CN208454480U - A kind of high-end pharmacy is made up a prescription package detection transhipment intelligent robot - Google Patents

Abstract

It makes up a prescription package detection transhipment intelligent robot the utility model discloses a kind of high-end pharmacy, including make up a prescription robot system, medical sterile ultra-clean robot feeding of sterile isolation environment feeding transhipment Transmission system, the sterile smart collaboration both arms of medicine jumps a queue and seal roll convering system, medical sterile dispensing quality detecting system, the sterile isolation system layer stream of medicine, high-end medical manufacture quality information traceability system.The utility model realizes the test that carries out making up a prescription in gnotobasis, packaging is sealed in capping of jumping a queue, quality testing, unmanned transhipment, medicine information traces and the functions such as Optimizing manufacture.The robot ensures the sterilization of high-end pharmacy procedure, automation, unmanned and flexibility, and isolated operation personnel enter the environment that makes up a prescription, and reduces drug and is contaminated probability；Guarantee is made up a prescription personnel safety and drug clarity；Different size different number different type drug can be quickly produced simultaneously without replacing hardware device, improved production efficiency and saved production cost.

Description

A kind of high-end pharmacy is made up a prescription package detection transhipment intelligent robot

Technical field

The utility model belongs to medical pilot production field, more particularly to a kind of high-end medical sterile dispensing, test, filling Dress, transhipment, sealing and the robot device detected.

Background technique

China human mortality is numerous, and medical transfusion dosage is huge, breaks through 10,000,000,000 bottles within 2009, occupies the first in the world, drugs manufacture equipment Demand is big.Medical manufacture equipment is the basis ensured drug quality, and is the lifeline of medical industry, performance is directly related to National medical is horizontal.But China's medical manufacture equipment it is very backward, existing equipment majority be in low side, it is discrete, owe clean Only, batch type medicine pollution serious accident is easily caused.There are the following problems for medical manufacture equipment at present.

One, drug quality detection relies on manually, and missing inspection, miss detection are serious, causes pharmaceutical production at high cost, to trouble Person causes heavy burden, the A grade ultra-clean sterile production requirement medicine quality vision inspection being unable to satisfy during medical manufacture Robot almost blank is surveyed, the high-end drugs manufacture equipment of collection sterilization pharmacy, robot manipulating task, automated production is lacked.

For two, since environmental pollution to the mankind brings various diseases, people constantly expect the effective novel drugs of research and development, expectation There can be breakthrough progress in medical fields such as cell tissue regeneration.However, manually matching in traditional novel drugs R&D process Medicine operation brings the risk that microorganism is mixed into drug；Meanwhile operator is in the drug to the high pharmacological activity such as anticancer drug When being prepared, there is the danger for contacting harmful drug and bacterial infection, virus, bring harm to the personnel body of making up a prescription.

Three, drug it is filling-transhipment-capping processes in, traditional mode of production link bacterium, dust granule content are higher, be easy Drug and medical instrument are polluted, to cause damages to patient.Fixed dedicated, the bulky, price of conventional pharmaceutical equipment is held high Expensive, pharmaceutical production type is single.

The high-end pharmacy robot of four, is non-linear, the strongly coupled system of optical, mechanical and electronic integration, and principle mechanism is complicated, technique Task multiplicity, efficient high reliability require harshness, and Traditional control technology is difficult to realize.

Five, conventional pharmaceutical equipment lack to the real time monitoring of medicine information, medicine production product is single cannot accomplish for Each link of drug production process carries out precision tracking, can not carry out intelligent scheduling to manufacturing schedule situation.

Utility model content

The purpose of this utility model is to provide a kind of high-end medical sterile dispensings to transport closing machine people, the utility model Suitable for the function of the sterile dispensing of various medical fluids, filling, sealing and quality testing and the sorting packaging of drug, realize various The sterile dispensing of volatile when making up a prescription, the toxic drug caused harm to the human body of the high pharmacological activity such as antibiotic, anticancer drug. Realize Flexible Production mode, can make up a prescription to variety classes drug, possess multiple fixed devices and vision inspection apparatus, it can be achieved that Accurate sterile dispensing, it is filling, jump a queue, enclosing function；Possess high-precision vision inspection apparatus and information record carrier simultaneously Institute's power dispensers can be carried out with quality testing, sorting storage and information to store.Make up a prescription environment and producers are effectively isolated, are realized A grade ultra-clean aseptic medicine production requirement during medical manufacture, and detect pollution rate from it is existing 0.1% control to 0.001% reaches cleanliness A class standard.It ensure that the clarity of drug and the safety of producers.

In order to solve the above technical problems, the technology employed by the present utility model is

A kind of high-end medical sterile dispensing transhipment closing machine people, including medical sterile laminar flow system, medical sterile laminar flow Conveyor chain system and Machine Vision Inspecting System are installed in system, are sequentially installed with the first workbench along conveyor chain system Decontamination system, the sterile smart collaboration both arms of medicine make up a prescription robot system, jump a queue closure system and drug sorting movement system.

Further to improve, the medicine sterile laminar flow system includes lower frame and upper frame, and installation is free on upper frame Gas filtration channel entrance and air filtration channel outlet are equipped with filter and positive pressure devices at air filtration feeder connection, empty Gas filtration channel exit is equipped with negative pressure device；Air filtration path outlet has air purifier.

Further to improve, the first workbench decontamination system includes the first workbench, is equipped on the first workbench First conveyor chain, the first conveyor chain outside are equipped with sterilised liq spray head, high-temperature gas spray head and ultraviolet aseptic process dress It sets, movable mechanical arm is placed on the first workbench, movable mechanical arm includes the first automatically guiding trolley, and first draws automatically It leads and six articulated mechanical arms is installed on trolley, six articulated mechanical arm ends are equipped with end clamp；First conveyor chain end peace Equipped with the first RFID reader.

