CN210116688U - Automatic dispensing machine of lifting table type sucker array - Google Patents
Automatic dispensing machine of lifting table type sucker array Download PDFInfo
- Publication number
- CN210116688U CN210116688U CN201921066886.4U CN201921066886U CN210116688U CN 210116688 U CN210116688 U CN 210116688U CN 201921066886 U CN201921066886 U CN 201921066886U CN 210116688 U CN210116688 U CN 210116688U
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- medicine
- electromagnetic valve
- relay
- linear driver
- discharging
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Abstract
The utility model discloses an automatic dispensing machine of a lifting table type sucker array, which comprises a frame, a medicine taking device and a medicine weighing and discharging device; the medicine taking device comprises a guide rail, a sliding seat, a first linear driver, a full-coverage type vacuum medicine suction mechanical arm and a lifting mechanism, wherein the full-coverage type vacuum medicine suction mechanical arm comprises a substrate and vacuum suckers arranged on the substrate in an array mode, and the lifting mechanism comprises an X-shaped hinged frame, a first horizontal guide groove, a second horizontal guide groove, a first cross rod arranged in the first horizontal guide groove, a second cross rod arranged in the second horizontal guide groove and a second linear driver arranged on the sliding seat; the weighing and medicine discharging device comprises a weighing sensor, a medicine receiving groove and a medicine discharging mechanism. The utility model discloses can follow the cartridge bag of automatic extraction in the medicine storage box of the fixed station of medicine cabinet to the accurate cartridge bag discharge medicine cabinet that equals with the prescription regulation of measurement, thereby replace the manual work to get it filled, improve the intelligent degree of medicine cabinet, improve out medicine efficiency, practice thrift the human cost.
Description
Technical Field
The utility model relates to an automatic change pharmacy technical field, in particular to automatic medicine dispensing machine of desk-top sucking disc array goes up and down.
Background
In order to solve the technical problems that the traditional Chinese pharmacy consumes much labor and has low medicine discharging efficiency by manually preparing medicines, the intelligent medicine cabinet becomes a research hotspot in the field of medical equipment. The existing semi-automatic small-package intelligent medicine cabinet for traditional Chinese medicine decoction pieces can only automatically find medicines according to a prescription, and a medicine storage box with corresponding medicines is transferred to a medicine outlet window, so that the medicine outlet efficiency of a pharmacy is improved to a certain extent, but the semi-automatic medicine cabinet still needs to manually take out the medicines from a drawer and count the medicines.
SUMMERY OF THE UTILITY MODEL
In view of this, the utility model aims at providing an automatic medicine dispensing machine of desk-top sucking disc array goes up and down to solve current semi-automatic intelligent medicine cabinet and need the manual work to take out the cartridge bag from the medicine storage box and count technical problem.
The utility model discloses an automatic medicine dispensing machine with a lifting table type sucker array, which comprises a frame, wherein a medicine taking device and a medicine weighing and discharging device are arranged on the frame;
the medicine taking device comprises two parallel guide rails horizontally arranged on a rack, a sliding seat arranged on the guide rails, a first linear driver arranged on the rack and used for driving the sliding seat to move along the guide rails, a full-coverage type vacuum medicine suction mechanical arm positioned below the sliding seat and a lifting mechanism used for connecting the sliding seat and the vacuum mechanical arm, wherein the distance between the two guide rails is larger than the size of a medicine storage box of the medicine cabinet in the corresponding direction, the full-coverage type vacuum medicine suction mechanical arm comprises a substrate and vacuum suckers arranged on the substrate in an array manner, and the vacuum suckers are uniformly distributed on the whole opening surface of the medicine storage box;
the lifting mechanism comprises an X-shaped hinged frame formed by hinging a first connecting plate and a second connecting plate in the middle, a first horizontal guide groove arranged on the sliding seat, a second horizontal guide groove arranged on the base plate and parallel to the first horizontal guide groove, a first cross rod arranged in the first horizontal guide groove, a second cross rod arranged in the second horizontal guide groove, and a second linear driver arranged on the sliding seat and used for driving the first cross rod to move along the first horizontal guide groove, wherein one end of the first connecting plate is hinged on the base plate, the other end of the first connecting plate is connected with the first cross rod, one end of the second connecting plate is hinged on the sliding seat, and the other end of the second connecting plate is connected with the second cross rod;
each vacuum sucker is provided with an air pipe independently connected with an air source, and the air pipe connected with each vacuum sucker is provided with a vacuum generator and a first electromagnetic valve;
the medicine weighing and discharging device comprises a weighing sensor arranged on the frame and a medicine receiving groove arranged on the weighing sensor, the medicine receiving groove is positioned below the guide rail, the longitudinal direction of the medicine receiving groove is parallel to the longitudinal direction of the guide rail, the longitudinal two ends of the medicine receiving groove are respectively provided with a front medicine discharging port and a rear medicine discharging port, the front medicine discharging port is used for discharging the medicines back to the medicine storage box, and the rear medicine discharging port is used for discharging the medicines out of the medicine cabinet; the medicine weighing and discharging device also comprises a medicine discharging mechanism which is arranged on the frame and used for discharging the medicines in the medicine receiving groove from the front medicine discharging port and the rear medicine discharging port.
Further, arrange medicine mechanism including establish in the frame and from the preceding nozzle that row of medicine mouth to the direction of back row of medicine mouth blown, set up in the frame and from the back row of medicine mouth to the back nozzle that row of medicine mouth direction blown forward, set up the second solenoid valve on preceding nozzle and air supply connecting line and set up the third solenoid valve on back nozzle and air supply connecting line.
Further, the first linear driver and the second linear driver are air cylinders or electric screw rods.
Further, the first linear driver and the second linear driver are air cylinders, the first linear driver is connected with an air source through an air pipe provided with a fourth electromagnetic valve, and the second linear driver is connected with the air source through an air pipe provided with a fifth electromagnetic valve.
Further, the automatic dispensing machine of the lifting table type sucker array further comprises a control device, wherein the control device comprises a single chip microcomputer, a first relay connected with the first electromagnetic valve, a second relay connected with the second electromagnetic valve, a third relay connected with the third electromagnetic valve, a fourth relay connected with the fourth electromagnetic valve, a fifth relay connected with the fifth electromagnetic valve and a power module;
the power supply module is respectively connected with the single chip microcomputer, the first relay, the second relay, the third relay, the fourth relay, the fifth relay, the first electromagnetic valve, the second electromagnetic valve, the third electromagnetic valve, the fourth electromagnetic valve and the fifth electromagnetic valve, and the first relay, the second relay, the third relay, the fourth relay and the fifth relay are respectively connected with the single chip microcomputer;
the weighing sensor is connected with the single chip microcomputer;
the control device also comprises a pressure reducing valve arranged on an air pipe connecting the second linear driver and the air source.
The utility model has the advantages that:
the utility model discloses automatic medicine dispensing machine of desk-top sucking disc array goes up and down, its can follow the cartridge bag of taking out automatically in the medicine storage box of the fixed station of medicine cabinet to the accurate cartridge bag discharge medicine cabinet that equals with the prescription regulation of measurement, thereby replace the manual work to get it filled, can further improve the intelligent degree of medicine cabinet, improve out medicine efficiency, practice thrift the human cost. Furthermore, the utility model discloses an elevating system, it turns into the horizontal migration control to second linear actuator with reciprocating of vacuum chuck array, has reduced the whole mounting height of automatic medicine dispensing machine greatly, is applicable to the semi-automatic medicine cabinet that receives the space constraint on the direction of height more.
Drawings
FIG. 1 is a schematic perspective view of an automatic dispensing machine with an elevating table type suction cup array according to an embodiment;
FIG. 2 is a schematic view of an automatic dispensing machine with an elevating table type suction cup array according to an embodiment of the present invention;
FIG. 3 is a schematic view of the gas circuit connection of the automatic dispensing machine of the elevating table type suction cup array in the embodiment;
fig. 4 is a schematic view of a connection structure of the control device.
Detailed Description
The invention is further described with reference to the following figures and examples.
As shown in the figure, the automatic medicine dispensing machine of the lifting table type sucking disc array comprises a machine frame 1, wherein a medicine taking device and a medicine weighing and discharging device are arranged on the machine frame.
Get the medicine device and include that the level sets up two guide rail 2 that are parallel to each other in the frame, set up slide 3 on the guide rail, set up in the frame drive slide along guide rail movement's first linear actuator 4, be located the full overlay type vacuum of slide below inhale medicine manipulator and connect the elevating system of slide and vacuum manipulator, distance between two guide rails is greater than the explosive box 5 of medicine cabinet and corresponds ascending size in the side, full overlay type vacuum inhales medicine manipulator and includes that base plate 6 and array arrange vacuum chuck 7 on the base plate, and vacuum chuck evenly distributed on the whole opening face of explosive box.
In this embodiment, the distance between the two guide rails is greater than the size of the medicine storage box 5 of the medicine cabinet in the corresponding direction, so that when the full-coverage vacuum medicine suction manipulator returns to the medicine placing station, the medicine storage box cannot be interfered by the guide rails when entering the medicine taking area for the semi-automatic medicine cabinet in which the medicine storage box horizontally and circularly moves under the drive of the chain.
The lifting mechanism comprises an X-shaped hinged frame formed by hinging a first connecting plate 8 and a second connecting plate 9 at the middle part, a first horizontal guide groove 10 arranged on the sliding seat, a second horizontal guide groove 11 arranged on the base plate and parallel to the first horizontal guide groove, a first cross rod 12 arranged in the first horizontal guide groove, a second cross rod 13 arranged in the second horizontal guide groove, and a second linear driver 14 arranged on the sliding seat and driving the first cross rod to move along the first horizontal guide groove, wherein one end of the first connecting plate is hinged on the base plate, the other end of the first connecting plate is connected with the first cross rod, one end of the second connecting plate is hinged on the sliding seat, and the other end of the second connecting plate is connected with the second cross rod.
Each vacuum chuck is provided with an air pipe independently connected with an air source 15, and the air pipe connected with each vacuum chuck is provided with a vacuum generator 16 and a first electromagnetic valve 17.
The medicine weighing and discharging device comprises a weighing sensor 18 arranged on the frame and a medicine receiving groove 19 arranged on the weighing sensor, the medicine receiving groove is positioned below the guide rail, the longitudinal direction of the medicine receiving groove is parallel to the longitudinal direction of the guide rail, the longitudinal two ends of the medicine receiving groove are respectively provided with a front medicine discharging port and a rear medicine discharging port, the front medicine discharging port is used for discharging the medicines back to the medicine storage box, and the rear medicine discharging port is used for discharging the medicines out of the medicine cabinet; the medicine weighing and discharging device also comprises a medicine discharging mechanism which is arranged on the frame and used for discharging the medicines in the medicine receiving groove from the front medicine discharging port and the rear medicine discharging port. In this embodiment, the drug receiving groove 19 is composed of a U-shaped groove bottom and a drug receiving sloping plate arranged at the bottom opening of the U-shaped groove in an inverted-splayed arrangement, the drug receiving sloping plate discharges the received drug bag into the U-shaped groove bottom, and the U-shaped groove bottom is small in shape, so that the drug bag can be conveniently and intensively discharged. Of course, in different embodiments, the medicine receiving groove 19 can be made into other groove-shaped structures with open bottoms.
In this embodiment, the medicine discharging mechanism comprises a front nozzle 20 arranged on the frame and blowing air from the front medicine discharging port to the rear medicine discharging port, a rear nozzle 21 arranged on the frame and blowing air from the rear medicine discharging port to the front medicine discharging port, a second electromagnetic valve 22 arranged on a connecting pipeline between the front nozzle and an air source, and a third electromagnetic valve 23 arranged on a connecting pipeline between the rear nozzle and the air source. Of course, the expelling mechanism may take other forms in different embodiments.
In this embodiment, the first linear actuator and the second linear actuator are air cylinders, the first linear actuator is connected with an air source through an air pipe provided with a fourth electromagnetic valve 24, and the second linear actuator is connected with the air source through an air pipe provided with a fifth electromagnetic valve 25. Of course, in different embodiments, the first linear actuator and the second linear actuator may also be electric screws.
The automatic dispensing machine of the lifting desk type sucker array in the embodiment further comprises a control device, wherein the control device comprises a single chip microcomputer 26, a first relay 27 connected with the first electromagnetic valve, a second relay 28 connected with the second electromagnetic valve, a third relay 29 connected with the third electromagnetic valve, a fourth relay 30 connected with the fourth electromagnetic valve, a fifth relay 31 connected with the fifth electromagnetic valve and a power module 32.
The power module is respectively connected with the single chip microcomputer, the first relay, the second relay, the third relay, the fourth relay, the fifth relay, the first electromagnetic valve, the second electromagnetic valve, the third electromagnetic valve, the fourth electromagnetic valve and the fifth electromagnetic valve, and the first relay, the second relay, the third relay, the fourth relay and the fifth relay are respectively connected with the single chip microcomputer.
The weighing sensor is connected with the single chip microcomputer.
The control means further comprises a pressure relief valve 33 provided on the air line connecting the second linear actuator and the air supply. The relief pressure valve is used for controlling the stroke of the downward movement of the second linear driver, the second linear driver drives the full-coverage type vacuum medicine suction manipulator to move downwards, after the vacuum chuck is contacted with the medicine bag, the air pressure in a pipeline connected with the air source of the second linear driver rises, when the pressure rises to exceed the pressure set by the relief pressure valve, the relief pressure valve exhausts and releases the air pressure, so that the air pressure is stabilized at a set value, good sealing fit can be formed between the mouth part of the vacuum chuck and the medicine bag under certain contact pressure, the medicine grabbing success rate is improved, the problem that the second linear driver is too large in stroke to cause equipment damage can be avoided, and the problem that the stroke is not enough to cause medicine grabbing failure can be avoided.
In specific implementation, the work flow of the automatic dispensing machine for lifting the table type suction cup array in the embodiment is as follows:
1) after the single chip microcomputer receives a medicine grabbing and discharging instruction, the single chip microcomputer sends a control signal to the fourth relay, the fourth relay controls the fourth electromagnetic valve to act to connect the forward gas circuit, and therefore the first linear driver is controlled to push the sliding seat to move forwards to a medicine grabbing position.
2) The singlechip sends a control signal to the fifth relay, so that the fifth relay controls the fifth electromagnetic valve to act to switch on the forward gas circuit, and the second linear driver is controlled to drive the first cross rod to move backwards along the first horizontal guide groove, so that the length of the X-shaped hinged frame in the vertical direction is increased, and the full-coverage type vacuum medicine suction manipulator is driven to move downwards;
3) the single chip microcomputer sends control signals to the first relays, so that the first relays control the first electromagnetic valves to act to connect the gas circuit, airflow enters the vacuum generator, and a vacuum sucker connected with the vacuum generator generates negative pressure to suck the medicine bags;
4) the singlechip sends a control signal to the fifth relay, so that the fifth relay controls the fifth electromagnetic valve to act to switch on the reverse gas path, and the second linear driver is controlled to drive the first cross rod to move forwards along the first horizontal guide groove, so that the length of the X-shaped hinged frame in the up-down direction is shortened, and the full-coverage type vacuum medicine suction manipulator is driven to move upwards;
5) the singlechip sends a control signal to the fourth relay, so that the fourth relay controls the first electromagnetic valve to act to connect the reverse gas path, and the first linear driver is controlled to push the sliding seat to retreat to the medicine placing position.
