CN210150279U - Automatic medicine dispensing machine with local covering type sucker array - Google Patents
Automatic medicine dispensing machine with local covering type sucker array Download PDFInfo
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- CN210150279U CN210150279U CN201921068430.1U CN201921068430U CN210150279U CN 210150279 U CN210150279 U CN 210150279U CN 201921068430 U CN201921068430 U CN 201921068430U CN 210150279 U CN210150279 U CN 210150279U
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Abstract
The utility model discloses an automatic medicine dispensing machine with a local covering 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, a sliding seat, a first linear driver, a partial covering type vacuum medicine suction mechanical arm and a second linear driver, wherein the vacuum medicine suction mechanical arm comprises a partial covering type substrate connected with the second linear driver and vacuum suckers arranged on the partial covering type substrate in an array mode; the medicine weighing and discharging device comprises a weighing sensor, a medicine receiving groove and a medicine discharging mechanism, wherein the medicine discharging mechanism comprises a front nozzle which is arranged on the rack and blows air from the front medicine discharging port to the rear medicine discharging port and a rear nozzle which is arranged on the rack and blows air from the rear medicine discharging port to the front medicine discharging port. The utility model discloses can follow the automatic cartridge bag that takes out in the medical kit of medicine cabinet to the accurate cartridge bag that equals with the prescription regulation of measurement discharges the medicine cabinet, thereby replaces the manual work to get it filled, can improve drugstore efficiency of producing medicine, practices thrift the human cost.
Description
Technical Field
The invention relates to the technical field of automatic pharmacy, in particular to an automatic dispensing machine with a local covering 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.
Disclosure of Invention
In view of the above, the present invention provides an automatic dispensing machine with a partially covered type suction cup array, so as to solve the technical problem that the existing semi-automatic intelligent medicine cabinet needs to manually take out and count medicine packages from a medicine storage drawer.
The invention discloses an automatic medicine dispensing machine with a local covering type sucker array, which comprises a machine frame, wherein a medicine taking device and a medicine weighing and discharging device are arranged on the machine frame;
the medicine taking device comprises a guide rail horizontally arranged on a 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 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 vacuum medicine suction mechanical arm to move up and down, wherein the vacuum medicine suction mechanical arm comprises a local coverage type substrate connected with the second linear driver and vacuum suckers arranged on the local coverage type substrate in an array manner, each vacuum sucker is provided with an air pipe independently connected with an air source, and an air pipe connected with each vacuum sucker is provided with a vacuum generator and a first electromagnetic valve;
the medicine taking device is provided with a medicine placing station and at least two medicine taking stations along a guide rail, and further comprises a position sensor for detecting the stroke of the first linear driver reaching each medicine taking station; at a medicine taking station, the local covering type vacuum medicine suction manipulator partially covers the opening surface of the medicine storage box along the direction of the guide rail and completely covers the opening surface of the medicine storage box along the direction vertical to the guide rail;
the medicine weighing and discharging device comprises a weighing sensor arranged on the rack and a medicine receiving groove arranged on the weighing sensor, the medicine receiving groove is positioned below a medicine placing station on 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 medicine taking device further comprises a guide mechanism for guiding the up-and-down movement of the vacuum medicine suction manipulator, the guide mechanism comprises a guide rod, a fixed plate arranged on the sliding seat or the second linear driver and a linear bearing arranged on the fixed plate and matched with the guide rod, and the lower end of the guide rod is fixedly arranged on the local covering type substrate.
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 local covering 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 position 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 invention has the beneficial effects that:
the automatic dispensing machine with the local covering type sucker array can automatically take out the medicine bags from the medicine boxes of the medicine cabinet and discharge the medicine bags which are accurately measured and equal to the prescription specification out of the medicine cabinet, so that manual medicine taking is replaced, the intelligent degree of the medicine cabinet can be further improved, the medicine discharging efficiency is improved, and the labor cost is saved.
Drawings
FIG. 1 is a schematic perspective view of an embodiment of an automatic dispensing machine with a partially covered suction cup array;
FIG. 2 is a schematic view of an air path connection of an automatic dispensing machine with a partially covered suction cup array according to an embodiment;
fig. 3 is a schematic view of a connection structure of the control device.
Detailed Description
The invention is further described below with reference to the figures and examples.
As shown in the figure, the automatic medicine dispensing machine of the local covering type sucking disc array of the embodiment comprises a machine frame 1, wherein a medicine taking device and a medicine weighing and discharging device are arranged on the machine frame.
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 vacuum of slide below and inhale medicine manipulator and set up the second linear actuator 5 that drives the vacuum on the slide and inhale medicine manipulator and reciprocate, the vacuum is inhaled medicine manipulator and is included the local overlay type base plate 6 and the array of being connected with second linear actuator and arrange the vacuum chuck 7 on local overlay type base plate, is provided with the trachea of being connected with 8 independence of air supply on every vacuum chuck, and all is provided with vacuum generator 9 and first solenoid valve 10 on the trachea of being connected with every vacuum chuck.
The medicine taking device is provided with a medicine placing station and two medicine taking stations along the guide rail, and the number of the medicine taking stations can be set to other numbers in different embodiments. The medicine taking device further comprises a position sensor 11 for detecting the stroke of the first linear driver to reach each medicine taking station, and in specific implementation, the position sensor 11 for detecting the stroke can be an ultrasonic sensor, a laser sensor, a displacement sensor, a collision switch, a magnetic sensor and the like. At the medicine taking station, the partial covering type vacuum medicine suction mechanical arm partially covers the opening surface of the medicine storage box 12 along the direction of the guide rail and completely covers the opening surface of the medicine storage box along the direction vertical to the guide rail.
The medicine weighing and discharging device comprises a weighing sensor 13 arranged on the rack and a medicine receiving groove 14 arranged on the weighing sensor, the medicine receiving groove is positioned below a medicine placing station on 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 14 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 bottom of the U-shaped groove is small in shape, so that the medicine bags can be conveniently and intensively discharged. Of course, in different embodiments, the medicine receiving groove can be made into other groove-shaped structures with open bottoms and reduced bottoms.
In this embodiment, the medicine discharging mechanism includes a front nozzle 15 which is arranged on the frame and blows air from the front medicine discharging port to the rear medicine discharging port, a rear nozzle 16 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 17 which is arranged on a connecting pipeline between the front nozzle and an air source, and a third electromagnetic valve 18 which is 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 medicine taking device further comprises a guide mechanism for guiding the up-and-down movement of the vacuum medicine suction manipulator, the guide mechanism comprises a guide rod 19, a fixing plate 20 arranged on the second linear actuator, and a linear bearing arranged on the fixing plate and matched with the guide rod, and the lower end of the guide rod is fixedly arranged on the local covering type substrate. Through the guiding device, the vacuum medicine suction mechanical arm can be better ensured not to deflect and shake in the up-and-down moving process, so that the 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, but 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 21, and the second linear actuator is connected to the air source through the air pipe provided with the fifth electromagnetic valve 22.
The automatic dispensing machine of the local covering type sucker array in the embodiment further comprises a control device, wherein the control device comprises a single chip microcomputer 23, a first relay 24 connected with the first electromagnetic valve, a second relay 25 connected with the second electromagnetic valve, a third relay 26 connected with the third electromagnetic valve, a fourth relay 27 connected with the fourth electromagnetic valve, a fifth relay 28 connected with the fifth electromagnetic valve and a power module 29.
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.
And the position sensor is connected with the singlechip.
The control means further comprises a pressure relief valve 30 arranged in 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, in the process that the second linear driver drives the vacuum medicine suction manipulator to move downwards, after the vacuum sucker 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 exceeds 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 between the mouth part of the vacuum sucker and the medicine bag under certain contact pressure can be ensured, 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 insufficient to cause medicine grabbing failure can be solved.
In specific implementation, the work flow of the automatic dispensing machine with the partially covered type suction cup array in the embodiment is as follows:
1) after the single chip microcomputer receives a medicine-taking and medicine-discharging instruction, the single chip microcomputer selects a current medicine-taking station according to the circulation sequence of the medicine-taking stations, and then sends a control signal to the fourth relay, so that the fourth relay controls the fourth electromagnetic valve to act to switch on the forward air path, and the first linear driver is controlled to push the sliding seat to move forwards to the selected medicine-taking station. In this embodiment, because the station of getting it filled is two, then the station cycle order of getting it filled is: first-second-first- … …; when the medicine is selected to be taken at the first medicine taking station last time, the medicine is selected to be taken at the second medicine taking station next time, the medicine is selected to be taken at the first medicine taking station again next time, and the process is repeated.
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 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 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 station.
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, the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, 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 modifications or equivalent substitutions may be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all of them should be covered in the claims of the present invention.
Claims (6)
1. The utility model provides an automatic medicine dispensing machine of local overlay formula 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 a 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 partial covering 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 vacuum medicine suction mechanical arm to move up and down, wherein the vacuum medicine suction mechanical arm comprises a partial covering type substrate connected with the second linear driver and vacuum suckers arranged on the partial covering type substrate in an array mode, each vacuum sucker is provided with an air pipe independently connected with an air source, and an air pipe connected with each vacuum sucker is provided with a vacuum generator and a first electromagnetic valve;
the medicine taking device is provided with a medicine placing station and at least two medicine taking stations along a guide rail, and further comprises a position sensor for detecting the stroke of the first linear driver reaching each medicine taking station; at a medicine taking station, the local covering type vacuum medicine suction manipulator partially covers the opening surface of the medicine storage box along the direction of the guide rail and completely covers the opening surface of the medicine storage box along the direction vertical to the guide rail;
the medicine weighing and discharging device comprises a weighing sensor arranged on the rack and a medicine receiving groove arranged on the weighing sensor, the medicine receiving groove is positioned below a medicine placing station on 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 machine of a partially covered array of suction cups 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 machine of a partially covered array of suction cups of claim 1, wherein: the medicine taking device further comprises a guide mechanism for guiding the up-and-down movement of the vacuum medicine suction manipulator, the guide mechanism comprises a guide rod, a fixed plate arranged on the sliding seat or the second linear driver and a linear bearing arranged on the fixed plate and matched with the guide rod, and the lower end of the guide rod is fixedly arranged on the local covering type substrate.
4. The automated dispensing machine of a partially covered array of suction cups 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 machine of a partially covered array of suction cups of 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 machine of a partially covered array of suction cups of 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 position 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 |
|---|---|---|---|
| CN201921068430.1U CN210150279U (en) | 2019-07-09 | 2019-07-09 | Automatic medicine dispensing machine with local covering type sucker array |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921068430.1U CN210150279U (en) | 2019-07-09 | 2019-07-09 | Automatic medicine dispensing machine with local covering type sucker array |
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| Publication Number | Publication Date |
|---|---|
| CN210150279U true CN210150279U (en) | 2020-03-17 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921068430.1U Withdrawn - After Issue CN210150279U (en) | 2019-07-09 | 2019-07-09 | Automatic medicine dispensing machine with local covering type sucker array |
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| CN (1) | CN210150279U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115147940A (en) * | 2021-03-31 | 2022-10-04 | 深圳市神州云海智能科技有限公司 | Ticket issuing method, device, terminal and vehicle |
-
2019
- 2019-07-09 CN CN201921068430.1U patent/CN210150279U/en not_active Withdrawn - After Issue
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115147940A (en) * | 2021-03-31 | 2022-10-04 | 深圳市神州云海智能科技有限公司 | Ticket issuing method, device, terminal and vehicle |
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Granted publication date: 20200317 Effective date of abandoning: 20230929 |