CN115366076A - Automatic traditional chinese medicine grabbing device based on vision - Google Patents
Automatic traditional chinese medicine grabbing device based on vision Download PDFInfo
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- CN115366076A CN115366076A CN202210949208.2A CN202210949208A CN115366076A CN 115366076 A CN115366076 A CN 115366076A CN 202210949208 A CN202210949208 A CN 202210949208A CN 115366076 A CN115366076 A CN 115366076A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B5/00—Cleaning by methods involving the use of air flow or gas flow
- B08B5/02—Cleaning by the force of jets, e.g. blowing-out cavities
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
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Abstract
The invention discloses an automatic traditional Chinese medicine grabbing device based on vision, which comprises a frame, wherein a high-pressure cleaning device, a traditional Chinese medicine grabbing mechanism, an electric box, a traditional Chinese medicine intelligent storing and taking cabinet, a mechanical traditional Chinese medicine conveying belt and a control system are arranged in the frame, a traditional Chinese medicine residue of a last time task is prevented from being mixed into a medicinal material of a next grabbing task by adopting a high-pressure air flow cleaning mode, and a grabbing manipulator is guided to carry out work such as recognition, grabbing, weighing, transferring and releasing on traditional Chinese medicines by adopting vision-based path planning. Can place in the drugstore in batches, the staff only need regularly mend medicine, maintain can, simultaneously in order to ensure the efficiency of making up prescription, the device can also expand and multimachine allies oneself with the use to solve the chinese-medicinal material of a large amount of prescriptions and snatch the work. Has the advantages of simple operation, convenient use and the like.
Description
Technical Field
The invention belongs to the technical field of intelligent robots, and particularly relates to an automatic traditional Chinese medicine gripping device based on vision.
Background
In a traditional Chinese medicine pharmacy, one prescription is weighed, divided, checked and packaged for many times, and then the medicine can be delivered to the hands of a patient. The traditional Chinese medicine prescription is not only complex, complex and time-consuming to process, but also has the defects of low medicine preparation precision, high labor intensity and the like. Research shows that most of traditional Chinese medicine prescriptions have about 12 medicinal materials, and some Chinese medicine prescriptions may have more medicinal materials, which causes certain difficulty in manual grasping. And during the grabbing process, the traditional Chinese medicinal materials can be polluted by the outside.
In order to solve the defects of low efficiency and easy error of the traditional manual weighing scale, intelligent dispensing equipment is developed by many enterprises, the traditional Chinese medicines in different forms such as traditional Chinese medicine decoction pieces, traditional Chinese medicine formula granules and the like can be dispensed according to the medicine type and dosage of the prescription, the steps of medicine identification, metering weighing, sealing and packaging, replenishment prompting and the like are automatically completed, the workload of pharmacists is reduced, and the time for a patient to wait for taking the medicine is saved. In order to complete the automatic dispensing of traditional Chinese medicines, the intelligent dispensing equipment of traditional Chinese medicines needs the support of accurate medicine identification technology, automatic medicine taking technology, accurate weighing technology, sealing packaging technology, sensor technology and the like.
Through the data search performed by the applicant, the documents related to the present invention include:
an extended grabbing structure of an artificial intelligent robot arm (Chinese patent application, application number: 202110056793.9) has the advantage that the working range of the intelligent robot can be changed within a certain range, so that the intelligent robot can adapt to more kinds of work. The defect exists that the weighing and identifying functions cannot be carried out, and only simple grabbing work can be carried out.
An automatic dispensing and packaging robot for traditional Chinese medicines (Chinese patent application, application number: 201811234482.1) has the advantages of simple structure, capability of quickly realizing feeding, grabbing and packaging of traditional Chinese medicines and short time consumption, and is widely used. Has the defect that the structure is too simple, and the configuration of various traditional Chinese medicines cannot be realized.
An intelligent traditional Chinese medicine prescription filling robot (Chinese patent application, application number: 20182110.4933. X) has the advantages that the intelligent traditional Chinese medicine prescription filling robot is arranged in a pharmacy of a hospital, can fill medicines automatically and can meet the basic medicine taking requirements of users. The defects are that the equipment structure is complex, the cost of the machine is increased, and the failure rate is high.
The clinic intelligent traditional Chinese medicine pharmacy construction research based on the intelligent medicine-taking robot (the fifth Chinese medicine information conference-big data standardization and intelligent traditional Chinese medicine discourse collection) has the same advantages. This medicine grabbing robot sets up in the hospital, practices thrift the cost, practices thrift the manpower. The existing defects are that the equipment structure is complex, the machine has misdiagnosis and takes wrong medicine, and the failure rate is relatively high.
An artificial intelligent diagnosis and treatment ecological robot (China patent application, publication number: CN 108608435A) has the advantages that the ecological robot is arranged in a user's home, the equipment is perfect, the functions are comprehensive, and the robot is a novel intelligent robot. The defects are that the system is too complex, the construction cost is too high, and the practicability is poor.
Disclosure of Invention
The invention aims to provide an automatic traditional Chinese medicine gripping device based on vision, which utilizes a vision recognition technology and an industrial manipulator technology to realize functions of full-automatic operation, non-contact medicine gripping and the like.
