CN212601798U - Medicine taking and delivering dispatching robot and control system - Google Patents
Medicine taking and delivering dispatching robot and control system Download PDFInfo
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- CN212601798U CN212601798U CN202020563383.4U CN202020563383U CN212601798U CN 212601798 U CN212601798 U CN 212601798U CN 202020563383 U CN202020563383 U CN 202020563383U CN 212601798 U CN212601798 U CN 212601798U
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Abstract
The utility model discloses a medicine fetching, delivering and distributing robot and a control system, which comprises a medicine box for storing medicines in a classified manner, a slide rail driving mechanism arranged on one side of the medicine box, a liftable medicine fetching mechanism sliding on the slide rail driving mechanism and a medicine sending and distributing mechanism, wherein the liftable medicine fetching mechanism comprises a sliding support, a medicine fetching platform lifting mechanism fixed on the sliding support, a medicine fetching mechanical arm arranged at the top of the medicine fetching platform lifting mechanism and a medicine grabbing mechanism fixedly connected with the medicine fetching mechanical arm; the medicine sending and distributing mechanism comprises a medicine sending and distributing driving mechanism, a medicine sending and distributing platform lifting mechanism, a medicine bag mechanism and a bag opening mechanical arm, wherein the medicine sending and distributing platform lifting mechanism is fixed on the medicine sending and distributing driving mechanism, the medicine bag mechanism and the bag opening mechanical arm are used for fixing a medicine bag, and the medicine bag mechanism and the bag opening mechanical arm are fixed above the medicine sending and distributing platform lifting mechanism. The utility model discloses a high intelligence, high accuracy and efficient traditional chinese medicine get and send the robot to replace traditional artifical medicine grabbing to get it filled and transport the mode, have solved the artifical medicine grabbing mode and have still tradition, problem that efficiency is extremely low.
Description
Technical Field
The utility model relates to the technical field of robots, especially indicate a medicine is got and is sent dispatch robot and control system.
Background
At present, the traditional mode of the traditional Chinese medicine pharmacy is optimized, the dispensing mode is more humanized, the current mode is that a medicine supplier correspondingly crushes the traditional Chinese medicines and packs the traditional Chinese medicines in bags, the main specification of the traditional Chinese medicine pharmacy is 2-5 g of small plastic bags, and the dispensing convenience is greatly optimized. However, the current manual medicine taking mode is still traditional, the efficiency is extremely low, and the smell of traditional Chinese medicines in a room is too heavy, so that the health of medical care personnel is seriously influenced.
SUMMERY OF THE UTILITY MODEL
The utility model provides a medicine is got and is sent and distribute robot and control system has solved the still tradition of artifical prescription filling mode, problem that efficiency is extremely low.
The technical scheme of the utility model is realized like this:
a medicine taking, delivering and distributing robot comprises a medicine box for containing medicines in a classified mode, a slide rail driving mechanism arranged on one side of the medicine box, a liftable medicine taking mechanism and a medicine delivering and distributing mechanism, wherein the liftable medicine taking mechanism comprises a sliding support sliding on the slide rail driving mechanism, a medicine taking platform lifting mechanism fixed on the sliding support, a medicine taking mechanical arm arranged at the top of the medicine taking platform lifting mechanism and a medicine grabbing mechanism fixedly connected with the medicine taking mechanical arm; send medicine to send medicine mechanism including sending medicine to send medicine actuating mechanism, fixed send medicine platform elevating system, the medicine bag mechanism and the bag arm of propping that are used for fixed medicine bag on sending medicine to send medicine actuating mechanism, medicine bag mechanism and bag arm of propping are fixed and are sent medicine platform elevating system top.
As a preferred embodiment of the utility model, the medicine case includes a plurality of storage medicine check, the inside of storage medicine check is equipped with the medicine tray, holds in the palm medicine electric putter and holds in the palm medicine and cuts the fork mechanism, the side top of medicine case is equipped with spacing sensor and grey level sensor, and the bottom is equipped with and is used for control slide rail actuating mechanism's guide rail end control box.
As a preferred embodiment of the utility model, the medicine grabbing mechanism includes the medicine grabbing sucking disc frame, fixes the vision sensor of medicine grabbing sucking disc frame rear side and fixing the medicine grabbing sucking disc of medicine grabbing sucking disc frame front side.
As a preferred embodiment of the utility model, send medicine to send medicine mechanism still includes send medicine to send medicine platform, medicine bag mechanism and bag-supporting arm are fixed send medicine platform upper surface, medicine bag mechanism includes the medicine bag backplate of vertical setting, is used for hanging a plurality of medicine bags on the medicine bag backplate, fix rubber band fixing clip and the fixed rubber band of medicine bag on the medicine bag backplate.
As a preferred embodiment of the utility model, the top of propping a bag arm still is equipped with send medicine and send out the medicine sucking disc.
As a preferred embodiment of the present invention, the medicine delivery and dispensing driving mechanism includes a medicine delivery and dispensing robot driving box and a driving wheel fixed below the medicine delivery and dispensing robot driving box.
The utility model provides a medicine is got and is sent dispatch robot control system, includes that medicine is got and is sent dispatch robot, control system, sensor and driver are fixed on the medicine is got and is sent dispatch robot or peripheral, the controller receives the signal and the processing of sensor feedback, to the driver sends control command, by the driver drive the work of medicine is got and is sent dispatch robot.
As a preferred embodiment of the present invention, the control system includes a central control system, an image processing unit, a voice processing unit, and a communication processing unit, the central control system is connected to the image processing unit, the voice processing unit, and the communication processing unit is used for realizing local or remote communication.
The beneficial effects of the utility model reside in that: get through high intelligence, high accuracy and efficient traditional chinese medicine and send the robot to replace traditional artifical grasping medicine to get it filled and transport the mode, solved artifical grasping medicine mode still tradition, problem that efficiency is extremely low.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive exercise.
Fig. 1 is a first schematic structural view of a drug delivery and delivery robot of the present invention;
fig. 2 is a schematic structural view of a drug delivery and delivery robot of the present invention;
fig. 3 is a third schematic structural view of a drug delivery and delivery robot of the present invention;
fig. 4 is a fourth schematic structural view of the drug delivery and delivery robot of the present invention;
FIG. 5 is an enlarged view of a portion of FIG. 1;
fig. 6 is a schematic block diagram of a control system of a drug delivery robot according to the present invention.
In the figure, 1-medicine box, 2-guide rail end control box, 3-limit sensor, 4-gray sensor, 5-vision sensor, 6-medicine grasping sucker rack, 7-medicine grasping sucker, 8-medicine storage grid, 9-medicine tray, 10-medicine supporting electric push rod, 11-medicine supporting scissor mechanism, 12-linear guide rail, 13-sliding support, 14-medicine bag back plate, 15-medicine bag, 16-bag supporting mechanical arm, 17-medicine sending and sending end operation panel, 18-medicine sending and sending robot driving box, 19-driving wheel, 20-medicine sending and sending robot control box, 21-medicine sending and sending platform lifting mechanism, 22-medicine sending and sending platform, 23-bag supporting mechanical arm base, 24-medicine bag fixing clamp, 25-medicine taking end control box, 26-a medicine taking mechanical arm, 27-a medicine taking platform, 28-a medicine sending and delivering sucker, 29-a rubber band fixing clamp, 30-a medicine bag fixing rubber band, 31-a guide rail stepping motor and 32-a medicine taking platform lifting mechanism.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "vertical", "upper", "lower", "horizontal", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention.
In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.
As shown in fig. 1-5, the utility model provides a medicine fetching, delivering and distributing robot, which comprises a medicine box 1 for storing medicines in a classified manner, a slide rail driving mechanism arranged on one side of the medicine box 1, a liftable medicine fetching mechanism and a medicine delivering and distributing mechanism which slide on the slide rail driving mechanism, wherein the liftable medicine fetching mechanism comprises a sliding support sliding on the slide rail driving mechanism, a medicine fetching platform lifting mechanism 32 fixed on the sliding support, a medicine fetching mechanical arm 26 arranged at the top of the medicine fetching platform lifting mechanism 32 and a medicine grabbing mechanism fixedly connected with the medicine fetching mechanical arm 26; the medicine sending and dispensing mechanism comprises a medicine sending and dispensing driving mechanism, a medicine sending and dispensing platform lifting mechanism 21 fixed on the medicine sending and dispensing driving mechanism, a medicine bag 15 mechanism used for fixing the medicine bag 15 and a bag supporting mechanical arm 16, wherein the medicine bag 15 mechanism and the bag supporting mechanical arm 16 are fixed above the medicine sending and dispensing platform lifting mechanism 21.
The slide rail driving mechanism comprises a linear guide rail 12, a sliding support slides on the linear guide rail 12, and one end of the linear guide rail 12 is connected with a guide rail stepping motor 31. The liftable medicine taking mechanism further comprises a medicine taking platform 27 and a medicine taking end control box 25 fixed on the medicine taking platform 27, and the medicine taking end control box 25 is used for controlling a medicine taking mechanical arm 26.
The medicine taking mechanism comprises a medicine taking suction cup frame 6, a vision sensor 5 fixed on the rear side of the medicine taking suction cup frame 6 and a medicine taking suction cup 7 fixed on the front side of the medicine taking suction cup frame 6. The medicine-taking sucker 7 is made of soft material with good sealing performance, and has necessary pulling force when sucking the medicine or sucking the medicine bag 15.
Send medicine to send medicine mechanism still including sending medicine to send medicine platform 22, and medicine bag 15 mechanism is fixed at sending medicine to send medicine platform 22 upper surface with propping a bag arm 16, props bag arm 16 and fixes at sending medicine to send medicine platform 22 upper surface through propping a bag arm base 23, and medicine bag 15 mechanism includes the medicine bag backplate 14 of vertical setting, is used for hanging a plurality of medicine bags 15 on medicine bag backplate 14, fixes rubber band fixing clip 29 and the fixed rubber band 30 of medicine bag on medicine bag backplate 14. The top of the bag opening mechanical arm 16 is also provided with a medicine sending and dispensing sucker 28.
The medicine delivery and medicine delivery driving mechanism includes a medicine delivery and medicine delivery robot driving box 18 and a driving wheel 19 fixed below the medicine delivery and medicine delivery robot driving box 18. The drive wheel 19 is PID precision motion controlled using four separately controlled motors.
The medicine delivering and dispensing mechanism further comprises a medicine delivering and dispensing robot control box 20 fixed above the medicine delivering and dispensing robot driving box 18, and a medicine delivering and dispensing end operation panel 17 fixed on the side surface of the medicine delivering and dispensing robot control box 20.
The utility model discloses an overall design can divide into the robot of getting it filled, send medicine and the robot of sending out medicine, and the key technology that realizes that robot intelligence snatchs contains target identification, 6D position appearance estimation, robot motion planning, hand eye demarcation and robot emulation. And finally determining that the medicine taking robot uses the high-precision multi-degree-of-freedom mechanical arm by analyzing and combining actual conditions on site. The control unit of the mechanical arm is a motion control card, the mechanical arm is controlled by a host computer command, and development and research personnel use an open experimental research platform to research. The mechanical arm is large in action space, high in positioning degree and strong in loading capacity, and can grab, process and assemble objects. According to the high efficiency and the accurate stability of grabbing required by the design, the medicine taking robot finally selects a mechanical arm grabbing mode to be a four-group air pump sucker type grabbing mode, the grabbing mode is stable, the grabbing of four kinds of medicinal materials can be realized simultaneously, and the grabbing efficiency and the stability are greatly improved; the medicine sending and distributing robot determines to select the mechanical arm to cooperate with the two groups of air pump suckers to carry out bag opening work. In order to adapt to the variability of the working environment of the robot, a scissor lifting structure is specially designed on the basic structure of the robot, so that the requirements of different heights are met. According to the design requirement, the robot needs to accurately position the medicine taking position, the bearing capacity meets the requirement, the bearing capacity is over 50Kg, and the movement of a specified path can be flexibly completed through program control.
As shown in fig. 6, the utility model also provides a medicine is got and is sent and send robot control system, including medicine is got and is sent and send robot, control system, sensor and driver are fixed and are got and send robot or peripheral, and the controller receives the signal and the processing of sensor feedback, sends control command to the driver, is got and send robot work of sending by driver drive medicine. The control system comprises a central control system, an image processing unit, a voice processing unit and a communication processing unit, wherein the central control system is respectively connected with the image processing unit, the voice processing unit and the communication processing unit, and the communication processing unit is used for realizing local or remote communication.
The following is an example of a control system of a drug delivery robot, and any modifications, equivalent substitutions, improvements, etc. made on this basis are all within the scope of the present invention.
The system comprises a machine body, a control system, a sensor and a driver. Because the communication process is non-single point-to-point communication, serial ports carried by singlechips such as a common Arduino Uno and the like are found by looking up data and are called hard serial ports, the requirements cannot be met for USART single-point to single-point communication, and serial ports simulated by using a software serial library are called soft serial ports. Soft serial ports is generated by the program simulation, nevertheless can be set up on Arduino Mega, consequently the utility model discloses in used robot for chooseing for use Arduino Mega 2560, node MCU single chip microcomputer control board combination control's integrated system robot, the function of main realization has: the remote identification, the receiving and the sending as well as the processing of the communication signals inside and outside the system are completed; receiving and processing a plurality of sensor signals; control command of the drive system; image recognition and positioning; speech recognition, synthesis and broadcast in the voice interaction system.
The functions of each part are as follows:
(1) the central control system comprises: an Arduino Mega 2560 control panel plays the role of a robot brain, can process and process information acquired by a sensing module and has decision-making capability. The control command remotely received by the NodeMCU or locally sent by the NodeMCU can be received and secondary analysis and processing can be carried out. The system plans the action to be executed by the robot according to the current state of the robot and the received command.
(2) Node MCU communication processing system: the device is used for receiving remote control communication signals and APP instructions, analyzing and processing the remote control communication signals for the first time, and then transmitting corresponding instructions to the central control system.
(3) A motion control mechanism: and the motion control module taking the command of the central control system as a core controls the motion of the two differential wheels and the motion of the two Macnam wheels respectively.
(4) A human-computer interaction interface: the motion information of the robot in the current environment can be displayed through an App visual interface and an operation interface which are developed independently. And meanwhile, a task instruction can be issued to the robot through an operation interface.
(5) Image recognition: the recognition grabbing positioning information can be sensed and transmitted to a central control system for correction processing.
(6) Speech recognition and speech synthesis: the targeted task is completed by recognizing the peripheral voice requirement and transmitting the content to the control center for processing, and the user is correspondingly prompted by broadcasting the synthesized voice.
(7) The robot moving system controls the motion of the robot through the control center and can be used for positioning by an App map.
The sensor can detect physical characteristics of distance, temperature, light intensity, size and the like in the environment, can convert one form of physical quantity into another form of physical quantity, and can convert electric or non-electric signals into electric signals for processing by the processor. The sensor is an important component of the robot system, belongs to a sensing subsystem of the robot system, and the robot can collect information of the robot and the surrounding environment through the sensor. In the robot of the project, a combination of several sensors is often selected due to the special conditions of the operating environment.
For the working characteristics of Chinese medicine grabbing, sensors in a detection system of the Chinese medicine grabbing device are mainly divided into two categories, one category can acquire self information such as position, direction, speed and the like, and the other category can acquire external environment information such as relative distance, angle and the like with a target so as to be used for automatic identification and calibration of a mechanical arm.
(1) Camera head
Through the research, this embodiment can adopt the OpenMV camera, and relatively in other kinds of cameras on the market comparatively small and exquisite, the low-power consumption, the camera of low cost, completion machine vision that can be very light is used. Operating on it through a high-level language Python script, the high-level data structure of Python makes it easy for a person to handle complex outputs in machine vision algorithms.
(2) Speech recognition
The module microprocessing unit is a 51-core, the programming mode of a single chip microcomputer (STC) is the same as that of a 51-series single chip microcomputer and a 52-series single chip microcomputer, and a user can use the module by programming by hand without looking up and learning a new single chip microcomputer register; the device has a serial port communication function, reserves related interfaces, provides 5V and 3.3V power interfaces, and is convenient for downloading programs.
(3)NodeMCU
The module is an open-source rapid hardware prototype platform, comprises firmware and a development board, can develop application of the Internet of things by using a plurality of simple Lua scripts, and can greatly improve the logic efficiency of task processing by assisting an Arduino Mega 2560 single chip microcomputer with strong computing capability by using the wireless transmission function and the analysis capability of the module.
(4) Limit switch
Position limitation is carried out on the target medicine taking platform by using a limit switch, so that the vertical precision of grabbing is greatly improved.
After the doctor transmits the electronic prescription to the pharmacy, the robot can accurately identify the name of the medicine on the electronic prescription, find the position of the medicine, take the medicine according to the quantity, and quickly send the medicine to the medicine taking window. The patient does not need to take the prescription to the place of taking the medicine for a long time and does not need to worry about the wrong medicine taking by the pharmacist. Meanwhile, a processor is arranged in the robot, an internal large database of medicine names can be established through a software system, then the robot automatically and accurately finds medicine information through some preset programs, then automatically finds corresponding positions, and sends the medicines to a window through a motion control system. The user can use cell-phone APP to realize long-range reservation, the flow of getting it filled equally, and the robot can get it filled, send medicine, send out the medicine according to the priority order of task, realizes long-range online solution people's medicine demand, promotes work efficiency by a wide margin. Compared with the prior art and the solution in the market, the automatic degree, the precision and the efficiency of the scheme are higher, the energy utilization rate of the equipment is high, the power consumption is low, the product of the utility model has high safety and easy operation, the failure rate in the operation process is low, and the main structure of the equipment is centralized, so that the maintenance is simple and convenient; the manual and mechanical work can be partially replaced, and the labor cost is saved; because it is not restricted by operating time, can long-term steady operation under the sufficient condition of medicine, can receive the instruction at any time and carry out work, convenient operation mode also shortens the latency of people getting it filled in the hospital, improves the work efficiency of hospital pharmacy by a wide margin.
In other embodiments, the medicine taking identification mechanism performs position setting, the coordinate position of each type of medicine can be recorded through a program code, and the corresponding position is moved by searching the corresponding medicine coordinate during medicine taking, so that the positioning function of the function of visually identifying the medicine type is replaced.
The mechanical arm is pushed and is lifted and can change the motion mechanism with scissors mechanism according to actual conditions adjustment, can use electric putter or hydraulic push rod to replace and carry out the height adjustment task under the operating mode that only needs the height position of small-scale adjustment.
The motion wheel of the medicine sending and sending robot can be replaced by a Fulai wheel type tire to a Mecanum wheel type tire, multi-direction translation can be carried out, and a motor PID motion control sensor can be replaced by a magnetic induction sensor to count.
The mechanical clamp can be used for poking, clamping and pulling one end of the bag opening to complete the bag opening action so as to realize the same purpose of sucking and opening the bag opening by replacing the sucker.
The above description is only a preferred embodiment of the present invention, and should not be taken as limiting the invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. A robot for dispensing medication, comprising: the lifting medicine taking mechanism comprises a sliding support sliding on the sliding rail driving mechanism, a medicine taking platform lifting mechanism fixed on the sliding support, a medicine taking mechanical arm arranged at the top of the medicine taking platform lifting mechanism and a medicine grabbing mechanism fixedly connected with the medicine taking mechanical arm; send medicine to send medicine mechanism including sending medicine to send medicine actuating mechanism, fixed send medicine platform elevating system, the medicine bag mechanism and the bag arm of propping that are used for fixed medicine bag on sending medicine to send medicine actuating mechanism, medicine bag mechanism and bag arm of propping are fixed and are sent medicine platform elevating system top.
2. The robot of claim 1, wherein: the medicine case includes a plurality of medicine storage check, the inside of medicine storage check is equipped with the medicine tray, holds in the palm medicine electric putter and holds in the palm medicine and cuts the fork mechanism, the side top of medicine case is equipped with spacing sensor and grey level sensor, and the bottom is equipped with and is used for control slide rail actuating mechanism's guide rail end control box.
3. The robot of claim 1, wherein: the medicine grabbing mechanism comprises a medicine grabbing sucker frame, a vision sensor fixed on the rear side of the medicine grabbing sucker frame and a medicine grabbing sucker fixed on the front side of the medicine grabbing sucker frame.
4. The robot of claim 1, wherein: send medicine to send medicine mechanism still including sending medicine to send medicine platform, medicine bag mechanism and bag-supporting arm of machinery fix send medicine platform upper surface, medicine bag mechanism includes the medicine bag backplate of vertical setting, is used for hanging a plurality of medicine bags on the medicine bag backplate, fix rubber band fixing clip and the fixed rubber band of medicine bag on the medicine bag backplate.
5. The robot of claim 1, wherein: and a medicine sending and dispensing sucker is further arranged at the top of the bag opening mechanical arm.
6. The robot of claim 1, wherein: the medicine sending and dispensing driving mechanism comprises a medicine sending and dispensing robot driving box and a driving wheel fixed below the medicine sending and dispensing robot driving box.
7. A drug fetching and dispatching robot control system, comprising a drug fetching and dispatching robot as claimed in any one of claims 1 to 6, characterized in that the drug fetching and dispatching robot comprises a drug fetching and dispatching robot, a control system, a sensor and a driver, wherein the sensor and the driver are fixed on or around the drug fetching and dispatching robot, the control system receives and processes signals fed back by the sensor, sends control commands to the driver, and drives the drug fetching and dispatching robot to work by the driver.
8. The system of claim 7, wherein the control system comprises a central control system, an image processing unit, a voice processing unit, and a communication processing unit, the central control system is connected to the image processing unit, the voice processing unit, and the communication processing unit respectively, and the communication processing unit is configured to implement local or remote communication.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202020563383.4U CN212601798U (en) | 2020-04-15 | 2020-04-15 | Medicine taking and delivering dispatching robot and control system |
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| CN202020563383.4U CN212601798U (en) | 2020-04-15 | 2020-04-15 | Medicine taking and delivering dispatching robot and control system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111331575A (en) * | 2020-04-15 | 2020-06-26 | 造梦人(北京)科技有限公司 | Medicine taking and delivering dispatching robot and control system |
| WO2023004876A1 (en) * | 2021-07-29 | 2023-02-02 | 光华临港工程应用技术研发(上海)有限公司 | Nurse robot for automatic drug administration and delivery |
-
2020
- 2020-04-15 CN CN202020563383.4U patent/CN212601798U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111331575A (en) * | 2020-04-15 | 2020-06-26 | 造梦人(北京)科技有限公司 | Medicine taking and delivering dispatching robot and control system |
| WO2023004876A1 (en) * | 2021-07-29 | 2023-02-02 | 光华临港工程应用技术研发(上海)有限公司 | Nurse robot for automatic drug administration and delivery |
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