is easy to break down, the medicine feeding is interrupted, the medicine feeding efficiency is reduced, and the medicine dispensing operation of a pharmacy is slowed down.
Disclosure of Invention
The invention aims to solve the technical problem of providing a medicine feeding mechanical arm for a medicine distributing machine for realizing quick medicine feeding and a control method thereof, which can solve the problem that boxed medicines cross between a medicine storage groove and a medicine feeding channel.
The technical scheme adopted by the invention for solving the technical problems is as follows: the utility model provides a medicine feeding manipulator for medicine-dispensing machine, includes the mount, set up X axle removal subassembly on the mount, set up Y axle removal subassembly on X axle removal subassembly, set up the medicine subassembly that send on Y axle removal subassembly, send the medicine subassembly including sending the medicine support, set up the medicine passageway that sends on sending the medicine support, set up in sending the medicine belt group of sending medicine passageway both sides and be used for driving the medicine drive group that sends the medicine belt group motion, but send medicine belt group perpendicular to send the medicine direction to remove.
Further specifically, send medicine belt group including set up on sending medicine support and can be in sending the belt support that medicine support moved, set up the medicine belt pulley of sending on belt support, the winding send medicine belt and the drive send medicine motor that send medicine belt motion on sending medicine belt pulley.
Further specifically, send medicine drive group including set up lead screw on sending the medicine support, set up screw-nut and drive lead screw pivoted lead screw motor on the lead screw, the lead screw on set up two and revolve to opposite screw, screw-nut set up two and be located different and revolve to the screw respectively, screw-nut be fixed in and send medicine belt group on.
Further specifically, guide rail sliding block sets are arranged on two sides of the screw rod and arranged between the medicine feeding support and the medicine feeding belt set.
Further specifically, a baffle assembly is arranged at an outlet of the medicine feeding channel, and the baffle assembly comprises a baffle capable of moving on the medicine feeding support, a baffle motor and a lifting group arranged between the baffle and the baffle motor.
Further specifically, the lifting group comprises a lifting plate fixed on a baffle motor shaft and a driving rod arranged on the lifting plate, wherein a driving groove is formed in the baffle, and the driving rod is arranged in the driving groove and can slide in the driving groove.
Further specifically, send medicine passageway bottom be provided with the roller set, the roller set include the mounting groove and set up the running roller in the mounting groove.
More specifically, a distance measuring sensor is arranged above the medicine feeding channel, and the measuring direction of the distance measuring sensor is consistent with the medicine feeding direction; a counting sensor is arranged at the inlet of the medicine feeding channel; and a detection sensor is arranged at the outlet of the medicine feeding channel.
A control method of a medicine feeding manipulator comprises the following steps,
s1, adjusting the width of the two medicine feeding belt sets according to the size of the boxed medicine;
s2, enabling the boxed medicines to enter a medicine feeding channel, clamping the boxed medicines by a medicine feeding belt group to move forwards, blocking the boxed medicines at an outlet of the medicine feeding channel by a baffle plate, stopping the medicine feeding channel until the medicine feeding channel is full, and enabling a gap to exist between every two adjacent boxed medicines;
s3, moving the medicine delivery assembly to a medicine feeding port of the medicine dispensing machine, measuring the distance in the medicine storage groove of the medicine dispensing machine and calculating the number of required medicines;
s3, opening the baffle, driving the medicine feeding belt group to move so that boxed medicines enter the medicine storage groove of the medicine dispensing machine from the medicine feeding channel, and finishing the medicine feeding operation.
More specifically, in step S3, after the medicine storage tank of the medicine dispensing machine is filled, a certain medicine pack is placed between the medicine storage tank and the medicine feeding path, and the medicine feeding belt set is controlled to be reversed to return the medicine pack to the medicine feeding path, thereby raising the shutter.