In order to realize the task, the invention adopts the following technical solution:
the utility model provides an automatic traditional chinese medicine grabbing device based on vision, includes the frame, its characterized in that is provided with high pressure cleaning device, traditional chinese medicine in the frame inside and snatchs mechanism, electric box, chinese-medicinal material intelligence access cabinet, mechanical type traditional chinese medicine conveyer belt, control system, wherein:
the intelligent Chinese medicinal material storing and taking cabinet is used for storing Chinese medicinal materials; the intelligent Chinese medicinal material storing and taking cabinet adopts a 3-4 spatial layout, each layer can store 12 Chinese medicaments and is divided into an upper layer and a lower layer according to the shape of the Chinese medicinal materials, and the spatial layout can be expanded by a certain amount according to the actual situation;
the Chinese medicinal material grabbing mechanism is used for grabbing the required medicine and the medicinal materials thereof; the traditional Chinese medicine grabbing device comprises a traditional Chinese medicine grabbing mechanical arm and a moving sub mechanism which are arranged on a traditional Chinese medicine grabbing mechanism, wherein an industrial camera and a camera module are matched on the traditional Chinese medicine grabbing mechanical arm, and the controller of a control panel confirms the required medicine and the medicine grabbing amount thereof grabbed by the traditional Chinese medicine grabbing mechanical arm each time; wherein:
the traditional Chinese medicine grabbing manipulator on the upper layer is designed into four claws and used for grabbing granular and spherical medicinal materials, spiral transmission is adopted, a stepping motor transmits torque to a screw rod through a coupler, a controller of a control panel automatically sets a stroke according to the grabbing amount, and the stroke is converted into the number of revolutions of the motor to start working;
the traditional Chinese medicine grabbing mechanical arm on the lower layer is also designed into four claws and used for grabbing strip-shaped and filamentous medicinal materials, electric transmission is adopted, an electric push rod directly controls the medicine grabbing supporting platform to ascend and descend, and grabbing work is completed by matching with a small linear guide rail;
the mechanical traditional Chinese medicine conveying belt is used for conveying the traditional Chinese medicine after the traditional Chinese medicine grabbing mechanical arm works; a motor is adopted as a power source; after the traditional Chinese medicine grabbing mechanical arm finishes traditional Chinese medicine grabbing work, the mechanical traditional Chinese medicine conveying belt conveys the medicine box to the medicine taking opening, and a buzzer of a control panel of the control system reminds workers of taking medicines;
the high-pressure cleaning device is used for cleaning the residual medicine slag at the medicine taking opening; the device comprises a stepping motor, a coupler, a miniature bearing, a mechanical arm, a main shaft, a stepping motor controller, an airflow nozzle and a pneumatic quick connector;
the control system consists of a control panel and an electric box, wherein the control panel is a man-machine interaction interface of the whole machine and gives different instructions to workers according to instructions of the controller so as to remind the workers to perform the next operation on the machine; when a certain mechanism breaks down, the screen feeds back the fault position to the working personnel in time so as to facilitate the maintenance of maintenance personnel; the electric box is used for providing basic support for the control panel, and all electronic elements required by an integrated device in the electric box comprise an air switch, a cooling fan, a 4V210-08 electromagnetic valve, a 4V310-10 electromagnetic valve, an air compressor, a connecting terminal, a Siemens S7-1200 controller, a 35W/12V 3A switching power supply and a 350W/24V 14.6A switching power supply.
According to the present invention, the moving sub-mechanism is divided into three moving sub-mechanisms, which are an X-direction sub-mechanism, a Y-direction sub-mechanism, and a Z-direction sub-mechanism.
Specifically, each part that chinese-medicinal material intelligence access cabinet adopted include: the device comprises a T-shaped shaft support, a positioning optical shaft, a low-center-height supporting guide rail, a supporting bottom plate, a square flange linear bearing, a medicine box, a first section bar, a supporting bottom plate fixing frame, a section bar corner connector, a medicine box top plate fixing piece and a medicine box top plate supporting frame.
Further, each part that mechanical type chinese-medicinal material conveyer belt adopted include: spacing sensor, spacing sensor support, baffle mount, motor flange support, motor, medicine box, conveyer belt.
The vision-based automatic traditional Chinese medicine gripping device adopts vision-based path planning to guide a gripping manipulator to perform work such as recognition, gripping, weighing, transferring and releasing on traditional Chinese medicines. Can place in the drugstore in batches, the staff only need regularly mend medicine, maintain can, simultaneously in order to ensure the efficiency of making up prescription, the device can also expand and multimachine allies oneself with the use to solve the chinese-medicinal material of a large amount of prescriptions and snatch the work. Compared with the prior art, the technical innovation brought by the method is as follows:
1. the advancing path of the mechanical claw is planned and fed back to the master control based on machine vision, the master control drives the stepping motor to transmit torque to the screw rod through the coupler, the stroke is automatically set through the grasping amount, the stroke is converted into the number of revolutions of the motor, and the grasping device is convenient to grasp traditional Chinese medicines in the corresponding drawer.
2. Categorised orientation of gripper snatchs, and the manipulator of first layer adopts four-jaw manipulator for the convenience of snatching of granular medicinal material, and the manipulator of second layer snatchs filiform medicinal material and has adopted three-jaw manipulator, adopts the different grade type to snatch the manipulator and handles the different chinese-medicinal materials that the shape is different, guarantees to snatch operational reliability.
3. When grabbing medicine work and ending, mechanical type traditional chinese medicine conveyer belt removes the back with the medicine box, and high pressure cleaning device begins work, clears up the residue with the air current, prevents to grab the medicinal material residue of work at last time sneak into the medicinal material of work of grabbing next time, is convenient for snatch work next time.
4. The equipment is full-automatic to fill prescription, compares traditional prescription filling mode more fast and high-efficient, reduces patient's latency, reduces doctor-patient contradiction.
Drawings
FIG. 1 is a schematic side view of an automated vision-based traditional Chinese medicine grasping apparatus of the present invention;
FIG. 2 is another side view of the vision-based automated device for grasping traditional Chinese medicine of the present invention;
FIG. 3 is a schematic diagram showing rigid connection and flexible matching of each part of the intelligent Chinese medicinal material storing and taking cabinet;
fig. 4 is a schematic diagram of the rigid connection state of the traditional Chinese medicine material grabbing mechanism;
FIG. 5 is a schematic diagram showing the rigid connection state and the flexible matching of each part of the manipulator for grabbing Chinese medicinal materials;
fig. 6 is a schematic diagram of rigid connection and flexible matching of various parts of the mechanical Chinese medicinal material conveying belt.
Fig. 7 is a schematic view showing a rigid connection state and flexible fitting of respective parts of the high-pressure cleaning apparatus.
FIG. 8 is a control panel schematic;
FIG. 9 is a schematic diagram of the internal components of the electrical enclosure;
FIG. 10 is a schematic view of one side of the appearance of the vision-based automated herbal medicine grasping apparatus of the present invention;
fig. 11 is another schematic view of the appearance of the vision-based automatic traditional Chinese medicine gripping device of the invention.
The symbols in the figures represent: 1. the system comprises a high-pressure cleaning device, 2, a traditional Chinese medicine grabbing mechanism, 3, a traditional Chinese medicine grabbing manipulator, 4, an electric box, 5, a traditional Chinese medicine intelligent storing and taking cabinet, 6, a mechanical traditional Chinese medicine conveying belt, 7 and a control panel;
3-1 parts of a T-shaped shaft support, 3-2 parts of a positioning optical shaft, 3-3 parts of a low-center-height supporting guide rail, 3-4 parts of a supporting bottom plate, 3-5 parts of a square flange linear bearing, 3-6 parts of a first M4 bolt, 3-7 parts of a medicine box, 3-8 parts of a first section bar, 3-9 parts of a supporting bottom plate fixing frame, 3-10 parts of a section bar corner connector, 3-11 parts of a medicine box top plate, 3-12 parts of a medicine box top plate fixing piece, 3-13 parts of a medicine box top plate supporting frame;
4-1 parts of a Y-axis rodless cylinder, 4-2 parts of a medicine grabbing top plate, 4-3 parts of a circular flange linear bearing, 4-4 parts of a second M4 nut, 4-5 parts of a Y-axis positioning optical axis, 4-6 parts of a Y-axis T-shaped shaft support, 4-7 parts of a second M4 bolt, 4-8 parts of a medicine grabbing mechanical arm, 4-9 parts of a medicine grabbing mechanical arm fixing platform, 4-10 parts of a guide rail sliding block, 4-11 parts of an X-axis rodless cylinder, 4-12 parts of a medicine grabbing supporting platform, 4-13 parts of a linear guide rail;
5-1, a Z-axis T-shaped shaft bracket, 5-2 and a Z-axis positioning optical axis; 5-3 parts of a Z-axis rodless cylinder and 5-4 parts of a second section;
6-1 parts of limit sensor, 6-2 parts of limit sensor bracket, 6-3 parts of baffle, 6-4 parts of baffle fixing bracket, 6-5 parts of motor flange bracket, 6-6 parts of motor, 6-7 parts of motor, 6-8 parts of medicine box and a conveyer belt;
7-1 parts of a stepping motor, 7-2 parts of a third M4 bolt, 7-3 parts of a coupler, 7-4 parts of a bottom plate, 7-5 parts of a micro bearing, 7-6 parts of a mechanical arm, 7-7 parts of a main shaft, 7-8 parts of a stepping motor controller, 7-9 parts of an airflow nozzle, 7-10 parts of a pneumatic quick connector, 7-11 parts of a second M4 nut;
8-1, an emergency stop button, 8-2, a capacitive screen, 8-3, an indicator light, 8-4 and a buzzer;
9-1 parts of air switch, 9-2 parts of power plug, 9-3 parts of cooling fan, 9-4 parts of 4V210-08 electromagnetic valve, 9-5 parts of 4V310-10 electromagnetic valve, 9-6 parts of air compressor, 9-7 parts of connecting terminal, 9-8 parts of Siemens S7-1200 controller, 9-9 parts of 35W/12V 3A switching power supply, and 9-10 parts of 350W/24V 14.6A switching power supply;
10-1, a right side panel of the device, 10-2, a control panel dust cover, 10-3, a heavy universal wheel, 10-4 and a front side panel of the device;
11-1, a device top panel, 11-2, a device left side panel, 11-3 and a device back side panel;
the invention is explained in more detail below with reference to the figures and examples
Detailed Description
Referring to fig. 1 and 2, the embodiment provides an intelligent traditional Chinese medicine gripping device based on machine vision, which mainly comprises five major parts, namely a traditional Chinese medicine intelligent storing and taking cabinet 5, a traditional Chinese medicine gripping mechanism 2, a mechanical traditional Chinese medicine conveying belt 6, a high-pressure cleaning device 1 and a control system.
The Chinese medicinal material intelligent storage cabinet 5 adopts 3 × 4 spatial layout, each layer can store 12 Chinese medicinal materials, and is divided into an upper layer and a lower layer according to the shape of the Chinese medicinal materials for realizing the storage function of the Chinese medicinal materials. The space layout can be expanded by a certain amount according to the actual situation.
The traditional Chinese medicine material grabbing mechanism 2 is used for grabbing required medicines and medicinal materials thereof; the traditional Chinese medicine grabbing mechanical arm 3 and the moving sub-mechanism of the traditional Chinese medicine grabbing mechanism 2 are arranged, the control panel 7 of the control system confirms the medicine needed for grabbing at this time and the medicine grabbing amount, the industrial camera and the camera module are arranged on the traditional Chinese medicine grabbing mechanical arm 3 to plan the advancing path and feed back the control system, and the control system controls the traditional Chinese medicine grabbing mechanical arm 3.
The Chinese medicinal material grabbing mechanical arm 3 of one layer is designed into four claws and used for grabbing granular and spherical medicinal materials, the spiral transmission is adopted, a stepping motor transmits torque to a screw rod through a coupler, a control system automatically sets a stroke according to the grabbing amount, and the stroke is converted into the motor revolution number to start working;
the mechanical arm design on two layers is four claws for snatch strip, filiform medicinal material, adopts electric drive, and electric putter direct control is grabbed medicine supporting platform and is gone up and down, and the small-size linear guide of collocation accomplishes and snatchs the work.
Mechanical type chinese-medicinal material conveyer belt 6 snatchs 3 work of manipulator after carrying out the transport work of medicinal material at the chinese-medicinal material, and the chinese-medicinal material snatchs manipulator 3 and accomplishes the traditional chinese medicine and snatchs the work back, and mechanical type chinese-medicinal material conveyer belt 6 transmits the medical kit to getting the medicine mouth to remind the staff to get it filled by control system's control panel 7's control panel bee calling organ.
The high-pressure cleaning device 1 is one of the innovative points, and adopts a high-pressure air flow cleaning mode to avoid the traditional Chinese medicine residues of the last task from being mixed into the medicinal materials of the next grabbing task.
The control panel 7 is a whole man-machine interaction interface, and according to the main control instruction, the control panel gives different instructions to the workers to remind the workers to operate the machine in the next step. When a certain mechanism breaks down, the screen feeds back the fault position to the working personnel in time so as to facilitate the maintenance personnel to overhaul.
The electric box 4 provides basic support for the control panel, integrates electrical elements in the block terminal 4 of bottom, and its advantage lies in making things convenient for internal wiring, and the air compressor machine during operation has great vibration, and it can avoid its whole machine of influence to the at utmost to put it in the bottom. The air compressor comprises an air switch, a cooling fan, a 4V210-08 electromagnetic valve, a 4V310-10 electromagnetic valve, an air compressor, a wiring terminal, a Siemens S7-1200 controller, a 35W/12V 3A switching power supply and a 350W/24V 14.6A switching power supply.
This intelligence traditional chinese medicine grabbing device based on machine vision can accomplish the ratio of chinese-medicinal material simultaneously and snatch, and the complete machine is based on control panel control, simplifies the medicine flow of grabbing, has advantages such as easy operation, convenient to use. Compared with the traditional Chinese medicinal material grabbing mode, the traditional Chinese medicinal material grabbing mode has the advantages that quick directional grabbing can be realized by using machine vision, secondary medicinal material quantity identification is realized by using an industrial camera and a camera module thereof, and medicinal material grabbing depth is accurately positioned; the mechanical claws grab directionally in a classified mode, and different types of traditional Chinese medicine grabbing mechanical arms are adopted to process traditional Chinese medicines with different shapes, so that grabbing reliability is guaranteed; the full automation of medicinal material grabbing can be realized, the equipment learning cost is low, and the work is quick and efficient.
The specific operation steps are as follows:
the control panel 7 is used as a whole man-machine interaction interface, bears the transmission instruction of an operator and the task of reporting the fault of the device, and is provided with work support by the electric box 4 at the bottom layer. After an operator inputs a demand instruction on the control panel 7, the Siemens S7-1200 controller (master control) transmits an instruction operation to guide the traditional Chinese medicine grabbing mechanism 2 to grab the medicinal materials, the medicinal boxes placed on the mechanical traditional Chinese medicine conveying belt 6 are conveyed to the medicine taking port through the cooperation of the limiting sensors 6-1 on the mechanical traditional Chinese medicine conveying belt 6. At this time, the high pressure cleaning device 1 works to clean the residual medicinal material residues on the device in the grabbing process by using high pressure airflow. When the medicinal material storage space is not enough, the intelligent storage cabinet 5 for traditional Chinese medicinal materials can be directionally moved to a medicine supplementing area to be matched with manual medicine filling work.
Fig. 3 illustrates the rigid connection state and flexible matching of the parts of the intelligent Chinese medicine material storing and taking cabinet 5. The adopted parts comprise 3-1 parts of a T-shaped shaft bracket, 3-2 parts of a positioning optical axis, 3-3 parts of a low-center-height supporting guide rail, 3-4 parts of a supporting bottom plate, 3-5 parts of a square flange linear bearing, 3-6 parts of a first M4 bolt, 3-7 parts of a medicine box, 3-8 parts of a first section bar, 3-9 parts of a supporting bottom plate fixing frame, 3-10 parts of a section bar corner connector, 3-11 parts of a medicine box top plate, 3-12 parts of a medicine box top plate fixing part and 3-13 parts of a medicine box top plate supporting frame. Wherein:
the first section bar 3-8 and the section bar corner connectors 3-10 are rigidly connected to form an external frame of the traditional Chinese medicine intelligent access cabinet 5, the front end and the rear end of the external frame are respectively fixed with 4T-shaped shaft supports 3-1, and the T-shaped shaft supports 3-1 at the front end and the rear end jointly restrain one positioning optical axis 3-2. Four corners of the medicine chest 3-7 are respectively fixed with 1 square flange linear bearing 3-5 through a first M4 bolt 3-6, and an inner hole of the square flange linear bearing is coaxial with the positioning optical axis 3-2, so that the medicine chest 3-7 is constrained to move.
The bottom of the external frame is fixed with a plurality of supporting bottom plate fixing frames 3-9, the supporting bottom plates 3-4 are fixed on the first section bars 3-8 at the bottom and the supporting bottom plate fixing frames 3-9, and two low-center high supporting guide rails 3-3 are symmetrically fixed on the supporting bottom plates 3-4 to provide restraint for the bearing medicine boxes 3-7.
The medicine boxes 3-7 are provided with four medicine storage areas in total, a weight sensor is integrated in each medicine storage area, when the weight of the medicine detected in the area is lower than the minimum value, information is fed back to a controller in the control system, and then the control panel 7 reminds workers to supplement medicines. When in medicine supplement, the staff drag the medicine boxes 3-7 to the medicine supplement area and then supplement the medicines at the medicine supplement opening.
And a plurality of medicine box top plate supporting frames 3-13 are arranged at the top of the external frame and are connected with the medicine box top plates 3-11 through first M4 bolts 3-6. In order to prevent the insecure connection, a plurality of medicine box top plate fixing pieces 3-12 are arranged to be additionally connected with the medicine box top plates 3-11. The medicine chest top plate 3-11 has the functions of: the positioning of an industrial camera and a camera module is facilitated; prevent that the medicinal material from leaking to other areas in the process of grabbing.
Fig. 4 and 5 illustrate rigid connection states and flexible matching of parts of the traditional Chinese medicine material grabbing mechanism and the traditional Chinese medicine material grabbing manipulator.
The traditional Chinese medicine material grabbing mechanism 2 is used for grabbing required medicines and medicinal materials thereof and comprises a traditional Chinese medicine material grabbing mechanical arm 3 and a moving sub-mechanism which are arranged on the traditional Chinese medicine material grabbing mechanism 2, wherein the moving sub-mechanism is divided into three moving sub-mechanisms which are an X-direction sub-mechanism, a Y-direction sub-mechanism and a Z-direction sub-mechanism respectively. The components used include: 4-1 parts of a Y-axis rodless cylinder, 4-2 parts of a medicine grabbing top plate, 4-3 parts of a circular flange linear bearing, 4-4 parts of a second M4 nut, 4-5 parts of a Y-axis positioning optical axis, 4-6 parts of a Y-axis T-shaped shaft support, 4-7 parts of a first M4 bolt, 4-8 parts of a medicine grabbing manipulator, 4-9 parts of a medicine grabbing manipulator fixing table, 4-10 parts of a guide rail sliding block, 4-11 parts of an X-axis rodless cylinder, 4-12 parts of a medicine grabbing supporting platform and 4-13 parts of a linear guide rail; a Z-axis T-shaped shaft bracket 5-1, a Z-axis positioning optical axis 5-2, a Z-axis rodless cylinder 5-3 and a second section bar 5-4; each sub mechanism comprises the following components:
the Z-direction sub-mechanism takes a Z-axis rodless cylinder 5-3 as a power source, the Z-axis rodless cylinder 5-3 is fixed outside a second sectional material 5-4, a certain amount of Z-axis T-shaped shaft supports 5-1 are distributed around the outside of the second sectional material 5-4, every two Z-axis T-shaped shaft supports 5-1 are matched with a Z-axis positioning optical axis 5-2, each Z-axis positioning optical axis 5-2 is respectively matched with a circular flange linear bearing 4-3, and the fixing is completed through a second M4 bolt 4-4 matched with a second M4 bolt 4-7, so that the Z-direction sub-mechanism is matched with a medicine grabbing supporting platform 4-12 to complete the movement of the traditional Chinese medicine grabbing mechanism in the Z direction.
The Y-direction sub-mechanism takes a Y-axis rodless cylinder 4-1 as a power source, the Y-axis rodless cylinder 4-1 is fixed on the left side and the right side of a medicine grabbing top plate 4-2, a certain amount of Y-axis T-shaped shaft supports 4-6 are distributed in the Y-axis rodless cylinder 4-1, every two Y-axis T-shaped shaft supports 4-6 are matched with a Y-axis positioning optical axis 4-5, each Y-axis positioning optical axis 4-5 is respectively matched with a circular flange linear bearing 4-3 to complete fixation through a second M4 bolt 4-4 matched with a second M4 bolt 4-7, and therefore the Y-direction sub-mechanism is matched with a medicine grabbing supporting platform 4-12 to complete movement of the traditional Chinese medicine grabbing mechanism in the Y direction.
The X-direction sub-mechanism takes an X-axis rodless cylinder 4-12 as a power source, and the X-axis rodless cylinder 4-12 is fixed at the left end and the right end of the bottom of the medicine grabbing platform 4-12. Two linear guide rails 4-13 are fixedly connected with the interior of the medical material grabbing device through bolts, a guide rail slide block 4-10 matched with the linear guide rails 4-13 is connected with a medical material grabbing manipulator fixing table 4-9 through an X-axis rodless cylinder 4-11, and the medical material grabbing manipulator fixing table 4-9 is fixedly connected with a medical material grabbing manipulator 3 through bolts. So as to finish the movement of the Chinese medicinal material grabbing mechanism 2 in the X direction and the Chinese medicinal material grabbing work.
2 theory of operation of chinese-medicinal material snatchs mechanism does: when the worker inputs the grabbing task on the control panel and confirms the grabbing task, the medicinal materials are identified according to the camera module carried by the Chinese medicinal material grabbing mechanism 2, a moving path is planned, and the moving path is fed back to the Siemens S7-1200 controller 9-8 (main control). The Siemens S7-1200 controller 9-8 sequentially gives out moving instructions to the three moving sub-mechanisms to complete the grabbing work of the traditional Chinese medicinal materials, namely, the traditional Chinese medicinal materials are grabbed from the intelligent traditional Chinese medicinal material storing and taking cabinet 5 quantitatively according to the prescription and transferred to a medicine placing port. After the task is completed, the Chinese herbal medicine grabbing mechanism 2 grabs the next medicine, and after all the tasks are completed, the three moving sub-mechanisms reset the medicine grabbing manipulator 3. Especially, the medicinal material snatchs the effect that the volume was estimated still to the industrial camera and the camera module that carry on the manipulator 3, utilizes the camera module to snatch manipulator 3 to the medicinal material and prescribe a definite time of snatching the scope to the volume accords with the prescription ration of grabbing in order to ensure. When the grabbing amount is too large, the X-direction sub-mechanism can oscillate within the range allowed by the medicine box top plate 3-11 to reduce weight until the medicine box meets an error interval, and then medicine placing work is carried out. When the grabbing amount is too small, if the deviation from the minimum value of the error interval is not large, the medicine placing work can be completed firstly, and the supplementary grabbing is carried out; if the deviation from the minimum value of the error interval is overlarge, the re-grabbing can be directly carried out. When this kind of condition frequency of occurrence surpassed the rated value, control panel 7 will remind the trouble, reminds maintenance personal in time to snatch manipulator 3 to the medicinal material and overhauls.
Fig. 6 shows the rigid connection state and flexible matching of the parts of the mechanical Chinese medicinal material conveying belt.
The mechanical Chinese medicinal material conveyer belt 6 is mainly used for transferring the Chinese medicinal material box loaded with Chinese medicinal materials to the medicine taking position and resetting the empty medicine box to the working position. The device comprises a limit sensor 6-1, a limit sensor support 6-2, a baffle 6-3, a baffle fixing frame 6-4, a motor flange support 6-5, a motor 6-6, a medicine box 6-7 and a conveyer belt 6-8; wherein:
the motor 6-6 is used as a power source, the motor 6-6 is connected with the motor flange support 6-5, and the motor flange support 6-5 is connected with an external frame of the device. When the device works, the motor 6-6 rotates to drive the conveyer belt 6-8 to move. The two sides of the medicine box are provided with a certain number of baffle fixing frames 6-4, and the upper end of the medicine box is connected with the baffle 6-3, so that the medicine box 6-7 is prevented from shifting due to the shaking of the conveyer belt 6-8 in the conveying process. The limiting device consisting of the limiting sensor 6-1 and the limiting sensor bracket 6-2 is a starting switch of a mechanical Chinese medicinal material conveying belt 6. Mechanical type chinese-medicinal material conveyer belt 6 sets up 2 stop device altogether, arranges its front and rear end in respectively, and its theory of operation is as follows: when the medicine box 6-7 is positioned at the front end limiting device of the working position and feedback exists, the traditional Chinese medicine material grabbing mechanism works normally; when the medicine boxes 6-7 leave the working positions and no feedback exists between the limiting devices at the two ends, the Chinese medicinal material grabbing mechanism 2 stops working; when the medicine box 6-7 is conveyed to the rear end limiting device of the medicine taking position and feedback exists, the control panel 7 reminds a worker to take medicine; when the worker takes out the medicine box 6-7 and places a new medicine box 6-7 until the feedback exists in the limiting device at the rear end of the medicine taking position, the mechanical traditional Chinese medicine material conveying belt 6 conveys the medicine box 6-7 to the working position; when a new medicine box 6-7 is conveyed to the limiting device at the front end of the working position and feedback exists, the traditional Chinese medicine material grabbing mechanism 2 returns to normal work.
Fig. 7 shows the rigid connection and flexible fitting of the components of the high-pressure cleaning device 1.
The high-pressure cleaning device 1 comprises the following components: the device comprises a stepping motor 7-1, a third M4 bolt 7-2, a coupler 7-3, a bottom plate 7-4, a miniature bearing 7-5, a mechanical arm 7-6, a main shaft 7-7, a stepping motor controller 7-8, an airflow nozzle 7-9, a pneumatic quick connector 7-10 and a third M4 nut 7-11;
in this embodiment, the high-pressure cleaning device 1 is provided with 4 mechanical arms 7-6, the bottom plate 7-4 is fixed on the medicine taking port, the right side is connected with the stepping motor 7-1 through the third M4 bolt 7-2 and the third M4 nut 7-11 to serve as a power source of the high-pressure cleaning device 1, and the stepping motor controller 7-8 connected to the left side is used for providing a power source and a pulse signal for the stepping motor 7-1. The stepping motor 7-1 is connected with the coupler 7-3, and the coupler 7-3 is connected with the main shaft 7-7 to transmit torque. The middle part of the bottom plate 4-1 is provided with a fixed platform for installing a micro bearing 7-5 to provide fixed constraint for the main shaft 7-7. The front end of the mechanical arm 7-6 is connected with an airflow nozzle 7-9 and a pneumatic quick joint 7-10, the rear end of the pneumatic quick joint 7-10 is connected with a PU air pipe led out by a 4V210-08 electromagnetic valve 9-4, and the front end of the pneumatic quick joint is connected with the airflow nozzle 7-9.
When the traditional Chinese medicine grabbing mechanism 2 finishes grabbing work of the layer, the mechanical traditional Chinese medicine conveying belt 6 moves the medicine boxes 6-7 to the medicine taking opening, and the high-pressure cleaning device 1 operates. The stepping motor 7-1 rotates to transmit torque to the main shaft 7-7 through the coupler 7-3, and the main shaft 7-7 drives the mechanical arm 7-6 to complete fixed-angle transmission so as to enable the mechanical arm to reach a working position. Along with the step-by-step order of pneumatic circuit, high-pressure draught spouts from air shower nozzle 7-9, clears up the remaining dregs of a decoction of getting the medicine mouth to prevent that it from sneaking into in the medicinal material of snatching next time. After the work is finished, the stepping motor 7-1 rotates reversely, so that the mechanical arm 7-6 is restored to the waiting position, and collision with the traditional Chinese medicine grabbing mechanism 2 is avoided when grabbing next time.
Fig. 8 and 9 illustrate the components of the overall control system, the core of which is the control panel 7 and the electrical box 4.
Referring to fig. 8, the control panel 7 at least comprises an emergency stop button 8-1, a capacitive screen 8-2, an indicator light 8-3 and a buzzer 8-4. Wherein, two emergency stop buttons 8-1 are arranged to respectively control the mechanisms of two layers of the intelligent Chinese medicinal material storing and taking cabinet 5, when a fault occurs, a worker presses the emergency stop button to stop the mechanism to operate so as to facilitate the maintenance of maintenance personnel; two capacitive screens 8-2 are arranged to respectively control the grabbing of the two layers of traditional Chinese medicines, and can remind specific positions of workers when medicine shortage and faults occur in the operation process of the whole machine, so that the maintenance personnel can be helped to remove the faults with high efficiency; the control panel 7 is provided with a plurality of indicator lights 8-3, and the indicator lights 8-3 have three colors, namely green, yellow and red. Green is applied to power supply prompt and prompt of the running state of each layer of mechanism, yellow is applied to fault prompt of a limit sensor and a wiring terminal, and red is applied to fault prompt of each layer of mechanism; the buzzer 8-4 is applied to fault alarm and is mainly matched with yellow and red indicator lamps for use, and fault information is fed back to workers in time.
Referring to fig. 9, all electronic components required by the integrated device in the electrical box 4 comprise an air switch 9-1, a power plug 9-2, a cooling fan 9-3, a 4V210-08 solenoid valve 9-4, a 4V310-10 solenoid valve 9-5, an air compressor 9-6, a wiring terminal 9-7, a siemens S7-1200 controller 9-8, a 35W/12V 3A switching power supply 9-9 and a 350W/24V 14.6a switching power supply 9-10.
The power plug 9-2 introduces AC220V alternating current, and is matched with 35W/12V 3A switching power supply 9-9, 350W/24V 14.6A switching power supply 9-10, connecting terminals 9-7 and the like, the former power supply (35W/12V 3A switching power supply 9-9) mainly supplies power for a sensor and the like, the latter power supply (350W/24V 14.6A switching power supply 9-10) mainly supplies power for a Siemens S7-1200 controller 9-8, an air compressor 9-6, two solenoid valves (4V 210-08 solenoid valve 9-4 and 4V310-10 solenoid valve 9-5), and the connecting terminals 9-7 provide a plurality of power supply input ends, wherein the air compressor 9-6, the 4V210-08 solenoid valve 9-4, the 4V310-10 solenoid valve 9-5 and auxiliary equipment jointly form a pneumatic circuit of the traditional Chinese medicine grabbing mechanism 2, a certain amount of heat can be generated when electronic elements work, so as to avoid element damage caused by overhigh heat, the electric boxes 4 are arranged at the front ends and the rear ends of the boxes are respectively provided with a plurality of shutters, and the left and right end fans are arranged to finish heat dissipation operation by 3-3 heat dissipation fans.
FIGS. 10 and 11 show the appearance of the entire automatic vision-based traditional Chinese medicine gripping device of the present embodiment, which includes a device right panel 10-1, a control panel dust cover 10-2, a heavy universal wheel 10-3, a device front panel 10-4, a device top panel 11-1, a device left panel 11-2, and a device rear panel 11-3; as a precise electromechanical product, the panels of the device can play a role in protecting water and dust.
Wherein, the front panel 10-4 of the device should leave the working space of the intelligent Chinese medicinal material storing and taking cabinet 5 and the Chinese medicinal material grabbing mechanism 2; the rear panel 11-3 of the device should leave the working space of the Chinese medicinal material grabbing mechanism 2 and the electric box 4; the right panel 10-1 of the device is provided with a working space of the traditional Chinese medicine grabbing mechanism 2, an installation space of the dust cover 10-2 of the control panel and a medicine taking port; the control panel dust cover 10-2 is arranged on the right panel 10-1 of the device; the left panel 11-2 of the device is provided with a working space and a medicine supplementing opening of the Chinese medicinal material grabbing mechanism 2; the device top panel 11-1 secures the other four panels. And four corners of the bottom of the device are provided with heavy universal wheels 10-3, so that the device can be conveniently moved.
Claims (4)
1. The utility model provides an automatic traditional chinese medicine grabbing device based on vision, includes the frame, its characterized in that snatchs mechanism (2), electric box (4), chinese-medicinal material intelligence access cabinet (5), mechanical type traditional chinese medicine conveyer belt (6), control system at inside high-pressure cleaning device (1), the traditional chinese medicine that is provided with of frame, wherein:
the traditional Chinese medicine intelligent storage cabinet (5) is used for storing traditional Chinese medicines; the intelligent Chinese medicinal material storage cabinet adopts a 3 x 4 spatial layout, each layer can store 12 Chinese medicaments, and is divided into an upper layer and a lower layer according to the shape of the Chinese medicinal materials, and the spatial layout can be expanded by a certain amount according to the actual situation;
the Chinese medicinal material grabbing mechanism (2) is used for grabbing the required medicine and medicinal materials thereof; the traditional Chinese medicine grabbing device comprises a traditional Chinese medicine grabbing mechanical arm (3) and a moving sub-mechanism which are arranged on a traditional Chinese medicine grabbing mechanism (2), wherein an industrial camera and a camera module are arranged on the traditional Chinese medicine grabbing mechanical arm (3), and a controller of a control panel confirms required medicines and medicine grabbing amount thereof grabbed by the traditional Chinese medicine grabbing mechanical arm (3) each time; wherein:
the upper traditional Chinese medicine material grabbing manipulator (3) is designed into four claws and used for grabbing granular and spherical traditional Chinese medicine materials, spiral transmission is adopted, a stepping motor transmits torque to a screw rod through a coupler, a controller of a control panel automatically sets a stroke according to the grabbing amount, and the stroke is converted into the motor revolution number to start working;
the traditional Chinese medicine grabbing mechanical arm (3) on the lower layer is also designed into four claws and is used for grabbing strip-shaped and filiform medicinal materials, electric transmission is adopted, an electric push rod directly controls the medicine grabbing supporting platform to lift, and grabbing work is completed by matching with a small linear guide rail;
the mechanical traditional Chinese medicine conveying belt (6) is used for conveying the traditional Chinese medicine after the traditional Chinese medicine grabbing mechanical arm (3) works; a motor is adopted as a power source; after the traditional Chinese medicine grabbing mechanical arm (3) finishes traditional Chinese medicine grabbing work, the mechanical traditional Chinese medicine conveying belt (6) transfers the medicine box to the medicine taking opening, and a buzzer of a control panel (7) of the control system reminds workers of taking medicines;
the high-pressure cleaning device (1) is used for cleaning the residual medicine slag at the medicine taking opening; the device comprises a stepping motor, a coupler, a miniature bearing, a mechanical arm, a main shaft, a stepping motor controller, an airflow nozzle and a pneumatic quick connector;
the control system consists of a control panel (7) and an electric box (4), wherein the control panel (7) is a whole robot-computer interaction interface, and different instructions are given to workers according to instructions of the controller so as to remind the workers to perform next operation on the machine; when a certain mechanism breaks down, the screen feeds back the fault position to the working personnel in time so as to facilitate the maintenance of maintenance personnel;
the electric box (4) is used for providing basic support for the control panel (7), and all electronic elements required by devices are integrated in the electric box (4) and comprise an air switch, a cooling fan, a 4V210-08 electromagnetic valve, a 4V310-10 electromagnetic valve, an air compressor, a wiring terminal, a Siemens S7-1200 controller, a 35W/12V 3A switching power supply and a 350W/24V 14.6A switching power supply.
2. The vision-based automated chinese medicine gripping device of claim 1, wherein the moving sub-mechanism is divided into three moving sub-mechanisms, which are an X-direction sub-mechanism, a Y-direction sub-mechanism, and a Z-direction sub-mechanism.
3. The vision-based automatic traditional Chinese medicine grabbing device as claimed in claim 1, wherein each part adopted by said intelligent traditional Chinese medicine storage and taking cabinet (5) comprises: the device comprises a T-shaped shaft support, a positioning optical shaft, a low-center-height supporting guide rail, a supporting bottom plate, a square flange linear bearing, a medicine box, a first section bar, a supporting bottom plate fixing frame, a section bar corner connector, a medicine box top plate fixing piece and a medicine box top plate supporting frame.
4. The vision-based automated traditional Chinese medicine gripping device according to claim 1, wherein the mechanical traditional Chinese medicine material conveyer belt (6) comprises the following parts: spacing sensor, spacing sensor support, baffle mount, motor flange support, motor, medicine box, conveyer belt.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202210949208.2A CN115366076A (en) | 2022-08-09 | 2022-08-09 | Automatic traditional chinese medicine grabbing device based on vision |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210949208.2A CN115366076A (en) | 2022-08-09 | 2022-08-09 | Automatic traditional chinese medicine grabbing device based on vision |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117657655A (en) * | 2023-12-19 | 2024-03-08 | 南京埃伯顿自动化设备有限公司 | Sorting system of wisdom traditional chinese medicine pharmacy |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117657655A (en) * | 2023-12-19 | 2024-03-08 | 南京埃伯顿自动化设备有限公司 | Sorting system of wisdom traditional chinese medicine pharmacy |
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