CN206288669U - A kind of manipulator is precisely got it filled bottle - Google Patents
A kind of manipulator is precisely got it filled bottle Download PDFInfo
- Publication number
- CN206288669U CN206288669U CN201620673393.7U CN201620673393U CN206288669U CN 206288669 U CN206288669 U CN 206288669U CN 201620673393 U CN201620673393 U CN 201620673393U CN 206288669 U CN206288669 U CN 206288669U
- Authority
- CN
- China
- Prior art keywords
- manipulator
- drawer
- drive
- medicine
- precisely
- 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
Abstract
Precisely got it filled bottle the utility model discloses a kind of manipulator, including manipulator, manipulator displacement drive mechanism and be placed with the drawer type multilayer medicine frame medicine storage cabinet of medicine bottle；Manipulator displacement drive mechanism includes horizontal drive mechanism and upright driving mechanism, and horizontal drive mechanism and upright driving mechanism drive manipulator to be moved along X-axis, Y-axis respectively.The utility model simple structure, using said structure, during crawl medicine bottle, the drawer of medicine storage cabinet is first opened, then manipulator moves down into required position in the driving of manipulator displacement drive mechanism, the FRID labels on medicine bottle are recognized by the FRID automatic identification sensors for setting, is captured after identification is accurate；After the completion of prescribe medicine, the placement position that manipulator accurately can be put back in drawer medicine bottle again on.
Description
Technical field
The utility model is related to medical production technical field, and especially a kind of manipulator is precisely got it filled bottle.
Background technology
At present, two aspects are mainly manifested in Chinese medicine granulating research both at home and abroad.One is Chinese medicine decoction made from powder, i.e., Chinese medicine is drunk
Piece is ground into the particle with certain particle size, to improve fried efficiency, increases curative effect, saving Chinese medicaments resource.Two is single or multiple
Square concentrated extract particle, i.e., with modern science and technology, with reference to other scientific achievements of processing, medicament, Phytochemistry and modern age, will be single
Taste Chinese medicine or traditional classical compound are directly extracted, are condensed into medicinal extract, are reprocessed into granule, are directly taken for patient.
Have been realized in standardizing and standardize for the production process of Chinese medicine, but for the terminal sale of Chinese medicine, especially
It is to follow the mode that scale was grabbed, weighed with a small steelyard to traditional hand in hospital and the process of making up a prescription of pharmacy, many hospitals and pharmacy according to doctor formula,
There is dispensing method backwardness, measure inaccurate, the defect such as inefficiency.
Made up a prescription to solve the problems, such as to grab by hand, the Chinese invention patent of Application No. 201510596956.7 is open
A kind of Chinese medicinal granule continuous metering blanking device and metering baiting method, wherein, continuous metering blanking device include workbench,
Storage bottle, Quantitative dosing lid, pulp-collecting box, electronic scale, guidance panel and the controller being fixed on storage bottle；And measure blanking side
Method is made up a prescription using the continuous metering blanking device, is fallen into again after being measured by the dip hatch of Quantitative dosing lid
Weight verification is carried out in pulp-collecting box, it can be found that error and solving, the weight accuracy of Quantitative dosing is improved.People in whole process
Hand need not contact medicine, safety and sanitation.But in actual applications, because the Chinese medicinal granule continuous metering blanking device is used alone
It is less efficient, it is impossible to meet the actual needs that make up a prescription, it is necessary to supporting related device ensures its Effec-tive Function, therefore, need badly and set
A kind of system that can be automatically made up a prescription according to prescriptions of traditional Chinese medicine of meter, the system need to include box under the stripping of medicine box, medicine box transmission, from
The dynamic device such as make up a prescription in medicine box, encapsulate, sending out.
The content of the invention
The purpose of this utility model is to overcome the shortcomings of above-mentioned prior art, there is provided a kind of simple structure, can be quickly steady
Fixed manipulator is precisely got it filled bottle.