The invention has the beneficial effects that: through sending medicine passageway both sides to set up the belt group of sending medicine, send the belt group of medicine to play the centre gripping to box-packed medicine and send the medicine effect, can realize sending box-packed medicine into the medicine storage tank fast, simultaneously, if box-packed medicine spanes in the medicine storage tank and send the medicine passageway after, send the medicine belt group's reversal to send the box-packed medicine to send the medicine passageway into again, realized automatic adjustment, in time adjusted the trouble of adding medicine to when improving the efficiency of adding medicine.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of an assembly structure of the fixing frame, the X-axis moving assembly and the Y-axis moving assembly of the present invention;
FIG. 3 is an enlarged schematic view of portion A of FIG. 2;
FIG. 4 is an enlarged schematic view of portion B of FIG. 2;
FIG. 5 is a schematic view of the construction of two drug delivery assemblies of the present invention;
FIG. 6 is a schematic view of a single administration set of the present invention;
FIG. 7 is a first schematic view of the configuration of the drug delivery belt set of the present invention;
FIG. 8 is a second schematic structural view of the drug delivery belt set of the present invention;
FIG. 9 is a schematic view of the present invention showing the structure of the drug delivery drive unit;
FIG. 10 is a schematic structural view of the baffle assembly of the present invention;
FIG. 11 is a schematic view of the construction of the baffle assembly (without the baffle) of the present invention.
In the figure: 1. a fixed mount; 2. an X-axis moving assembly; 3. a Y-axis moving assembly; 4. a drug delivery assembly; 11. a first cross bar; 12. a second cross bar; 13. a first vertical bar; 14. a second vertical bar; 15. an adjusting foot; 21. an X-axis guide rail; 22. an X-axis slider; 23. an X-axis pulley; 24. an X-axis motor; 25. an X-axis connecting rod; 31. a Y-axis guide rail; 32. a Y-axis slider; 33. a Y-axis belt pulley; 34. a Y-axis motor; 35. a third vertical bar; 41. a drug delivery stent; 42. a drug delivery channel; 43. a drug delivery belt group; 44. a drug delivery drive group; 45. a baffle assembly; 46. a ranging sensor; 47. a detection sensor; 48. a counting sensor; 421. a roller set; 422. an inlet; 431. a belt support; 432. a medicine feeding belt pulley; 433. a medicine delivery belt; 434. a medicine feeding motor; 4321. a first medicine feeding belt pulley; 4322. a second medicine feeding belt pulley; 4323. a third medicine feeding belt pulley; 4324. a fourth medicine feeding belt pulley; 4325. a drive pulley; 441. a screw rod; 442. a feed screw nut; 443. a screw motor; 444. a medicine feeding guide rail; 445. a medicine feeding sliding block; 451. a baffle plate; 452. a baffle motor; 453. a lifting plate; 454. a drive rod; 455. a roller; 456. the groove is driven.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present 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.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; 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 in specific cases to those skilled in the art. In addition, the technical features involved in the different embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
As shown in fig. 1, 5 and 6, the medicine feeding manipulator for the medicine dispensing machine comprises a fixed frame 1, an X-axis moving assembly 2 arranged on the fixed frame 1, a Y-axis moving assembly 3 arranged on the X-axis moving assembly 2, and a medicine feeding assembly 4 arranged on the Y-axis moving assembly 3, wherein the medicine feeding assembly 4 comprises a medicine feeding support 41, a medicine feeding channel 42 arranged on the medicine feeding support 41, medicine feeding belt groups 43 arranged on two sides of the medicine feeding channel 42, and a medicine feeding driving group 44 for driving the medicine feeding belt groups 43 to move, the medicine feeding belt groups 43 can move in a direction perpendicular to the medicine feeding direction, the boxed medicines enter the medicine feeding channel 42 from an inlet 422 of the medicine feeding channel 42, and the medicine feeding belt groups 43 on two sides clamp the boxed medicines and feed the boxed medicines downwards until the boxed medicines in the medicine feeding channel 42 are fully spread.
Wherein, as shown in fig. 2, the mount 1 is built by four section bars and forms, including first horizontal pole 11, second horizontal pole 12, first montant 13 and second montant 14, first horizontal pole 11 is located topmost, first horizontal pole 11 and first montant 13, the top of second montant 14 is fixed, second horizontal pole 12 sets up in first montant 13, between the second montant 14, first montant 13, second montant 14 bottom is provided with adjusts foot 15, first horizontal pole 11, second horizontal pole 12, first montant 13 and second montant 14 enclose into the rectangle, this mount 1 snap-on fixation is in the frame of medicine-dispensing machine.
As shown in fig. 2, 3 and 4, the X-axis moving assembly 2 includes an X-axis guide rail 21 disposed on the first cross bar 11 and the second cross bar 12, an X-axis slider 22 disposed on the X-axis guide rail 21, X-axis belt pulleys 23 disposed at two ends of the X-axis guide rail 21, an X-axis belt wound on the two X-axis belt pulleys 23, and an X-axis motor 24 driving the X-axis belt pulleys 23 to rotate, wherein the X-axis slider 22 is fixed on the X-axis belt, the X-axis belt pulleys 23 beside the first cross bar 11 and the second cross bar 12 are connected by an X-axis connecting rod 25, and both the two X-axis belt pulleys 23 are driven by the same X-axis motor 24. Furthermore, because the operation is carried out on the vertical surface, in order to ensure the stability, the upper surface and the lower surface of the first cross rod 11 are both provided with an X-axis guide rail 21, the corresponding X-axis slide block 22 is U-shaped, the inner surfaces of two extending ends of the X-axis slide block correspond to the upper X-axis guide rail 21 and the lower X-axis guide rail 21 one by one and can realize sliding, and meanwhile, the top parts of the two extending ends extend inwards to form an X-axis stop block, so that the X-axis slide block 22 is ensured not to be separated from the X-axis guide rail 21; the structure of the X-axis moving assembly 2 at the second cross bar 12 coincides with the structure at the first cross bar 11.
As shown in fig. 2, 3 and 4, the Y-axis moving assembly 3 includes a third vertical bar 35 crossing over the two X-axis sliding blocks 22, a Y-axis guide rail 31 disposed on the third vertical bar 35, a Y-axis sliding block 32 disposed on the Y-axis guide rail 31, Y-axis pulleys 33 disposed at two ends of the Y-axis guide rail 31, a Y-axis belt wound on the two Y-axis pulleys 33, and a Y-axis motor 34 driving the Y-axis pulleys 33 to rotate, wherein the Y-axis sliding block 32 is fixed on the Y-axis belt. Further, in order to ensure the stability of the movement, a Y-axis guide rail 31 is arranged on each of the left side and the right side of the third vertical rod 35, the Y-axis sliding block 32 is U-shaped, the inner surfaces of two extending ends of the Y-axis sliding block correspond to the left Y-axis guide rail 31 and the right Y-axis guide rail 31 one by one and can slide, and meanwhile, the Y-axis stopping block extends inwards from the tops of the two extending ends to ensure that the Y-axis sliding block 32 cannot be separated from the Y-axis guide rail 31. The medicine feeding holder 41 is fixed to the Y-axis slide block 32.
Due to the influence of the third vertical rod 35, the single medicine feeding assembly 4 can only be located on one side of the third vertical rod 35, and the medicine storage grooves on two sides of the medicine dispensing machine are close to one side of the frame of the medicine dispensing machine, so that the single medicine feeding assembly 4 can only feed medicine to the medicine storage groove on one side, and medicine feeding to the medicine storage groove on the other side cannot be realized, as shown in fig. 5, the medicine feeding assembly 4 is provided with two groups of two sides which are respectively displaced by the third vertical rod 35 in the scheme, medicine feeding to the medicine storage grooves on two sides can be realized, and meanwhile, the capacity of a medicine feeding manipulator can be increased.
The medicine feeding channel 42 is formed by the medicine feeding bracket 41 and the medicine feeding belt groups 43 at both sides as shown in figures 5 and 6, the top of the medicine feeding channel 42 is opened, the medicine feeding channel 42 is designed to be inclined and comprises a high end and a low end, the inclination angle of the medicine delivery channel can be consistent with that of a medicine storage groove of the medicine delivery machine, the high end of the medicine delivery channel 42 is an inlet 422, the low end of the medicine delivery channel 42 is an outlet, meanwhile, in order to facilitate the sliding of the boxed medicine, a roller set 421 is arranged at the bottom of the medicine feeding channel 42, the roller set 421 comprises a mounting seat and a plurality of rollers arranged on the mounting seat, the rollers can freely rotate in the mounting seat, the height of the rollers is higher than the bottom surface of the medicine feeding channel 42, the rollers are convenient to contact with the boxed medicine, the sliding friction can be changed into rolling friction, the medicine feeding efficiency is improved, the bottom surface of the medicine feeding channel 42 is designed into a slot form, and the mounting seat is directly inserted into the slot to complete the assembly operation.
After the medicine delivery process is completed, in order to ensure that the boxed medicine cannot overflow from the outlet to the medicine delivery channel 42 after being fully filled, a baffle assembly 45 is arranged at the outlet of the medicine delivery channel 42, as shown in fig. 10 and 11, the baffle assembly 45 comprises a baffle 451 capable of moving on the medicine delivery bracket 41, a baffle motor 452 and a lifting group arranged between the baffle 451 and the baffle motor 452, the baffle motor 452 drives the lifting group to push the baffle 451 to move up and down, and the movement direction of the baffle 451 is perpendicular to the medicine delivery channel 42; two guide rail sliding block sets 457 are arranged between the baffle 451 and the medicine feeding support 41 to realize stable lifting of the baffle 451, the baffle 451 has two states, the first state is that the baffle 451 is higher than the bottom surface of the medicine feeding channel 42 and can block the boxed medicine from continuously moving downwards, and the second state is that the baffle 451 is lower than the ground of the medicine feeding channel 42 and cannot block the boxed medicine from continuously moving downwards; the lifting group comprises a lifting plate 453 fixed on the shaft of the baffle motor 452 and a driving rod 454 arranged on the lifting plate 453, a driving groove 456 is arranged on the baffle 451, the driving groove 456 is horizontally arranged, the driving rod 454 is arranged in the driving groove 456 and can slide in the driving groove 456, meanwhile, a roller 455 is arranged on the driving rod 454, and the roller 455 can reduce friction when rolling in the driving groove 456; the baffle motor 452 rotates to drive the lifting plate 453 to rotate, and the driving rod 454 on the lifting plate 453 drives the baffle 451 to move up and down while moving in the driving groove 456.
As shown in fig. 7, the medicine delivery belt set includes a belt bracket 431 disposed on the medicine delivery bracket 41 and movable on the medicine delivery bracket 41, a medicine delivery belt pulley 432 disposed on the belt bracket 431, a medicine delivery belt 433 wound on the medicine delivery belt pulley 432, and a medicine delivery motor 434 driving the medicine delivery belt 433 to move, a guide rail slider set is disposed between the belt bracket 431 and the medicine delivery bracket 41, the guide rail slider set is composed of a medicine delivery guide rail 444 and a medicine delivery slider 445 (as shown in fig. 9), the medicine delivery guide rail 444 is disposed on the medicine delivery bracket 41, the medicine delivery slider 445 is disposed on the belt bracket 431, the belt bracket 431 can slide on the medicine delivery guide rail 444, and two groups of the medicine delivery belt sets 43 are respectively disposed opposite to each other, and two belt brackets 431 are disposed on the same medicine delivery guide rail 444.