6) The single chip microcomputer selects a corresponding number of first relays according to the difference between the number of the medicine bags specified by the prescription and the number detected by the current weighing sensor, the first relays are selected randomly, and control signals are sent to the selected first relays, so that the corresponding first relays control the corresponding first electromagnetic valves to turn off the air paths, and the corresponding vacuum chucks put down the medicine bags.
7) The single chip microcomputer collects the detection data of the weighing sensor in real time, compares the collected data with the medicine package quantity specified by the prescription, and makes the following judgment and control:
if the comparison result is that the two are equal, the singlechip sends a control signal to the second relay, so that the second relay controls the second electromagnetic valve to be connected with the air path to enable the air flow to be sprayed out from the front nozzle, and the medicine in the medicine receiving groove is discharged out of the medicine cabinet; then the single chip microcomputer judges whether a gas circuit of the first electromagnetic valve is not turned off or not, if not, the control flow is finished, if yes, a control signal is sent to a first relay corresponding to the gas circuit which is not turned off, then the gas circuit of the corresponding first electromagnetic valve is turned off, the vacuum chuck puts down the medicine bag, finally the single chip microcomputer sends a control signal to a third relay, the third relay controls a third electromagnetic valve to be turned on, the gas circuit is turned off, the air flow is sprayed out from a rear nozzle, and therefore the medicine in the medicine receiving groove is blown back to the medicine storage box, and the control flow is finished;
if the comparison result shows that the detection data of the weighing sensor is smaller than the number of the medicine bags specified by the prescription and the first electromagnetic valves are not closed, the singlechip jumps to execute the step 6), otherwise, the singlechip jumps to execute the step 1);
if the comparison result shows that the detection data of the weighing sensor is larger than the number of the medicine bags specified by the prescription, the single chip microcomputer firstly sends a control signal to the third relay, so that the third relay controls the third electromagnetic valve to be connected with the air path to enable the air flow to be sprayed out from the rear nozzle, and the medicine in the medicine receiving groove is blown back to the medicine storage box; and then comparing the number of the air paths of the first electromagnetic valve which are not turned off with the number of the medicine bags specified by the prescription, if the comparison result shows that the number of the air paths of the first electromagnetic valve which are not turned off is larger than the number of the medicine bags specified by the prescription, the single chip microcomputer jumps to execute the step 6), otherwise, the single chip microcomputer jumps to execute the step 1).
Finally, although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that the present invention can be modified or replaced by other means without departing from the spirit and scope of the present invention, which should be construed as limited only by the appended claims.
Claims (5)
1. The utility model provides an automatic medicine dispensing machine of desk-top sucking disc array goes up and down which characterized in that: the automatic medicine taking and discharging device comprises a rack, wherein a medicine taking device and a medicine weighing and discharging device are arranged on the rack;
the medicine taking device comprises two parallel guide rails horizontally arranged on a rack, a sliding seat arranged on the guide rails, a first linear driver arranged on the rack and used for driving the sliding seat to move along the guide rails, a full-coverage type vacuum medicine suction mechanical arm positioned below the sliding seat and a lifting mechanism used for connecting the sliding seat and the vacuum mechanical arm, wherein the distance between the two guide rails is larger than the size of a medicine storage box of the medicine cabinet in the corresponding direction, the full-coverage type vacuum medicine suction mechanical arm comprises a substrate and vacuum suckers arranged on the substrate in an array manner, and the vacuum suckers are uniformly distributed on the whole opening surface of the medicine storage box;
the lifting mechanism comprises an X-shaped hinged frame formed by hinging a first connecting plate and a second connecting plate in the middle, a first horizontal guide groove arranged on the sliding seat, a second horizontal guide groove arranged on the base plate and parallel to the first horizontal guide groove, a first cross rod arranged in the first horizontal guide groove, a second cross rod arranged in the second horizontal guide groove, and a second linear driver arranged on the sliding seat and used for driving the first cross rod to move along the first horizontal guide groove, wherein one end of the first connecting plate is hinged on the base plate, the other end of the first connecting plate is connected with the first cross rod, one end of the second connecting plate is hinged on the sliding seat, and the other end of the second connecting plate is connected with the second cross rod;
each vacuum sucker is provided with an air pipe independently connected with an air source, and the air pipe connected with each vacuum sucker is provided with a vacuum generator and a first electromagnetic valve;
the medicine weighing and discharging device comprises a weighing sensor arranged on the frame and a medicine receiving groove arranged on the weighing sensor, the medicine receiving groove is positioned below the guide rail, the longitudinal direction of the medicine receiving groove is parallel to the longitudinal direction of the guide rail, the longitudinal two ends of the medicine receiving groove are respectively provided with a front medicine discharging port and a rear medicine discharging port, the front medicine discharging port is used for discharging the medicines back to the medicine storage box, and the rear medicine discharging port is used for discharging the medicines out of the medicine cabinet; the medicine weighing and discharging device also comprises a medicine discharging mechanism which is arranged on the frame and used for discharging the medicines in the medicine receiving groove from the front medicine discharging port and the rear medicine discharging port.
2. The machine according to claim 1, characterized in that: the medicine discharging mechanism comprises a front nozzle, a rear nozzle, a second electromagnetic valve and a third electromagnetic valve, wherein the front nozzle is arranged on the rack and blows air from the front medicine discharging port to the rear medicine discharging port, the rear nozzle is arranged on the rack and blows air from the rear medicine discharging port to the front medicine discharging port, the second electromagnetic valve is arranged on a connecting pipeline of the front nozzle and an air source, and the third electromagnetic valve is arranged on a connecting pipeline of the rear nozzle and the air source.
3. The machine according to claim 1 or 2, characterized in that: the first linear driver and the second linear driver are air cylinders or electric screw rods.
4. The machine according to claim 3, characterized in that: the first linear driver and the second linear driver are air cylinders, the first linear driver is connected with an air source through an air pipe provided with a fourth electromagnetic valve, and the second linear driver is connected with the air source through an air pipe provided with a fifth electromagnetic valve.
5. The machine according to claim 4, characterized in that: the control device comprises a single chip microcomputer, a first relay connected with the first electromagnetic valve, a second relay connected with the second electromagnetic valve, a third relay connected with the third electromagnetic valve, a fourth relay connected with the fourth electromagnetic valve, a fifth relay connected with the fifth electromagnetic valve and a power module;
the power supply module is respectively connected with the single chip microcomputer, the first relay, the second relay, the third relay, the fourth relay, the fifth relay, the first electromagnetic valve, the second electromagnetic valve, the third electromagnetic valve, the fourth electromagnetic valve and the fifth electromagnetic valve, and the first relay, the second relay, the third relay, the fourth relay and the fifth relay are respectively connected with the single chip microcomputer;
the weighing sensor is connected with the single chip microcomputer;
the control device also comprises a pressure reducing valve arranged on an air pipe connecting the second linear driver and the air source.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921066886.4U CN210116688U (en) | 2019-07-09 | 2019-07-09 | Automatic dispensing machine of lifting table type sucker array |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921066886.4U CN210116688U (en) | 2019-07-09 | 2019-07-09 | Automatic dispensing machine of lifting table type sucker array |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210116688U true CN210116688U (en) | 2020-02-28 |
Family
ID=69617496
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921066886.4U Expired - Fee Related CN210116688U (en) | 2019-07-09 | 2019-07-09 | Automatic dispensing machine of lifting table type sucker array |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210116688U (en) |
-
2019
- 2019-07-09 CN CN201921066886.4U patent/CN210116688U/en not_active Expired - Fee Related
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200228 Termination date: 20200709 |