To achieve these goals, the technical solution adopted in the utility model is：A kind of manipulator is precisely got it filled bottle,
It is characterized in that：Including manipulator, manipulator displacement drive mechanism and drawer type multilayer medicine frame medicine storage cabinet；Manipulator includes mechanical finger, opens
Drive mechanism, FRID automatic identification sensors are closed, support plate is installed and is fixed on the controller installed on support plate, opening and closing driving mechanism
Including drive shell, drive link, flat horizontal block and lead screw motor, the end of mechanical finger is arranged on drive shell by rotating shaft
On, the two ends of drive link are hinged with mechanical finger and balance weight respectively, and lead screw motor is fixed on installation support plate and screw mandrel
End be fixedly connected with flat horizontal block center, FRID automatic identification sensors be arranged on balance weight on；Manipulator displacement drive machine
Structure includes horizontal drive mechanism and upright driving mechanism, and horizontal drive mechanism and upright driving mechanism drive manipulator along X respectively
Axle, Y-axis movement；Drawer type multilayer medicine frame medicine storage cabinet includes cabinet, the row drawer on cabinet and drive device, and drive device can drive
Dynamic drawer is opened or closed, be uniformly arranged on drawer inner bottom plating Chinese medicinal granule holder placement position, be placed adjacent position it
Between be provided with locating dowel.
Further, the mechanical finger is provided with 4, and slipmat is provided with each mechanical finger finger tip；The machinery
Hand includes an anticollision sensor, and anticollision sensor is arranged on the balance weight FRID and positioned at automatic identification sensor one
Side.
Further, the bottom of each drawer is provided with medicinal powder disposable box.
Further, the drive device of the drawer type multilayer medicine frame medicine storage cabinet include servomotor and belt component, belt component by
Belt wheel, belt and the pushing block being fixedly mounted on belt are constituted, and pushing block is fixedly connected with the rear portion of the drawer.
Further, described each placement position is square, and a locating dowel is respectively provided with four angles.
The beneficial effects of the utility model are：Simple structure, using said structure, during crawl medicine bottle, the drawer of medicine storage cabinet
First open, then manipulator moves down into required position in the driving of manipulator displacement drive mechanism, it is automatic by the FRID for setting
FRID labels on identification sensor identification medicine bottle, are captured after identification is accurate；After the completion of prescribe medicine, manipulator again can be accurate
On the placement position that medicine bottle is put back in drawer.
In addition, by setting locating dowel, the spacing stabilization of Chinese medicinal granule holder can be placed on the placement position in drawer
On, swing etc. will not occur during the opening and closing of drawer, it is engaged with automatic manipulator when using, due to using special
With position and placement stabilization, the accurate crawl of manipulator can be realized.
Power drive, the fixed position that drawer is opened are used as using servomotor by the opening and closing of medicine storage cabinet drawer
It is more accurate, beneficial to the crawl of manipulator.By setting medicinal powder disposable box, the medicinal powder for being prevented from upper strata descends slowly and lightly to lower floor, causes
Pollution.
Finger fingertip is provided with slipmat, ensure that crawl is firm, prevent medicine bottle from being dropped during crawl.
Brief description of the drawings
The utility model is described in further detail below in conjunction with the accompanying drawings.
Fig. 1 is structural representation of the present utility model.
Fig. 2 is the structural representation of manipulator in the utility model.
Fig. 3 is the generalized section of manipulator in the utility model.
Fig. 4 is the structural representation of drawer type multilayer medicine frame medicine storage cabinet in the utility model.
Fig. 5 is that drawer type multilayer medicine frame medicine storage cabinet is locally placed with the view of Chinese medicinal granule holder in the utility model.
Fig. 6 is the structural representation of another angle of drawer type multilayer medicine frame medicine storage cabinet in the utility model.
Specific embodiment
The bottle as shown in figure 1, a kind of manipulator of the utility model is precisely got it filled, a kind of manipulator is precisely got it filled bottled
Put, including manipulator 1, manipulator displacement drive mechanism and drawer type multilayer medicine frame medicine storage cabinet 2.Manipulator displacement drive mechanism drives including level
Motivation structure 3 and upright driving mechanism 4, horizontal drive mechanism 3 and upright driving mechanism 4 drive manipulator to be moved along X-axis, Y-axis respectively
It is dynamic.
