CN214691542U - Vision positioning material taking device - Google Patents
Vision positioning material taking device Download PDFInfo
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- CN214691542U CN214691542U CN202120917608.6U CN202120917608U CN214691542U CN 214691542 U CN214691542 U CN 214691542U CN 202120917608 U CN202120917608 U CN 202120917608U CN 214691542 U CN214691542 U CN 214691542U
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- material frame
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- guide rail
- positioning
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Abstract
The utility model relates to a vision positioning material taking device, which comprises a fixed frame, a material frame conveying mechanism, a vision positioning mechanism and a robot grabbing mechanism, wherein the material frame conveying mechanism comprises a plurality of first guide rails which are arranged on the fixed frame in parallel; the first material frame supporting plate can slide on the first guide rail; the first material frame is arranged on the first material frame supporting plate; the visual positioning mechanism comprises a first camera light source which is matched with each first material frame, and the first camera light source is arranged above the conveying tail end of the first guide rail; the first camera can acquire the information of the articles in any first material frame; the robot grabbing mechanism can grab an article from the corresponding first material frame according to the article information acquired by the first camera. This application visual positioning extracting device can be as required the steady multiple herbal pieces-of transport to acquire required sliced medicinal herbs as required pertinence, realized that herbal piece class medicine is automatic to classify and carry and get the material.
Description
Technical Field
The utility model relates to a medical equipment field especially relates to a vision positioning extracting device.
Background
At present hospital pharmacy, a lot of automation has been realized in the aspect of western medicine is got it filled, can realize the medicine in the medicine cabinet through the computer operation at the medical staff who gets it filled the window and acquire, what we seen in the hospital is mostly spiral transportation channel, and the western medicine that packs tightly can not receive the influence through the transportation after taking out from the medicine cabinet.
In addition to western medicines, traditional Chinese medicines which are deeply developed in China occupy a very large market, some traditional Chinese medicines are prepared into Chinese patent medicines similar to western medicine packages, some traditional Chinese medicines are prepared into decoction pieces, and after the decoction pieces are prepared, doctors take various decoction pieces to prepare required medicine packages, so that the consumption of manpower is high, the medicine taking efficiency is low, and the delivery of the decoction pieces and the medicines cannot be accurately finished through the existing equipment.
SUMMERY OF THE UTILITY MODEL
The utility model discloses a remedy prior art not enough, provide a visual positioning extracting device, help realizing the automatic classification of herbal pieces-class medicine and carry.
The utility model discloses a solve the technical scheme that above-mentioned technical problem adopted and be:
a vision-positioning material extracting apparatus, comprising:
a fixed mount;
the material frame conveying mechanism comprises a plurality of first guide rails arranged on the fixed frame in parallel; the first material frame supporting plate can slide on the first guide rail; the first material frame is arranged on the first material frame supporting plate;
the visual positioning mechanism comprises a first camera light source which is matched with each first material frame, and the first camera light sources are arranged above the conveying tail end of the first guide rail; the first camera can acquire the information of the articles in any first material frame;
the robot grabbing mechanism can grab an article from the corresponding first material frame according to the article information acquired by the first camera.
It should be noted that, in practical application, the above structure is also equipped with a WCS system to realize signal processing. During the specific use process, a first material frame containing a certain medicine is conveyed and placed on a first material frame supporting plate, or the medicine is placed in the first material frame, at the moment, the first material frame is located at the conveying starting end of a first guide rail, then the first material frame is conveyed to the tail end of the first guide rail according to needs, at the moment, a first camera light source located above the first material frame is turned on, a first camera moves to the upper side of the first camera to obtain picture information, for example, two-dimensional code information or bar code information exists on the material frame, the obtained information is transmitted to a WCS system, and then the robot is controlled to grab a mechanism to grab an article corresponding to the inside of the first material frame to the next procedure. Regarding the working principle of the visual positioning mechanism, for the prior art, the object information is specifically identified by comparing the camera shooting picture with the stored picture, so as to realize the corresponding material taking, and therefore, the repeated description is omitted here.
In one example, according to needs, the material frame conveying mechanism further comprises a plurality of second guide rails arranged on the fixed frame in parallel, each second guide rail is provided with a second material frame supporting plate in a sliding mode, a second material frame is arranged on each second material frame supporting plate, and the second guide rails and the first guide rails are arranged in a stepped layered mode;
the visual positioning mechanism further comprises a second camera light source which is matched with the second material frame, and the second camera light source is arranged above the conveying tail end of the second guide rail; the second camera can acquire the article information in any second material frame;
the robot grabbing mechanism can grab the articles from the corresponding second material frame according to the article information acquired by the second camera.
When the robot grabbing mechanism is used, the second camera can be moved to the position above a certain second material frame as required to obtain the information of articles in the second material frame, and then the robot grabbing mechanism is controlled to grab the articles in the corresponding second material frame to the next procedure conveniently.
It should be noted that the number of the guide rails may be adjusted according to actual needs, and for example, the guide rails may further include a third guide rail and other structures.
In one example, the visual positioning mechanism further includes a positioning frame, on which a first camera and a second camera are disposed, the first camera is slidably disposed above the first camera light source along a direction perpendicular to the first guide rail, and the second camera is slidably disposed above the second camera light source along a direction perpendicular to the second guide rail. Specifically, be equipped with the slide rail on the locating rack, first camera and second camera slide respectively and locate on the slide rail, and trachea or cable that relate can cover through the tow chain structure.
In one example, the positioning frame is higher than the fixing frame and is erected above the fixing frame to be placed on the ground.
In one example, the first material frame supporting plate and the second material frame supporting plate are driven by speed regulating motors to slide on the first guide rail and the second guide rail respectively, and the speed regulating motors of each second material frame supporting plate or the first material frame supporting plate do not influence each other.
In one example, in order to facilitate moving the fixing frame, wheels are further arranged at the bottom of the fixing frame.
In one example, the bottom of the fixing frame is also provided with a height adjusting seat, so that the stability of the fixing frame can be ensured during transportation operation.
In one example, the height adjusting seat and the fixing frame are adjusted through screw threads, and besides, a limit adjustment mode that a nut is sleeved on a stud can be adopted.
In one example, the middle of the first material frame is arranged on the first material frame bracket in a suspended manner, and the middle of the second material frame is arranged on the second material frame bracket in a suspended manner. The first material frame or the second material frame can be conveyed to the first material frame bracket or the second material frame bracket conveniently and stably in the previous process.
The utility model adopts the above technical scheme, the advantage that has is: this application visual positioning extracting device can be as required the steady multiple sliced medicinal herbs of transport to acquire required sliced medicinal herbs as required pertinence, realized that herbal sliced medicinal herbs class medicine is automatic to classify and carry and get the material.
Drawings
Fig. 1 is a schematic structural diagram of an embodiment of the present invention;
FIG. 2 is a schematic structural view of the fixing frame and the material frame conveying mechanism in FIG. 1;
FIG. 3 is a schematic view of the structure of FIG. 2 with the first frame removed;
fig. 4 is a schematic structural view of the positioning frame in fig. 1.
In the figure, 1, a fixed frame, 2, a first guide rail, 3, a first material frame supporting plate, 4, a first material frame, 5, a first camera light source, 6, a first camera, 7, a robot grabbing mechanism, 8, a second guide rail, 9, a second material frame supporting plate, 10, a second material frame, 11, a second camera light source, 12, a second camera, 13, a positioning frame, 14, a speed regulating motor, 15, wheels, 16 and a height adjusting seat are arranged.
Detailed Description
In order to clearly illustrate the technical features of the present invention, the present invention is explained in detail by the following embodiments with reference to the accompanying drawings.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application, however, the present application may be practiced in other ways than those described herein, and therefore the scope of the present application is not limited by the specific embodiments disclosed below.
In addition, in the description of the present application, it is to be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", and the like, indicate orientations and positional relationships based on those shown in the drawings, are only for convenience of description and simplicity of description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present application. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.
In this application, unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can include, for example, fixed connections, removable connections, or integral parts; the connection can be mechanical connection, electrical connection or communication; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through intervening media. In the description herein, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
As shown in fig. 1, in this embodiment, the vision positioning material taking device includes a fixing frame 1; the material frame conveying mechanism comprises a plurality of first guide rails 2 which are arranged on the fixed frame 1 in parallel; a first material frame supporting plate 3 capable of sliding on the first guide rail 2; the first material frame 4 is arranged on the first material frame supporting plate 3; the visual positioning mechanism comprises a first camera light source 5 which is matched with each first material frame 4, and the first camera light sources 5 are arranged above the conveying tail end of the first guide rail 2; the first camera 6 can acquire the information of the articles in any first material frame 4 by the first camera 6; and the robot grabbing mechanism 7 can grab the articles from the corresponding first material frame 4 according to the article information acquired by the first camera 6.
It should be noted that, in practical application, the above structure is also equipped with a WCS system to realize signal processing. During the specific use process, the first material frame 4 containing a certain medicine is conveyed and placed on the first material frame supporting plate 3, or the medicine is placed in the first material frame 4, at the moment, the first material frame 4 is located at the conveying starting end of the first guide rail 2, then the first material frame 4 is conveyed to the tail end of the first guide rail 2 according to the requirement, at the moment, the first camera light source 5 located above the first material frame 4 is opened, the first camera 6 moves to the upper side to obtain picture information, for example, two-dimensional code information or bar code information is arranged on the first material frame 4, the obtained information is transmitted to a WCS system, and then the robot is controlled to grab the mechanism 7 to grab the article corresponding to the inside of the first material frame 4 to the next procedure. Regarding the working principle of the visual positioning mechanism, for the prior art, the object information is specifically identified by comparing the camera shooting picture with the stored picture, so that the corresponding material taking is realized, and redundant description is omitted here.
According to the requirement, the material frame conveying mechanism further comprises a plurality of second guide rails 8 which are arranged on the fixed frame 1 in parallel, each second guide rail 8 is provided with a second material frame supporting plate 9 in a sliding mode, the second material frame supporting plates 9 are provided with second material frames 10, and the second guide rails 8 and the first guide rails 2 are arranged in a stepped layered mode;
the visual positioning mechanism further comprises a second camera light source 11 which is matched with the second material frame 10, and the second camera light source 11 is arranged above the conveying tail end of the second guide rail 8; the second camera 12, wherein the second camera 12 can acquire article information in any second material frame 10;
the robot grasping mechanism 7 can grasp an article from the corresponding second material frame 10 according to the article information acquired by the second camera 12.
When the device is used, the second camera 12 can move to the upper side of a certain second material frame 10 according to needs to acquire the information of articles in the second material frame, so that the robot grabbing mechanism 7 can be controlled to grab the articles in the corresponding second material frame 10 to the next procedure conveniently. It should be noted that the number of the guide rails may be adjusted according to actual needs, and for example, the guide rails may further include a third guide rail and other structures.
As shown in fig. 1 or 4, the visual positioning mechanism further includes a positioning frame 13, a first camera 6 and a second camera 12 are disposed on the positioning frame 13, the first camera 6 is slidably disposed above the first camera light source 5 along a direction perpendicular to the first guide rail 2, and the second camera 12 is slidably disposed above the second camera light source 11 along a direction perpendicular to the second guide rail 8. Specifically, be equipped with the slide rail on locating rack 13, first camera and second camera slide respectively and locate on the slide rail, and trachea or cable that relate can cover through the tow chain structure. The positioning frame 13 is higher than the fixing frame 1 and is arranged above the fixing frame 1 and placed on the ground.
As shown in fig. 3, the first material frame supporting plate 3 and the second material frame supporting plate 9 are respectively driven by the adjustable speed motor 14 to slide on the first guide rail 2 and the second guide rail 8, and the adjustable speed motor 14 of each second material frame supporting plate 9 or the first material frame supporting plate 3 does not affect each other.
As shown in fig. 2, in order to facilitate the movement of the fixing frame 1, wheels 15 are further provided at the bottom of the fixing frame 1. The bottom of the fixing frame 1 is also provided with a height adjusting seat 16 so as to ensure the stability of the fixing frame 1 during transportation operation. Specifically, the height adjusting seat 16 and the fixing frame 1 are adjusted by screw threads, and besides, a limit adjusting mode that a nut is sleeved on a stud can be adopted.
As shown in fig. 3, the middle of the first material frame 4 is suspended on the first material frame bracket 3, and the middle of the second material frame 10 is suspended on the second material frame bracket 9. The first material frame 4 or the second material frame 10 can be conveyed to the first material frame bracket 3 or the second material frame bracket 9 conveniently and stably in the previous process.
The above-mentioned specific embodiments can not be regarded as the restriction to the scope of protection of the utility model, to technical personnel in this technical field, it is right the utility model discloses any replacement improvement or transform that embodiment made all fall within the scope of protection of the utility model.
The parts of the present invention not described in detail are the known techniques of those skilled in the art.
Claims (9)
1. The utility model provides a vision positioning extracting device which characterized in that includes:
a fixed mount;
the material frame conveying mechanism comprises a plurality of first guide rails arranged on the fixed frame in parallel; the first material frame supporting plate can slide on the first guide rail; the first material frame is arranged on the first material frame supporting plate;
the visual positioning mechanism comprises a first camera light source which is matched with each first material frame, and the first camera light sources are arranged above the conveying tail end of the first guide rail; the first camera can acquire the information of the articles in any first material frame;
the robot grabbing mechanism can grab an article from the corresponding first material frame according to the article information acquired by the first camera.
2. The visual positioning material taking device as claimed in claim 1, wherein the frame conveying mechanism further comprises a plurality of second guide rails arranged on the fixed frame in parallel, each second guide rail is provided with a second frame supporting plate in a sliding manner, the second frame supporting plate is provided with second frames, and the second guide rails and the first guide rails are arranged in a stepped layered manner;
the visual positioning mechanism further comprises a second camera light source which is matched with the second material frame, and the second camera light source is arranged above the conveying tail end of the second guide rail; the second camera can acquire the article information in any second material frame;
the robot grabbing mechanism can grab the articles from the corresponding second material frame according to the article information acquired by the second camera.
3. The vision positioning and reclaiming device as claimed in claim 2, wherein the vision positioning mechanism comprises a positioning frame, the positioning frame is provided with a first camera and a second camera, the first camera is slidably disposed above the first camera light source in a direction perpendicular to the first guide rail, and the second camera is slidably disposed above the second camera light source in a direction perpendicular to the second guide rail.
4. The vision positioning extracting device of claim 3, wherein the positioning frame is erected above the fixing frame.
5. The vision positioning extracting device of claim 2, wherein the first material frame supporting plate and the second material frame supporting plate are driven by speed regulating motors to slide on the first guide rail and the second guide rail respectively.
6. The vision positioning extracting apparatus of claim 1, wherein the bottom of the fixing frame is further provided with wheels.
7. The vision positioning extracting device of claim 6, wherein the bottom of the fixing frame is further provided with a height adjusting seat.
8. The vision positioning extracting apparatus of claim 7, wherein the height adjustment seat is threadedly adjustable with the mounting bracket.
9. The vision positioning extracting device of claim 2, wherein the first material frame middle portion is arranged on the first material frame bracket in a suspended mode, and the second material frame middle portion is arranged on the second material frame bracket in a suspended mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120917608.6U CN214691542U (en) | 2021-04-29 | 2021-04-29 | Vision positioning material taking device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120917608.6U CN214691542U (en) | 2021-04-29 | 2021-04-29 | Vision positioning material taking device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214691542U true CN214691542U (en) | 2021-11-12 |
Family
ID=78534918
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202120917608.6U Active CN214691542U (en) | 2021-04-29 | 2021-04-29 | Vision positioning material taking device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN214691542U (en) |
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2021
- 2021-04-29 CN CN202120917608.6U patent/CN214691542U/en active Active
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