Further to improve, the sterile smart collaboration both arms of medicine robot system of making up a prescription includes the second workbench, the Second conveyor chain is installed on two workbench, both arms cooperation robot, tubes Sterile storage are installed on the outside of the second conveyor chain Deposit case, culture dish sterile storage case, the high speed vibration device that makes up a prescription, worktable for preparing medicine, waste storage case, the second high-precision detection work Industry camera, pretreatment of raw material case, the second RFID reader, liquid transfer gun head placing box, make up a prescription raw material placing box；Second conveyor chain Top is equipped with the first high-precision detection industrial camera, is equipped with the second positioning device in the second conveyor chain.

Further to improve, both arms cooperation robot includes T-type pedestal, and T-type two sides of base is connected separately with six passes Robot is saved, six articulated robot ends are connected with six articulated robot end flanges, and six articulated robots pass through six joint machines Device people's end flange is detachably connected fixture.

Further to improve, the closure system of jumping a queue includes third conveyor chain, and the is equipped in third conveyor chain Three positioning devices, third conveyor chain are equipped with sterile ultra-clean robot outside, and sterile ultra-clean robot side is equipped with glue Feed appliance is filled in, the other side is equipped with aluminium lid feed appliance；Third conveyor chain end is equipped with third RFID reader.

Further to improve, the drug sorting movement system includes the 4th conveyor chain, is installed in the 4th conveyor chain There are the 4th positioning device and the 4th RFID reader, the 4th conveyor chain of cooperation is equipped with drug sorting transporter people, waste product storage Deposit case, third high-precision detection industrial camera and the second pilot trolley.

Further to improve, the conveyor chain system includes the first conveyor chain, the second conveyor chain, third carrier chain Road and the 4th conveyor chain.

A kind of application method of high-end medical sterile dispensing transhipment closing machine people, includes the following steps:

Step 1: movable mechanical arm by the material tray equipped with XiLin storage bottle, from raw material storage area, transport to the by taking-up Near one conveyor chain, it is then placed in the first conveyor chain；

Step 2: material tray reaches aseptic process region through the first conveyor chain, first with sterilised liq to material support Disk carries out aseptic process, then is dried by high-temperature gas, finally carries out aseptic process by ultraviolet aseptic process device and exists simultaneously Aseptic process information is recorded in the pasted electronic tag of material tray or two dimensional code；

Step 3: material tray by the second conveyor chain enters sterile dispensing area, the first positioning device after sterilization processing Material tray position is fixed；

Step 4: carrying out quality inspection to cillin bottle by the first high-precision detection industrial camera after material tray position is fixed It surveys, records to unclamp the first positioning device after underproof cillin bottle and be transferred to both arms and make up a prescription the robot that cooperates；

Step 5: both arms cooperate robot in sterile storage case after material tray is fixed into the second positioning device Test tube or culture dish are taken out, movement of making up a prescription then is carried out, is made up a prescription and is completed the both arms robot that cooperates test tube or culture dish be put into the It is detected under two high-precision industrial cameras, drug will be prepared and be stored into the storage bottle of XiLin；Waste product is poured into garbage area；

Step 6: after XiLin storage bottle on entire material tray prepares medicine, unclamps the second positioning device and allow material tray It is transported to third conveyor chain；Information of making up a prescription is recorded in pasted electronic tag or two dimensional code simultaneously；

Step 7: material tray enters seal region of jumping a queue by third conveyor chain, it is fixed by third positioning device； Sterile ultra-clean robot carries out sealing of jumping a queue to cillin bottle；

Step 8: sealing end material tray enters drug detection zone through the 4th conveyor chain and is consolidated by the 4th positioning device After setting, the drug being sealed clamping is put into quality testing region of making up a prescription by drug sorting transporter people and carries out quality testing； Drug sorts transporter people and waste product is put into garbage area, and finished product puts back to storage area；The 4th RFID reader is in pasted electronics simultaneously Label or two dimensional code record quality information；

Mobile manipulator is waited to be removed Step 9: entering drug finished product buffer area by the 4th conveyor chain after quality testing Fortune；

Step 10: then mobile manipulator is transported on finished product materials pallet carrying to the second automatically guiding trolley Product storage area, then be transported in each cabinet in finished product storage area respectively by mobile manipulator.

Further to improve, when institute's medicine can play poison gas or escaping gas, a kind of high-end medicine is sterile to match The air filtration feeder connection that medicine transports closing machine people passes through high efficiency particulate air filter, frame inner air in absorption；Allow frame Inside keeps negative pressure state, prevents toxic gas from entering external environment, if making up a prescription when needing gnotobasis, air filtration channel Entrance sucks pure air from outside, is blown into upper ledge frame after flowing through high efficiency particulate air filter filtering, is kept for the moment in frame just A grades of pressure condition or more sterile air grade.

The advantages of the utility model:

The utility model equips urgent need to high-end pharmacy robot core technology for high-end pharmaceutical industry, develops A kind of high-end medical sterile dispensing transhipment closing machine people equipment realization make up a prescription in high-grade gnotobasis test, jump a queue The functions such as lid sealing packaging, quality testing, unmanned transhipment, medicine information retrospect and Optimizing manufacture

It is big that sterilization control difficulty of making up a prescription is produced for medicine, small, miscellaneous pollution particle vision-based detection difficulty The problems such as height, high-end pharmaceutical manufacturing line multi-process, multitask, multimachine device, Collaborative Control difficulty is big this patent provide it is a kind of high Hold medical sterile dispensing to transport closing machine people equipment, realize to the sterile dispensing of various medical fluids, filling-sealing, quality testing, The operation functions such as pharmaceutical production information real time monitoring.

Detailed description of the invention

Fig. 1 is the whole main view that the high-end medical sterile dispensing of the utility model transports closing machine people equipment.

Fig. 2 is the top view that the high-end medical sterile dispensing of the utility model transports closing machine people equipment.

Fig. 3 is that the mobile manipulator arm configuration that the high-end medical sterile dispensing of the utility model transports closing machine people equipment shows It is intended to.

Fig. 4 is the overlooking structure figure of the first workbench of the utility model sterilizing and bacterial system.

Fig. 5 is the second workbench of the utility model, intelligent dispensing cooperation robot system overlooking structure figure.

Fig. 6 is the utility model both arms cooperation robot architecture's figure.

Fig. 7 is that the utility model third workbench is jumped a queue-closing machine people's system construction drawing.

Fig. 8 is the flow chart of the utility model multi-robot Visual servoing control.

Fig. 9 is the utility model robot end flange arrangement figure.

Figure 10 is structural schematic diagram of the positioning device along conveyer belt extending direction.

Figure 11 is the structural schematic diagram in positioning device vertical conveyors direction.

Figure 12 is the barrier system figure specific embodiment of the filling transhipment closing device of the utility model.

Specific embodiment

Embodiment 1

The high-end medical sterile dispensing transhipment closing machine people equipment of one kind as described in Fig. 1-12 includes medical sterile laminar flow Make up a prescription robot system, sterile isolation environment feeding transhipment Transmission system, medicine of system, the sterile smart collaboration both arms of medicine is sterile Ultra-clean robot feeding, which is jumped a queue, seals roll convering system, medical sterile dispensing quality detecting system, high-end medical manufacture quality letter Cease traceability system.

Entire medicine production system with external transport device and 4 workbench by forming, and external transport device is by designing Two automatically guiding trolleys composition；Wherein a carrying conveying mechanical arm is responsible for transport, another responsible carried and transported.The One workbench is material sterilising zone；The sterile smart collaboration both arms of medicine robot system of making up a prescription is mounted on the second workbench；And And it is utilized for the first time on the second workbench with the sterile dexterous operation dispensing system of the apery of the both arms cooperation artificial operating main body of machine. It medical sterile ultra-clean robot feeding is installed on third workbench jumps a queue and seal roll convering system, this system is original It is improved on the basis of jumping a queue-sealing；4th workbench, is equipped with and jump a queue-seals detection system, this system is with real for the first time With based on novel three axis transport robot of medicine and being equipped with high-precision industrial detection camera.In addition, sterile isolation environment Feeding transhipment Transmission system possesses 4 conveyer chain roads and is responsible for drug delivery through four workbench；Medical sterile laminar flow system cage Cover entire medicine production system, medical sterile dispensing quality detecting system and the distribution of high-end medical manufacture quality information traceability system It is responsible for drug detection by the second workbench conveyer chain road and third workbench conveyer chain road and information is included, external software and electricity Brain carries out information storage, processing and the optimization of production decision to production system.

External transport channel structure

For external transport device, develops movable mechanical arm of the automatically guiding trolley in conjunction with mechanical arm and carry out object The handling of material, external transport device are made of two automatically guiding trolleys and mechanical arm designed, in life of entirely making up a prescription Between production system and material storing area.

Such as Fig. 3, the first automatically guiding trolley 36, mechanical arm generally 37, the 6th joint 38 of end；Its first joint It is respectively 39-43 to the 5th joint.

Movable mechanical arm is made of the first automatically guiding trolley 36 with mechanical arm 37, and mechanical arm possesses 6 joints Freedom degree, wherein mechanical arm end joint 38 is equipped with flange such as Fig. 6, and tool, can basis there are four threaded hole is fixedly mounted Installation end clamp is needed replacing, whole design is that circular configuration rotates convenient for 360 degree of manipulator without dead angle；Mechanical arm installation In the center of automatically guiding trolley top shell, maximum guarantees whole machine balancing；By the first automatically guiding trolley and mechanical arm The movable mechanical arm of composition, completes the movement of material feeding, discharge, and the second automatic vehicle carries material.Complete to pharmaceutical raw material, at The work such as transport, feeding, the blanking of product.

Second automatically guiding trolley moves carrying handling material synchronous collaboration operation together with movable mechanical arm

Magnetic stripe navigation channel conveying track of two automatically guiding trolleys all by being mounted between production system and storage area It navigates, fixed motion path avoids colliding.

First Working table structure

If Fig. 4 is the first Working table structure figure；First conveyor chain 1, sterilised liq spray head 2, high-temperature gas spray head 3, purple Outer 4. first RFID reader 32 of sterilizing unit

First workbench is by the first conveyor chain 1, sterilised liq spray head 2, high-temperature gas spray head 3, ultraviolet sterilization device 4. First RFID reader 32 composition.Wherein sterilised liq spray head 2, high-temperature gas spray head 3,4 once mounting of ultraviolet sterilization device exist The side of first conveyor chain 1, when material tray enters the first workbench once to its disinfection and sterilization；First RFID reader 32 It is mounted at the ending of the first conveyor chain, records material sterilization processing information.

Bacteriumization processing unit have sterilised liq disinfection, high-temperature gas drying and three step sterilization treatment process of ultraviolet disinfection, Guarantee supplies aseptic grade, sterilised liq, high-temperature gas, ultraviolet light are by being mounted on sterilised liq spray head, the height of the first workbench Warm gas tip and ultraviolet emission device provide.

Second workbench both arms assist robot dispensing system structure.

If Fig. 5 is the second workbench overall structure figure.First high-precision detection industrial camera 5, the first positioning device 6, examination Pipe sterile storage case 7, culture dish sterile storage case 8, the second positioning device 11, worktable for preparing medicine 10, both arms cooperation robot 12, Material tray 13, waste storage case 14, pretreatment of raw material case the 16, second high-precision detection industrial camera 15, make up a prescription high speed vibration Device 9, the second conveyor chain 31, the second RFID reader 33, liquid transfer gun head placing box 44, make up a prescription raw material placing box 45.

For the second workbench, as shown in Figure 5 the sterile smart collaboration both arms of medicine make up a prescription robot system structure to cure The sterile intelligent both arms of medicine make up a prescription the artificial main body of machine, and the make up a prescription both arms end servo of robot of the sterile smart collaboration both arms of medicine is driven Moving cell 36 and 37 loads customization multi-joint clamping device respectively, and the sterile smart collaboration both arms of the medicine robot left side of making up a prescription is placed with Sterile test tube storage bin 8, sterile petri dish storage bin 7.It is placed with worktable for preparing medicine 10 below both arms cooperation robot, work of making up a prescription Platform is placed with the high speed vibration device 9 that makes up a prescription from left to right, carries out high speed vibration centrifugation, liquid-transfering gun and liquid-transfering gun head case 44 to drug, Pipette tips of making up a prescription storage box, a variety of raw materials to be dispensed of storage and pretreatment of raw material case 16, pre-process raw material.The right is set There is high-precision second to detect industrial camera 15, waste storage case 14, pretreatment of raw material case 16 and is mounted on second in front of robot First industrial camera 5 of head end in conveyor chain, wherein industrial camera has the performance of high speed multisensor, high-resolution foreign matter, Pollution detection precision can be improved.

Mechanical arm structure

Medical intelligent dispensing both arms cooperation robot architecture is as shown in fig. 6, the one or six articulated robot 48, the two or six joint Robot 51, T-type pedestal 47, the one or six articulated robot end flange 49, the two or six articulated robot end flange 52；First Six articulated robots and T-type pedestal junction 46

Two or six articulated robot and T-type pedestal junction 50.

Wherein robot end's servo drive unit is by being equipped with flange come stationary fixture；Such as Fig. 9, there are four tools Threaded hole is fixedly mounted, installation end clamp can be replaced as needed, whole design is that circular configuration is convenient for 360 degree of nothings of manipulator Dead angle rotation, meets apery and makes up a prescription movement, and realization test tube, the clamping of culture dish and the clamping of liquid-transfering gun.

Medical intelligent dispensing both arms cooperation robot is mainly made of two six articulated robots 48,51 and T-type pedestal. Wherein the first and second six articulated robot pedestals lead to more screw hole seamless interfacings with T-type pedestal and are united.In T-type base interior Sky, for being put into the communications cable of Liang Tai robot connection.The first and second six articulated robot ends are equipped with flange such as Fig. 9, tool There are four threaded hole is fixedly mounted, installation end clamp can be replaced as needed

Control process

The sterile smart collaboration both arms of medicine robot system of making up a prescription mainly is assisted by the both arms for being mounted on the second table core Make robot and load to need to complete using various tools to utilize test tube in the clamping device composition of both arms cooperation robot end Or the work of making up a prescription of culture dish, the filling work of cillin bottle, cooperation are made up a prescription quality detection work.

When material tray enter the second workbench, be fixed under the first positioning device, the first industrial camera is to material tray Interior cillin bottle carries out visual analysis, judges that the state (lack, damage, there are clasts) of cillin bottle on pallet will have intactly Cillin bottle location information be transferred to both arms cooperation robot, medical robot only to intact cillin bottle carry out drug it is filling.

When material tray enters the second positioning device, both arms cooperate robot from sterile test tube storage bin 8 or sterile culture Ware storage bin 7 takes out sterile test tube or sterile petri dish.Corresponding liquid-transfering gun is clamped again adds medical fluid by institute's vehicle requirement It makes up a prescription to sterile test tube or sterile petri dish.

Liquid-transfering gun connects high precision peristaltic pump by sterile pipes and is accurately controlled by accurately controlling the revolving speed of peristaltic pump Make the drug dose being input in liquid-transfering gun.

After the completion of making up a prescription, both arms cooperate under robot clamps the drug prepared to the second industrial camera and detect, and will make up a prescription Unsuccessful to pour into exhausted bath box, remaining brings intact XiLin storage bottle into.Material tray is when entering the second workbench end, institute Patch electronic tag or two dimensional code pass through the second RFID reader and record information of making up a prescription；Finally enter third workbench.

Third Working table structure

The medical sterile ultra-clean robot feeding being mounted on third workbench, which is jumped a queue, seals roll convering system；Such as Fig. 7；By Sterile ultra-clean robot 21, rubber plug feed appliance 19, aluminium lid feed appliance 20 and suction fill in fixture and roll lid fixture, third conveying Chain road 17, third positioning device 18, third RFID reader composition.Rubber plug feed appliance 19, aluminium lid feed appliance 20 are separately mounted to The left side and the right of the sterile ultra-clean robot of medicine, fill rubber plug and aluminium lid, inhale plug fixture and roll lid fixture be mounted on it is sterile Ultra-clean robot end, robot end are equipped with fixed inhale of flange and fill in fixture and roll lid fixture.

Medical sterile ultra-clean robot feeding, which is jumped a queue, seals roll convering system, and relatively former patent reduces a machinery Arm will be jumped a queue, be covered, rolling lid function and concentrate on a mechanical arm, is saved production cost, is prevented robot from mutually colliding Failure occurs.

Third workbench realizes process

Sterile ultra-clean robot completes the jumping a queue, cover of cillin bottle, enclosing function.Rubber plug feed appliance and aluminium lid feed appliance Realize that function is similar, by specifically concussion model by rubber plug and aluminium lid marshalling, at the uniform velocity whole by straight line feeder Neat is transported to designated position so that sterile ultra-clean robot is drawn.After material tray, which enters third, fixes device, Rubber plug and aluminium lid are once added on cillin bottle by sterile ultra-clean robot by inhaling plug fixture, and rolling lid fixture in conversion will be western Woods bottle closure.

When XiLin bottle closure on a disk material tray is completed, and material tray passes through third conveyor chain end, third RFID reader carries out information record.

4th Working table structure

4th workbench is medical sterile dispensing quality detecting system；It is by third high-precision industrial camera 24, drug It sorts transporter people and forms the 22, the 4th positioning device 46, the 4th conveyor chain 25, the 4th RFID reader, waste product batching hole 23 Composition.

Drug sorts the artificial Three Degree Of Freedom transport robot of transporter, there are three gathering around in the 4th conveyor chain Joint, the horizontal movement of the first joint Neng Shi robot, second joint can make robot vertical motion, and third joint can make cillin bottle It rotates to below third industrial camera.

Third high-precision industrial camera is mounted on beside drug sorting transporter people, is readily transported.Software run computer by Data line is connected to outside production system.4th positioning device is mounted on the fixed material tray of the 4th conveyor chain head end.4th RFID Reader is mounted on the 4th conveyor chain end.

Control flow

When material tray enters the 4th fixed device, transport robot clamps cillin bottle, transports third industrial camera Lower detection.It seals underproof, is put into waste product batching hole；It seals qualified drug and puts back to material tray, by the 4th conveying Chain road end carries out information record, last output.

Multi-robot visual spatial attention technology

For multi-robot visual spatial attention technology, as shown in figure 8, the utility model is equipped in second and third workbench One, two, three industrial detection camera analyzes and determines the cillin bottle on material tray by first and second, two industrial cameras, It provides and reaches the cillin bottle location information of requirement and be transferred to robot, control robot arm is accurately made up a prescription, is filling, sealed Mouth, transhipment movement.

It is intact that first industrial camera judges that the state (lack, damage, there are clasts) of cillin bottle on pallet will have The location information of cillin bottle is transferred to both arms cooperation robot；Second industrial camera provides make up a prescription intact (free from admixture, drug dose It is sufficient) cillin bottle location information is transferred to the sealing robot that jumps a queue and carries out sealing and jump a queue, and waste product pours into exhausted bath box；Third industry phase Machine testing seals complete cillin bottle location information and finished product is transported to i.e. the 4th conveyor chain of finished product output to transport robot. Substandard products are put into ash can (lack, damage, there are the unfinished cillin bottles of the cillin bottle of clast and sealing).

Multilayer isolating and protecting mechanism structure

The utility model establishes the multilayer proofing system that isolator-shield technology is combined with robot for the first time, realizes medicine Product customize, the robot flexibility of multi items produces.

Medical sterile laminar flow system, if Fig. 1 includes air filtration feeder connection 26, medical sterile laminar flow system 27, lower frame Frame 28, upper frame 29, air filtration channel outlet 30.Forms are made of medical 304 stainless steel, forms upper end is equipped with high efficiency filter Device, centrifugal blower, online air velocity transducer, differential pressure indicator, Temperature Humidity Sensor.

The utility model is using medical 304 stainless steel forms, forms upper end equipped with high efficiency particulate air filter, centrifugal blower, online Air velocity transducer, differential pressure indicator, Temperature Humidity Sensor form strict isolator, the robot that will make up a prescription, closing machine people, transhipment Robot and conveyor chain are strictly enclosed under same gnotobasis, guarantee that drug makes up a prescription, is filling, sealing is up to finished product output Sterilization.

The utility model is strictly closed using will make up a prescription robot, closing machine people, transport robot and conveyor chain It is different from tradition under same gnotobasis each section is individually isolated, avoids the pollution risk of drug in transportational process.

Partition method

It carries out all being separately installed with line air velocity transducer, differential pressure indicator, temperature and humidity in isolator in first to fourth workbench Sensor, computer set the required wind speed that makes up a prescription, temperature and humidity medical thread air velocity transducer, differential pressure indicator, temperature and humidity sensing Device returning real-time data controls make up a prescription ambient wind velocity, temperature and humidity.

Using the configured wind speed of computer, controlling pure air reduces pollution risk into the environment that makes up a prescription while passing through pressure Poor table inhibits bacterium to control the pressure difference of external environment and the environment that makes up a prescription and with the internal temperature and humidity of Temperature Humidity Sensor control is crossed Increase the multilayer proofing that the environment that guarantees entirely to make up a prescription is in lustration class A or more.

Two kinds of situations can be divided by spreading out of Numerical Control external environment and internal environment pressure difference according to differential pressure indicator.When institute's medicine When needing not contaminated.Internal environment pressure is controllable to greater than ambient exterior atmospheric pressure, avoids bacterial invasion.It is issued when making up a prescription Be harmful to the human body gas when.Internal pressure is controllable to less than external pressure, prevents toxic gas from entering external environment.

Transportation system

Sterile isolation environment feeding transhipment Transmission system by move robotic arm, automatically guiding trolley, sterilization processing every From device, raw material storage bottle, high-precision flow control pump, sterile dispensing storage conveyer chain road composition.

High-precision flow control pump is mounted under the second workbench in forms, and delivery hose communication channel liquid relief is housed Rifle accurately conveys the quantity for stoste of making up a prescription by the revolving speed of control high-precision flow control pump.

Sterile dispensing stores conveyer chain road respectively by the first conveyor chain, the second conveyor chain, third conveyor chain, the 4th Conveyor chain forms the front end for being attached separately to 1-4 workbench.In second conveyor chain equipped with first, second totally two positioning fill It sets, third conveyor chain is equipped with third positioning device, and the 4th conveyor chain is realized material transportation equipped with the 4th positioning device and determined Bit function.

Positioning device includes infrared alignment sensor, retention device, lifting cylinder, and lifting cylinder is connected with liter by cross bar Axis is lifted, and liter act outer shaft sleeve is equipped with guiding axis, liter lifts axis and infrared alignment sensor is respectively at conveyor chain both sides；Material support Disk indent is formed with and rises the female lug for lifting axis cooperation, and the lifting cylinder is mounted on cylinder saddle, is fixed on cylinder saddle Close to switch.

It when material tray moves to fixed position, is detected by infrared detecting device, infrared facility sends signal, plc control System rises general who has surrendered's material tray under act axis and fixes.When completing the process for material, infrared detecting device detection material tray is moved out Come, rises and lift axis rise, retention device decline material tray continues to move.

High-end medical manufacture quality information traceability system is by high-rate laser stamp equipment, image in 2 D code code reader, RFID Reader and electronic tag, intelligence database composition.

It is that each cillin bottle carries out two that high-rate laser stamp equipment, which is mounted on material storing area outside medicine production system, Code stamp, marks each cillin bottle.First RFID reader is mounted on the first conveyor chain end lower section, the second RFID reader It is mounted below the second conveyor chain end, third RFID reader is mounted below third conveyor chain end, the 4th RFID Reader is mounted below the 4th conveyor chain end, the aseptic process information for recording drug respectively, filling information of making up a prescription, adds Plug, sealing information, finished product output information.By transferring information to computer.The Quantity of drugs of the production according to required for user, kind Class requires in real time to regulate and control speed of production.

The record of the information of making up a prescription of medical each achievable drug cillin bottle of sterile dispensing quality detecting system stores, with And per batch of pharmaceutical production information.

The high-end medical sterile dispensing transhipment closing machine people equipment of specific the utility model include the first conveyor chain 1, Sterilised liq spray head 2, high-temperature gas spray head 3, ultraviolet aseptic process device the 4, first high-precision detection industrial camera 5, first are fixed Position device 6, tubes Sterile storage bin 7, culture dish sterile storage case 8, the high speed vibration device 9 that makes up a prescription, worktable for preparing medicine 10, second Positioning device 11, both arms cooperation robot 12, material tray 13, the high-precision detection of waste storage case 14, second industrial camera 15, It is pretreatment of raw material case 16, third conveyor chain 17, third positioning device 18, rubber plug feed appliance 19, aluminium lid feed appliance 20, sterile super Clean-room robot 21, drug sorting transporter people 22, waste product storage bin 23, third high-precision detection industrial camera the 24, the 4th are defeated The road Song Lian 25, the 4th positioning device 46, air filtration feeder connection 26, medical sterile laminar flow system 27, lower frame 28, upper frame 29, air filtration channel outlet 30, the second conveyor chain 31, the first RFID reader 32, the second RFID reader 33, third RFID reader 34, the 4th RFID reader 35, the first automatically guiding trolley 36, movable mechanical arm 37, end clamp 38.

Vehicle structure

The mechanical arm end that first automatically guiding trolley carries is equipped with clamping device, is responsible for from the second automatically guiding trolley On material tray loading and unloading.Second automatically guiding trolley is responsible for transported material pallet.

Movable mechanical arm is made of the first automatically guiding trolley 36 with mechanical arm 37, and mechanical arm possesses 6 joints Freedom degree, wherein mechanical arm end joint 38 is equipped with flange such as Fig. 9, and tool, can basis there are four threaded hole is fixedly mounted Installation end clamp is needed replacing, whole design is that circular configuration rotates convenient for 360 degree of manipulator without dead angle；Mechanical arm installation In the center of automatically guiding trolley top shell, maximum guarantees whole machine balancing；By the first automatically guiding trolley and mechanical arm The movable mechanical arm of composition, completes the movement of material feeding, discharge, and the second automatic vehicle carries material.Complete to pharmaceutical raw material, at The work such as transport, feeding, the blanking of product.

Trolley workflow

First automatically guiding trolley 36 carries movable mechanical arm 37 and arrives material storing area first, and movable mechanical arm is by object Material storage tray is once loaded on the second automatically guiding trolley, then material tray is transported to sterile processing systems, the first conveying Chain road inlet, is successively put into the first conveyor chain.Completion to be dispensed.Move again to finished product buffer area, the 4th conveyor chain end End；The finished product that will make up a prescription successively is loaded on the second automatically guiding trolley, transports finished product storage area, the first automatically guiding trolley 36 The finished product that will make up a prescription again is successively clamped from the second automatically guiding trolley to finished product storage cabinet.

First workbench

When cillin bottle and material tray enter the first conveyor chain 1, the first conveyor chain uniform speed slow operation, by disinfection Fluid jetting head sprays hydrogen peroxide liquid and carries out disinfection to cillin bottle, and then high-temperature gas spray head sprays high temperature clean gas to west Woods bottle and material tray are dried, and last ultraviolet sterilization device carries out ultraviolet disinfection to cillin bottle and material tray.

High-precision flow control pump controls the revolving speed of motor by control to control the quantity for stoste of making up a prescription, each It plants the corresponding liquid-transfering gun of stoste of making up a prescription and guarantees that stoste is not contaminated.Stoste of making up a prescription holding vessel stores various stostes of making up a prescription respectively.

Each positioning device has infrared sensor, carries out detection and localization and rectangular fixed structure to material tray.Work as inspection It surveys material tray to reach, infrared detecting device triggering.Rectangular fixed structure fixes material tray.

Material tray carries cillin bottle, and can be adjusted according to storage bottle specification can repack 1*1,2*2,3*3,4*4,5*5 rule into Lattice.It does not need to reequip conveyor chain form again.

Second workbench

The sterile smart collaboration both arms of the medicine both arms cooperation robot 12 in robot system that makes up a prescription loads clamping device, takes Make up a prescription test tube or culture dish are taken out from sterile storage case, and raw material is made up a prescription to test tube or the culture dish of making up a prescription by liquid-transfering gun injection It makes up a prescription, institute's power dispensers is filled in the storage bottle of XiLin after the completion of making up a prescription, make up a prescription and complete both arms cooperation robot for test tube Or cillin bottle is put under the second high-precision industrial camera and detects, and will prepare drug and is stored into the storage bottle of XiLin；Waste product is poured into Garbage area.

The sterile smart collaboration both arms of the medicine robot system left side of making up a prescription is placed with sterile test tube storage bin, sterile petri dish storage Deposit case.There is worktable for preparing medicine to store liquid-transfering gun below both arms cooperation robot, the right is equipped with high-precision detection industrial camera, and Waste storage case.

Liquid-transfering gun controls the capacity of every kind of stoste addition of making up a prescription.

If the process of making up a prescription needs high speed vibration, rotating centrifugal, the high speed vibration device 9 that makes up a prescription can carry out institute's vehicle quick Concussion, high speed rotation.

Make up a prescription tubes Sterile storage bin, the test tube that makes up a prescription after storing aseptic process.

Culture dish sterile storage case, the culture dish after storing aseptic process.

Pretreatment of raw material case 16 will make up a prescription, and required raw material is pre-processed, wherein liquid transfer gun head placing box 44 can the side's of depositing mistake A liquid transfer gun head, the raw material placing box 45 that makes up a prescription can provide storage raw material in polygamy medicine raw material for robot.

Jump a queue closing machine people

Sterile ultra-clean robot 21, load inhale plug fixture and roll lid fixture, inhale plug fixture and draw on rubber plug feed appliance Rubber plug and on aluminium lid feed appliance draw aluminium lid be respectively added in the storage bottle of XiLin, then using roll lid fixture to cillin bottle into Row rolls lid sealing.

It is equipped with rubber plug feed appliance and aluminium lid feed appliance in sterile ultra-clean robot system, fills rubber plug and aluminium lid respectively, Rubber plug feed appliance and aluminium lid feed appliance realize that function is similar, by specifically concussion model by rubber plug and aluminium lid marshalling, By straight line feeder it is at the uniform velocity neat be transported to designated position so that sterile ultra-clean robot is drawn

Transport robot

Drug sorts transporter people 22, goes out to be put into third high-precision detection industrial camera 24 for XiLin bottle clip that sealing is completed Quality testing is carried out, qualified cillin bottle is detected and puts back to material tray, detection is underproof to be put into waste product storage bin.

Whether third high-precision detection industrial camera detection sealing cillin bottle is fully sealed, and whether bottle herb liquid is by impurity.

Sterile laminar flow system

When institute's medicine can play poison gas or escaping gas, air filtration feeder connection 26 passes through high efficiency filter Device, frame inner air in absorption；It allows lower portion to keep negative pressure state, prevents toxic gas from entering external environment, if matching When medicine needs gnotobasis, then air filtration feeder connection 26 sucks pure air from outside, after flowing through high efficiency particulate air filter filtering It is blown into frame, the moment in frame is made to keep A grades of barotropic state or more sterile air grade.

Sterile laminar flow system is equipped with pressure sensor, Temperature Humidity Sensor.The state for the environment that makes up a prescription is monitored in real time, convenient for adjusting Save required gnotobasis of making up a prescription.

First high-precision detects industrial camera 5, and the cillin bottle after aseptic process carries out defects detection, and whether detection cillin bottle Completely, whether there is residual impurity in bottle.If detecting, some cillin bottle is defective, and location information is transferred to both arms cooperation Make up a prescription robot make its to defective cillin bottle carry out it is filling.

Transportation system's positioning device

The first positioning device 6, the second positioning device 11, third in second conveyor chain 31 and third conveyor chain 17 is fixed Being equipped with the 4th positioning device 46 on position device 18, the 4th conveyor chain 25 may make material tray to be fixed on designated position and be convenient for High-precision detection industrial camera and each robot cillin bottle is detected, is filling, transhipment etc. work.

First to the 4th positioning device includes infrared alignment sensor, retention device, lifting cylinder 53, lifting cylinder 53 It is connected with a liter act axis 56 by cross bar, act outer shaft sleeve is risen and is respectively at equipped with guiding axis 55, lifting axis and infrared alignment sensor Conveyor chain both sides；Material tray indent is formed with and rises the female lug for lifting axis cooperation, and the lifting cylinder is mounted on cylinder saddle It is fixed on 54, on cylinder saddle close to switch 57.Barrier system includes 58, stop cylinder mounting plate, 59, stop cylinder.It is logical CM2 series cylinder driving lifting axis is crossed, keeps lifting axis flexible up and down, to realize the up and down motion of charging tray；Close to the work of switch It is similar to button to make principle, is equivalent to electric switch, when close with moving component, trigger switch provides signal, then stops Telescopic-cylinder is used to stop the movement of moving component, makes to move version due to correct position.

It when material tray moves to fixed position, is detected by infrared detecting device, infrared facility sends signal, plc control System rises general who has surrendered's material tray under act axis and fixes.When completing the process for material, infrared detecting device detection material tray is moved out Come, rises and lift axis rise, retention device decline material tray continues to move

Tracking of information

Drug has real time information to be recorded after entering aseptic process device, and the first RFID reader 32 records object Make up a prescription real time information, 34 drug of third RFID reader of material aseptic process information, the second RFID reader 33 record drug is final Quality testing information, the 4th RFID reader 35 record final finished information of making up a prescription.

When the cillin bottle for having pasted electronic tag enters RFID reader read-write region, when RFID reader detects electricity When subtab signal lamp light, buzzer call, medicine information is written in RFID electronic label RFID reader, and will be related Information is transferred on computer by RFID data transmission line 40.

The equipment is able to achieve sterile dispensing, filling, transhipment, sealing, quality testing, sorting function and drug real time information Monitoring function is made up a prescription the levels of sterility of environment using the strict holding of lamina air flow system, is strictly controlled using sterile processing systems System disengaging supplies aseptic substantially increases sterile dispensing success rate, while carrying out quality to drug using vision detection system Detection greatly reduces pharmaceutical production pollution rate.

The high-end medical sterile dispensing transhipment specific operation workflow of closing machine people equipment described in the utility model include with Lower step:

(1) movable mechanical arm transports the material tray equipped with XiLin storage bottle from the taking-up of raw material storage area defeated to first Near the road Song Lian, it is then placed in the first conveyor chain；

(2) material tray reaches aseptic process region through the first conveyor chain, and chain road is slowly run.Sterilised liq is used first Aseptic process is carried out to material tray, then is dried by high-temperature gas, is finally carried out by ultraviolet aseptic process device sterile Reason records aseptic process information in pasted electronic tag or two dimensional code simultaneously；

(3) material tray enters the first positioning device of sterile dispensing area by the second conveyor chain and makes its position after sterilization processing Set fixation；

(4) quality testing is carried out to cillin bottle by the first high-precision detection industrial camera after fixing, records underproof XiLin The first positioning device is unclamped after bottle be transferred to both arms make up a prescription the robot that cooperates；

(5) after fixing into the second positioning device, both arms cooperation robot takes out test tube or culture in sterile storage case Ware, then carries out movement of making up a prescription, and imitates movement when manually making up a prescription and carries out fluid injection to test tube, shakes up manual operation is avoided to be brought Microbial contamination risk and can not high speed volume production problem.It makes up a prescription and completes both arms cooperation robot test tube or cillin bottle are put into the It is detected under two high-precision industrial cameras, drug will be prepared and be stored into the storage bottle of XiLin；Waste product is poured into garbage area.

(6) after XiLin storage bottle on entire material tray prepares medicine, unclamp the second positioning device and allow material tray to third Conveyor chain transport；Information of making up a prescription is recorded in pasted electronic tag or two dimensional code simultaneously；

(7) material tray enters seal region of jumping a queue by third conveyor chain, is fixed by third positioning device；It is sterile Ultra-clean robot carries out sealing of jumping a queue to cillin bottle；

(8) sealing end material tray enters drug detection zone through the 4th conveyor chain and is fixed by the 4th positioning device Afterwards, the drug being sealed clamping is put into quality testing region of making up a prescription by drug sorting transporter people and carries out quality testing.It will give up Product are put into garbage area, and finished product puts back to storage area simultaneously in pasted electronic tag or two dimensional code record quality information；

(9) entering drug finished product buffer area by the 4th conveyor chain after quality testing waits mobile manipulator to be carried；

(10) then mobile manipulator on finished product materials pallet carrying to the second automatically guiding trolley, will transport finished product storage Area, then be transported in each cabinet in finished product storage area respectively by mobile manipulator.

Above said content is only the preferred embodiments of the utility model, is not intended to limit the utility model, it is all Any modifications, equivalent replacements, and improvements etc. within the spirit and principles of the utility model, should be included in the utility model Within protection scope.

Claims (8)

1. a kind of high-end pharmacy is made up a prescription, package detection transports intelligent robot, which is characterized in that including medical sterile laminar flow system (27), conveyor chain system and Machine Vision Inspecting System are installed in medical sterile laminar flow system (27), along conveyor chain system Robot system that system is sequentially installed with the first workbench decontamination system, the sterile smart collaboration both arms of medicine make up a prescription, jump a queue sealing system System and drug sort movement system.

The package detection transhipment intelligent robot 2. high-end pharmacy as described in claim 1 is made up a prescription, which is characterized in that the medicine Sterile laminar flow system (27) includes lower frame (28) and upper frame (29), is equipped with air filtration feeder connection on upper frame (29) (26) and air filtration channel outlet (30), air filtration feeder connection are equipped with filter and positive pressure devices, air at (26) Negative pressure device is installed at filtration channel outlet (30)；Air filtration channel outlet (30) is communicated with air purifier.

The package detection transhipment intelligent robot 3. high-end pharmacy as described in claim 1 is made up a prescription, which is characterized in that described first Workbench decontamination system includes the first workbench, is equipped with the first conveyor chain (1), the first conveyor chain on the first workbench (1) outside is equipped with sterilised liq spray head (2), high-temperature gas spray head (3) and ultraviolet aseptic process device (4), the first workbench On be placed with movable mechanical arm (37), movable mechanical arm (37) include the first automatically guiding trolley (36), first draws automatically It leads and six articulated mechanical arms is installed on trolley (36), six articulated mechanical arm ends are equipped with end clamp (38)；First carrier chain Road (1) end is equipped with the first RFID reader (32).

The package detection transhipment intelligent robot 4. high-end pharmacy as described in claim 1 is made up a prescription, which is characterized in that the medicine Sterile smart collaboration both arms robot system of making up a prescription includes the second workbench, is equipped with the second conveyor chain on the second workbench (31), be equipped on the outside of the second conveyor chain (31) both arms cooperation robot (12), tubes Sterile storage bin (7), culture dish without Bacterium storage bin (8), the high speed vibration device (9) that makes up a prescription, worktable for preparing medicine (10), waste storage case (14), the second high-precision detect Industrial camera (15), pretreatment of raw material case (16), the second RFID reader (33), liquid transfer gun head placing box (44), make up a prescription raw material Placing box (45)；First high-precision detection industrial camera (5), the second conveyor chain are installed above the second conveyor chain (31) (31) the second positioning device (11) are installed on.

The package detection transhipment intelligent robot 5. high-end pharmacy as claimed in claim 4 is made up a prescription, which is characterized in that the both arms Cooperation robot (12) includes T-type pedestal (47), and T-type pedestal (47) two sides are connected separately with six articulated robots, six joint machines Device people end is connected with six articulated robot end flanges, and six articulated robots are detachable by six articulated robot end flanges Jockey.

The package detection transhipment intelligent robot 6. high-end pharmacy as described in claim 1 is made up a prescription, which is characterized in that described to jump a queue Closure system includes third conveyor chain (17), third positioning device (18) is equipped in third conveyor chain (17), third is defeated Sterile ultra-clean robot (21) is installed outside the road Song Lian (17), sterile ultra-clean robot (21) side is equipped with rubber plug feeding Device (19), the other side are equipped with aluminium lid feed appliance (20)；Third conveyor chain (17) end is equipped with third RFID reader (34)。

The package detection transhipment intelligent robot 7. high-end pharmacy as described in claim 1 is made up a prescription, which is characterized in that the drug Sorting movement system includes the 4th conveyor chain (25), and the 4th positioning device (46) and the are equipped in the 4th conveyor chain (25) Four RFID readers (35), the 4th conveyor chain (25) of cooperation are equipped with drug sorting transporter people (22), waste product storage bin (23), third high-precision detection industrial camera (24) and the second pilot trolley.

The package detection transhipment intelligent robot 8. high-end pharmacy as described in claim 1 is made up a prescription, which is characterized in that the conveying Chain road system includes the first conveyor chain (1), the second conveyor chain (31), third conveyor chain (17) and the 4th conveyor chain (25)。