CN210150278U - Automatic dispensing device of full-coverage type sucker array - Google Patents

Automatic dispensing device of full-coverage type sucker array Download PDF

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Publication number
CN210150278U
CN210150278U CN201921068395.3U CN201921068395U CN210150278U CN 210150278 U CN210150278 U CN 210150278U CN 201921068395 U CN201921068395 U CN 201921068395U CN 210150278 U CN210150278 U CN 210150278U
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CN
China
Prior art keywords
medicine
electromagnetic valve
relay
full
linear driver
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Expired - Fee Related
Application number
CN201921068395.3U
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Chinese (zh)
Inventor
沈志熙
宋永端
陈立
潘小虎
陈潇
汪知林
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Chongqing University
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Chongqing University
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Priority to CN201921068395.3U priority Critical patent/CN210150278U/en
Application granted granted Critical
Publication of CN210150278U publication Critical patent/CN210150278U/en
Expired - Fee Related legal-status Critical Current
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Abstract

The utility model discloses an automatic medicine dispensing device of a full-coverage 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 manipulator and a second linear driver; the weighing and medicine discharging device comprises a weighing sensor, a medicine receiving groove and a medicine discharging mechanism; the full-coverage type vacuum medicine suction mechanical arm comprises a full-coverage type substrate connected with the second linear driver and vacuum suckers arranged on the full-coverage type substrate in an array mode, and the vacuum suckers are uniformly distributed on the whole opening surface of the medicine storage box. The utility model discloses take out the cartridge bag in can following the medicine storage box of fixed station to the accurate cartridge bag discharge medicine cabinet of measurement realizes replacing the manual work to get it filled, can improve the intelligent degree and the play medicine efficiency of medicine cabinet, practices thrift the human cost.

Description

Automatic dispensing device of full-coverage type sucker array
Technical Field
The utility model relates to an automatic change pharmacy technical field, in particular to automatic dispensing device of full overlay type sucking disc array.
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 dispensing device of full overlay type sucking disc array 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 device of a full-coverage 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 a guide rail horizontally arranged on the rack, a sliding seat arranged on the guide rail, a first linear driver arranged on the rack and used for driving the sliding seat to move along the guide rail, a full-coverage type vacuum medicine suction mechanical arm positioned below the sliding seat, and a second linear driver arranged on the sliding seat and used for driving the full-coverage type vacuum medicine suction mechanical arm to move up and down, wherein the full-coverage type vacuum medicine suction mechanical arm comprises a full-coverage type substrate connected with the second linear driver and vacuum suckers arranged on the full-coverage type substrate in an array manner, the vacuum suckers are uniformly distributed on the whole opening surface of the medicine storage box, 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 device of getting it filled still includes the guiding mechanism who leads to reciprocating of full overlay type vacuum medicine suction manipulator, guiding mechanism includes the guide bar, sets up fixed plate on slide or second linear actuator and set up on the fixed plate and with guide bar complex linear bearing, the lower extreme of guide bar is fixed to be set up on the full overlay type base plate.
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 medicine dispensing device of the full-coverage 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 full overlay type sucking disc array's automatic dispensing device, 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.
Drawings
FIG. 1 is a schematic perspective view of an embodiment of an automatic dispensing device with a fully-covered suction cup array;
FIG. 2 is a schematic view showing the pneumatic connection of the automatic dispensing device with a fully covered suction cup array according to the embodiment;
fig. 3 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 device of the full-coverage type sucker array comprises a rack 1, wherein a medicine taking device and a medicine weighing and discharging device are arranged on the rack.
Get medicine device and include that the level sets up guide rail 2 in the frame, set up slide 3 on the guide rail, set up in the frame drive slide along guide rail removal's first linear actuator 4, be located the full overlay type vacuum of slide below and inhale medicine manipulator and set up the second linear actuator 5 that drives full overlay type vacuum on the slide and inhale medicine manipulator and reciprocate, full overlay type vacuum inhales medicine manipulator and includes that full overlay type base plate 6 and the array of being connected with second linear actuator arrange the vacuum chuck 7 on full overlay type base plate, and vacuum chuck evenly distributed on the whole open face of explosive box 8, is provided with the trachea of being connected with air supply 9 independently on every vacuum chuck, and all is provided with vacuum generator 10 and first solenoid valve 11 on the trachea of being connected with every vacuum chuck.
The medicine weighing and discharging device comprises a weighing sensor 12 arranged on the rack and a medicine receiving groove 13 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. The medicine receiving groove 13 is composed of a U-shaped groove bottom and a medicine receiving inclined plate arranged at the bottom opening of the U-shaped groove in an inverted splayed mode, the medicine receiving inclined plate discharges the received medicine bags into the U-shaped groove bottom, and the U-shaped groove bottom is small in shape, so that the medicine bags can be conveniently and intensively discharged. Of course, in different embodiments, the medicine receiving groove 13 can be made into other groove-shaped structures with open bottoms.
In this embodiment, the medicine discharging mechanism comprises a front nozzle 14 which is arranged on the frame and blows air from the front medicine discharging port to the rear medicine discharging port, a rear nozzle 15 which is arranged on the frame and blows air from the rear medicine discharging port to the front medicine discharging port, a second electromagnetic valve 16 which is arranged on a connecting pipeline of the front nozzle and an air source, and a third electromagnetic valve 17 which is arranged on a connecting pipeline of the rear nozzle and the air source. Of course, the expelling mechanism may take other forms in different embodiments.
In this embodiment, the device of getting it filled still includes the guiding mechanism that leads to reciprocating of full overlay type vacuum medicine suction manipulator, guiding mechanism includes guide bar 18, sets up fixed plate 19 on the slide and set up on the fixed plate and with guide bar complex linear bearing, the lower extreme of guide bar is fixed to be set up on the full overlay type base plate. Of course, in different embodiments, the fastening plate 19 can also be arranged on the second linear drive. Through the guiding device, the full-coverage vacuum medicine suction mechanical arm can be better ensured not to deflect and shake in the up-and-down moving process, so that the full-coverage vacuum medicine suction mechanical arm can accurately enter the medicine storage box to grab the medicine.
In this embodiment, the first linear actuator and the second linear actuator are air cylinders; of course, in different embodiments, the first linear actuator and the second linear actuator may also be electric screws.
In this embodiment, the first linear actuator is connected to the air source through the air pipe provided with the fourth electromagnetic valve 20, and the second linear actuator is connected to the air source through the air pipe provided with the fifth electromagnetic valve 21.
The automatic medicine dispensing device with the fully-covered sucker array in the embodiment further comprises a control device, wherein the control device comprises a single chip microcomputer 22, a first relay 23 connected with the first electromagnetic valve, a second relay 24 connected with the second electromagnetic valve, a third relay 25 connected with the third electromagnetic valve, a fourth relay 26 connected with the fourth electromagnetic valve, a fifth relay 27 connected with the fifth electromagnetic valve and a power module 28.
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 29 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 working flow of the automatic dispensing device with the fully-covered 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 single chip microcomputer 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 full-coverage type vacuum medicine suction manipulator to move downwards.
3) The single chip microcomputer sends out control signals to the first relays, the first relays control the first electromagnetic valves to act and switch on the air circuit, and therefore air flow enters the vacuum generator, and further the vacuum sucker connected with the vacuum generator generates negative pressure to suck the medicine bags.
4) The single chip microcomputer 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 full-coverage type vacuum medicine suction manipulator 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 (6)

1. The utility model provides an automatic dispensing device of full overlay type sucking disc array 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 a guide rail horizontally arranged on the rack, a sliding seat arranged on the guide rail, a first linear driver arranged on the rack and used for driving the sliding seat to move along the guide rail, a full-coverage type vacuum medicine suction mechanical arm positioned below the sliding seat, and a second linear driver arranged on the sliding seat and used for driving the full-coverage type vacuum medicine suction mechanical arm to move up and down, wherein the full-coverage type vacuum medicine suction mechanical arm comprises a full-coverage type substrate connected with the second linear driver and vacuum suckers arranged on the full-coverage type substrate in an array manner, the vacuum suckers are uniformly distributed on the whole opening surface of the medicine storage box, 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 automated dispensing apparatus with a fully-covered suction cup array of claim 1, wherein: 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 automated dispensing apparatus with a fully-covered suction cup array of claim 1, wherein: get it filled device and still include the guiding mechanism who leads reciprocating of inhaling medicine manipulator to the full-coverage formula vacuum, guiding mechanism includes the guide bar, sets up fixed plate on slide or second linear actuator and set up on the fixed plate and with guide bar complex linear bearing, the lower extreme of guide bar is fixed to be set up on the full-coverage formula base plate.
4. The automated dispensing apparatus with a fully-covered suction cup array according to claim 1 or 3, wherein: the first linear driver and the second linear driver are air cylinders or electric screw rods.
5. The automated dispensing apparatus with a fully-covered suction cup array according to claim 4, wherein: 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.
6. The automated dispensing apparatus with a fully-covered suction cup array according to claim 5, 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.
CN201921068395.3U 2019-07-09 2019-07-09 Automatic dispensing device of full-coverage type sucker array Expired - Fee Related CN210150278U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201921068395.3U CN210150278U (en) 2019-07-09 2019-07-09 Automatic dispensing device of full-coverage type sucker array

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201921068395.3U CN210150278U (en) 2019-07-09 2019-07-09 Automatic dispensing device of full-coverage type sucker array

Publications (1)

Publication Number Publication Date
CN210150278U true CN210150278U (en) 2020-03-17

Family

ID=69765603

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201921068395.3U Expired - Fee Related CN210150278U (en) 2019-07-09 2019-07-09 Automatic dispensing device of full-coverage type sucker array

Country Status (1)

Country Link
CN (1) CN210150278U (en)

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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: 20200317

Termination date: 20210709