As shown in fig. 8, there are 4 medicine feeding belt pulleys 432, which are respectively a first medicine feeding belt pulley 4321, a second medicine feeding belt pulley 4322, a third medicine feeding belt pulley 4323 and a fourth medicine feeding belt pulley 4324, and a driving belt pulley 4325 is disposed on the medicine feeding motor 434, and the 5 belt pulleys form three rows, wherein the first medicine feeding belt pulley 4321, the second medicine feeding belt pulley 4322 are located in the first row, the third medicine feeding belt pulley 4323, the fourth medicine feeding belt pulley 4324 are located in the second row, and the driving belt pulley 4325 is located in the third row; the first medicine feeding belt pulley 4321 in the first row is far away from the second medicine feeding belt pulley 4322; the third medicine feeding belt pulley 4323 and the fourth medicine feeding belt pulley 4324 in the second row are close to each other, and the distance is slightly larger than the diameter of the driving belt pulley 4325; the medicine feeding belt 433 is fitted over the belt pulley to form a short T-shape.
As shown in fig. 9, the medicine feeding driving group 44 includes a screw mandrel 441 disposed on the medicine feeding bracket 41, a screw mandrel nut 442 disposed on the screw mandrel 441, and a screw mandrel motor 443 for driving the screw mandrel 441 to rotate, wherein the screw mandrel 441 has two threads with opposite rotation directions, the screw mandrel nut 442 has two threads respectively located at different rotation directions, the screw mandrel nut 442 is fixed on the belt bracket 431, the two screw mandrel nuts 442 are respectively corresponding to two different medicine feeding belt groups 43 one by one, and the two medicine feeding belt groups 43 can be ensured to move in opposite directions or opposite directions; meanwhile, two groups of screw rods 441 and screw rod nuts 442 are arranged, a single group of medicine conveying belt group 43 spans the two screw rods 441, and the two screw rod nuts 442 with the same rotation direction are fixed on the same belt bracket 431; meanwhile, two groups of guide rail sliding block groups on the medicine delivery bracket 41 and the belt bracket 431 are also arranged; the two groups of screw rods, screw rod nut groups and two groups of guide rail sliding block groups aim to ensure that the stability of the medicine conveying belt group 43 is higher when the medicine conveying belt group moves in the opposite direction or the reverse direction.
Based on the above structure, in order to realize automatic control, as shown in fig. 6, a distance measuring sensor 46 is arranged above the medicine feeding channel 42, and the direction measured by the distance measuring sensor 46 is consistent with the medicine feeding direction; a counting sensor 48 is arranged at the inlet 422 of the medicine feeding channel 42; a detection sensor 47 is provided at the outlet of the medicine feeding passage 42.
The scheme provides a control method of a medicine feeding manipulator, which comprises the following steps:
s1, adjusting the width of the two medicine feeding belt groups 43 according to the size of the boxed medicine;
the distance between the working areas of the medicine conveying belts 433 in the two medicine conveying belt groups 43 is adjusted according to the size of the boxed medicine, the two medicine conveying belts 433 can be guaranteed to be in contact with the boxed medicine, and downward medicine conveying is facilitated.
S2, enabling the boxed medicines to enter the medicine feeding channel 42, enabling the medicine feeding belt group 43 to clamp the boxed medicines to move forwards, blocking the boxed medicines at the outlet of the medicine feeding channel 42 through the baffle 451 until the medicine feeding channel 42 is full, and stopping the medicine feeding until a gap is reserved between every two adjacent boxed medicines;
the boxed medicines enter the medicine feeding channel 42 from the inlet 422 of the medicine feeding channel 42, the counting sensor 48 counts the entering boxed medicines, the boxed medicines are clamped by two medicine feeding belts 433 and move from the inlet 422 of the medicine feeding channel 42 to the outlet, meanwhile, a baffle 451 at the outlet of the medicine feeding channel 42 is in a first state and can block the boxed medicines, and the boxed medicines are clamped by the medicine feeding belts 433 and enter the medicine feeding channel 42 one by one until the medicine feeding channel 42 is fully filled with the boxed medicines; at this time, a certain gap is required to be ensured between adjacent boxed medicines for the detection by the detection sensor 47 at the outlet of the medicine feeding passage 42.
S3, moving the medicine delivery assembly 4 to a medicine feeding port of the medicine dispensing machine, measuring the distance in a medicine storage groove of the medicine dispensing machine and calculating the number of required medicines;
matching the medicine storage grooves on the dispensing machine according to the medicine types obtained in the step S1, then conveying the medicine delivery assemblies 4 to the inlet positions of the corresponding medicine storage grooves through the matching between the X-axis moving assembly 2 and the Y-axis moving assembly 3, detecting the depths of the corresponding medicine storage grooves through the distance measuring sensor 46 at the moment, and calculating the quantity of needed medicines according to the sizes of boxed medicines.
S3, opening the baffle 451, and driving the medicine feeding belt group 43 to move to enable boxed medicines to enter the medicine storage groove of the medicine dispensing machine from the medicine feeding channel 42 to finish medicine feeding operation;
move baffle 451 to the second state, control and send medicine belt 433 in medicine belt group 43 to move and drive the import that the boxed medicine got into the medicine storage tank from the export of sending medicine passageway 42, count and detect through detection sensor 47 simultaneously, because have the clearance between the adjacent boxed medicine and can conveniently realize the count, and after the quantity that the boxed medicine got into the medicine storage tank was unanimous with the calculation, send medicine belt 433 to stop motion, accomplish the operation of adding medicine this moment.
In step S3, when the medicine storage slot of the dispensing machine is full, the medicine feeding manipulator continues to feed medicine into the medicine storage slot, so that the boxed medicine which enters later crosses between the medicine storage slot and the medicine feeding channel 42, and thus the boxed medicine at the position needs to be cleaned in time to prevent the medicine feeding operation from being affected, at this time, the detection sensor 47 detects that the boxed medicine does not enter the medicine storage slot within a certain time, and determines that the boxed medicine is in a blocked state at this time, the medicine feeding motor 434 in the medicine feeding belt group 43 is controlled to rotate reversely to make the medicine feeding belt 433 move reversely, so as to drive the blocked boxed medicine to move reversely and retreat into the medicine feeding channel 42, and the baffle 451 rises to block the medicine; at this time, the medicine feeding operation can be performed by moving the X-axis moving assembly 2 and the Y-axis moving assembly 3 to other positions.
In conclusion, the medicine feeding manipulator and the control method thereof can automate the medicine feeding process, and meanwhile, when the boxed medicine spans between the medicine storage tank and the medicine feeding channel 42, the boxed medicine can be returned to the medicine feeding channel 42 through the reversed medicine feeding belt 433, so that the medicine feeding operation can be continued.
It is to be emphasized that: the above embodiments are only preferred embodiments of the present invention, and are not intended to limit the present invention in any way, and all simple modifications, equivalent changes and modifications made to the above embodiments according to the technical spirit of the present invention are within the scope of the technical solution of the present invention.
Claims (10)
1. The utility model provides a send out medicine machine manipulator of adding medicine, includes mount (1), sets up X axle removal subassembly (2) on mount (1), sets up Y axle removal subassembly (3) on X axle removal subassembly (2), sets up send medicine subassembly (4) on Y axle removal subassembly (3), its characterized in that, send medicine subassembly (4) including sending medicine support (41), set up send medicine passageway (42) on sending medicine support (41), set up send medicine belt group (43) and be used for driving the drive group (44) that send medicine belt group (43) moved of sending medicine passageway (42) both sides, send medicine belt group (43) can move by the perpendicular to direction of sending medicine.
2. The medicine feeding manipulator for the medicine dispensing machine according to claim 1, wherein the medicine feeding belt group (43) includes a belt holder (431) provided on the medicine feeding holder (41) and movable on the medicine feeding holder (41), a medicine feeding pulley (432) provided on the belt holder (431), a medicine feeding belt (433) wound around the medicine feeding pulley (432), and a medicine feeding motor (434) for driving the medicine feeding belt (433) to move.
3. The medicine feeding manipulator for the medicine dispensing machine according to claim 1, wherein the medicine feeding driving set (44) comprises a screw rod (441) arranged on the medicine feeding bracket (41), a screw rod nut (442) arranged on the screw rod (441), and a screw rod motor (443) for driving the screw rod (441) to rotate, two threads with opposite rotation directions are arranged on the screw rod (441), the screw rod nut (442) is arranged on two threads with different rotation directions, and the screw rod nut (442) is fixed on the medicine feeding belt set (43).
4. The medicine feeding manipulator for a medicine dispenser as claimed in claim 3, wherein guide rail slider groups are provided on both sides of the screw (441), and the guide rail slider groups are provided between the medicine feeding holder (41) and the medicine feeding belt group (43).
5. The manipulator as claimed in claim 1, wherein a shutter assembly (45) is provided at the outlet of the medicine feeding path (42), and the shutter assembly (45) comprises a shutter (451) movable on the medicine feeding frame (41), a shutter motor (452), and a lift group provided between the shutter (451) and the shutter motor (452).
6. The medicine feeding manipulator for the medicine dispenser as claimed in claim 5, wherein the lifting group comprises a lifting plate (453) fixed to a shaft of the blocking plate motor (452), a driving rod (454) arranged on the lifting plate (453), a driving groove (456) is arranged on the blocking plate (451), and the driving rod (454) is arranged in the driving groove (456) and can slide in the driving groove (456).
7. The medicine feeding manipulator for the medicine dispensing machine according to claim 1, wherein a roller set (421) is disposed at the bottom of the medicine feeding channel (42), and the roller set (421) comprises a mounting groove and a roller disposed in the mounting groove.
8. The manipulator according to claim 1, wherein a distance measuring sensor (46) is disposed above the medicine delivery channel (42), and the direction measured by the distance measuring sensor (46) is the same as the medicine delivery direction; a counting sensor (48) is arranged at the inlet (422) of the medicine feeding channel (42); a detection sensor (47) is arranged at the outlet of the medicine feeding channel (42).
9. A control method of a medicine feeding manipulator is characterized by comprising the following steps,
s1, adjusting the width of the two medicine feeding belt groups (43) according to the size of the boxed medicine;
s2, the boxed medicines enter the medicine feeding channel (42), the medicine feeding belt group (43) clamps the boxed medicines to move forwards, the medicine feeding belt group is blocked by the baffle (451) at the outlet of the medicine feeding channel (42) until the medicine feeding channel (42) is full, the medicine feeding belt group stops when the medicine feeding channel (42) is full, and a gap is reserved between two adjacent boxed medicines;
s3, moving the medicine delivery assembly (4) to a medicine feeding port of the medicine dispensing machine, measuring the distance in a medicine storage groove of the medicine dispensing machine and calculating the number of required medicines;
s3, opening the baffle (451), driving the medicine conveying belt group (43) to move to enable boxed medicines to enter the medicine storage groove of the medicine dispensing machine from the medicine conveying channel (42), and completing medicine feeding operation.
10. The method of controlling a medicine feeding robot according to claim 9, wherein in step S3, when a medicine storage tank of the medicine dispenser is filled with a certain medicine, a certain medicine is spanned between the medicine storage tank and the medicine feeding path (42), the medicine feeding belt group (43) is controlled to be inverted so that the medicine is returned into the medicine feeding path (42), and the flap (451) is raised.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111334088.7A CN113998450A (en) | 2021-11-11 | 2021-11-11 | Medicine feeding mechanical arm for medicine dispensing machine and control method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111334088.7A CN113998450A (en) | 2021-11-11 | 2021-11-11 | Medicine feeding mechanical arm for medicine dispensing machine and control method thereof |
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| Application Number | Title | Priority Date | Filing Date |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117800001A (en) * | 2024-02-20 | 2024-04-02 | 沧州慧储智能设备有限公司 | Automatic medicine mechanism of getting it filled of intelligence drug cabinet |
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