As Figure 2-3, above-mentioned manipulator 1 includes that mechanical finger 11, controller 12, opening and closing driving mechanism, FRID are automatic
Identification sensor 13 and installation support plate 14.Wherein, opening and closing driving mechanism includes drive shell 15, drive link 16, balance weight 17
With lead screw motor 18.The end of mechanical finger 11 is arranged in drive shell 15 by rotating shaft；The two ends difference of drive link 16
It is hinged with mechanical finger 11 and balance weight 17.Lead screw motor 18 and controller 12 are separately fixed at two peaces for installing support plate 14
On dress face, the screw mandrel end of lead screw motor 18 is fixedly connected with the center of balance weight 17, and FRID automatic identification sensors 13 are installed
On balance weight.During work, lead screw motor 18 is acted, and screw mandrel rotational band dynamic balance weight 17 is downward or moves down, by driving
The driving mechanical finger 11 of connecting rod 16 swings, and realizes the purpose of folding.
In the present embodiment, above-mentioned mechanical finger 11 is provided with 4.Slipmat is provided with the finger tip of each mechanical finger 11
111.Friction during enhancing crawl with medicine bottle, prevents medicine bottle from being dropped during crawl.
In order to avoid manipulator collides drawer in moving process, an anticollision sensor is additionally provided with a robotic arm
19, anticollision sensor 19 is arranged on balance weight 17 and positioned at the side of FRID automatic identification sensors 13.
As Figure 4-Figure 6, above-mentioned drawer type multilayer medicine frame medicine storage cabinet 2 includes cabinet 21, the row drawer 22 on cabinet and drives
Dynamic device；Drive device can drive drawer 22 to open or close, a set of drive device of each drawer correspondence.Specifically, the driving
Device includes motor 23 and belt component, and belt component is by belt wheel, belt 24 and the pushing block being fixedly mounted on belt
25 are constituted, and pushing block 25 is fixedly connected with the rear portion of drawer 21；Link position can be rear board or the bottom surface of drawer
Rearward end.In the present embodiment, motor can be servomotor.When using, rotated by servomotor drive belt 24, driven
Pushing block 25 is moved forward and backward, and realizes the opening and closing of drawer.
The placement position 26 of Chinese medicinal granule holder 20 is uniformly arranged on the inner bottom plating of above-mentioned drawer 22, position 26 is placed adjacent
Between be provided with locating dowel 27.Specifically, each places position 26 could be arranged to square, a locating dowel is respectively provided with four angles
27.It is of course also possible to according to actual conditions, such as the contour structures of Chinese medicinal granule holder 20, position will be placed and be arranged to other
Shape.
Further, it is provided with medicinal powder disposable box 28 in the bottom of each drawer 22.Because Chinese medicinal granule holder 20 is certainly
After dynamic prescribe medicine, may to go out also be stained with medicinal powder end in prescribe medicine mouth, accordingly, it would be desirable to pass through medicinal powder disposable box 28 be received to these powder
Collection, prevents them from dropping in the drawer of lower floor, pollutes.
Finally it should be noted that above content is only used to illustrate the technical solution of the utility model, rather than to this practicality
The limitation of novel protected scope, simple modification that one of ordinary skill in the art is carried out to the technical solution of the utility model or
Person's equivalent, all without departing from the spirit and scope of technical solutions of the utility model.
Claims (6)
1. a kind of manipulator is precisely got it filled bottle, it is characterised in that：Including manipulator, manipulator displacement drive mechanism and drawer
Formula medicine storage cabinet；
Manipulator includes mechanical finger, opening and closing driving mechanism, FRID automatic identification sensors, installation support plate and is fixed on installation branch
Controller on plate, opening and closing driving mechanism includes drive shell, drive link, flat horizontal block and lead screw motor, the end of mechanical finger
Portion is arranged in drive shell by rotating shaft, and the two ends of drive link are hinged with mechanical finger and balance weight respectively, screw mandrel electricity
Machine is fixed on installation support plate and the end of screw mandrel is fixedly connected with flat horizontal block center, and FRID automatic identification sensors are arranged on flat
On weighing apparatus block；
Manipulator displacement drive mechanism includes horizontal drive mechanism and upright driving mechanism, horizontal drive mechanism and vertical driving machine
Structure drives manipulator to be moved along X-axis, Y-axis respectively；
Drawer type multilayer medicine frame medicine storage cabinet includes cabinet, the row drawer on cabinet and drive device, and drive device can drive drawer
Open or close, the placement position of Chinese medicinal granule holder is uniformly arranged on drawer inner bottom plating, be placed adjacent setting between position
There is locating dowel.
2. manipulator according to claim 1 is precisely got it filled bottle, it is characterised in that：The mechanical finger is provided with 4,
Slipmat is provided with each mechanical finger finger tip.
3. manipulator according to claim 1 is precisely got it filled bottle, it is characterised in that：The manipulator includes an anti-collision
Sensor is hit, anticollision sensor is arranged on the balance weight FRID and positioned at automatic identification sensor side.
4. manipulator according to claim 1 is precisely got it filled bottle, it is characterised in that：The bottom of each drawer sets
There is medicinal powder disposable box.
5. manipulator according to claim 1 is precisely got it filled bottle, it is characterised in that：The drive of the drawer type multilayer medicine frame medicine storage cabinet
Dynamic device includes servomotor and belt component, and belt component is by belt wheel, belt and the pushing block structure being fixedly mounted on belt
Into pushing block is fixedly connected with the rear portion of the drawer.
6. the manipulator according to claim 1-5 any one claims is precisely got it filled bottle, it is characterised in that：It is described
It is square that each places position, and a locating dowel is respectively provided with four angles.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620673393.7U CN206288669U (en) | 2016-06-30 | 2016-06-30 | A kind of manipulator is precisely got it filled bottle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620673393.7U CN206288669U (en) | 2016-06-30 | 2016-06-30 | A kind of manipulator is precisely got it filled bottle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206288669U true CN206288669U (en) | 2017-06-30 |
Family
ID=59093941
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620673393.7U Active CN206288669U (en) | 2016-06-30 | 2016-06-30 | A kind of manipulator is precisely got it filled bottle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206288669U (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108394716A (en) * | 2018-06-11 | 2018-08-14 | 彭春剑 | A kind of mechanical equipment rack being readily transported |
| CN108991770A (en) * | 2018-07-19 | 2018-12-14 | 齐齐哈尔大学 | Novel Chinese herbal medicine takes medicine-chest automatically |
| CN109250484A (en) * | 2018-10-08 | 2019-01-22 | 康代影像科技(苏州)有限公司 | A kind of transfer matic transport mechanism being integrated on AVI detection device |
| CN110589461A (en) * | 2019-09-23 | 2019-12-20 | 贵州天地药业有限责任公司 | Automatic upper and lower frame machine |
| CN111084720A (en) * | 2018-10-24 | 2020-05-01 | 北京东华原医疗设备有限责任公司 | Automatic medicine decocting system and control method thereof |
| CN111292473A (en) * | 2018-12-10 | 2020-06-16 | 上海宝群医疗科技有限公司 | Medicine bottle grabbing system and medicine bottle grabbing method |
| CN112158558A (en) * | 2020-08-11 | 2021-01-01 | 宁夏飞姆斯自动化技术有限公司 | Flexible unloader that goes up of robot |
| WO2021043301A1 (en) * | 2019-09-05 | 2021-03-11 | 冯威华 | Automatic medicine dispenser |
| CN113022902A (en) * | 2021-03-24 | 2021-06-25 | 深圳市旺大源科技有限公司 | Equipment for quantitatively grabbing and distributing traditional Chinese medicine cabinet |
-
2016
- 2016-06-30 CN CN201620673393.7U patent/CN206288669U/en active Active
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108394716A (en) * | 2018-06-11 | 2018-08-14 | 彭春剑 | A kind of mechanical equipment rack being readily transported |
| CN108991770A (en) * | 2018-07-19 | 2018-12-14 | 齐齐哈尔大学 | Novel Chinese herbal medicine takes medicine-chest automatically |
| CN109250484A (en) * | 2018-10-08 | 2019-01-22 | 康代影像科技(苏州)有限公司 | A kind of transfer matic transport mechanism being integrated on AVI detection device |
| CN111084720A (en) * | 2018-10-24 | 2020-05-01 | 北京东华原医疗设备有限责任公司 | Automatic medicine decocting system and control method thereof |
| CN111292473A (en) * | 2018-12-10 | 2020-06-16 | 上海宝群医疗科技有限公司 | Medicine bottle grabbing system and medicine bottle grabbing method |
| CN111292473B (en) * | 2018-12-10 | 2023-10-13 | 上海宝群医疗科技有限公司 | Medicine bottle grabbing system and medicine bottle grabbing method |
| WO2021043301A1 (en) * | 2019-09-05 | 2021-03-11 | 冯威华 | Automatic medicine dispenser |
| GB2602917A (en) * | 2019-09-05 | 2022-07-20 | Wai Wah Fung | Automatic medicine dispenser |
| GB2602917B (en) * | 2019-09-05 | 2023-07-19 | Wai Wah Fung | Automatic medicine dispenser |
| CN110589461A (en) * | 2019-09-23 | 2019-12-20 | 贵州天地药业有限责任公司 | Automatic upper and lower frame machine |
| CN112158558A (en) * | 2020-08-11 | 2021-01-01 | 宁夏飞姆斯自动化技术有限公司 | Flexible unloader that goes up of robot |
| CN113022902A (en) * | 2021-03-24 | 2021-06-25 | 深圳市旺大源科技有限公司 | Equipment for quantitatively grabbing and distributing traditional Chinese medicine cabinet |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN206288669U (en) | A kind of manipulator is precisely got it filled bottle | |
| CN105966652B (en) | A kind of full-automatic dispensing system of prescriptions of traditional Chinese medicine | |
| CN106114972B (en) | A kind of manipulator precisely takes medicine to put in poison method | |
| CN106136702B (en) | A kind of full-automatic dosage of prescriptions of traditional Chinese medicine | |
| CN206068220U (en) | A kind of full-automatic dispensing system of prescriptions of Chinese medicine | |
| WO2020082932A1 (en) | Prescription dispensing system for automated traditional chinese medicine pharmacy | |
| CN102813401A (en) | Automatic treatment system of traditional Chinese medicine prescription | |
| CN108537979A (en) | It is a kind of can automatic access article high-capacity intelligent express mail cabinet | |
| CN108629916A (en) | A kind of adjustable adaptive large capacity automatic access intelligence express mail case | |
| CN106240915B (en) | A kind of manipulator precisely takes medicine device under medicine | |
| CN109431165B (en) | Intelligent traditional Chinese medicine dispensing system and dispensing method thereof | |
| CN206125470U (en) | Automatic distributor of traditional chinese medicine | |
| CN109480501A (en) | A kind of Pharmacy with taking medicine frame automatically | |
| CN202828995U (en) | Traditional Chinese medicinal material ration weighing device | |
| CN202941766U (en) | Automatic processing system for Chinese medicinal formulae | |
| CN208737606U (en) | A kind of adaptive large capacity automatic access intelligence express delivery box of automatic adjustment | |
| CN205770252U (en) | The blanking of a kind of Chinese medicinal granule medicine bottle drives structure | |
| CN103569688A (en) | Quantitative Chinese medical herb weighing device | |
| CN101872383B (en) | Full-automatic injection and pastille dispensing method | |
| CN205766224U (en) | A kind of mechanical hand for accurate medicament taking bottle device | |
| CN206333589U (en) | A kind of drawer type multilayer medicine frame medicine storage cabinet | |
| CN206068289U (en) | A kind of Chinese medicine medicine box overlay film closing device | |
| CN205891445U (en) | Medicine box elevating gear | |
| CN208755500U (en) | Chinese medicine medicine extractor | |
| CN209611754U (en) | A kind of Full-automatic medicine dispenser device people |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |