CN210593913U - Automatic dispensing and conveying device with track switching mechanism for traditional Chinese medicine decoction pieces - Google Patents
Automatic dispensing and conveying device with track switching mechanism for traditional Chinese medicine decoction pieces Download PDFInfo
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- CN210593913U CN210593913U CN201921180645.2U CN201921180645U CN210593913U CN 210593913 U CN210593913 U CN 210593913U CN 201921180645 U CN201921180645 U CN 201921180645U CN 210593913 U CN210593913 U CN 210593913U
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Abstract
The utility model provides an automatic dispensing and conveying device for traditional Chinese medicine decoction pieces with a track switching mechanism, which comprises an AGV trolley and an AGV track, wherein the AGV track is provided with a stopping position for receiving materials for the butt joint of the discharge ends of a medicine taking robot for automatic dispensing, and the AGV track comprises a main track and two branch tracks; the main track is in switching butt joint with the two branch tracks through a track switching mechanism, the track switching mechanism comprises a switching track and a driving mechanism, and the driving mechanism is in driving connection with the switching track; the two branch rails are respectively a first branch rail and a second branch rail, the first branch rail is provided with a stop position for manual medicine dispensing, and the tail ends of the first branch rail and the second branch rail are both connected with the main rail; the stopping position for material receiving is arranged at the position of the main track close to the track switching mechanism; the tail ends of the main track, which are close to the first branch track and the second branch track, are provided with stop positions for rechecking. This patent adds track switching mechanism, is convenient for realize the switching of two kinds of modes of getting it filled.
Description
Technical Field
The utility model relates to the technical field of machinery, concretely relates to herbal pieces-conveyor.
Background
At present, the centralized prescription dispensing of traditional Chinese medicine decoction pieces and the centralized decoction dispensing process of traditional Chinese medicine decoction-substituting factories are carried out.
Most traditional Chinese medicine decoction pieces can be automatically dispensed by a medicine taking robot, but because the traditional Chinese medicine decoction pieces are various, the traditional Chinese medicine decoction pieces such as corn stigma, fresh dendrobium, arsenic and the like can only be manually dispensed.
At present, a conveying device which can combine manual medicine dispensing and automatic medicine dispensing is lacked.
SUMMERY OF THE UTILITY MODEL
Problem to prior art exists, the utility model provides a herbal pieces-automatic conveyor that dispenses with track switching mechanism to solve the current technical problem that can't realize artifical dispensing and automatic dispensing and combine.
The technical scheme of the utility model is that: the automatic dispensing and conveying device with the rail switching mechanism for the traditional Chinese medicine decoction pieces comprises an AGV and an AGV rail for guiding the AGV to travel, wherein the AGV rail is provided with a stopping position for receiving materials, which is used for butting the discharge ends of a medicine taking robot for automatic dispensing;
the main track is in switching butt joint with the two branch tracks through a track switching mechanism, the track switching mechanism comprises a switching track for switching butt joint of the two branch tracks of the main track and a driving mechanism for driving the switching track to perform reciprocating swing to perform switching action, and the driving mechanism is in driving connection with the switching track;
the two branch rails are respectively a first branch rail and a second branch rail, the first branch rail is provided with a stop position for manual medicine dispensing, and one side of the first branch rail, which is close to the stop position for manual medicine dispensing, is provided with a manual medicine dispensing table;
the tail ends of the first branch track and the second branch track are in butt joint with the main track;
the stopping position for receiving the material is arranged at the position, close to the rail switching mechanism, of the main rail;
one side of the main rail, which is close to the tail ends of the first branch rail and the second branch rail, is provided with a re-checking stop position for re-checking the dispensed medicines, and one side of the main rail, which is close to the re-checking stop position, is provided with a re-checking workbench.
This patent is through adding track switching mechanism on conveyor, is convenient for contain the artifical variety that dispenses of needs (for example chinese medicine sliced medicinal herbs such as corn silk, bright stem of noble dendrobium, arsenic) in according to traditional chinese medicine prescription, if contain the artifical variety that dispenses of needs, control track switching mechanism docks main track and first branch track, and the AGV dolly is by the warp in proper order connect the material with stop bit, artifical dispense with stop bit and for rechecking. When the formula does not contain varieties needing manual dispensing, the rail switching mechanism is controlled to butt the main rail and the second branch rail, and the AGV passes through the stopping position for receiving materials and the stopping position for rechecking in sequence. The switching of two medicine taking modes is convenient to realize. And (4) rechecking all the medicines, determining whether the information of the prescription information is consistent with that of the traditional Chinese medicine decoction pieces conveyed by the AGV trolley, and carrying out the next process. After the staff takes the prescription information, the track switching mechanism is controlled according to the prescription information so as to realize the butt joint of the main track and the first branch track or the second branch track.
Further preferably, still install a discharge end that is used for responding to the robot of getting it filled on the AGV dolly and whether with the inductive switch on the leading-in AGV dolly of material, inductive switch is for the starting switch who is used for controlling the walking of AGV dolly.
Once the inductive switch senses the materials given by the medicine taking robot, the AGV trolley is triggered to walk.
Preferably, the stopping position for receiving the material, the stopping position for manual dispensing and the stopping position for rechecking on the AGV track are provided with stopping triggering mechanisms for triggering the AGV to stop;
install the stop switch who is used for controlling the AGV dolly and stops walking on the AGV dolly, stop switch is one and is used for the response stop trigger mechanism's inductive switch, inductive switch includes one and is used for the response stop trigger mechanism's sensing device.
After being convenient for walk to each station when the AGV dolly, sensing device senses the stop trigger mechanism after, triggers the AGV dolly and stops work.
Further preferably, when the stop trigger mechanism is a metal block, the inductive switch is a metal proximity switch, and the sensing device is a metal sensor;
when the stop trigger mechanism is a light source, the inductive switch is a photoelectric switch, and the sensing device is a photosensitive sensor;
when the stop trigger mechanism is a magnetic strip, the inductive switch is a magnetic sensitive switch, and the sensing device is a magnetic inductor.
After being convenient for the AGV dolly senses the stop trigger mechanism, the trigger dolly stops, stops in each station department, carries out corresponding process.
Further preferably, the AGV track is connected with the stop position for material and is provided with a front and rear positioning device for controlling the front and rear positioning of the AGV trolley in the traveling direction and a left and right positioning device for controlling the left and right positioning of the AGV trolley.
The AGV trolley cannot stop in time due to inertia in the walking process. This patent is through adding positioner around and controlling positioner, and the AGV dolly of being convenient for stops in the station department accuracy of difference.
Preferably, the front and rear positioning devices comprise a third inductive switch for inducing the AGV, positioning blocks for clamping the front and rear sides of the AGV, and a power unit for driving the positioning blocks to switch between a clamping mode and a releasing mode of the AGV through swinging, and the power unit is in driving connection with the positioning blocks;
and the third inductive switch is in control connection with the power unit.
After the third inductive switch senses the AGV trolley, the power unit is triggered to start, and then the two positioning blocks are used for clamping and positioning the AGV trolley in the front-back direction.
Preferably, the two power units are arranged in a front-back manner along the guiding direction of the AGV track, and are respectively connected with the two positioning blocks in a driving manner;
the positioning block is L-shaped;
the power unit is an electric cylinder, and a cylinder body of the electric cylinder is hinged and installed on a base by taking the vertical direction as a rotating center line; a piston rod of the electric cylinder is hinged with a right-angle edge of the positioning block,
the right angle of the positioning block is hinged and installed on the base or the left and right positioning devices by taking the vertical direction as a rotation center line;
and a piston rod of the electric cylinder drives the other right-angle side of the positioning block to rotate around the right angle position by taking the vertical direction as a rotation center line.
The clamping to the AGV dolly is convenient to realize.
Further preferably, the left and right positioning devices comprise two positioning guide rails respectively arranged at the left and right sides of the AGV track;
when the AGV trolley is positioned at the positioning guide rails, the left side and the right side of the AGV trolley are positioned and clamped between the two positioning guide rails;
the front sides of the two positioning guide rails are respectively provided with a guide block for guiding the AGV to enter the positioning guide rails;
the AGV positioning guide rail comprises a positioning guide rail and a positioning guide rail, wherein the positioning guide rail is arranged on the front end of the AGV positioning guide rail, the positioning guide rail is arranged on the front end of the positioning guide rail, and the distance between the positioning guide rail and the positioning guide rail is gradually reduced to be consistent with the distance between the two positioning guide rails.
Avoid the deviation of AGV dolly left and right sides direction.
Further preferably, still install a discharge end that is used for responding to the robot of getting it filled on the AGV dolly and whether with the leading-in first inductive switch on the AGV dolly of material, first inductive switch is for the starting switch who is used for controlling the walking of AGV dolly. Once the first inductive switch senses that the materials given by the medicine taking robot are received, the AGV trolley is triggered to walk.
Preferably, the number of the AGV trolleys is at least three, and the walking track of the AGV trolleys at the medicine taking station is opposite to the walking track of the medicine taking robot at the medicine taking station;
the traveling track of the AGV trolley at the medicine taking station is from front to back, the AGV trolley is provided with a second inductive switch and a touch pin which are arranged in front and back, and the second inductive switch is used for controlling a starting switch for the AGV trolley to travel;
the medicine taking robot is provided with an induction device for triggering a second induction switch, and the induction device comprises an induction sheet, a rotating sheet, a fixed sheet and an extension spring with the elastic direction in the vertical direction;
the response piece is installed on the revolving fragment, the revolving fragment articulates on the robot of getting it filled, the stationary blade is fixed on the robot of getting it filled, extension spring's top is installed on the stationary blade or the robot of getting it filled, extension spring's bottom with the top of revolving fragment links to each other.
The medicine taking robot is arranged on a movement mechanism for driving the medicine taking robot to move. The movement mechanism can drive the medicine taking robot to move to butt and take the medicine with the medicine storage boxes in different directions.
Further preferably, the AGV is a tape guided AGV;
the AGV tracks are made of magnets.
The magnetic tape guiding technology is adopted to facilitate the magnetic guidance of the AGV.
Of course, the AGV dolly can also adopt the optics guidance type AGV dolly, be provided with the typewriter ribbon on the AGV track. The AGV car can conveniently realize guidance by simply processing color band image signals acquired by the camera. Alternatively, the AGV cart and the AGV track may also adopt other existing guidance methods, such as electromagnetic guidance, laser guidance, and the like.
Drawings
Fig. 1 is a schematic structural diagram of embodiment 1 of the present invention;
fig. 2 is a schematic view of a partial structure of a medicine taking station according to embodiment 2 of the present invention;
fig. 3 is a schematic view of a local structure of a butt joint of a medicine taking robot and an AGV cart according to embodiment 3 of the present invention;
fig. 4 is the utility model discloses embodiment 3 local structure sketch map of three medicine robot and the linkage of 3 AGV dollies.
In fig. 1: 1 is an AGV trolley, 2 is an AGV track, 4 is a rechecking workbench, 5 is an artificial dispensing table, 6 is a container, 7 is a medicine taking robot, 21 is a main track, 22 is a first branch track, 23 is a second branch track, 101 is a walking switch, 201 is a stop position for receiving materials, 202 is a stop position for rechecking, 203 is a stop position for artificial dispensing, 302 is a driving mechanism, and 303 is a switching track;
in fig. 2: 801 is a front and rear positioning device, 80101 is a positioning block, 80102 is a power unit, and 80103 is a third inductive switch; 802 is a left and right positioning device, 80101 is a positioning block, 80202 is a positioning track, and 803 is a first inductive switch;
in fig. 3: 901 is a sensing device, 902 is a second sensing switch, 903 is a touch pin, 90101 is a rotating piece, 90102 is a tension spring, 90103 is a sensing piece, 90104 is a fixing piece.
Detailed Description
The present invention will be further described with reference to the accompanying drawings.
Referring to fig. 1, in embodiment 1, the automatic herbal pieces-dispensing conveying device with a rail switching mechanism includes an AGV trolley 1 and an AGV rail 2 for guiding the AGV trolley 1 to travel, the AGV rail 2 is provided with a material receiving stop 201 for abutting against a discharge end of a medicine taking robot 7 for automatic dispensing, and the AGV rail 2 includes a main rail 21 and two branch rails; the main track 21 is switched and butted with the two branch tracks through a track switching mechanism, the track switching mechanism comprises a switching track 303 used for switching and butting the two branch tracks by the main track 21 and a driving mechanism 302 used for driving the switching track 303 to perform reciprocating swing so as to perform switching action, and the driving mechanism 302 is connected with the switching track 303 in a driving way; the two branch rails are respectively a first branch rail 22 and a second branch rail 23, the first branch rail 22 is provided with a stop position 203 for manual dispensing, and one side of the first branch rail, which is close to the stop position for manual dispensing, is provided with a manual dispensing table; 5, the tail ends of the first branch rail 22 and the second branch rail 23 are butted with the main rail 21; the material receiving stopping position 201 is arranged at the position, close to the track switching mechanism, of the main track 21; a rechecking stop 202 for rechecking the dispensed medicines through the rechecking workbench 4 is arranged on one side of the main rail 21 close to the tail ends of the first branch rail 22 and the second branch rail 23, and a rechecking workbench is arranged on one side of the main rail close to the rechecking stop. This patent is through adding track switching mechanism on conveyor, whether be convenient for contain the artifical variety that dispenses of needs (for example chinese medicine sliced medicinal herbs such as corn silk, bright stem of noble dendrobium, arsenic in white) in according to traditional chinese medicine prescription, if contain the artifical variety that dispenses of needs, control track switching mechanism docks main track 21 and first branch track 22, AGV dolly 1 is in proper order through connecing material with stop bit 201, the artifical is dispensed with stop bit 203 and is rechecked with stop bit 202. When the formula does not contain varieties needing manual dispensing, the track switching mechanism is controlled to butt the main track 21 and the second branch track 23, and the AGV trolley 1 sequentially passes through the receiving stop 201 and the rechecking stop 202. The switching of two medicine taking modes is convenient to realize. And rechecking all the medicines, determining whether the traditional Chinese medicine decoction pieces conveyed by the AGV trolley 1 are consistent with the prescription information, and performing the next process.
The drive mechanism 302 may be a steering engine. The switching track 303 is driven by the rotating shaft of the steering engine to be respectively butted with the first branch track 22 and the second branch track 23.
The AGV trolley 1 can travel with the container 6 according to the travel track 2. The AGV trolley is a magnetic tape guided AGV trolley; the AGV track is constructed of magnets. The magnetic tape guiding technology is adopted to facilitate the magnetic guidance of the AGV. Of course, the AGV trolley can also adopt an optical guidance type AGV trolley, and the AGV track is provided with color ribbons. The AGV car can conveniently realize guidance by simply processing color band image signals acquired by the camera. Alternatively, the AGV cart and the AGV track may also adopt other existing guidance methods, such as electromagnetic guidance, laser guidance, and the like.
The AGV trolley is provided with a walking switch 101 for manually touching the AGV trolley to walk. When the worker is at the stop position for rechecking, the walking switch 101 is touched after the rechecking is finished, and the AGV trolley 1 continues to run.
Stopping triggering mechanisms for triggering the AGV to stop are arranged on the stopping positions for receiving materials, for manual dispensing and for rechecking on the AGV track; the AGV trolley is provided with a stop switch used for controlling the AGV trolley to stop walking, the stop switch is an induction switch used for inducing a stop trigger mechanism, and the induction switch comprises a sensing device used for inducing the stop trigger mechanism. After being convenient for walk to each station when the AGV dolly, sensing device senses the stop trigger mechanism after, triggers the AGV dolly and stops work. When the stop trigger mechanism is a metal block, the inductive switch is a metal proximity switch, and the sensing device is a metal sensor; when the stop trigger mechanism is a light source, the inductive switch is a photoelectric switch, and the sensing device is a photosensitive sensor; when the stop trigger mechanism is a magnetic strip, the inductive switch is a magnetic sensitive switch, and the sensing device is a magnetic inductor. After being convenient for the AGV dolly senses the stop trigger mechanism, the trigger dolly stops, stops in each station department, carries out corresponding process. Shown in FIG. 1 is that the stop trigger mechanism is a magnetic strip that is positioned perpendicular to the guidance direction of the AGV tracks.
Referring to fig. 2, in embodiment 2, on the basis of embodiment 1, a front-rear positioning device 801 for controlling front-rear positioning of an AGV in a traveling direction and a left-right positioning device 802 for controlling left-right positioning of the AGV are installed at a receiving stop of an AGV track. The AGV trolley cannot stop in time due to inertia in the walking process. This patent is through adding positioner around and controlling positioner, and the AGV dolly of being convenient for stops in the station department accuracy of difference.
For the front and rear positioning device, specifically, the front and rear positioning device 801 includes a third inductive switch 80103 for sensing an AGV, positioning blocks for clamping front and rear sides of the AGV, and a power unit 80102 for driving the positioning blocks 80101 to switch between two modes of clamping and releasing the AGV by swinging, and the power unit 80102 is drivingly connected to the positioning blocks; the third inductive switch 80103 controls the coupling power unit. When the third inductive switch senses the AGV, the power unit is triggered to start, so that the two positioning blocks 80101 clamp and position the AGV in the front and rear directions. Two power units 80102 are arranged in front of and behind the AGV track guiding direction, and the two power units 80102 are respectively connected with the two positioning blocks 80101 in a driving manner; the positioning block 80101 is L-shaped; the power unit 80102 is an electric cylinder, and a cylinder body of the electric cylinder is hinged and installed on a base by taking a vertical direction as a rotating center line; a piston rod of the electric cylinder is hinged with a right-angle edge of the positioning block, and the right-angle position of the positioning block 80101 is hinged and installed on a base or a left and right positioning device by taking the vertical direction as a rotating center line; the piston rod of the electric cylinder drives the other right-angle side of the positioning block to rotate around the right angle position by taking the vertical direction as a rotating center line. The clamping to the AGV dolly is convenient to realize.
For the left and right positioning device, specifically, the left and right positioning device may include two positioning guide rails 80202 respectively disposed on the left and right sides of the AGV track; when the AGV cart is at the positioning rails 80202, the left and right sides of the AGV cart are positioned and clamped between the two positioning rails 80202; the front sides of the two positioning guide rails 80202 are respectively provided with a guide block 80201 for guiding the AGV to enter the positioning guide rails; the guide block 80201 is provided with a guide surface for guiding the AGV to enter the positioning rail 80202, and the distance between the guide surfaces of the guide blocks at the front ends of the two positioning rails gradually decreases from front to back until the distance is consistent with the distance between the two positioning rails. Avoid the deviation of AGV dolly left and right sides direction.
Still install a discharge end that is used for responding to get it filled the robot on the AGV dolly and whether with the leading-in first inductive switch 803 of material on the AGV dolly, first inductive switch 803 is for the starting switch who is used for controlling the walking of AGV dolly. Once the first inductive switch senses that the materials given by the medicine taking robot are received, the AGV trolley is triggered to walk.
The specific working process is that the AGV trolley 1 travels along the AGV track 2, the AGV trolley 1 enters the positioning track 80202 after contacting with the guide block 80201, when the AGV trolley moves to the third inductive switch 80103, the power unit 80102 starts working and drives the positioning block 80101 to move, the AGV trolley 1 stops when moving to the medicine taking station, and the positioning block 80101 moves the AGV trolley 1 to a specified position. When the medicine taking robot 7 moves to the zero position (when being at the zero position, the medicine taking robot is in butt joint with the AGV trolley at the medicine taking station on the AGV track), the container 6 is placed on the AGV trolley 1, the container 6 accurately falls onto the AGV trolley 1 and touches the first inductive switch 803, and the AGV trolley 1 carries the container 6 to walk along the AGV track 2.
Referring to fig. 3 and 4, in embodiment 3, on the basis of embodiment 1 or embodiment 2, a plurality of AGV carts may travel on the AGV track. The medicine taking robot is also provided with a plurality of medicine taking robots. The cooperation of a plurality of robots of getting it filled and a plurality of AGV dolly can adopt following structure to go on:
the number of the AGV trolleys is at least three, and the walking track of the AGV trolleys at the medicine taking station is opposite to the walking track of the medicine taking robot at the medicine taking station; the traveling track of the AGV at the medicine taking station is from front to back, a second inductive switch 902 and a touch pin 903 which are arranged in front and back are installed on the AGV, and the second inductive switch 902 is used for controlling a starting switch for the AGV to travel; the medicine taking robot is provided with an induction device 901 for triggering a second induction switch, and the induction device 901 comprises an induction sheet 90103, a rotating sheet 90101, a fixing sheet 90104 and a tension spring with the elastic direction being the vertical direction; the induction piece is installed on the rotary piece 90101, the rotary piece 90101 is hinged to the medicine taking robot or the medicine taking robot, the fixing piece 90104 is fixed to the medicine taking robot 7, the top of the extension spring 90102 is installed on the fixing piece 90104, and the bottom of the extension spring 90102 is connected with the top of the rotary piece. The medicine taking robot is arranged on a movement mechanism for driving the medicine taking robot to move. The movement mechanism can drive the medicine taking robot to move to butt and take the medicine with the medicine storage boxes in different directions.
When only the second inductive switch 902 and the first inductive switch 803 are simultaneously activated, the AGV starts to travel.
Sequentially defining the AGV trolleys which circulate on the AGV track and pass through the medicine taking stopping positions as nth trolleys, wherein n is more than or equal to 1;
in an initial state, no empty container is carried when the AGV trolley 1 passes through the medicine taking stop position, and all AGV trolleys behind the AGV trolley 1 carry empty containers through the medicine taking stop position;
defining the medicine taking robot which is in butt joint with the AGV trolley by the medicine taking stopping position of the medicine taking robot sequentially as the mth trolley, wherein m is more than or equal to 1;
in the initial state, all the medicine taking robots carry containers.
The linkage steps of the plurality of medicine taking robots and the plurality of AGV trolleys comprise the following steps:
firstly, the nth AGV trolley moves to a medicine taking station along an AGV track;
the mth medicine taking robot moves to the medicine taking station, the mth medicine taking robot places the container on the nth AGV, and when the induction sheet of the mth medicine taking robot moves to the second induction switch of the nth AGV, the nth AGV carries the container to travel along the AGV track;
then, the empty container carried by the (n + 1) th AGV moves to a medicine taking station;
when the rotating piece of the mth medicine taking robot contacts with the contact pin of the (n + 1) th AGV, the rotating piece of the mth medicine taking robot drives the induction piece to rotate upwards, the second induction switch does not contact with the signal at the moment, and the (n + 1) th AGV stops;
the mth medicine taking robot takes the empty containers carried by the (n + 1) th AGV trolley, and the mth medicine taking robot carries the empty containers to take the medicines; and circulating in sequence.
The mth robot that gets it filled moves to initial position in-process, and the mth robot that gets it filled vertically descends, and the container on the mth robot that gets it filled is placed on nth AGV dolly, and the container on the mth robot that gets it filled breaks away from the mth robot that gets it filled, then the mth robot that gets it filled continues to descend to initial position, and the mth robot that gets it filled responds to piece and moves to the second inductive switch department of nth AGV dolly.
See fig. 4, for example, containing 3 drug-fetching robots 7 and 3 AGV carts 1.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of improvements and decorations can be made without departing from the principle of the present invention, and these improvements and decorations should also be regarded as the protection scope of the present invention.
Claims (9)
1. The automatic dispensing and conveying device with the rail switching mechanism for the traditional Chinese medicine decoction pieces comprises an AGV and an AGV rail for guiding the AGV to travel, wherein the AGV rail is provided with a stopping position for receiving materials, which is used for butting the discharge ends of a medicine taking robot for automatic dispensing;
the main track is in switching butt joint with the two branch tracks through a track switching mechanism, the track switching mechanism comprises a switching track for switching butt joint of the two branch tracks of the main track and a driving mechanism for driving the switching track to perform reciprocating swing to perform switching action, and the driving mechanism is in driving connection with the switching track;
the two branch rails are respectively a first branch rail and a second branch rail, the first branch rail is provided with a stop position for manual medicine dispensing, and one side of the first branch rail, which is close to the stop position for manual medicine dispensing, is provided with a manual medicine dispensing table;
the tail ends of the first branch track and the second branch track are in butt joint with the main track;
the stopping position for receiving the material is arranged at the position, close to the rail switching mechanism, of the main rail;
the tail ends of the main rails, which are close to the first branch rails and the second branch rails, are provided with a re-checking stop position for re-checking the dispensed medicines, and one side of the main rails, which is close to the re-checking stop position, is provided with a re-checking workbench.
2. The automated herbal pieces-dispensing delivery device with track switching mechanism of claim 1, wherein: still install a discharge end that is used for responding to get it filled the robot on the AGV dolly and whether with the inductive switch on the leading-in AGV dolly of material, inductive switch is for the starting switch who is used for controlling the walking of AGV dolly.
3. The automated herbal pieces-dispensing delivery device with track switching mechanism of claim 1, wherein: stopping triggering mechanisms for triggering the AGV to stop are arranged on the stopping positions for receiving materials, manual dispensing and rechecking on the AGV tracks;
install the stop switch who is used for controlling the AGV dolly and stops walking on the AGV dolly, stop switch is one and is used for the response stop trigger mechanism's inductive switch, inductive switch includes one and is used for the response stop trigger mechanism's sensing device.
4. The automated herbal pieces-dispensing delivery device with track switching mechanism of claim 3, wherein: when the stop trigger mechanism is a metal block, the inductive switch is a metal proximity switch, and the sensing device is a metal sensor;
when the stop trigger mechanism is a light source, the inductive switch is a photoelectric switch, and the sensing device is a photosensitive sensor;
when the stop trigger mechanism is a magnetic strip, the inductive switch is a magnetic sensitive switch, and the sensing device is a magnetic inductor.
5. The automated herbal pieces-dispensing delivery device with track switching mechanism of claim 1, wherein: connect material on the AGV track to install with stopping position department and be used for controlling AGV dolly and control positioner about going to control AGV dolly location around the front and back positioner of location and be used for controlling the AGV dolly location of going to the walking direction.
6. The automated herbal pieces-dispensing delivery device with track switching mechanism of claim 5, wherein: the front and rear positioning devices comprise a third inductive switch for inducing the AGV, positioning blocks for clamping the front side and the rear side of the AGV, and a power unit for driving the positioning blocks to switch between a clamping mode and a releasing mode of the AGV through swinging, and the power unit is in driving connection with the positioning blocks;
and the third inductive switch is in control connection with the power unit.
7. The automated herbal pieces-dispensing delivery device with track switching mechanism of claim 6, wherein: the two power units are arranged in the front and back direction along the guiding direction of the AGV track and are respectively connected with the two positioning blocks in a driving mode;
the positioning block is L-shaped;
the power unit is an electric cylinder, and a cylinder body of the electric cylinder is hinged and installed on a base by taking the vertical direction as a rotating center line; a piston rod of the electric cylinder is hinged with a right-angle edge of the positioning block,
the right angle of the positioning block is hinged and installed on the base or the left and right positioning devices by taking the vertical direction as a rotation center line;
and a piston rod of the electric cylinder drives the other right-angle side of the positioning block to rotate around the right angle position by taking the vertical direction as a rotation center line.
8. The automated herbal pieces-dispensing delivery device with track switching mechanism of claim 5, wherein: the left positioning device and the right positioning device comprise two positioning guide rails which are respectively arranged on the left side and the right side of the AGV track;
when the AGV trolley is positioned at the positioning guide rails, the left side and the right side of the AGV trolley are positioned and clamped between the two positioning guide rails;
the front sides of the two positioning guide rails are respectively provided with a guide block for guiding the AGV to enter the positioning guide rails;
the AGV positioning guide rail comprises a positioning guide rail and a positioning guide rail, wherein the positioning guide rail is arranged on the front end of the AGV positioning guide rail, the positioning guide rail is arranged on the front end of the positioning guide rail, and the distance between the positioning guide rail and the positioning guide rail is gradually reduced to be consistent with the distance between the two positioning guide rails.
9. The APAS having an orbital switching mechanism according to any one of claims 1 to 8, wherein: the walking track of the AGV trolley at the medicine taking station is opposite to the walking track of the medicine taking robot at the medicine taking station;
the traveling track of the AGV trolley at the medicine taking station is from front to back, the AGV trolley is provided with a second inductive switch and a touch pin which are arranged in front and back, and the second inductive switch is used for controlling a starting switch for the AGV trolley to travel;
the medicine taking robot is provided with an induction device for triggering a second induction switch, and the induction device comprises an induction sheet, a rotating sheet, a fixed sheet and an extension spring with the elastic direction in the vertical direction;
the response piece is installed on the revolving fragment, the revolving fragment articulates on the robot of getting it filled, the stationary blade is fixed on the robot of getting it filled, extension spring's top is installed on the stationary blade or the robot of getting it filled, extension spring's bottom with the top of revolving fragment links to each other.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921180645.2U CN210593913U (en) | 2019-07-25 | 2019-07-25 | Automatic dispensing and conveying device with track switching mechanism for traditional Chinese medicine decoction pieces |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921180645.2U CN210593913U (en) | 2019-07-25 | 2019-07-25 | Automatic dispensing and conveying device with track switching mechanism for traditional Chinese medicine decoction pieces |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210593913U true CN210593913U (en) | 2020-05-22 |
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| CN201921180645.2U Active CN210593913U (en) | 2019-07-25 | 2019-07-25 | Automatic dispensing and conveying device with track switching mechanism for traditional Chinese medicine decoction pieces |
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| CN (1) | CN210593913U (en) |
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