CN116985148B - Method and device for placing medicine in manipulator back to medicine tray - Google Patents
Method and device for placing medicine in manipulator back to medicine tray Download PDFInfo
- Publication number
- CN116985148B CN116985148B CN202311258426.2A CN202311258426A CN116985148B CN 116985148 B CN116985148 B CN 116985148B CN 202311258426 A CN202311258426 A CN 202311258426A CN 116985148 B CN116985148 B CN 116985148B
- Authority
- CN
- China
- Prior art keywords
- medicine
- num
- manipulator
- numbers
- medicines
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 239000003814 drug Substances 0.000 title claims abstract description 184
- 238000000034 method Methods 0.000 title claims abstract description 27
- 229940079593 drug Drugs 0.000 claims abstract description 58
- 238000002347 injection Methods 0.000 claims description 8
- 239000007924 injection Substances 0.000 claims description 8
- 239000000758 substrate Substances 0.000 claims 1
- 230000004048 modification Effects 0.000 description 4
- 238000012986 modification Methods 0.000 description 4
- 210000000078 claw Anatomy 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000004891 communication Methods 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
Abstract
The invention discloses a method and a device for placing medicines in a manipulator back to a medicine tray, wherein the method comprises the following steps: receiving an instruction of returning the medicine in the mechanical arm to the medicine tray, wherein at least one clamping jaw in the mechanical arm is used for clamping the medicine; processing all of the 1 st to the M th rows, the processing comprising: when no medicine exists in the manipulator, the treatment is finished; then, judging whether column numbers Start and End meeting the conditions exist in the row, wherein the conditions are as follows: end-start+1=num, and there is a medicine in one storage place between Start and End, and if there is medicine in P storage place, the gripper numbered P-start+1 has no medicine in grip; when the column numbers Start and End meeting the conditions exist, the mechanical arm is controlled to align with the Start to End storage positions in the row, and medicines are placed in the corresponding storage positions. Thereby allowing for a more continuous placement of the drug in the tray when the drug is returned to the tray.
Description
Technical Field
The invention relates to the technical field of medicine storage, in particular to a method and a device for placing medicines in a mechanical arm back to a medicine tray.
Background
In a medicine container of a hospital, a medicine cabinet is generally provided, and in the medicine cabinet, medicine is generally stored by using medicine trays, as shown in fig. 1, the medicine trays are generally divided into storage positions of M rows and N columns, and each storage position can store one medicine. Generally, a manipulator is used to grasp a medicine from a medicine tray, as shown in fig. 2, where Num gripping claws 11 are arranged in a row, and each gripping claw 11 can grasp a medicine under the driving of a driving device 12, it is understood that the manipulator can align with Num continuous storage positions in a certain row, can grasp the medicine from the Num storage positions, and can also put the medicine into the Num storage positions.
In practical use, the medicine in the medicine tray is initially stored continuously (for example, all the storage positions store one medicine), and after a period of time, the medicine is stored discontinuously, for example, in a certain row, the 3 rd column, the 5 th column and the 8 th column of storage positions store no medicine, and the rest columns of storage positions store medicines, so that it is understood that the discontinuous medicine storage is very unfavorable for the subsequent medicine taking. After the medicine is taken by using the mechanical arm, medicines which are possibly grasped by some clamping jaws need to be put back into the medicine tray, so that the medicine in the medicine tray can be stored continuously in the process of putting the medicines back into the medicine tray, and the medicine is very convenient to take later.
Disclosure of Invention
Accordingly, a primary object of the present invention is to provide a method and apparatus for returning medicine in a manipulator to a medicine tray.
In order to achieve the above purpose, the technical scheme of the invention is realized as follows: a method for placing medicines in a mechanical arm back to a medicine tray, wherein the medicine tray is divided into M rows and N columns of storage positions, one medicine can be stored in the storage positions, and the numbers of the M rows are sequentially 1 to M from one end of the M rows to the other end of the M rows; the serial numbers of the N columns are sequentially 1 to N from one end to the other end of the N columns; the manipulator is provided with a plurality of clamping jaws which are arranged in a row, the clamping jaws can grasp a medicine, and in the manipulator, the numbers of the clamping jaws are sequentially 1 to Num from the head to the tail; in the same row, the distance between the center lines of the storage positions of adjacent columns is equal to the distance between the center lines of adjacent clamping jaws; wherein M, N and Num are both natural numbers, and Num < M; the method comprises the following steps: receiving an instruction of returning the medicine in the manipulator to the medicine tray, wherein at least one clamping jaw in the manipulator clamps the medicine; processing all of the 1 st to the M th rows, the processing comprising: when no medicine exists in the manipulator, ending the processing; then, judging whether the column number Start and the column number End meeting the conditions exist in the row, wherein the conditions are as follows: 1.ltoreq.Start.ltoreq.end.ltoreq.N, end-Start+1=num, at least one target column number is present, start.ltoreq.target column number.ltoreq.end, a storage position corresponding to the target column number stores medicines, and if a storage position of any column number P stores medicines, a clamping jaw numbered P-Start+1 does not grasp medicines, wherein Start.ltoreq.P.ltoreq.end; when the column numbers Start and End meeting the conditions exist, the manipulator is controlled to align with the rows, num clamping jaws numbered 1 to Num are respectively aligned with Num storage positions from the column numbers Start to End one by one, and then medicines in the manipulator are placed in the corresponding storage positions.
As a modification of the embodiment of the present invention, num=4.
As an improvement of the embodiment of the invention, the method further comprises the following steps: after the treatment is carried out on the 1 st row to the M th row, if medicines are in the manipulator, and when Num continuous empty storage positions exist in the R rows, the manipulator is controlled to be aligned with the R rows, num clamping jaws with the numbers of 1 to Num are respectively aligned with N empty storage positions in the column number one by one, and then the medicines in the manipulator are placed in the corresponding storage positions, wherein R is a natural number, and R is more than or equal to 1 and less than or equal to M.
As an improvement of the embodiment of the present invention, the processing of all the 1 st line to the M line specifically includes: all of the 1 st to M th rows are processed in the order in which the row numbers are increased.
As an improvement of the embodiment of the invention, the medicine is injection.
The embodiment of the invention also provides a device for placing the medicines in the mechanical arm back to the medicine tray, wherein the medicine tray is divided into M rows and N columns of storage positions, the storage positions can store one medicine, and the serial numbers of the M rows are sequentially 1 to M from one end of the M rows to the other end of the M rows; the serial numbers of the N columns are sequentially 1 to N from one end to the other end of the N columns; the manipulator is provided with a plurality of clamping jaws which are arranged in a row, the clamping jaws can grasp a medicine, and in the manipulator, the numbers of the clamping jaws are sequentially 1 to Num from the head to the tail; in the same row, the distance between the center lines of the storage positions of adjacent columns is equal to the distance between the center lines of adjacent clamping jaws; wherein M, N and Num are both natural numbers, and Num < M; the method comprises the following modules: the command receiving module is used for receiving a command of returning the medicines in the manipulator to the medicine tray, and at least one clamping jaw in the manipulator is used for clamping the medicines; a first processing module, configured to process all of the 1 st line to the M-th line, where the processing includes: when no medicine exists in the manipulator, ending the processing; then, judging whether the column number Start and the column number End meeting the conditions exist in the row, wherein the conditions are as follows: 1.ltoreq.Start.ltoreq.end.ltoreq.N, end-Start+1=num, at least one target column number is present, start.ltoreq.target column number.ltoreq.end, a storage position corresponding to the target column number stores medicines, and if a storage position of any column number P stores medicines, a clamping jaw numbered P-Start+1 does not grasp medicines, wherein Start.ltoreq.P.ltoreq.end; when the column numbers Start and End meeting the conditions exist, the manipulator is controlled to align with the rows, num clamping jaws numbered 1 to Num are respectively aligned with Num storage positions from the column numbers Start to End one by one, and then medicines in the manipulator are placed in the corresponding storage positions.
As a modification of the embodiment of the present invention, num=4.
As an improvement of the embodiment of the invention, the device further comprises the following modules: and the second processing module is used for controlling the manipulator to align with the R row after the processing is carried out on the 1 st row to the M th row, and respectively aligning Num clamping jaws numbered 1 to Num with N empty storage positions one by one when Num continuous empty storage positions exist in the R row, and then placing the medicine in the manipulator into the corresponding storage positions, wherein R is a natural number, and R is more than or equal to 1 and less than or equal to M.
As an improvement of the embodiment of the present invention, the first processing module is further configured to: all of the 1 st to M th rows are processed in the order in which the row numbers are increased.
As an improvement of the embodiment of the invention, the medicine is injection.
The method and the device for placing the medicines in the manipulator back to the medicine tray provided by the embodiment of the invention have the following advantages: the embodiment of the invention discloses a method and a device for placing medicines in a manipulator back to a medicine tray, wherein the method comprises the following steps: receiving an instruction of returning the medicine in the mechanical arm to the medicine tray, wherein at least one clamping jaw in the mechanical arm is used for clamping the medicine; processing all of the 1 st to the M th rows, the processing comprising: when no medicine exists in the manipulator, the treatment is finished; then, judging whether column numbers Start and End meeting the conditions exist in the row, wherein the conditions are as follows: end-start+1=num, and there is a medicine in one storage place between Start and End, and if there is medicine in P storage place, the gripper numbered P-start+1 has no medicine in grip; when the column numbers Start and End meeting the conditions exist, the mechanical arm is controlled to align with the Start to End storage positions in the row, and medicines are placed in the corresponding storage positions. Thereby allowing the medicine in the tray to be more continuous when the medicine is put back into the tray.
Drawings
FIG. 1 is a diagram of a tray according to an embodiment of the present invention;
FIG. 2 is a block diagram of a manipulator according to an embodiment of the present invention;
fig. 3 is a flow chart of a method for replacing medicines in a manipulator with medicine trays according to an embodiment of the present invention.
Detailed Description
The present invention will be described in detail below with reference to embodiments shown in the drawings. The embodiment is not intended to limit the present invention, and structural, methodological, or functional modifications of the invention according to the embodiment are included in the scope of the invention.
The following description and the drawings sufficiently illustrate specific embodiments herein to enable those skilled in the art to practice them. Portions and features of some embodiments may be included in, or substituted for, those of others. The scope of the embodiments herein includes the full scope of the claims, as well as all available equivalents of the claims. The terms "first," "second," and the like herein are used merely to distinguish one element from another element and do not require or imply any actual relationship or order between the elements. Indeed the first element could also be termed a second element and vice versa. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a structure, apparatus, or device that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such structure, apparatus, or device. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a structure, apparatus or device comprising the element. Various embodiments are described herein in a progressive manner, each embodiment focusing on differences from other embodiments, and identical and similar parts between the various embodiments are sufficient to be seen with each other.
The terms "longitudinal," "transverse," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like herein refer to an orientation or positional relationship based on that shown in the drawings, merely for convenience of description herein and to simplify the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operate in a particular orientation, and thus are not to be construed as limiting the invention. In the description herein, unless otherwise specified and limited, the terms "mounted," "connected," and "coupled" are to be construed broadly, and may be, for example, mechanically or electrically coupled, may be in communication with each other within two elements, may be directly coupled, or may be indirectly coupled through an intermediary, as would be apparent to one of ordinary skill in the art.
The first embodiment of the invention provides a method for placing medicines in a manipulator back to a medicine tray, as shown in fig. 1, the medicine tray is divided into storage positions of M rows and N columns, the storage positions can store one medicine, and the numbers of the M rows are sequentially 1 to M from one end of the M rows to the other end of the M rows; the serial numbers of the N columns are sequentially 1 to N from one end to the other end of the N columns; a plurality of clamping jaws 11 which are arranged in a row are arranged in the manipulator, the clamping jaws 11 can grasp a medicine, and in the manipulator, the numbers of the clamping jaws 11 are sequentially 1 to Num from the head to the tail; in the same row, the distance between the centerlines of the storage locations of adjacent columns is equal to the distance between the centerlines of adjacent jaws 11; wherein M, N and Num are both natural numbers, and Num < M; in fig. 1, each of the tiles is a storage location, and a medicine can be stored on one storage location, and the medicine can be a box medicine or an injection. Here, the robot arm can align Num consecutive storage locations in any row and then grasp a medicine from the Num storage locations, and of course, if a storage location is empty (i.e., no medicine is stored), it cannot grasp a medicine from the storage location.
Here, as shown in fig. 2, in the same row, the distance between the centerlines of the storage positions of adjacent columns is equal to the distance between the centerlines of the adjacent jaws 11, so that Num jaws 11 can grasp medicine from Num consecutive storage positions.
In fig. 1, each of the tiles is a storage location, and a medicine can be stored on one storage location, and the medicine can be a box medicine or an injection. As shown in fig. 2, the manipulator is provided with a driving device 12 and clamping jaws 11, wherein the driving device 12 can drive each clamping jaw 11 to grasp one medicine and can control each clamping jaw to release the next medicine.
As shown in fig. 1, in the same row, the distance between storage positions of adjacent columns is D2 (i.e., the distance between the center points of the storage positions of adjacent columns is D2. as shown in fig. 2), the distance between adjacent clamping jaws 11 is D1 (i.e., the distance between the center lines of adjacent clamping jaws 11 is D1), d1=d2, that is, num clamping jaws 11 of the manipulator can be aligned with Num storage positions in the same row at the same time, and one medicine (if a medicine is stored in the storage position) can be grasped from each aligned storage position.
As shown in fig. 3, the method comprises the following steps:
step 301: an instruction to return the medicine in the manipulator to the medicine tray is received, and at least one clamping jaw 11 in the manipulator is used for clamping the medicine. Here, a sensor may be provided in each of the jaws 11, by which it may be determined whether or not the jaw 11 grips a medicine.
Step 302: processing all of the 1 st to the M th rows, the processing comprising: when no medicine exists in the manipulator, ending the processing; then, judging whether the column number Start and the column number End meeting the conditions exist in the row, wherein the conditions are as follows: 1.ltoreq.Start.ltoreq.end.ltoreq.N, end-Start+1=num, at least one target column number is present, start.ltoreq.target column number.ltoreq.end, a storage position corresponding to the target column number stores medicines, and if a storage position of any column number P stores medicines, a clamping jaw 11 with the number of P-Start+1 does not grasp medicines, wherein Start.ltoreq.P.ltoreq.end; when the column numbers Start and End meeting the conditions exist, the manipulator is controlled to align the rows, num clamping jaws 11 numbered 1 to Num are aligned to Num storage positions from the column numbers Start to End one by one respectively, and then medicines in the manipulator are placed in the corresponding storage positions.
Here, column numbers Start and End satisfying the requirements are found in each row in turn: (1) 1.ltoreq.Start.ltoreq.End.ltoreq.N; (2) End-start+1=num, i.e. from the beginning of the column number Start to the End of the column number End, there are a total of Num storage bits; (3) At least one target column number is present, the Start is less than or equal to the target column number and less than or equal to End, medicines are stored in storage positions corresponding to the target column number, and Num storage positions between the Start and the End cannot be all empty; (4) If the medicine is stored in the storage position with any row number P, the clamping jaw 11 with the number P-Start+1 does not grasp the medicine, wherein, the Start is less than or equal to P and less than or equal to End; therefore, when the medicine in the storage position between the Start and End is grasped between the Start and End, no collision occurs. For example, the number of the clamping jaws is 4, when medicines are contained in the clamping jaws 11 with the numbers 1 and 3, in a certain row, the storage position of the 4 th column is empty, medicines are contained in the storage position of the 5 th column, the storage position of the 6 th column is empty, and medicines are contained in the storage position of the 7 th column, and then the clamping jaws 11 with the numbers 1, 2, 3 and 4 are aligned with the storage positions of the 4 th column, the 5 th column, the 6 th column and the 7 th column in the row respectively.
In this embodiment, num=4.
In this embodiment, the method further includes the following steps: after the above-mentioned treatment is carried out on all the 1 st row to the M th row, if medicines are in the manipulator, and when Num continuous empty storage positions exist in the R rows, the manipulator is controlled to be aligned with the R rows, num clamping jaws 11 with the numbers of 1 to Num are respectively aligned with N empty storage positions one by one, and then medicines in the manipulator are placed in the corresponding storage positions, wherein R is a natural number, and R is more than or equal to 1 and less than or equal to M. After the above-described processing is performed on all of the 1 st to M th rows, if there is a medicine in the robot, it is indicated that the processing of returning the medicine is not successful, and thus, a row having Num consecutive empty storage positions in the row and returning the medicine in the robot to the Num consecutive empty storage positions can be found.
In this embodiment, the processing the 1 st line to the M-th line specifically includes: all of the 1 st to M th rows are processed in the order in which the row numbers are increased.
In this embodiment, the medicine is an injection.
The second embodiment of the invention provides a device for placing medicines in a mechanical arm back to a medicine tray, wherein the medicine tray is divided into M rows and N columns of storage positions, the storage positions can store one medicine, and the serial numbers of the M rows are sequentially 1 to M from one end of the M rows to the other end of the M rows; the serial numbers of the N columns are sequentially 1 to N from one end to the other end of the N columns; a plurality of clamping jaws 11 which are arranged in a row are arranged in the manipulator, the clamping jaws 11 can grasp a medicine, and in the manipulator, the numbers of the clamping jaws 11 are sequentially 1 to Num from the head to the tail; in the same row, the distance between the centerlines of the storage locations of adjacent columns is equal to the distance between the centerlines of adjacent jaws 11; wherein M, N and Num are both natural numbers, and Num < M; the method comprises the following modules:
and the command receiving module is used for receiving a command for returning the medicine in the manipulator to the medicine tray, and at least one clamping jaw 11 in the manipulator is used for clamping the medicine.
A first processing module, configured to process all of the 1 st line to the M-th line, where the processing includes: when no medicine exists in the manipulator, ending the processing; then, judging whether the column number Start and the column number End meeting the conditions exist in the row, wherein the conditions are as follows: 1.ltoreq.Start.ltoreq.end.ltoreq.N, end-Start+1=num, at least one target column number is present, start.ltoreq.target column number.ltoreq.end, a storage position corresponding to the target column number stores medicines, and if a storage position of any column number P stores medicines, a clamping jaw 11 with the number of P-Start+1 does not grasp medicines, wherein Start.ltoreq.P.ltoreq.end; when the column numbers Start and End meeting the conditions exist, the manipulator is controlled to align the rows, num clamping jaws 11 numbered 1 to Num are aligned to Num storage positions from the column numbers Start to End one by one respectively, and then medicines in the manipulator are placed in the corresponding storage positions.
In this embodiment, num=4.
In this embodiment, the method further includes the following modules: and the second processing module is used for controlling the manipulator to align with the R row after the processing is carried out on the 1 st row to the M th row, and respectively aligning Num clamping jaws 11 with the numbers of 1 to Num with N empty storage positions one by one when Num continuous empty storage positions exist in the R row, and then placing the medicine in the manipulator into the corresponding storage positions, wherein R is a natural number, and R is more than or equal to 1 and less than or equal to M.
In this embodiment, the first processing module is further configured to: all of the 1 st to M th rows are processed in the order in which the row numbers are increased.
In this embodiment, the medicine is an injection.
It should be understood that although the present disclosure describes embodiments, not every embodiment is provided with a separate embodiment, and that this description is for clarity only, and that the skilled artisan should recognize that the embodiments may be combined as appropriate to form other embodiments that will be understood by those skilled in the art.
The above list of detailed descriptions is only specific to practical embodiments of the present invention, and they are not intended to limit the scope of the present invention, and all equivalent embodiments or modifications that do not depart from the spirit of the present invention should be included in the scope of the present invention.
Claims (8)
1. A method for placing medicines in a mechanical arm back to a medicine tray, wherein the medicine tray is divided into M rows and N columns of storage positions, one medicine can be stored in the storage positions, and the numbers of the M rows are sequentially 1 to M from one end of the M rows to the other end of the M rows; the serial numbers of the N columns are sequentially 1 to N from one end to the other end of the N columns; the manipulator is provided with a plurality of clamping jaws (11) which are arranged in a row, the clamping jaws (11) can grasp a medicine, and in the manipulator, the numbers of the clamping jaws (11) are sequentially 1 to Num from the head to the tail; in the same row, the distance between the centerlines of the storage positions of adjacent columns is equal to the distance between the centerlines of adjacent clamping jaws (11); wherein M, N and Num are both natural numbers, and Num < M; the method is characterized by comprising the following steps of:
receiving an instruction of returning the medicine in the manipulator to the medicine tray, wherein at least one clamping jaw (11) in the manipulator clamps the medicine;
processing all of the 1 st to the M-th rows in order of increasing row numbers, the processing comprising: when no medicine exists in the manipulator, ending the processing; then, judging whether the column number Start and the column number End meeting the conditions exist in the row, wherein the conditions are as follows: 1.ltoreq.Start.ltoreq.end.ltoreq.N, end-Start+1=num, at least one target column number is present, start.ltoreq.target column number.ltoreq.end, a storage position corresponding to the target column number stores medicines, and if a storage position of any column number P stores medicines, a clamping jaw (11) with the number of P-Start+1 does not grasp medicines, wherein Start.ltoreq.P.ltoreq.end; when the column numbers Start and End meeting the conditions exist, the manipulator is controlled to align the rows, num clamping jaws (11) with the numbers 1 to Num are respectively aligned with Num storage positions from the column numbers Start to End one by one, and then medicines in the manipulator are placed in the corresponding storage positions.
2. The method according to claim 1, characterized in that:
Num=4。
3. the method of claim 1, further comprising the step of:
after the treatment is carried out on the 1 st row to the M th row, if medicines are in the manipulator, and when Num continuous empty storage positions exist in the R rows, the manipulator is controlled to be aligned with the R rows, num clamping jaws (11) with the numbers of 1 to Num are respectively aligned with the column numbers of Num one by one, and then medicines in the manipulator are placed in the corresponding storage positions, wherein R is a natural number, and R is more than or equal to 1 and less than or equal to M.
4. The method of claim 1, wherein the step of determining the position of the substrate comprises,
the medicine is injection.
5. A device for placing medicines in a mechanical arm back to a medicine tray, wherein the medicine tray is divided into M rows and N columns of storage positions, one medicine can be stored in the storage positions, and the numbers of the M rows are sequentially 1 to M from one end of the M rows to the other end of the M rows; the serial numbers of the N columns are sequentially 1 to N from one end to the other end of the N columns; the manipulator is provided with a plurality of clamping jaws (11) which are arranged in a row, the clamping jaws (11) can grasp a medicine, and in the manipulator, the numbers of the clamping jaws (11) are sequentially 1 to Num from the head to the tail; in the same row, the distance between the centerlines of the storage positions of adjacent columns is equal to the distance between the centerlines of adjacent clamping jaws (11); wherein M, N and Num are both natural numbers, and Num < M; the device is characterized by comprising the following modules:
the instruction receiving module is used for receiving an instruction of returning the medicines in the manipulator to the medicine tray, and at least one clamping jaw (11) in the manipulator is used for clamping the medicines;
the first processing module is used for processing the 1 st line to the M th line according to the increasing sequence of the line numbers, and the processing comprises the following steps: when no medicine exists in the manipulator, ending the processing; then, judging whether the column number Start and the column number End meeting the conditions exist in the row, wherein the conditions are as follows: 1.ltoreq.Start.ltoreq.end.ltoreq.N, end-Start+1=num, at least one target column number is present, start.ltoreq.target column number.ltoreq.end, a storage position corresponding to the target column number stores medicines, and if a storage position of any column number P stores medicines, a clamping jaw (11) with the number of P-Start+1 does not grasp medicines, wherein Start.ltoreq.P.ltoreq.end; when the column numbers Start and End meeting the conditions exist, the manipulator is controlled to align the rows, num clamping jaws (11) with the numbers 1 to Num are respectively aligned with Num storage positions from the column numbers Start to End one by one, and then medicines in the manipulator are placed in the corresponding storage positions.
6. The apparatus according to claim 5, wherein:
Num=4。
7. the apparatus of claim 5, further comprising the following modules:
and the second processing module is used for controlling the manipulator to align with the R rows after the processing is carried out on the 1 st row to the M th row, and respectively aligning Num clamping jaws (11) with the numbers of 1 to Num with the column numbers of Num in the empty storage positions one by one if medicines are in the manipulator and Num continuous empty storage positions exist in the R rows, and then placing the medicines in the manipulator into the corresponding storage positions, wherein R is a natural number, and R is more than or equal to 1 and less than or equal to M.
8. The apparatus according to claim 5, wherein:
the medicine is injection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311258426.2A CN116985148B (en) | 2023-09-27 | 2023-09-27 | Method and device for placing medicine in manipulator back to medicine tray |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311258426.2A CN116985148B (en) | 2023-09-27 | 2023-09-27 | Method and device for placing medicine in manipulator back to medicine tray |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN116985148A CN116985148A (en) | 2023-11-03 |
| CN116985148B true CN116985148B (en) | 2023-12-15 |
Family
ID=88525245
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311258426.2A Active CN116985148B (en) | 2023-09-27 | 2023-09-27 | Method and device for placing medicine in manipulator back to medicine tray |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116985148B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS56127201A (en) * | 1980-03-10 | 1981-10-05 | Sanyo Denki Seisakusho:Kk | Centralized control system of mobile electric machinery |
| CN1950261A (en) * | 2004-02-27 | 2007-04-18 | 斯坦达德克纳普公司 | Packaging machine |
| CN101058182A (en) * | 2007-05-11 | 2007-10-24 | 苏州艾隆科技有限公司 | Method for regularly placing box packed medicine |
| CN114229495A (en) * | 2021-11-26 | 2022-03-25 | 河南省机械设计研究院有限公司 | Stacking clamping mechanism, sintered brick stacking production line and stacking process |
| CN115546618A (en) * | 2022-10-14 | 2022-12-30 | 苏州艾隆科技股份有限公司 | Injection medicine taking method and device of medicine taking device |
| CN115571536A (en) * | 2022-10-14 | 2023-01-06 | 苏州艾隆科技股份有限公司 | Injection medicine taking method and device for medicine taking device, and control method and device for injection medicine taking device |
-
2023
- 2023-09-27 CN CN202311258426.2A patent/CN116985148B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS56127201A (en) * | 1980-03-10 | 1981-10-05 | Sanyo Denki Seisakusho:Kk | Centralized control system of mobile electric machinery |
| CN1950261A (en) * | 2004-02-27 | 2007-04-18 | 斯坦达德克纳普公司 | Packaging machine |
| CN101058182A (en) * | 2007-05-11 | 2007-10-24 | 苏州艾隆科技有限公司 | Method for regularly placing box packed medicine |
| CN114229495A (en) * | 2021-11-26 | 2022-03-25 | 河南省机械设计研究院有限公司 | Stacking clamping mechanism, sintered brick stacking production line and stacking process |
| CN115546618A (en) * | 2022-10-14 | 2022-12-30 | 苏州艾隆科技股份有限公司 | Injection medicine taking method and device of medicine taking device |
| CN115571536A (en) * | 2022-10-14 | 2023-01-06 | 苏州艾隆科技股份有限公司 | Injection medicine taking method and device for medicine taking device, and control method and device for injection medicine taking device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN116985148A (en) | 2023-11-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111392305B (en) | Medicine storage for storing injection | |
| CN115546618A (en) | Injection medicine taking method and device of medicine taking device | |
| US8360945B2 (en) | Automatic tool storing mechanism | |
| CN105858192A (en) | Box taking and placing mechanical arm | |
| CN110104358A (en) | Stereoscopic warehouse entry and exit control method, device and system | |
| US9492903B2 (en) | Automatic tool storing mechanism | |
| CN116985148B (en) | Method and device for placing medicine in manipulator back to medicine tray | |
| US20190250181A1 (en) | Method for receiving a sample vessel from a sample carrier, and device designed to carry out the method | |
| EP2295353A1 (en) | Method and apparatus for picking up and carrying preforms from bulk transport | |
| CN115571536A (en) | Injection medicine taking method and device for medicine taking device, and control method and device for injection medicine taking device | |
| CN111439519B (en) | Medicine taking method and device for medicine library, terminal and storage medium | |
| CN117047788B (en) | Method and device for taking medicine from medicine tray by mechanical arm | |
| CN113895848A (en) | Automatic medicine feeding device and method and warehouse-delivery integrated pharmacy with same | |
| CN117124329A (en) | Method and device for taking medicine from medicine tray by mechanical arm | |
| CN114772146B (en) | Low-temperature sample library system and control method thereof | |
| US20210386077A1 (en) | Transshipment device for dough pieces | |
| CN104443497B (en) | A kind of array integrated automatic tray filler and its disc filling method | |
| CN117284687B (en) | Dosing method and device for dispensing equipment | |
| HUE030804T2 (en) | Device for handling packets of medicine | |
| KR102184299B1 (en) | Bottle packaging system having bottle supply apparatus | |
| JP2020085760A (en) | Picking support device and picking system | |
| KR100796301B1 (en) | Robot hand and transferring method using the same | |
| KR20190030158A (en) | Bottle packaging system having alignment robot | |
| CN108723758A (en) | Make nut machine | |
| CN218317616U (en) | Culture dish input/output device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |