CN214526048U - Automatic stacker crane for rotary warehouse pharmacy - Google Patents

Abstract

The utility model relates to the technical field of rotary warehouse medicine box stacking, in particular to an automatic stacking machine for a rotary warehouse pharmacy; the bottom table is internally provided with a placing cavity; the numerical control mechanism is arranged in the placing cavity; the manipulator mechanism is fixed on the bottom table; the visual recognition mechanism is arranged on the base table; the collecting boxes are distributed around the manipulator mechanism; after the mechanical arm mechanism grabs the medicine box, the vision recognition mechanism carries out vision recognition on the medicine box and feeds back a signal to the numerical control mechanism, and the numerical control mechanism controls the mechanical arm mechanism to place the medicine box into the corresponding collecting box. The utility model aims at providing a defect to existence among the prior art provides a gyration storehouse drugstore uses automatic hacking machine, adopts manipulator mechanism and visual identification mechanism to cooperate, and manipulator mechanism snatchs the medicine box, then carries out visual identification by visual identification mechanism, places appointed collecting box, raises the efficiency with the medicine.

Description

Automatic stacker crane for rotary warehouse pharmacy

Technical Field

The utility model relates to a technical field of rotary warehouse medicine box pile up neatly especially relates to a rotary warehouse is automatic hacking machine for drugstore.

Background

The rotary warehouse is also known as an automatic warehouse machine, a three-dimensional container and the like, is a main device for modern warehousing, realizes automatic operation of the warehouse, and promotes management.

The vertical lifting container takes the tray as a storage unit, and the tray for storing goods is taken out or sent to a proper goods position in the container body through the lifting and horizontal movement of the tray truck. An absolute addressing mode is adopted in the lifting movement, the precision is high, the addressing is accurate, and the horizontal movement is controlled by an inductive switch so as to meet the action requirement of the mechanism. When storing goods, the entrance is equipped with automatic side height device, detects the height of article deposited, automatic, reasonable arrangement cabinet internal storage space. Intelligent management is realized, and 'object to person' is really realized. The vertical lifting container has manual, single machine automatic and on-line automatic operation modes. The management monitoring system can be connected with ERP and MRP II. Vertical lift containers are more suitable for storing items of widely varying sizes and irregular shapes than are vertical circulation containers.

In the prior art, the pharmacy of the rotary warehouse often needs manual stacking in the using process, so that the efficiency is low.

In view of the above problems, the designer actively makes research and innovation based on practical experience and professional knowledge which are abundant for years in engineering application of such products and by matching with the application of theory, so as to design the automatic stacking machine for the pharmacy of the rotary warehouse, and the manipulator mechanism is matched with the visual recognition mechanism to grasp the medicine boxes and perform visual recognition by the visual recognition mechanism, so that the medicine is placed in the designated collecting box, and the efficiency is improved.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a defect to existence among the prior art provides a gyration storehouse drugstore uses automatic hacking machine, adopts manipulator mechanism and visual identification mechanism to cooperate, and manipulator mechanism snatchs the medicine box, then carries out visual identification by visual identification mechanism, places appointed collecting box, raises the efficiency with the medicine.

In order to achieve the above purpose, the utility model adopts the technical scheme that:

the method comprises the following steps:

the bottom table is of a table body structure, and a placing cavity is arranged inside the bottom table;

the numerical control mechanism is arranged in the placing cavity;

the manipulator mechanism is fixed on the bottom table, is connected with the power mechanism and is used for grabbing the medicine box;

the visual recognition mechanism is arranged on the bottom table and is adjacent to the mechanical hand mechanism;

the collecting boxes are distributed around the manipulator mechanism;

after the mechanical hand mechanism grabs the medicine boxes, the visual recognition mechanism performs visual recognition on the medicine boxes and feeds back signals to the numerical control mechanism, and the numerical control mechanism controls the mechanical hand mechanism to place the medicine boxes into the corresponding collecting boxes to finish stacking.

Further, the manipulator mechanism includes a fixed part and a movable part; the fixed part is fixed on the bottom table; the movable part is hinged with the fixed part.

Furthermore, a turntable is arranged between the fixed part and the bottom table; the turntable drives the fixing part to swing left and right.

Further, the end of the moving body is provided with a suction cup structure.

Further, the visual recognition mechanism comprises a camera processing structure and a fixing rod; the camera shooting processing structure is hinged with the fixed rod; the fixed rod is vertically placed on the bottom table.

Furthermore, reinforcing ribs are arranged on two sides of the fixing rod.

Furthermore, a plurality of baffles are arranged inside the collecting box; the distance between the baffles is set according to the size of the medicine box.

Through the technical scheme of the utility model, can realize following technological effect:

adopt manipulator mechanism and visual identification mechanism to cooperate, manipulator mechanism snatchs the medicine box, then carries out visual identification by visual identification mechanism, places appointed collecting box with the medicine, raises the efficiency.

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 described in the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a schematic structural view of an automatic stacker crane for a pharmacy of a rotary warehouse in the embodiment of the present invention;

FIG. 2 is a schematic structural view of a collecting box of the automatic stacker crane for the pharmacy of the rotary warehouse in the embodiment of the present invention;

reference numerals: the device comprises a bottom table 1, a numerical control mechanism 2, a manipulator mechanism 3, a visual recognition mechanism 4, a collecting box 5, a turntable 31, a fixed part 32, a moving part 33, a sucker structure 34, an image pickup processing structure 41, a fixed rod 42, a reinforcing rib 43 and a baffle 51.

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.

In the description of the present invention, it should be noted that the orientations and positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like are based on the orientations and positional relationships shown in the drawings, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the indicated device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.

An automatic stacker for a pharmacy of a rotary warehouse, as shown in figures 1 and 2,

the method comprises the following steps:

the bottom table 1 is of a table body structure, and a placing cavity is arranged in the bottom table;

the numerical control mechanism 2 is arranged in the placing cavity;

the manipulator mechanism 3 is fixed on the base table 1, connected with the power mechanism and used for grabbing the medicine boxes;

the visual recognition mechanism 4 is arranged on the base table 1 and is adjacent to the mechanical hand mechanism 3;

the collecting boxes 5 are distributed around the manipulator mechanism 3;

after the mechanical hand mechanism 3 grabs the medicine boxes, the visual recognition mechanism 4 performs visual recognition on the medicine boxes and feeds back signals to the numerical control mechanism 2, and the numerical control mechanism 2 controls the mechanical hand mechanism 3 to place the medicine boxes into the corresponding collecting boxes 5 to complete stacking.

As a preference of the above embodiment, as shown in fig. 1 and 2, the robot mechanism 3 includes a fixed portion 32 and a moving portion 33; the fixing part 32 is fixed on the base table 1; the moving portion 33 is hinged to the fixed portion 32.

As a preference of the above embodiment, as shown in fig. 1 and 2, a turntable 31 is provided between the fixing portion 32 and the base 1; the rotary disc 31 drives the fixing part 32 to swing left and right.

As a preferable example of the above embodiment, as shown in fig. 1 and 2, the end of the moving portion 33 is provided with a suction cup structure 34.

Specifically, the fixed portion 32 is driven by the rotary plate 31 to swing left and right toward the medicine box, and the movable portion 33 sucks the medicine box through the suction cup structure 34.

As a preference of the above embodiment, as shown in fig. 1 and 2, the visual recognition mechanism 4 includes an image pickup processing structure 41 and a fixing lever 42; the camera shooting processing structure 41 is hinged with the fixing rod 42; the fixing rod 42 is vertically placed on the base 1.

As a preferable example of the above embodiment, as shown in fig. 1 and 2, the fixing rod 42 is provided with reinforcing ribs 43 at both sides thereof.

Specifically, after the medicine box is sucked, the camera processing structure 41 starts to identify the medicine box information and feed the information back to the numerical control mechanism 2, and the numerical control mechanism 2 controls the mechanical arm mechanism 3 to move so as to place the medicine box into the corresponding collection box 5.

As a preference of the above embodiment, as shown in fig. 1 and 2, the collecting box 5 is internally provided with a plurality of baffles 51; the distance between the baffles 51 is set according to the size of the medicine box

The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the above embodiments, and that the foregoing embodiments and descriptions are provided only to illustrate the principles of the present invention without departing from the spirit and scope of the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims (7)

1. The utility model provides a gyration storehouse drugstore is with automatic hacking machine which characterized in that includes:

the bottom table (1) is of a table body structure, and a placing cavity is arranged inside the bottom table;

the numerical control mechanism (2) is arranged in the placing cavity;

the manipulator mechanism (3) is fixed on the base table (1), is connected with the power mechanism and is used for grabbing the medicine boxes;

the visual recognition mechanism (4) is arranged on the bottom table (1) and is adjacent to the mechanical hand mechanism (3);

the collecting boxes (5) are distributed around the manipulator mechanism (3);

after the mechanical arm mechanism (3) grabs the medicine boxes, the vision recognition mechanism (4) performs vision recognition on the medicine boxes and feeds back signals to the numerical control mechanism (2), and the numerical control mechanism (2) controls the mechanical arm mechanism (3) to place the medicine boxes into the corresponding collecting boxes (5) to complete stacking.

2. The automatic stacker crane for carousel pharmacy according to claim 1, characterized in that said robot mechanism (3) comprises a fixed portion (32) and a mobile portion (33); the fixed part (32) is fixed on the base table (1); the moving part (33) is hinged to the fixed part (32).

3. The automatic stacker crane for the carousel pharmacy according to claim 2, characterized in that between said fixed portion (32) and said base (1) there is provided a carousel (31); the turntable (31) drives the fixing part (32) to swing left and right.

4. The automatic stacker crane for a carousel pharmacy according to claim 3, characterized in that the end of the moving portion (33) is provided with a suction cup structure (34).

5. The automatic stacker crane for a rotary warehouse pharmacy according to claim 1, wherein the visual recognition mechanism (4) comprises an image pickup processing structure (41) and a fixing rod (42); the camera shooting processing structure (41) is hinged with the fixing rod (42); the fixed rod (42) is vertically placed on the base table (1).

6. The automatic stacker crane for the rotary warehouse pharmacy according to claim 5, wherein reinforcing ribs (43) are arranged on two sides of the fixing rod (42).

7. The automatic stacker crane for the rotary warehouse pharmacy according to claim 1, characterized in that a plurality of baffles (51) are arranged inside the collection box (5); the distance between the baffles (51) is set according to the size of the medicine box.

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