CN213518450U - Self-service medicine selling machine and self-service medicine selling machine with automatic inventory checking function - Google Patents
Self-service medicine selling machine and self-service medicine selling machine with automatic inventory checking function Download PDFInfo
- Publication number
- CN213518450U CN213518450U CN202022685074.7U CN202022685074U CN213518450U CN 213518450 U CN213518450 U CN 213518450U CN 202022685074 U CN202022685074 U CN 202022685074U CN 213518450 U CN213518450 U CN 213518450U
- Authority
- CN
- China
- Prior art keywords
- medicine
- self
- area
- storage
- service
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Medical Preparation Storing Or Oral Administration Devices (AREA)
Abstract
Sell medicine machine by oneself and have the medicine machine of selling by oneself of automatic inventory function, this sell medicine machine by oneself includes: including laser rangefinder module, PLC controller, sell medicine machine server, manipulator, goods way, goods shelves, operation screen by oneself, characterized in that: the laser ranging module and the PLC are communicated with the self-service medicine selling machine server through a data bus; the operation screen is communicated with the self-service medicine selling machine server through data; the manipulator comprises an XYZ-axis manipulator connected with a servo motor, and the servo motor sends a control command through a PCL controller to control the motion of the XYZ-axis manipulator. The utility model solves the problem of inventory information error caused by machine failure, and reduces the time efficiency and labor cost of manual on-site inventory management; the timeliness and the inventory efficiency are improved; the disc warehouse is repaired without taking out the medicines, and the object counting is completed automatically in the whole process.
Description
Technical Field
The utility model relates to a sell medicine machine field by oneself, concretely relates to sell medicine machine by oneself and sell medicine machine by oneself that has automatic inventory function.
Background
The process is completed in a non-automatic manual mode in the traditional warehousing management, and in order to improve the quality of the checking operation, improve the checking efficiency and improve the accuracy of goods inquiry, various non-contact automatic identification technologies are introduced to achieve the automatic checking function in the modern warehousing management. Common are bar codes based on optical identification, two-dimensional codes, and RFID tags based on radio frequency identification. The technologies are that an information tag capable of uniquely identifying a main body is added to goods, corresponding tag reading terminal equipment reads information in the tag to finish automatic identification of the goods, and the tag is connected with a background storage management computer system, so that an automatic inventory function is realized.
Like the prior art: the Chinese patent application (application number: CN201710511695, publication number: CN 109214727A) discloses an automatic inventory system, which comprises a goods storage device, a light source, a camera, a monitoring system, an image analysis system, a deep learning system, a service processing system and a control system, the light source, the camera, the monitoring system, the image analysis system, the deep learning system and the service processing system are electrically connected with the control system, the monitoring system controls the camera to acquire image data and transmits the acquired image data to the image analysis system, the image analysis system transmits image analysis result data to the business processing system, the deep learning system transmits an algorithm data packet to the image analysis system, and the image analysis system analyzes the image data according to the algorithm data packet.
In the prior art, a chinese patent application (application No. CN201811199623, publication No. CN 109409799A) discloses a method and an apparatus for inventory transparency management, which includes reading an RFID tag of a target inventory location when an inventory command is received, and obtaining inventory information of a material stored in the target inventory location according to the RFID tag; comparing the stock information of the materials with prestored information to generate a stock checking result; calculating the vacancy rate of the grids of the target material according to the inventory result; and judging whether the stock vacancy rate reaches a threshold value, if so, generating a pallet combination list, and combining the target materials.
In the prior art, chinese patent application (application No. CN201621395160, publication No. CN 206910056U) discloses an automatic file cabinet with wireless network communication and automatic inventory function, which comprises an electronic tag, a drawer handle, a control panel, an LED lamp tube and an upper cabinet door, and is characterized in that: control panel sets up the inside left side below at cabinet body shell, the inside right side position department that is close to control panel of cabinet body shell is provided with fingerprint identification ware, fingerprint identification ware's right side is provided with the drawer, the drawer handle sets up on the drawer front surface, the right side of drawer is provided with down the cabinet door, the front surface left side of cabinet door is provided with cabinet door handle down. Can detect out inside humidity, when inside humidity is too high, dry to filing cabinet inside through electric heater, the steam that produces among the inside stoving process simultaneously is discharged from the scavenge pipe, has set up fingerprint identification ware on the filing cabinet, only has typeeed the fingerprint inside to built-in computer, just can open the filing cabinet through fingerprint identification ware, has increased the security performance of filing cabinet.
In the prior art, chinese patent application (application No. CN201310235076, publication No. CN 104229366A) discloses a rotary warehouse for automatically storing disks and positioning to a layer, which includes a rotary warehouse cabinet, an embedded computer, a reader/writer, an antenna, an electronic tag and a computer, wherein: the rotary warehouse cabinet body comprises storage lattices, a cabinet door and a sensor; the embedded computer is arranged in the rotary warehouse cabinet body and is connected with the computer through a communication cable; the sensor is arranged on the frame in the rotary warehouse cabinet body and is positioned on one side of the storage grid running track; the antenna is arranged in the rotary warehouse and is connected with the reader-writer through a coaxial cable with matched impedance; the reader-writer is connected with the computer through a communication cable; and the electronic tag is arranged on each storage object in the rotary warehouse.
In the prior art, chinese patent application (application No. CN201511023195, publication No. CN 105469220A) discloses an intelligent management method and an intelligent management system for articles, the system includes: obtaining usage information of an item, the usage information including: the identity of the user, the name of the article, the amount of the article used, and the reason for using the article; authorized by a manager; receiving an identity input by a user, comparing the identity with the identity in the use information, and if the identity passes the comparison, automatically preparing an article corresponding to the article name for the user by using a mechanical device; in the process, the object and the user are respectively photographed or recorded for storage; scanning the electronic tag of the article when the article is provided and retracted to confirm the authenticity of the article; the items are automatically weighed and recorded as they are supplied and retrieved.
In the prior art, a chinese patent application (application No. CN201220149544, publication No. CN 202594234U) discloses an automatic inventory making device for storage racks, which mainly comprises a driving assembly, a transmission belt, a sliding block, a mounting seat, a distance meter, a detection sheet, a guide rail, and a plurality of detection sensors; the drive assembly is arranged at the upper end of the guide rail and is connected with the transmission belt, the slide block is arranged in the guide rail guide groove and is fastened with the transmission belt, the distance measuring instrument is arranged on the mounting seat and is connected with the detection piece on the slide block, and a plurality of detection sensors are arranged on the guide rail. When the driving assembly drives the transmission belt, the sliding block, the distance measuring instrument and the detection sheet on the driving assembly move to the position, on the guide rail, where the detection sensors (a plurality of pieces) are installed, along the Y direction, so that the automatic inventory of the shelf layer is realized. The inventory device is arranged on other equipment such as an automatic replenishment machine or a stacker and the like and moves along the X direction to realize the automatic inventory of the goods shelf row.
Although the device with the automatic inventory checking function is adopted in the modern inventory checking management in the prior art, the device is still blank when being applied to the medicine selling machine, so that the medicine selling efficiency in the field of the medicine selling machine is low, and the quantity of commodities is inconsistent with the actual quantity of commodities when the medicine selling machine fails. This may result in unsuccessful purchase of the drug by the customer. In addition, the medicine selling machine in the prior art also has the following defects:
1. the inventory data can only be corrected after manual checking on site by manual. The inventory needs to take all the medicines out of the medicine selling machines for counting, and time and labor cost are wasted.
2. Because the self-service medicine selling machines are widely distributed, the inventory information of the self-service medicine selling machines cannot be repaired in time by manpower. The paralysis time of the self-help medicine selling machine is prolonged infinitely.
SUMMERY OF THE UTILITY MODEL
Not enough to current product technology, the utility model provides a sell medicine machine by oneself and have the medicine machine of selling by oneself of automatic inventory function.
Sell medicine machine by oneself includes laser rangefinder module, PLC controller, sells medicine machine server by oneself, manipulator, goods way, goods shelves, operation screen, characterized in that: the laser ranging module and the PLC are communicated with the self-service medicine selling machine server through a data bus; the operation screen is communicated with the self-service medicine selling machine server through data; the manipulator comprises an XYZ-axis manipulator connected with a servo motor, and the servo motor sends a control instruction through a PCL controller to control the motion of the XYZ-axis manipulator; and the self-service medicine selling machine server controls the laser ranging module to send laser beams to the goods channel to measure the depth of the goods channel.
Preferably: the self-service medicine selling machine comprises 4 areas, namely: a storage area in the area A, a goods selling area in the area B, a self-service medicine selling area/O2O takeout medicine taking area in the area C and a manual medicine selling area in the area D; the front end of the area A is provided with an area C; one side of the area A is provided with an area D; a zone B is arranged on one side corresponding to the zone C;
the storage area A is used for storing pre-sold medicines, and the storage cabinet adopts a multilayer three-dimensional storage space formed by combining and stacking aluminum profiles, PVC plates and glass partition plates;
the loading area in the area B provides a replenishing/loading operation space for the storage cabinet, and the PLC control module controls the robot to realize loading and unloading of the medicines;
the C area self-service medicine purchasing area/O2O takeout medicine taking area provides a transaction service window and a medicine taking window for purchasing medicines for consumers, and realizes self-service medicine purchasing and takeout medicine taking functions through interaction of the consumers and the machine;
the D area is an artificial medicine selling/taking area: the main function is that pharmacy service personnel/medical practitioner carry the window of getting it filled from the storage cabinet, realizes medicine high-efficient management and the artifical function of getting it filled of selling.
Preferably: the self-service medicine vending machine server sends the position information of the container and the goods channel to the PLC controller, and the PLC controller controls the manipulator X, Y, Z to move to designate the position of the container and the goods channel after receiving the position information of the container and the goods channel in the self-service medicine vending machine.
Preferably: the laser ranging module sends laser beams to the goods channel to measure the depth of the goods channel, and feeds back the measured depth data to the self-service medicine selling machine server.
Preferably: the storage area A comprises storage shelves and adjusting foot cups, the storage shelves are supported by aluminum section frames and are connected and spliced into a left row and a right row through connecting pieces, and the middle of the storage shelves is provided with a rectangular three-dimensional storage shelf with a walking track for the storage robot to walk; the storage shelf is made of tempered glass and is linked with the partition through a clamping groove of a PVC storage baffle, and a multilayer space is formed by stacking; each layer of space is set to be a stacked storage space with a certain volume, so that a three-dimensional unpowered goods channel is formed; the adjusting foot cup comprises a fixed anti-skidding seat and a bolt connected with the anti-skidding seat; the balance adjustment function of the storage goods shelf is realized through the matching of the bolts and the storage goods shelf; one end of the storage area is provided with a control device for controlling the robot to work; the storage rack is characterized by also comprising a cabinet shell, wherein the cabinet shell is arranged outside the storage rack and completely covers the storage rack; the height of the storage space is within the range of 10 cm-5 cm.
Preferably: the replenishment operation screen and the bar code scanning identifier of the upper cargo area in the area B are linked with the cabinet shell through screws, and are in data link with the server through 485 and USB signal lines to realize information intercommunication; the server is linked with the PLC control module through a 485 signal line to realize information intercommunication; the replenishment card table is linked with the PLC control module through a 485 signal line to realize information intercommunication; the servo motor is linked with the PLC control module through a signal wire, and information intercommunication is achieved.
Preferably: the PLC controller sends a pulse information signal to the servo motor, the servo motor rotates the motor after receiving the pulse signal, the motor can be linked with a screw rod, a gear, a rack and a speed reducer, and power is generated by the rotation of the servo motor to drive the XYZ-axis manipulator to move back and forth, up and down and rotate.
Preferably: the Z-axis manipulator is connected with a screw rod through a servo motor, the screw rod is driven to rotate when the servo motor rotates, and the screw rod drives the Z-axis manipulator to move forwards and backwards; the X-axis manipulator is connected with a gear through a servo motor, the gear rotates to drive a belt, and a belt fixing piece drives the X-axis sliding table to move forwards and backwards; the Y-axis manipulator is connected with a gear through a servo motor, the gear rotates to drive a belt, and a belt fixing piece drives the Y-axis sliding table to ascend and descend; the manipulator S rotation axis is linked the speed reducer by servo motor, and the rotation drives S axle platform and carries out 360 degrees rotations.
Preferably: the camera, the microphone, the loudspeaker, the ID card reader and the two-dimensional code in the area C are linked with the interactive screen through data lines, so that information intercommunication and function realization are realized; the interactive screen is linked with the server through a data line to realize information intercommunication; the D region comprises: cash register, counter, outlet; the cash register is linked with the server through a data line to realize information intercommunication.
The utility model discloses still disclose one kind including above-mentioned arbitrary sell by oneself medicine machine structure have a medicine machine of selling by oneself of keeping in stock function.
Has the advantages that:
1. the problem that actual inventory needs to be stored on site due to errors of inventory information caused by machine faults is solved.
2. The time efficiency and the labor cost of manual on-site inventory making are reduced.
3. The real-time inventory information repair can be completed by a local or remote inventory for several minutes. The timeliness and the inventory efficiency are improved.
4. The disc warehouse is repaired without taking out the medicines, and the object counting is completed automatically in the whole process.
Drawings
FIG. 1 is a front view of the goods passage inside the self-service medicine vending machine of the utility model;
FIG. 2 is a side view of the goods passage inside the self-service medicine vending machine of the utility model;
fig. 3 is the schematic view of the automatic warehouse-checking mechanical structure implemented by the self-service medicine selling machine of the utility model.
Detailed Description
The technical solutions in the embodiments of the present invention are clearly and completely described below in conjunction with the embodiments of the present invention, which are only a part of the embodiments of the present invention, but not all of the embodiments.
Example 1
Firstly, the self-service medicine selling machine with the inventory function and how to realize the self-service medicine selling property are explained.
Self-service medicine selling machine with inventory function includes individual region, promptly: a storage area in the area A, a goods selling area in the area B, a self-service medicine selling area/takeout medicine taking area in the area C and a manual medicine selling area in the area D;
the front end of the area A is provided with an area C; one side of the area A is provided with an area D; and a zone B is arranged on one side corresponding to the zone C.
The storage area A is used for storing pre-sold medicines, and the storage cabinet adopts a multilayer three-dimensional storage space formed by combining and stacking aluminum profiles, PVC plates and glass partition plates;
the storage area A comprises storage shelves and adjusting foot cups, the storage shelves are supported by aluminum section frames and are connected and spliced into a left row and a right row through connecting pieces, and the middle of the storage shelves is provided with a rectangular three-dimensional storage shelf with a walking track for the storage robot to walk; the storage shelf is made of tempered glass and is linked with the partition through a clamping groove of a PVC storage baffle, and a multilayer space is formed by stacking; each layer of space is set to be a stacked storage space with a certain volume, so that a three-dimensional unpowered goods channel is formed; the adjusting foot cup comprises a fixed anti-skidding seat and a bolt connected with the anti-skidding seat; the balance adjustment function of the storage goods shelf is realized through the matching of the bolts and the storage goods shelf; one end of the storage area is provided with a control device for controlling the robot to work; the storage rack is characterized by also comprising a cabinet shell, wherein the cabinet shell is arranged outside the storage rack and completely covers the storage rack; the height of the storage space is within the range of 10 cm-5 cm.
The loading area in the area B provides a replenishing/loading operation space for the storage cabinet, and the PLC control module controls the robot to realize loading and unloading of the medicines;
the goods loading area in the area B comprises a storage manipulator X shaft, a storage manipulator Y shaft, a storage manipulator Z shaft, a mechanical gripper, a storage manipulator S rotating shaft, a goods supplementing operation screen, a bar code scanning identifier, a goods supplementing clamping table, a PLC control module, a power-source-free goods channel, a server and a loading platform.
The mechanical link or the electrical signal link between the above functional components is as follows:
the replenishment operation screen and the bar code scanning identifier of the upper cargo area in the area B are linked with the cabinet shell through screws, and data link is carried out with the server through 485 and USB signal lines to realize information intercommunication; the server is linked with the PLC control module through a 485 signal line to realize information intercommunication; the replenishment card table is linked with the PLC control module through a 485 signal line to realize information intercommunication; the servo motor is linked with the PLC control module through a signal wire to realize information intercommunication; the storage manipulator X-axis, the mechanical clamping hand, the storage manipulator Z-axis, the storage manipulator S-axis, the storage manipulator Y-axis and the feeding platform are connected and fixed with the aluminum profile by screws; the PLC sends a pulse information signal to the servo motor, the servo motor rotates the motor after receiving the pulse signal, the motor can be linked with a screw rod, a gear, a rack and a speed reducer, and the servo motor rotates to generate power to move back and forth, up and down and rotate; the Z axis is connected with a screw rod through a servo motor, the motor rotates to drive the screw rod to rotate, and the screw rod fixedly drives the Z axis sliding table to move forward and backward; the mechanical arm is positioned on the Z-axis sliding table, a clamping hand on the mechanical clamping hand is connected with the gear through a servo motor, rotates on the travel rack and drives the clamping jaw to tighten and loosen; the X axis is linked with a gear by a servo motor, the gear rotates to drive a belt, and a belt fixing piece drives the X axis sliding table to move forwards and backwards; the Y-axis is linked with a gear by a servo motor, the gear rotates to drive a belt, and a belt fixing piece drives a Y-axis sliding table to ascend and descend; the S-axis is connected with the speed reducer through the servo motor and rotates to drive the S-axis platform to rotate by 360 degrees.
How to realize replenishment in the loading area of the area B is described in detail below:
before replenishment is realized, medicine library information is established, and the information content is as follows: the bar code, the name of the medicine, the length, the width and the height of the medicine, and the medicine information is stored in the cloud server.
Then, the following procedure is implemented:
drug information identification
1. An operator takes the medicine up and identifies commodity information through a bar code scanning identifier;
2. the code scanning identifier sends the read bar code information to the server, and the server matches the corresponding bar code information in the database according to the bar code information;
storage location matching
3. The server firstly matches the storage data of the medicine in the medicine storage data through the medicine information;
4. the same medicine storage information is not matched in the storage database, and the server sends no-medicine information to the replenishment operation screen, so that the instruction cannot be stored. And operating according to the prompt displayed by the replenishment operation screen by an operator, clicking a new replenishment button on the operation screen by the operator, and replacing a new medicine to perform new replenishment flow operation.
5. Matching the same medicine storage information in the storage database, and checking whether the storage capacity exists in the storage channel by the server according to the capacity information of the stored channel (the calculation formula is that A- (Y x Q) = Z Z > Q (storable) Z < Q (non-storable), the total depth of the A channel-Y single-box medicine length Q = Z residual depth, the Z residual depth is smaller than the length of the Q medicine, the channel is judged to be full, the Z residual depth is larger than the length of the Q medicine, the storage is full), judging whether the channel is continuously placed, and if the capacity of the channel is not full, the server displays the medicine information and the prompt of restorable information through an operation screen;
6. the operation screen displays according to the information sent by the server, and can prompt replenishment through voice prompt and screen display;
7. if the existing cargo way capacity is full, starting a new cargo way matching algorithm, and adopting a height and width matching algorithm (the calculation formula of the height matching algorithm is that B-X = G G >1cm (storable) G <1cm (non-storable) B cargo way height-X medicine height = G height value, G height value is larger than 1cm to judge that the cargo way is storable, G height value is smaller than 1cm to judge that the cargo way is not storable, the calculation formula of the width matching algorithm is that N-M = P P >4cm (storable) P <4cm (non-storable) N cargo way width-M medicine width = P width value, P width value is larger than 4cm to judge that the cargo way is storable, and P width value is smaller than 4cm to judge that the cargo way is not storable);
8. the server starts a goods channel matching algorithm: the height, width and length of the cargo channel can be found by using the size of the medicine external package, and the position of the medicine can be put down;
9. the server can match the height first, the server finds the information of the cargo channel with the height of the cargo channel being 1cm larger than the height of the medicine first, and if no suitable cargo channel server exists within 1cm, the server can match the height of the cargo channel upwards in the same way;
10. then width is matched, the server can carry out second data matching in the goods channel which is screened out to be in line with the height, and a space with the width being 3 centimeters larger than the width of the replenishment medicines is found. The server displays the medicine information and the restockable information prompt through the operation screen;
11. if no space with the width more than 3 centimeters is left, returning to the height screening algorithm; removing the just screened high-suitable goods channel, and entering the step again from the new goods channel matched with the higher space; if the proper spatial position cannot be screened back and forth, the server displays the medicine information and the information prompt of no storage channel through the operation screen;
12. the server obtains the information of the medicine and the replenishment information through a goods channel matching algorithm and sends the information and the replenishment information to an operation screen (6);
13. the operation screen displays according to the information sent by the server, and can be used for supplementing goods and prompting no storage goods channel through voice prompt and screen display;
14. and the operator performs replenishment operation according to the prompt displayed by the operation screen, and if the prompt is that no goods storage channel exists, the operator clicks a new replenishment button on the operation screen. Replacing new medicines to carry out replenishment flow operation;
medicine storage
15. And the operator performs replenishment operation according to the prompt displayed by the operation screen, and if the prompt is a replenishment prompt, the operator clicks a determined replenishment button on the operation screen. And the medicine is placed on the replenishment card table;
16. the medicine is placed on the replenishment clamping table, and the photoelectric sensor of the replenishment clamping table can sense whether the medicine is on the clamping table or not;
17. the replenishment clamping table can transmit information to the server after sensing the medicine, and the server sends the matched storage position information of the storage channel of the storage to the PLC module;
18. the PLC sends an instruction to control the servo motor to rotate so as to drive the X/Y-axis manipulator to move to the front of the fixed position of the replenishment card table;
19. then the PLC sends an instruction to control the servo motor to rotate to drive the mechanical clamping hand to open;
20. the PLC sends an instruction to control the servo motor to rotate so as to drive the Z shaft to push the mechanical clamping hand to the replenishment clamping table, so that the medicine is clamped;
21. the PLC sends an instruction to control the servo motor to rotate so as to drive the medicine clamped by the mechanical clamping handle from the Z axis to be pulled to the feeding table from the replenishment clamping table;
22. then the PLC sends an instruction to control a servo motor to rotate and drive) the X/Y-axis mechanical handle moves the medicine to a designated storage position;
23. after the medicine reaches the storage designated position, the PLC sends an instruction to control the servo motor to rotate to drive the Z shaft to push the medicine clamped by the mechanical clamping hand into the designated depth position of the unpowered goods channel;
24. the PLC sends an instruction to control the servo motor to rotate to drive the mechanical gripper to open 1.5 cm outwards so as to separate the arriving medicine from the mechanical gripper;
25. after the mechanical clamping hand is opened, the PLC sends an instruction to control the servo motor to rotate so as to drive the Z-axis to withdraw the mechanical clamping hand to the feeding table;
26. the PLC sends a task completion instruction to the server;
27. the server continues to execute the next feeding and replenishing program;
data upload update
28. After the replenishment is completed, the server can automatically generate a report and a list of the replenishment. And automatically uploading the updates to an ERP or SAAS system.
The C area self-service medicine purchasing area/O2O takeout medicine taking area provides a transaction service window and a medicine taking window for purchasing medicines for consumers, and realizes self-service medicine purchasing and takeout medicine taking functions through interaction of the consumers and the machine;
the D area is an artificial medicine selling/taking area: the main function is that pharmacy service personnel/medical practitioner carry the window of getting it filled from the storage cabinet, realizes medicine high-efficient management and the artifical function of getting it filled of selling.
Further elaborating below the utility model discloses sell medicine machine by oneself and buy medicine/get it filled theory of operation with automatic function of checking in stock:
selectively purchased medicine
1. The consumer can self-help select to purchase the medicine through a self-help interaction screen of the self-help medicine purchasing/taking area in the area C;
2. and clicking the medicine icon displayed on the interactive screen to display the medicine information: indications, contraindications and instructions for use. Clicking to join the shopping cart;
3. the shopping cart system is added, medicine information is sent to the server, and after the server receives the medicine information, a collection two-dimensional code is generated and displayed on the interactive screen;
order payment
4. After the customer finishes the payment by using the payer and the WeChat code scanning, the third-party collection platform sends a collection success instruction to the server (after receiving the fund, the third-party collection platform sends a collection success instruction to the server;
5. after the server receives the money receiving instruction, the server matches the storage position data of the similar medicines in a storage database according to the medicine information in the order;
drug extraction
6. The server sends the medicine storage position to the PLC;
7. the PLC sends an instruction to control the servo motor to rotate so as to drive the X/Y-axis manipulator to move to the position in front of the cargo channel where the medicine is located;
8. then the PLC sends an instruction to control the servo motor to rotate to drive the mechanical clamping hand to open;
9. then the PLC sends an instruction to control the servo motor to rotate so as to drive the Z shaft (13) to push the mechanical clamping hand to a specified position in the cargo channel;
10. then the PLC sends an instruction to control the servo motor to rotate so as to drive the mechanical gripper to clamp the medicine in the cargo channel;
11. after clamping the medicine, the PLC sends an instruction to control the servo motor to rotate so as to drive the Z shaft to pull the medicine clamped by the mechanical clamp to the feeding table;
12. after the medicine is placed on the feeding table, the sensor on the feeding table is touched, the sensor can judge whether the medicine is on the feeding table or not, if the medicine is on the feeding table, the sensor can send information to the PLC, and the controller can continue to complete the shipment process;
13. if the medicine on the feeding table is not detected, the information is sent to the PLC, and the PLC starts a laser detection function;
14. the PLC sends an instruction to control the servo motor to rotate so as to drive the X/Y shaft to move the laser range finder to the position of the medicine cargo channel, starts laser range finding to measure cargo channel depth data after reaching the position, and returns the measured depth data to the server;
15. the server receives the measured depth data, calculates the capacity and position data of the goods channel medicines and sends the capacity and position data to the PLC;
16. the PLC (19) sends an instruction to control the servo motor to rotate so as to drive the X/Y-axis manipulator to move to the position in front of the cargo channel where the medicine is located;
17. the PLC sends an instruction to control the servo motor to rotate so as to drive the mechanical clamping hand to open;
18. then the PLC sends an instruction to control the servo motor to rotate so as to drive the Z shaft to push the mechanical clamping hand to a specified position in the cargo way;
19. then the PLC sends an instruction to control the servo motor to rotate so as to drive the mechanical gripper to clamp the medicine in the cargo channel;
20. after clamping the medicine, the PLC sends an instruction to control the servo motor to rotate so as to drive the Z shaft to pull the medicine clamped by the mechanical clamp to the feeding table;
21. medicine to material loading bench back can touch the material loading bench inductor, and the inductor can judge whether material loading bench has the medicine, if have medicine can send information for the PLC controller. The controller will continue to complete the shipment procedure;
22. then the PLC sends an instruction to control the servo motor to rotate so as to drive the X/Y-axis mechanical handle to move the medicine to the automatic medicine selling outlet;
23. after the medicine reaches the position of the goods outlet, the PLC sends an instruction to control the servo motor to rotate so as to drive the Z-axis to push the medicine clamped by the mechanical clamp into the automatic medicine selling and goods outlet;
24. then the PLC sends an instruction to control the servo motor to rotate to drive the mechanical clamping hand to open outwards by 1.5 cm, so that the medicine is separated from the mechanical clamping hand, and the medicine falls into the automatic medicine selling outlet;
25. after the mechanical clamping hand is opened, the PLC sends an instruction to control the servo motor to rotate so as to drive the Z-axis to withdraw the mechanical clamping hand to the feeding table; and after the shipment instruction is finished, sending information to the PLC, and continuously executing the next shipment instruction.
The manual medicine selling/taking function in the area D mainly improves the efficient medicine management of a pharmacy and reduces the tedious work of manually finding medicines in a warehouse or a goods shelf by service personnel/medical practitioners.
Example 2
See fig. 1-3.
The self-service medicine selling machine with the automatic inventory checking function is characterized in that the laser ranging module and the PLC are communicated with a medicine selling machine server through a data bus; the operation screen is communicated with the medicine selling machine server through data; the manipulator comprises an XYZ-axis manipulator connected with a servo motor, and the servo motor sends a control instruction through a PCL controller to control the motion of the XYZ-axis manipulator; and the self-service medicine selling machine server controls the laser ranging module to send laser beams to the goods channel to measure the depth of the goods channel.
The automatic inventory control principle of the self-service medicine selling machine is further explained as follows:
1. when the inventory information of the self-service medicine selling machine is not correct due to machine faults or human reasons, an operator clicks an automatic inventory checking function on an operation screen (11) of the self-service medicine selling machine;
2. the self-service medicine selling machine server (6) starts a selling stopping instruction after receiving the instruction;
3. the self-service medicine vending machine server (6) sends the position information of the container and the goods channel to the PLC controller (7), and the PLC controller (7) controls the mechanical arm X, Y, Z shafts (3, 5 and 8) to move to specify the positions of the container and the goods channel (1) after receiving the position information of the container and the goods channel;
4. after the goods arrive at the goods cabinet and the goods channel, X, Y, Z manipulators (3, 5, 8) feed back signals to a PLC controller (7), the PLC controller (7) receives the signals and then sends the signals to a self-service medicine selling machine server (6), and the self-service medicine selling machine server receives the signals and then starts a laser ranging module (4);
5. the laser ranging module (4) sends laser beams into the cargo channel to measure the depth of the cargo channel;
6. the measured depth data is sent to a self-service medicine vending machine server (6).
7. The self-service medicine vending machine server (6) carries out data calculation on the measured goods channel products according to the measured goods channel depth distance (the calculation formula is that X = D-C X goods channel stock depth data = D goods channel depth data-C measured depth data X/Y = R X goods channel depth data/Y medicine outer package length data = R medicine capacity data)
The depth data of the goods channel stock is obtained by subtracting the measured depth data from the depth data of the goods channel, and then the actual quantity of the medicine stock of the goods channel is obtained by dividing the data of the goods channel stock by the length of the medicine outer package.
8. When the calculated inventory quantity is consistent with the actual inventory quantity, the server (6) sends the position information of the next container and the goods channel to the PLC (7), and then each goods channel sequentially carries out distance measurement one by one;
9. if the measured inventory quantity is inconsistent with the actual inventory quantity, the server (6) records the cargo channel information, and after the measurement of all cargo channels is finished, the server updates and corrects the cargo channel inventory information with errors;
10. after the inventory information is updated, the server (6) can start a mobile self-service selling mode, and the self-service medicine selling machine can normally sell.
Emphasis here is given to: the functions, algorithms, methods, etc. to which the present invention relates are merely conventional adaptive applications of the prior art. Therefore, the present invention is an improvement of the prior art, which substantially consists in the connection between the hardware, and simply changes the existing algorithms and methods to adapt to the needs of the functions of the present invention, rather than to the functions, algorithms and methods themselves, i.e. the present invention, although it relates to a few functions, algorithms and methods, does not contain the improvements proposed to the functions, algorithms and methods themselves. The utility model discloses to the description of function, algorithm, method, be for better explanation the utility model discloses to better understanding the utility model discloses.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It should be understood by those skilled in the art that the present invention is not limited by the above embodiments, and the above embodiments and what is described in the specification are the principles of the present invention, and that various changes and modifications may be made without departing from the spirit and scope of the present invention, and these changes and modifications fall within the scope of the present invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. Sell medicine machine by oneself, including laser rangefinder module, PLC controller, sell medicine machine server, manipulator, goods way, goods shelves, operation screen by oneself, characterized by: the laser ranging module and the PLC are communicated with the self-service medicine selling machine server through a data bus; the operation screen is communicated with the self-service medicine selling machine server through a data line; the manipulator comprises an XYZ-axis manipulator connected with a servo motor, and the servo motor sends a control instruction through a PCL controller to control the motion of the XYZ-axis manipulator; and the self-service medicine selling machine server controls the laser ranging module to send laser beams to the goods channel to measure the depth of the goods channel.
2. The self-service medicine vending machine according to claim 1, characterized in that: the self-service medicine selling machine comprises 4 areas, namely: a storage area in the area A, a goods selling area in the area B, a self-service medicine selling area/O2O takeout medicine taking area in the area C and a manual medicine selling area in the area D; the front end of the area A is provided with an area C; one side of the area A is provided with an area D; a zone B is arranged on one side corresponding to the zone C;
the storage area A is used for storing pre-sold medicines, and the storage cabinet adopts a multilayer three-dimensional storage space formed by combining and stacking aluminum profiles, PVC plates and glass partition plates;
the loading area in the area B provides a replenishing/loading operation space for the storage cabinet, and the PLC control module controls the robot to realize loading and unloading of the medicines;
the C area self-service medicine purchasing area/O2O takeout medicine taking area provides a transaction service window and a medicine taking window for purchasing medicines for consumers, and realizes self-service medicine purchasing and takeout medicine taking functions through interaction of the consumers and the machine;
the D area is an artificial medicine selling/taking area: the main function is the window that the pharmacy service personnel/practitioner got it filled from the warehouse cabinet, realizes that medicine high efficiency manages and the manual work is sold and is got the medicine function.
3. The self-service medicine vending machine according to claim 1, characterized in that: the self-service medicine vending machine server sends the position information of the container and the goods channel to the PLC controller, and the PLC controller controls the manipulator X, Y, Z to move to designate the position of the container and the goods channel after receiving the position information of the container and the goods channel in the self-service medicine vending machine.
4. The self-service medicine vending machine according to claim 3, characterized in that: the laser ranging module sends laser beams to the goods channel to measure the depth of the goods channel, and feeds back the measured depth data to the self-service medicine selling machine server.
5. The self-service medicine vending machine according to claim 1, characterized in that: the storage area A comprises storage shelves and adjusting foot cups, the storage shelves are supported by aluminum section frames and are connected and spliced into a left row and a right row through connecting pieces, and the middle of the storage shelves is provided with a rectangular three-dimensional storage shelf with a walking track for the storage robot to walk; the storage shelf is made of tempered glass and is linked with the partition through a clamping groove of a PVC storage baffle, and a multilayer space is formed by stacking; each layer of space is set to be a stacked storage space with a certain volume, so that a three-dimensional unpowered goods channel is formed; the adjusting foot cup comprises a fixed anti-skidding seat and a bolt connected with the anti-skidding seat; the balance adjustment function of the storage goods shelf is realized through the matching of the bolts and the storage goods shelf; one end of the storage area is provided with a control device for controlling the robot to work; the storage rack is characterized by also comprising a cabinet shell, wherein the cabinet shell is arranged outside the storage rack and completely covers the storage rack; the height of the storage space is within the range of 10 cm-5 cm.
6. The self-service medicine vending machine according to claim 1, characterized in that: the replenishment operation screen and the bar code scanning identifier of the upper cargo area in the area B are linked with the cabinet shell through screws, and are in data link with the server through 485 and USB signal lines to realize information intercommunication; the server is linked with the PLC control module through a 485 signal line to realize information intercommunication; the replenishment card table is linked with the PLC control module through a 485 signal line to realize information intercommunication; the servo motor is linked with the PLC control module through a signal wire, and information intercommunication is achieved.
7. The self-service medicine vending machine according to claim 1, characterized in that: the PLC controller sends a pulse information signal to the servo motor, the servo motor rotates the motor after receiving the pulse signal, the motor can be linked with a screw rod, a gear, a rack and a speed reducer, and power is generated by the rotation of the servo motor to drive the XYZ-axis manipulator to move back and forth, up and down and rotate.
8. The self-service medicine vending machine according to claim 7, characterized in that: the Z-axis manipulator is connected with a screw rod through a servo motor, the screw rod is driven to rotate when the servo motor rotates, and the screw rod drives the Z-axis manipulator to move forwards and backwards; the X-axis manipulator is connected with a gear through a servo motor, the gear rotates to drive a belt, and a belt fixing piece drives the X-axis sliding table to move forwards and backwards; the Y-axis manipulator is connected with a gear through a servo motor, the gear rotates to drive a belt, and a belt fixing piece drives the Y-axis sliding table to ascend and descend; the manipulator S rotation axis is linked the speed reducer by servo motor, and the rotation drives S axle platform and carries out 360 degrees rotations.
9. The self-service medicine vending machine according to claim 2, characterized in that: the camera, the microphone, the loudspeaker, the ID card reader and the two-dimensional code in the area C are linked with the interactive screen through data lines, so that information intercommunication and function realization are realized; the interactive screen is linked with the server through a data line to realize information intercommunication; the D region comprises: cash register, counter, outlet; the cash register is linked with the server through a data line to realize information intercommunication.
10. Sell medicine machine by oneself with automatic inventory function, characterized by: comprising a self-service medicament dispenser according to any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022685074.7U CN213518450U (en) | 2020-11-18 | 2020-11-18 | Self-service medicine selling machine and self-service medicine selling machine with automatic inventory checking function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022685074.7U CN213518450U (en) | 2020-11-18 | 2020-11-18 | Self-service medicine selling machine and self-service medicine selling machine with automatic inventory checking function |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN213518450U true CN213518450U (en) | 2021-06-22 |
Family
ID=76424492
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202022685074.7U Active CN213518450U (en) | 2020-11-18 | 2020-11-18 | Self-service medicine selling machine and self-service medicine selling machine with automatic inventory checking function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN213518450U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116374552A (en) * | 2023-04-23 | 2023-07-04 | 国网山东省电力公司宁津县供电公司 | Material counting device based on gravity sensing and using method thereof |
-
2020
- 2020-11-18 CN CN202022685074.7U patent/CN213518450U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116374552A (en) * | 2023-04-23 | 2023-07-04 | 国网山东省电力公司宁津县供电公司 | Material counting device based on gravity sensing and using method thereof |
| CN116374552B (en) * | 2023-04-23 | 2023-11-21 | 国网山东省电力公司宁津县供电公司 | Material counting device based on gravity sensing and using method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108846621B (en) | Inventory management system based on strategy module | |
| CN106228688B (en) | A kind of more standard commodities vending systems of intelligent large and its method | |
| US20170322561A1 (en) | Robotic inventory dispensary operational enhancements | |
| CN107798776A (en) | A kind of electromagnetic location high efficiency o2o automatic vending machines | |
| CN108537978A (en) | A kind of adaptive large capacity automatic access intelligence express mail case of automatic adjustment | |
| CN112419607A (en) | Self-service medicine selling machine with automatic inventory checking function and automatic inventory checking method thereof | |
| WO2019051505A1 (en) | An automated store | |
| CN109064630A (en) | Nobody weigh automatically valuation container system | |
| CN108022094B (en) | Self-service settlement system and method | |
| CN112419606A (en) | Multifunctional medicine selling machine equipment and method | |
| CN213518450U (en) | Self-service medicine selling machine and self-service medicine selling machine with automatic inventory checking function | |
| CN108681946A (en) | The unattended shopping system of arm hanging type | |
| CN108537647A (en) | Unattended shop is examined goods module and shopping system | |
| CA3020315A1 (en) | Systems and methods for delivering merchandise items using a conveyor apparatus | |
| CN108765764A (en) | A kind of convenient intelligent nutrition meal goods terminal cabinet | |
| CN210836315U (en) | Selling system and selling machine capable of returning articles | |
| CN109215223A (en) | A kind of purchase method of the automatic selling cabinet system based on gravity sensitive | |
| CN213518449U (en) | Self-service medicine selling machine and self-service medicine selling machine with automatic medicine batch number expiration date management function | |
| CN214030361U (en) | Multifunctional medicine selling machine equipment | |
| CN210129261U (en) | Self-service express delivery cabinet | |
| CN112466048A (en) | Self-service medicine selling machine equipment and method for automatic management of medicine batch number expiration date | |
| CN218568122U (en) | Equipment for mixed loading and storage of unlimited commodities and same goods channel | |
| CN213706697U (en) | Multifunctional storage area structure of medicine selling machine equipment | |
| CN213706696U (en) | Multifunctional medicine selling machine equipment loading area structure | |
| CN213716065U (en) | Multifunctional medicine selling machine self-service medicine selling and manual medicine taking structure |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |