WO2022062119A1 - 智能留样二级库及其使用方法 - Google Patents

智能留样二级库及其使用方法 Download PDF

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Publication number
WO2022062119A1
WO2022062119A1 PCT/CN2020/128483 CN2020128483W WO2022062119A1 WO 2022062119 A1 WO2022062119 A1 WO 2022062119A1 CN 2020128483 W CN2020128483 W CN 2020128483W WO 2022062119 A1 WO2022062119 A1 WO 2022062119A1
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WO
WIPO (PCT)
Prior art keywords
tray
assembly
platform
telescopic
library
Prior art date
Application number
PCT/CN2020/128483
Other languages
English (en)
French (fr)
Inventor
李照
崔梅兰
张春兰
严阳
Original Assignee
苏州艾隆科技股份有限公司
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 苏州艾隆科技股份有限公司 filed Critical 苏州艾隆科技股份有限公司
Publication of WO2022062119A1 publication Critical patent/WO2022062119A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical

Definitions

  • the invention relates to the technical field of medical warehouses, in particular to an intelligent secondary warehouse for retaining samples and a method for using the same.
  • the second-level library is relative to the first-level library, which refers to the inventory formed by each clinical department, auxiliary medical department, and each ward after receiving materials from the hospital’s first-level library.
  • the existing secondary warehouses store medicines by placing shelves in the warehouse, and use manual search to access medicines; in order to maximize the storage of medicines in the warehouse, multiple medicines are densely placed in it, which will increase labor costs.
  • the difficulty of searching not only wastes a lot of human labor, but also leads to low efficiency of medicines in and out of the warehouse. In view of this, it is necessary to design an intelligent secondary library to solve the above problems.
  • the existing secondary warehouses store medicines by placing shelves in the warehouse, and use manual search to access medicines; in order to maximize the storage of medicines in the warehouse, multiple medicines are densely placed in it, which will increase labor costs.
  • the difficulty of searching not only wastes a lot of human labor, but also leads to low efficiency of medicines in and out of the warehouse.
  • the purpose of the present invention is to provide an intelligent secondary library and a method for using the same, so as to solve the above problems.
  • an intelligent secondary storage for sample retention comprising: a storage body, a first transfer window is arranged on the side of the storage body, and a number of placement racks are arranged inside the storage A number of trays for storing medicines are placed on the rack; the tray access mechanism is arranged in the library body, which can actively walk along the placing rack, and includes a pick-and-place assembly, and the pick-and-place assembly includes a retractable telescopic disk, and the telescopic The tray can be extended into the placing rack to pick up and place the tray, and the tray can be transported to the outside of the library with the tray through the first transfer window; a buffer platform is arranged outside the library and located in the first One side of the transfer window is used for buffering a plurality of trays taken out from the telescopic tray; a manipulator, arranged outside the library, is used for picking and placing medicines in the trays at the buffering platform; and an exchange operation platform, arranged on the The
  • the telescopic tray includes: a first telescopic tray, which can be extended and retracted toward the placing rack; a second telescopic tray, arranged on the first telescopic tray, and the second telescopic tray It can be extended and retracted relative to the first telescopic disk, and can be extended into the placing rack to pick and place the tray; wherein, the second telescopic disk is protruded with a hook block, and the side of the tray is provided with hook holes , the hook block can be accommodated in the hook hole, so as to be pulled out from the placement rack and pushed into the tray.
  • the access mechanism further includes: a walking track, arranged along the placing rack; and a walking assembly, which is arranged on the walking track and is used to drive the pick-and-place assembly to move along the walking track .
  • the access mechanism further includes a lift assembly arranged on the walking assembly, the lift assembly includes a linear motion unit and a connecting frame installed on the linear motion unit, and the pick-and-place assembly is connected to the The connecting frame can be lifted and lowered with the linear motion unit.
  • the sample retention secondary library also includes a rotating assembly
  • the rotating assembly includes a turntable fixed on the connecting frame and a rotary drive member that drives the turntable to rotate, and the turntable is connected to the pick-and-place assembly. catch.
  • the cache platform includes: a support assembly, which is provided with a plurality of support flaps at intervals along the vertical direction; and a lift assembly, including a lift flap and a linear module for driving the lift flap to move up and down; wherein, the The support flap is used to support the tray, and the linear module can drive the lift flap, and lift the tray from the support flap on the lower layer to the support flap on the upper layer.
  • the mobile station includes a first mobile station and a second mobile station that are independently movable.
  • the secondary library also includes a skin outer frame, the library body, the cache platform, the manipulator and the exchange operation platform are all accommodated in the skin outer frame, and the skin outer frame is located in the manual operation.
  • a second transfer window for the mobile station to enter and exit the outer frame of the skin is opened at the area.
  • the present invention also provides a method for using a secondary library for intelligent sample retention, including a library delivery process
  • the outbound process includes the following steps:
  • the staff selects the type of medicines to be released from the warehouse
  • the tray access mechanism walks to the side of the placing rack corresponding to the required outbound medicine
  • the pick-and-place assembly travels to the first transfer window, the telescopic tray extends out of the library body from the first transfer window, and the tray is put into the buffer platform and reset;
  • the manipulator grabs the medicine on the tray and puts it on the moving table in the manipulator operation area;
  • the mobile platform transports the medicine to the manual operation area, the operator manually removes the out-of-warehouse medicine from the mobile platform, and the mobile platform is reset.
  • the storage process includes the following steps:
  • the tray access mechanism walks to the side of the placing rack corresponding to the medicine to be placed;
  • the pick-and-place assembly travels to the first transfer window, the telescopic tray extends out of the library body from the first transfer window, and the tray is placed into the buffer platform;
  • the manipulator grabs the medicine on the mobile platform and puts it into the tray of the cache platform;
  • the tray access mechanism travels to the side of the placement rack corresponding to the medicine to be placed, and puts the tray back into the placement rack through the telescopic tray.
  • the present invention provides a tray access mechanism inside the library, and a cache platform, a manipulator and an operation exchange platform are arranged outside the library, wherein the tray access mechanism can put the trays in the library into the cache platform or store the cache
  • the tray on the platform is retrieved to the warehouse, and the manipulator can automatically take out the medicine from the tray at the cache platform and put it into the exchange operation platform or take out the medicine from the exchange operation platform and put it into the tray, so as to realize the automatic in-out process of medicine, eliminating the need for manual labor.
  • Entering the warehouse to search for medicines saves labor and greatly improves the efficiency of medicine boxes entering and leaving the warehouse; in addition, the exchange operation platform is divided into a manual operation area and a robot operation area. Safety at work.
  • FIG. 1 is a cross-sectional view of the secondary library of the present invention.
  • FIG. 2 is a partial enlarged view of FIG. 1 .
  • FIG. 3 is a cross-sectional view of FIG. 1 in another direction.
  • FIG. 4 is a schematic structural diagram of the tray access mechanism of the secondary library of the present invention.
  • FIG. 5 is a partial enlarged view at A of FIG. 4 .
  • FIG. 6 is a schematic structural diagram of the pick-and-place assembly in FIG. 4 .
  • FIG. 7 is a schematic view of the structure of FIG. 6 in another direction.
  • FIG. 8 is a schematic diagram of the connection between the traveling assembly and the traveling track in FIG. 4 .
  • FIG. 9 is a schematic structural diagram of the lifting assembly in FIG. 4 .
  • FIG. 10 is a partial enlarged view at B in FIG. 9 .
  • FIG. 11 is a schematic structural diagram of the cache platform of the second level library of the present invention.
  • FIG. 12 is a schematic diagram of the connection between the cache platform and the tray in FIG. 11 .
  • FIG. 13 is a schematic structural diagram of the cache platform of FIG. 12 in another direction.
  • FIG. 14 is a schematic structural diagram of the support unit in FIG. 11 .
  • FIG. 15 is a schematic structural diagram of the lifting unit in FIG. 11 .
  • FIG. 16 is a schematic structural diagram of the exchange operation platform of the secondary library of the present invention.
  • FIG. 17 is a schematic structural diagram of the upper tray compartment assembly in FIG. 16 .
  • FIG. 18 is a partial enlarged view at C of FIG. 17 .
  • FIG. 19 is a schematic structural diagram of the lower tray assembly in FIG. 16 .
  • the terms “installed”, “connected” and “connected” should be understood in a broad sense, unless otherwise expressly specified and limited, for example, it may be a fixed connection or a detachable connection Connection, or integral connection; can be mechanical connection, can also be electrical connection; can be directly connected, can also be indirectly connected through an intermediate medium, can be internal communication between two elements.
  • installed should be understood in a broad sense, unless otherwise expressly specified and limited, for example, it may be a fixed connection or a detachable connection Connection, or integral connection; can be mechanical connection, can also be electrical connection; can be directly connected, can also be indirectly connected through an intermediate medium, can be internal communication between two elements.
  • the specific meanings of the above terms in the present invention can be understood in specific situations.
  • the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.
  • a secondary library for intelligent sample retention corresponding to a preferred embodiment of the present invention includes a library body 100 , a tray access mechanism 200 disposed in the library body 100 , and a tray access mechanism 200 disposed in the library body
  • a first transfer window 103 is provided on the side of the library body 100 , a plurality of racks 101 are arranged inside the library body 100 , and a number of trays 102 for accessing medicines are placed on the racks 101 ;
  • the pick-and-place rack 101 actively travels, which includes a pick-and-place assembly 1, and the pick-and-place assembly 1 includes a retractable telescopic tray, which can extend into the placement rack 101 to pick up and place the tray 102 and pass the tray 102 through the first transfer window.
  • the exchange operation platform 500 is arranged on one side of the cache platform 300, and it is divided into a manipulator operation area 50a for the robot 400 to take and place medicines and a manual operation area 50b for manually taking and placing medicines.
  • the exchange operation platform 500 includes a mobile platform for placing medicines. The table can travel back and forth between the robot operation area 50a and the manual operation area 50b.
  • the pick-and-place assembly 1 includes a support frame 11 , and the telescopic disk is arranged on the support frame 11 .
  • the telescopic tray includes a first telescopic tray 12 and a second telescopic tray 13 .
  • the first telescopic tray 12 can be extended and retracted toward the placing rack 101
  • the second telescopic tray 13 can be extended and retracted relative to the first telescopic tray 12 and extended into the placing rack 101 .
  • the tray 102 is picked and placed.
  • the pick-and-place assembly 1 includes a first guide rail 14 and a first drive assembly 15 arranged on the support frame 11 .
  • a drive assembly 15 drives the first telescopic disk 12 to move along the first guide rail 14 .
  • the number of the first guide rails 14 is two, and they are located on both sides of the first telescopic disk 12 respectively.
  • the first telescopic disk 12 and the first sliding block 141 are connected by a fixing plate 16 , thereby increasing the distance between the first telescopic disk 12 and the support frame 11 .
  • the first drive assembly 15 includes a first translation drive member 151 and a first timing belt 152.
  • the first translation drive member 151 is specifically a motor.
  • One end of the first timing belt 152 is drivingly connected to the output end of the first translation drive member 151.
  • a synchronous belt linking plate 17 connected to the first synchronous belt 152 is fixedly arranged under the telescopic disk 12 , and the first synchronous belt 152 is driven to rotate by the first translation driving member 151 , thereby driving the first telescopic disk 12 to synchronize with the first synchronous belt 152 .
  • Belt 152 moves synchronously.
  • the first drive assembly 15 can also be driven by means of a screw rod or a cylinder, which is not specifically limited in this application.
  • the pick-and-place assembly 1 also includes a second guide rail 18 disposed above the first telescopic disk 12 and a second drive assembly 19 disposed on the support frame 11 .
  • the second sliding block 181 , the second driving assembly 19 drives the second telescopic disk 13 to move along the second guide rail 18 .
  • the second drive assembly 19 has the same structure as the first drive assembly 15 , and includes a second translation drive member 191 and a second timing belt 192 that is drivingly connected to the second translation drive member 191 .
  • the two timing belts 192 are connected to the timing belt link plate 17 .
  • the first telescopic disc 12 in order to prevent the first telescopic disc 12 from being limited, is provided with a spacer hole 121 at the moving track of the timing belt link plate 17 of the second telescopic disc 13 , and the timing belt link plate 17 It is connected to the second timing belt 192 through the avoidance bar hole 121 .
  • the second telescopic tray 13 adopts a push-pull method to pick up and place the tray 102 .
  • a hook block 131 protruding upward is provided at the end of the second telescopic tray 13 , and a hook hole 1022 for accommodating the hook block 131 is correspondingly opened on the side of the tray 102 .
  • the sides of the trays 102 are provided with convex portions 102a protruding outwards, and the convex portions 102a are provided with hook blocks for avoidance from bottom to top
  • the escape groove 1021 of 131, the hook hole 1022 is opened on the convex portion 102a.
  • the hook block 131 passes through the avoidance groove 1021 and can extend into the hook hole 1022 to pull the tray 102 out or push it into the placement rack 101 .
  • the number of hook blocks 131 is plural and distributed on both sides of the second telescopic disk 13 respectively.
  • the number of hook holes 1022 on the side of the tray 102 is two, and each hook hole 1022 accommodates two hook blocks 131 .
  • the two sides of the pick-and-place assembly 1 are also fixedly installed with support plates 20 corresponding to the sides of the tray 102 , and the support plates 20 are recessed inward and form the support tray 102
  • the tray accommodating slot 201 is used to limit the up and down movement of the tray 102 and prevent it from shaking.
  • the tray 102 can enter and leave the tray accommodating slot 201 along the port of the tray accommodating slot 201 .
  • a guide surface 2011 is provided, and the guide surface 2011 is inclined inward from one end close to the tray 102 to the other end.
  • the tray access mechanism 200 further includes a traveling track 2 , a traveling assembly 3 , a lifting assembly 4 and a rotating assembly 5 .
  • the walking track 2 is arranged along the placing rack 101
  • the walking component 3 is arranged on the walking track 2, and is used to drive the pick-and-place component 1 to move along the walking track 2
  • the lifting component 4 is arranged on the walking component 3, and drives the pick-and-place component 1 lift.
  • the walking component 3 drives the pick-and-place component 1 to move to the placement racks 101 at different positions
  • the lifting component 4 drives the pick-and-place component 1 to elevate to the height of the tray 102 to be picked and placed on the placement rack 101
  • the assembly 5 can drive the pick-and-place assembly 1 to rotate toward the placing rack 101 so as to pick and place the trays 102 in the placing rack 101 .
  • the rotating assembly 5 can also drive the pick-and-place assembly 1 to turn to the first transmission window of the library body 100 103 , so that the pick-and-place assembly 1 transports the tray 102 to the outside of the library body 100 .
  • the walking track 2 is fixed at the bottom of the library body 100 and is located at the side of the placing rack 101 , and the walking track 2 includes a magnetic track 21 arranged along its length direction and a third guide rail 22 arranged on both sides of the magnetic track 21 .
  • the walking assembly 3 includes a walking chassis 31, a third sliding block 32 and a linear motor 33 arranged below the walking chassis 31, the third sliding block 32 is slidingly matched with the third guide rail 22, and the linear motor 33 corresponds to the magnetic track 21. It is arranged to generate a propulsive force to drive the walking chassis 31 to move along the third guide rail 22 .
  • the walking assembly 3 may also use a motor-driven screw rod or other driving methods to realize the movement of the walking chassis 31 , which is not limited herein.
  • the racks 101 are arranged side by side on both sides of the walking track 2 , which facilitates the pickup and placement assembly 1 to pick up and place the trays 102 and improves the storage capacity of the library body 100 .
  • the lifting assembly 4 is fixed on the walking chassis 31 and is connected with the pick-and-place assembly 1 .
  • the lift assembly 4 includes a lift base frame 41 , a linear motion unit 42 mounted on the lift base frame 41 , and a connecting frame 43 mounted on the linear motion unit 42 .
  • the linear motion unit 42 includes a vertically arranged fourth guide rail 421 , a fourth sliding block 422 slidably connected to the fourth guide rail 421 , and a lift driving member 423 that drives the fourth sliding block 422 to move up and down along the fourth guide rail 421 ,
  • the lift driving member 423 may be a servo motor specifically, and the fourth guide rail 421 may be provided with a belt (not shown) or a screw (not shown) connected to the transmission of the lift driving member 423 , the belt or screw and the fourth slider. 422 connected.
  • the connecting frame 43 is respectively connected with the fourth sliding block 422 and the pick-and-place assembly 1 , thereby driving the pick-and-place assembly 1 to rise and fall.
  • the number of linear motion units 42 is two and distributed on both ends of one side of the lifting chassis 41 , and the two linear motion units 42 are connected by a transmission shaft 44 , so that the same lifting driving member 423 can be used. To achieve synchronous lifting.
  • a fifth sliding block 45 is arranged above the lifting assembly 4 , and the top of the library body 100 is fixed with the fifth sliding block 45 for mating.
  • the fifth guide rail 104 is arranged along the length direction of the walking track 2 .
  • the lift assembly 4 further includes a support rod 46 vertically disposed on the lift chassis 41 and opposite to the fourth guide rail 421 . The upper end of the support rod 46 cooperates with the fourth guide rail 421 and is fixed with a top plate 47 , and the fifth slider 45 is fixed to the top plate 47.
  • the rotary assembly 5 includes a turntable 51 fixed on the connecting frame 43 and a rotary drive member 52 for driving the turntable 51 to rotate.
  • the walking assembly 3 cooperates with the lifting assembly 4 to move the pick and place assembly 1 to the designated position of the tray 102 ; Driven and moved to the outside of the tray 102, the second telescopic disk 13 is driven into the placing frame 101 and moved to the bottom of the tray 102 under the driving of the second translation drive member 191, and the hook block 131 corresponds to the position below the hook hole 1022; the lifting assembly 4.
  • the second translation driver 191 rotates in the opposite direction to pull the tray 102 into the tray accommodating slot 201, and the first translation drive
  • the moving member 151 cooperates with the second translation driving member 191 to rotate in the opposite direction, so as to completely pull the tray 102 out of the placing rack 101;
  • the placing assembly 1 faces the first transfer window 103, and the tray 102 is handed out of the warehouse body 100 to complete the removal of medicines; when the tray 102 to be taken is on the placing rack 101 on the other side, the rotating assembly 5 can move the picking and placing assembly 1 Rotate to the placement rack 101 on the other side to pick and place the tray 102 on the other side.
  • the walking component 3 cooperates with the lifting component 4 to move the pick-and-place component 1 to the transfer window; the rotating component 5 rotates the pick-and-place component 1 to the transfer window, and the second The telescopic tray 13 extends out of the first transfer window 103 to receive the tray 102; the walking assembly 3 cooperates with the lifting assembly 4 to move the tray 102 to the designated placement rack 101; The first telescopic disk 12 of the rack 101 cooperates with the second telescopic disk 13 to push the tray 102 into the rack 101; the lift assembly 4 drives the pick and place assembly 1 to descend a short distance, so that the hook block 131 is separated from the hook hole 1022, and the pick and place assembly 1 to withdraw, complete the deposit.
  • the cache platform 300 includes a support assembly 6 , which is provided with a plurality of support flaps 62 at intervals along the vertical direction; and a lift assembly 7 , including a lift flap 72 and a linear module for driving the lift flap 72 to rise and fall 73; wherein, the supporting flap 62 is used to support the tray 102, and the linear module 73 can drive the lifting flap 72 and lift the tray 102 from the lower supporting flap 62 to the upper supporting flap 62.
  • the support flap 62 includes a first position and a second position; wherein, in the first position, the support flap 62 is in a horizontal state and supports the tray 102; when in the second position, the support flap 62 is turned upward to avoid Open the tray 102 to be lifted.
  • the lift flap 72 also includes a first position and a second position; wherein, when in the first position, the lift flap 72 is in a horizontal state and lifts the tray 102; when in the second position, the lift flap 72 is turned upward to avoid The lifted tray 102 is opened.
  • the buffer platform 300 includes a buffer rack 301 and a platen 302 disposed on the buffer rack 301 , and the support assembly 6 and the lift assembly 7 are mounted on the platen 302 .
  • the number of support assemblies 6 is two pairs, which are respectively disposed at the front end and the rear end of the platen 302 .
  • the support assembly 6 includes two oppositely arranged support units 6 a , and an accommodation space for accommodating the tray 102 is formed between the support units 6 a 6b, the supporting flaps 62 are arranged on the supporting unit 6a to support the two sides of the tray 102 respectively.
  • the lift assembly 7 includes two lift units 7a disposed opposite to each other and located between two adjacent support units 6a.
  • the lift flaps 72 are arranged on the lift units 7a to lift both sides of the tray 102 .
  • the tray 102 is supported and lifted by the supporting unit 6a and the lifting unit 7a on both sides of the tray 102, which has better stability.
  • the supporting unit 6a and the lifting unit 7a can also be arranged on one side of the tray 102, and the lengths of the supporting flap 62 and the lifting flap 72 are lengthened, so that the tray 102 can be supported by it.
  • the support unit 6a includes a buffer bracket 61, the support flap 62 is rotatably connected to the buffer bracket 61, the buffer bracket 61 is located above the support flap 62 and is provided with a limit shaft 64 that restricts the downward rotation of the support flap 62 .
  • a guide shaft 63 is fixed on the buffer bracket 61 , and the support flap 62 is rotatably passed through the guide shaft 63 .
  • the support flap 62 includes a flap body 621 connected to the guide shaft 63 and a resisting portion 622 formed on one side of the flap body 621 , and the resisting portion 622 is located below the limiting shaft 64 . In a natural state, the support flap 62 is affected by gravity and turns downward.
  • the support flap 62 When the support flap 62 is turned to a horizontal state, the abutting portion 622 abuts against the limiting shaft 64, thereby restricting the support flap 62 from continuing to rotate downward.
  • the support flap 62 also includes a support portion 623 formed on the other side of the flap main body 621 , the support portion 623 is concavely formed relative to the flap main body 621 , and the bottom and side surfaces of the tray 102 are in contact with the support portions 623 , thereby The left and right movement of the tray 102 can be restricted.
  • the guide shaft 63 is fixedly sleeved with collars 65 , and the collars 65 are located on both sides of the support flap 62 respectively.
  • a bushing 66 is provided between the guide shaft 63 and the support flap 62 .
  • the support unit 6a located at the rear end is provided with a limit plate 67 that restricts the rearward movement of the tray 102. When the tray 102 in the secondary library is put into the support unit 6a at the front end, the limit plate 67 is placed. The plate 67 can be in contact with the side of the tray 102, so as to limit the rearward movement of the tray 102, so that the tray 102 can be more reliably stored on the support unit 6a.
  • the lifting unit 7a includes a lifting bracket 71, the lifting flap 72 is rotatably connected to the lifting bracket 71, and the lifting bracket 71 is located above the lifting flap 72 and is also provided with a limiting shaft 64, thereby restricting the lifting flap 72 from turning downwards .
  • the lift flap 72 is affected by gravity and flips downward.
  • the lift flap 72 is turned to a horizontal state, it abuts against the limiting shaft 64, thereby restricting the lift flap 72 from continuing to rotate downward.
  • the structures and installation methods of the lifting flap 72 and the supporting flap 62 are substantially the same, and the structure thereof will not be repeated in this application.
  • the linear modules 73 are two in number and are respectively arranged corresponding to the lifting units 7a.
  • the linear modules 73 include a lifting slider 731 that can move in the vertical direction.
  • the lifting slider 731 is connected to the lifting bracket 71 to drive the lifting flap 72 moves up and down.
  • the linear module 73 can be moved up and down by using a screw rod or a belt to drive the lifting slider 731 .
  • a translation mechanism is provided between the platen 302 and the buffer rack 301, and the translation mechanism is used to adjust the relative position of the platen 302 on the buffer rack 301, and then adjust the position of the tray 102 in the buffer rack 301. Relative position on cache rack 301.
  • the translation mechanism includes a sixth guide rail 303 fixed on the buffer rack 301 and a third drive assembly 304 , and the third drive assembly 304 drives the platen 302 to move along the sixth guide rail 303 .
  • the sixth guide rail 303 is fitted with a sixth sliding block 3031 , and the sixth sliding block 3031 is fixedly connected to the bottom of the table 302 .
  • the number of the sixth guide rails 303 is two, and they are respectively disposed on both sides of the platen 302 .
  • the third drive assembly 304 includes a third translation drive member 3041 and a third timing belt 3042. One end of the third timing belt 3042 is drivingly connected to the third translation drive member 3041, and a third timing belt 3042 is fixedly disposed under the table 302.
  • the connected sliding connection plate 3021 drives the third synchronous belt 3042 to rotate through the third translation driving member 3041 , so as to drive the platen 302 to move synchronously with the third synchronous belt 3042 .
  • the third translation driving member 3041 is specifically a servo motor.
  • the tray access mechanism 200 of the library body 100 takes out the tray 102 and pushes it into the bottom supporting flap 62; The tray 102 is lifted to the uppermost supporting flap 62. During this process, the upper supporting flap 62 is pushed upward by the tray 102, so as to be turned upward and avoid the tray 102; when the lifting unit 7a lifts the tray 102 to the highest When the upper support flap 62 is in the upper position, the uppermost support flap 62 is not subjected to any force, and is reset to a horizontal state by gravity, and then the lifting unit 7a descends, and the uppermost support flap 62 will support the tray 102 The tray access mechanism 200 continues to take out the tray 102 and push it into the bottom support flap 62, repeat the above actions and lift the tray 102 to the bottom support flap 62 of the top tray 102; Repeat the above actions until each layer The supporting flaps 62 both support the tray 102 .
  • the pick and place assembly 1 in the library can continue to put other trays 102 into the cache platform 300 , thereby improving the pick and place efficiency.
  • the tray access mechanism 200 rises and pulls the upper tray 102 back to the library body 100 , and the cache platform 300 can continue to lift the lower tray 102 .
  • the manipulator 400 is arranged above the cache platform 300, and it can pick and place the medicines by means of clamping or suction cups.
  • the manipulator 400 is provided with a CCD camera (not shown in the figure), which scans the code and confirms that the medicines are exchanged from the operation platform. 500 into the cache platform 300 or from the cache platform 300 into the exchange operation platform 500.
  • the exchange operation platform 500 includes: an upper tray assembly 8 for storing medicines and a lower tray assembly 9 for storing medicines; the upper tray assembly 8 includes a first moving table 81, The fourth drive assembly 82 that drives the first moving stage 81 to move and the upper pallet compartment 83 placed on the first moving stage 81; The drive assembly 92 and the lower tray compartment 93 placed on the second moving table 91; the exchange operation platform is divided into a manipulator operation area 50a and a manual operation area 50b; wherein, the fourth drive assembly 82 can drive the first moving table 81 to and from the manipulator The operation area 50a and the manual operation area 50b; the fifth driving assembly 92 can drive the second mobile stage 91 to go back and forth between the manipulator operation area 50a and the manual operation area 50b.
  • the exchange operation platform 500 includes an exchange rack 501, the exchange rack 501 is provided with a bottom plate 502, the manipulator operation area 50a is located on one side of the bottom plate 502, the manual operation area 50b is located on the opposite side of the side, the upper pallet rack assembly 8 and the lower pallet rack assembly 9 are mounted on the bottom plate 502.
  • the bottom of the first moving table 81 is in driving connection with the fourth driving assembly 82 .
  • the first moving table 81 includes an upward moving plate 811 and a first bracket 812 supporting the upward moving plate 811 , and the first bracket 812 is connected with the fourth driving assembly 82 .
  • the first bracket 812 includes a first vertical plate 8121 connected to the bottom of both sides of the upward moving plate 811 and a first driving plate 8122 horizontally connected to the first vertical plate 8121 .
  • the fourth drive assembly 82 includes a fourth synchronous belt 821 and a fourth translational drive member 822 drivingly connected to one end of the fourth synchronous belt 821.
  • the fourth synchronous belt 821 is arranged between the manipulator operation area 50a and the manual operation area 50b.
  • the first driving plate 8122 is connected to the fourth synchronous belt 821 through the connecting block 8113; the fourth translation driving member 822 is a servo motor, the fourth translation driving member 822 drives the fourth synchronous belt 821 to rotate, and the first driving plate 8122 follows the fourth synchronous belt 821.
  • the synchronous belt 821 moves synchronously, thereby driving the entire first mobile stage 81 to travel back and forth between the manipulator operation area 50 a and the manual operation area 50 b along with the fourth synchronous belt 821 .
  • the first moving table 81 can also be driven by an air cylinder or a screw rod.
  • the first vertical plates 8121 on both sides of the upward moving plate 811 are provided with first driving plates 8122, and the number of the fourth timing belts 821 is two , and are respectively disposed under the two first driving plates 8122 , a linkage shaft 823 is connected between the two fourth synchronous belts 821 , and the fourth translation driving member 822 is connected with the linkage shaft 823 in a transmission manner.
  • a first guide assembly 84 is provided below the first mobile platform 81 .
  • the first guide assembly 84 includes a seventh guide rail 841 fixed on the bottom plate 502.
  • the seventh guide rail 841 and the fourth timing belt 821 are arranged in the same direction.
  • a seventh sliding block 842 is slidably coupled to the seventh guide rail 841 , and the first driving plate 8122 is fixedly connected with the seventh sliding block 842 .
  • the second moving table 91 is located inside the first moving table 81 , and the bottom of the second moving table 91 is connected with the fifth driving assembly 92 in a driving manner.
  • the second moving table 91 includes a downward moving plate 911 and a second bracket 912 supporting the downward moving plate 911.
  • the second bracket 912 includes two second vertical plates 9121 connected to the bottoms of both sides of the downward moving plate 911 and horizontally connected to The second drive plate 9122 between the second risers 9121.
  • the lower plate 911 is located below the upper plate 811, and the second vertical plate 9121 is located inside the first vertical plate 8121, so that the first moving table 81 and the second moving table 91 will not limit each other during the reciprocating process.
  • the fifth drive assembly 92 includes a fifth synchronous belt 921 and a fifth translational drive member 922 drivingly connected to one end of the fifth synchronous belt 921 , the fifth translational drive member 922 is a servo motor, and the fifth synchronous belt 921 is arranged in the manipulator operation area 50a and the manual operation area 50b.
  • the fifth timing belt 921 is located in the lower middle of the second driving plate 9122 , and the middle of the second driving plate 9122 is connected with a connecting block 8113 connected to the fifth timing belt 921 .
  • a second guide assembly 94 is provided below the second mobile platform 91 .
  • the second guide assembly 94 includes an eighth guide rail 941 fixed on the bottom plate 502.
  • the eighth guide rail 941 and the fifth timing belt 921 are arranged in the same direction.
  • an eighth sliding block 942 is slidably fitted on the eighth guide rail 941 , and the second driving plate 9122 is fixedly connected with the eighth sliding block 942 .
  • the first bracket 812 is a retractable structure to drive the upward moving plate 811 to move up and down relative to the downward moving plate 911 .
  • first upper riser 812a one of the first risers 8121 of the first bracket 812 is referred to as a first upper riser 812a
  • first lower riser plate 812b the other first riser 8121 is called a first lower riser plate 812b.
  • the first upper vertical plate 812a is connected to the upper moving plate 811
  • the first lower vertical plate 812b is connected to the first driving plate 8122
  • a sliding assembly 85 is arranged between the first upper vertical plate 812a and the first lower vertical plate 812b, So that the first upper vertical plate 812a can be raised and lowered relative to the first lower vertical plate 812b.
  • the sliding assembly 85 includes a ninth guide rail 851 vertically fixed on the first lower vertical plate 812b and a ninth sliding block 852 slidably connected to the ninth guide rail 851, and the first upper vertical plate 812a and the ninth slider 852 are fixed connect.
  • the upper tray compartment assembly 8 further includes a guide assembly 86 for guiding the lifting and lowering of the first upper vertical plate 812 a
  • the guide assembly 86 includes a guide groove plate 861 and a guide wheel 862 .
  • the guide groove plate 861 is vertically fixed on the bottom plate 502 and is located outside the first moving table 81 , and a guide groove 861 a is formed on the guide groove plate 861 .
  • the guide wheel 862 is installed on the first upper vertical plate 812a and embedded in the guide groove 861a. The guide wheel 862 can move along the trajectory of the guide groove 861a, thereby driving the upward movement plate 811 to move up and down.
  • the guide groove 861a includes a first horizontal section 8611, a second horizontal section 8612, and an inclined section 8613 connecting the two, wherein the first horizontal section 8611 is located in the manipulator operation area 50a, the second horizontal section 8612 is located in the manual operation area 50b, and the first The height of the horizontal section 8611 is higher than the height of the second horizontal section 8612 .
  • the first moving table 81 moves along the seventh guide rail 841, and at the same time, the guide wheel 862 moves along the guide groove 861a, and drives the first upper vertical plate 812a to move along the track of the guide groove 861a.
  • the guide assembly 86 can also use an air cylinder or a motor to cooperate with a screw rod to lift and lower the first upper vertical plate 812a.
  • the process of taking medicine from the exchange operation platform 500 is as follows. Initially, the upper tray compartment assembly 8 and the lower tray compartment assembly 9 are located in the manipulator operation area 50a; In the upper tray compartment 83 on the top, the fourth drive assembly 82 drives the first moving table 81 to move to the manual operation area 50b along the seventh guide rail 841, and the operator can take out the medicine.
  • a moving table 81 returns to the manipulator operating area 50a; during the process of taking medicines, the manipulator 400 can continue to grab the medicines and put them into the lower tray compartment 93 on the second moving table 91, and drive the first
  • the second moving table 91 moves along the eighth guide rail 941 to the manual operation area 50b, the operator can continue to take out the medicines in the lower tray compartment 93, and at the same time the manipulator 400 can continue to put medicines back into the upper tray compartment of the manipulator operation area 50a
  • the above actions are repeated to realize the uninterrupted operation of the manipulator 400 and the operator.
  • the medicine in the operation area 50a is taken out to a designated position, and the specific movement process of the first mobile platform 81 and the second mobile platform 91 is similar to the medicine taking process, which will not be repeated here.
  • the secondary library further includes a skin frame 600 , and the library body 100 , the cache platform 300 , the manipulator 400 and the exchange operation platform 500 are all accommodated in the skin frame 600 .
  • the outer skin frame 600 is located at the manual operation area 50b and is provided with a second transfer window 601 for the upper tray compartment 83 on the first mobile stage 81 and the lower tray compartment 93 on the second mobile platform 91 to enter and exit the outer skin frame 600, The operator can pick and place medicines from the second delivery window 601 .
  • a closed conveying space can be formed therein, so as to prevent dust from entering the secondary warehouse, and at the same time, it can also block outside operators and improve safety.
  • the present invention also provides a method for using a secondary library for intelligent sample retention, including a storage process and a storage flow; the storage flow includes the following steps:
  • the staff selects the type of medicines to be released from the warehouse
  • the tray access mechanism 200 walks to the side of the placing rack 101 corresponding to the required outbound medicine
  • the pick-and-place assembly 1 walks to the first transfer window 103, the telescopic tray extends out of the library body from the first transfer window 103, and the tray 102 is put into the cache platform 300, and reset;
  • the manipulator 400 grabs the medicine on the tray 102 and places it on the moving table of the manipulator operating area 50a;
  • the mobile platform transports the medicines to the manual operation area 50b, and the operator manually removes the medicines for delivery from the mobile platform, and the mobile platform is reset.
  • the warehousing process includes the following steps:
  • the tray access mechanism 200 walks to the side of the placing rack 101 corresponding to the medicine to be placed;
  • the pick-and-place assembly 1 walks to the first transfer window 103, the telescopic tray extends out of the library body 100 from the first transfer window 103, and the tray 102 is put into the cache platform 300;
  • the manipulator 400 grabs the medicine on the mobile platform and puts it into the tray 102 of the cache platform 300;
  • the tray access mechanism 200 walks to the side of the placing rack 101 corresponding to the medicine to be placed, and puts the tray 102 back into the placing rack 101 through the telescopic tray.
  • the present invention sets a tray access mechanism inside the library and a cache platform, a manipulator and an operation exchange platform outside the library, wherein the tray access mechanism can put the trays in the library into the cache platform or put the trays on the cache platform.
  • the manipulator can automatically take out the medicine from the tray at the cache platform and put it into the exchange operation platform or take out the medicine from the exchange operation platform and put it into the tray, so as to realize the automatic loading and unloading of medicines, eliminating the need for manual entry into the warehouse.
  • the exchange operation platform is divided into a manual operation area and a robot operation area, and the labor and the robot are in their respective areas during operation, which can effectively improve the manual operation. time security.

Abstract

一种智能留样二级库，包括：库体（100），其侧部设有第一传递窗口（103），其内部排布有若干置放架（101），置放架（101）上放置有若干存放药品的托盘（102）；托盘存取机构（200），其可沿着置放架（101）主动行走，包括取放组件（1），其包括可伸缩的伸缩盘（12,13），伸缩盘（12,13）可伸入置放架（101）取放托盘（102）以及带着托盘（102）穿过第一传递窗口（103）输送至库体（100）外；缓存平台（300），位于第一传递窗口（103）一侧，用于缓存自伸缩盘（12,13）取出的若干托盘（102）；机械手（400），用于在缓存平台（300）处的托盘（102）中取放药品；以及交换操作平台（500），分为供机械手（400）取放药品的机械手操作区（50a）和供人工取放药品的人工操作区（50b），交换操作平台（500）包括放置药品的移动台（81,91），移动台（81,91）可往返于机械手操作区（50a）和人工操作区（50b）。能够实现二级库药品自动取放，提高药品出入库效率。

Description

智能留样二级库及其使用方法 技术领域
本发明涉及医药库房技术领域，特别涉及一种智能留样二级库及其使用方法。
 背景技术
随着医疗行业的迅猛发展，对医用耗材溯源化管理的要求逐渐加强，原有仓库管理模式已不能满足实际的工作需求，需要增加使用二级库。二级库是相对于一级库而言的，指的是各临床科室、辅助医疗科室、各病区在医院一级库领用材料后所形成的库存。现有的二级库均采用在库房里放置货架的方式存放药品，并采用人工查找的方式存取药品；为了使库房最大程度地容纳药品，多个药品密密麻麻地放置其中，这样会增大人工查找的难度，不仅浪费了大量的人力劳动，还导致了药品出入库的效率较低。鉴于此，有必要设计一种智能的二级库来解决上述问题。
 技术问题
现有的二级库均采用在库房里放置货架的方式存放药品，并采用人工查找的方式存取药品；为了使库房最大程度地容纳药品，多个药品密密麻麻地放置其中，这样会增大人工查找的难度，不仅浪费了大量的人力劳动，还导致了药品出入库的效率较低。
 技术解决方案
本发明的目的在于提供一种智能二级库及其使用方法，以解决上述问题。
为达到上述目的，本发明提供如下技术方案：一种智能留样二级库，包括：库体，其侧部设有第一传递窗口，其内部排布有若干置放架，所述置放架上放置有若干存放药品的托盘；托盘存取机构，设置在库体内，其可沿着置放架主动行走，包括取放组件，所述取放组件包括可伸缩的伸缩盘，所述伸缩盘可伸入所述置放架取放所述托盘以及带着所述托盘穿过所述第一传递窗口输送至所述库体外；缓存平台，设置在所述库体外，且位于所述第一传递窗口一侧，用于缓存自所述伸缩盘取出的若干托盘； 机械手，设置在所述库体外，用于在所述缓存平台处的托盘中取放药品；以及交换操作平台，设置在所述库体外，分为供机械手取放药品的机械手操作区和供人工取放药品的人工操作区，所述交换操作平台包括放置药品的移动台，所述移动台可往返于机械手操作区和人工操作区。
进一步地，所述伸缩盘包括：第一伸缩盘，所述第一伸缩盘可向着所述置放架伸缩；第二伸缩盘，设置在所述第一伸缩盘上，所述第二伸缩盘可相对所述第一伸缩盘伸缩，并伸入所述置放架对所述托盘进行取放；其中，所述第二伸缩盘凸出设置有钩块，所述托盘边侧开设有钩孔，所述钩块可收容于所述钩孔内，以从所述置放架上拉出和推入所述托盘。
进一步地，所述存取机构还包括：行走轨道，沿着所述置放架布置；以及行走组件，设置在所述行走轨道上，并用于带动所述取放组件沿着所述行走轨道移动。
进一步地，所述存取机构还包括设置在所述行走组件上的升降组件，所述升降组件包括直线运动单元和安装在所述直线运动单元上的连接架，所述取放组件连接在所述连接架上并可随所述直线运动单元升降。
进一步地，所述留样二级库还包括旋转组件，所述旋转组件包括固定在所述连接架上的转盘以及驱动所述转盘转动的旋转驱动件，所述转盘与所述取放组件相接。
进一步地，所述缓存平台包括：支撑组件，其沿竖直方向间隔设置有若干支撑翻板； 以及抬升组件，包括抬升翻板和驱动所述抬升翻板升降的直线模组；其中，所述支撑翻板用于承托所述托盘，所述直线模组可驱动所述抬升翻板，并将所述托盘由下层的所述支撑翻板抬升至上层的所述支撑翻板。
进一步地，所述移动台包括可独立移动的第一移动台和第二移动台。
进一步地，所述二级库还包括蒙皮外框，所述库体、缓存平台、机械手以及交换操作平台均收容于所述蒙皮外框内，所述蒙皮外框位于所述人工操作区处开设有供所述移动台进出所述蒙皮外框的第二传递窗口。
此外，本发明还提供一种智能留样二级库的使用方法，包括出库流程；
所述出库流程包括以下步骤：
A1，工作人员选择所需出库药品的类型；
A2，所述托盘存取机构行走至与所需出库药品对应的置放架的侧部；
A3，通过所述伸缩盘将存放该药品的所述托盘拉出；
A4，所述取放组件行走至所述第一传递窗口处，所述伸缩盘自所述第一传递窗口伸出库体并将所述托盘放入所述缓存平台，并复位；
A5，所述机械手将所述托盘上的药品抓取并放入机械手操作区的移动台上；
A6，所述移动台将药品输送至人工操作区，作业人工从所述移动台上取下所述出库药品，所述移动台复位。
进一步地，还包括入库流程；
所述入库流程包括以下步骤：
B1，所述托盘存取机构行走至待放入药品对应的置放架的侧部；
B2，通过所述伸缩盘将待放入药品的所述托盘拉出；
B3，所述取放组件行走至所述第一传递窗口处，所述伸缩盘自所述第一传递窗口伸出库体并将所述托盘放入缓存平台；
B4，工作人员选择所需入库药品的类型；
B5，作业人员自人工操作区将所需入库药品放入移动台；
B6，所述移动台移动至机械手操作区；
B7，所述机械手将所述移动台上的药品抓取并放入所述缓存平台的托盘内；
B8，通过所述伸缩盘将所述托盘收回所述库体；
B9，所述托盘存取机构行走至待放入药品对应的置放架的侧部，并通过所述伸缩盘将所述托盘放回所述置放架。
 有益效果
本发明的有益效果在于：本发明通过在库体内设置托盘存取机构，库体外设置缓存平台、机械手和操作交换平台，其中，托盘存取机构能够将库体内的托盘放入缓存平台或者将缓存平台上的托盘取回库体，机械手能够自动从缓存平台处的托盘中取出药放入交换操作平台或者从交换操作平台取出药放入托盘，实现对药品的自动出入库处理，免去了人工进入库体找寻药品，节省了人力劳动，大幅地提升了药盒出入库的效率；此外，交换操作平台分为人工操作区和机械手操作区，作业时人工和机械手处于各自区域，能够有效提高人工作业时的安全性。
 附图说明
图1是本发明二级库的剖视图。
图2是图1的局部放大图。
图3是图1在另一方向上的剖视图。
图4是本发明二级库的托盘存取机构的结构示意图。
图5是图4在A处的局部放大图。
图6是图4中取放组件的结构示意图。
图7是图6在另一方向上的结构示意图。
图8是图4中行走组件和行走轨道的配接示意图。
图9是图4中升降组件的结构示意图。
图10是图9在B处的局部放大图。
图11是本发明二级库的缓存平台的结构示意图。
图12是图11中缓存平台与托盘的配接示意图。
图13是图12缓存平台在另一方向上的结构示意图。
图14是图11中支撑单元的结构示意图。
图15是图11中抬升单元的结构示意图。
图16是本发明二级库的交换操作平台的结构示意图。
图17是图16中上托盘格组件的结构示意图。
图18是图17在C处的局部放大图。
图19是图16中下托盘组件的结构示意图。
 本发明的实施方式
下面将结合附图对本发明的技术方案进行清楚、完整地描述，显然，所描述的实施例是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。     在本发明的描述中，需要说明的是，术语“中心”、“上”、“下”、“左”、“右”、“竖 直”、“水平”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。此外，术语“第一”、“第二”、“第三”仅用于描述目的，而不能理解为指示或暗示相对重要性。     在本发明的描述中，需要说明的是，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本发明中的具体含义。 此外，下面所描述的本发明不同实施方式中所涉及的技术特征只要彼此之间 未构成冲突就可以相互结合。
参照图1、图2和图4，对应于本发明一种较佳实施例的智能留样二级库，包括库体100、设置在库体100内的托盘存取机构200、设置在库体100外的缓存平台300、机械手400以及交换操作平台500。其中，库体100侧部设有第一传递窗口103，库体100内部排布有若干置放架101，置放架101上放置有若干存取药品的托盘102；托盘存取机构200可沿着置放架101主动行走，其包括取放组件1，取放组件1包括可伸缩的伸缩盘，伸缩盘可伸入置放架101取放托盘102以及带着托盘102穿过第一传递窗口103输送至库体100外；缓存平台300位于第一传递窗口103一侧，其用于缓存自伸缩盘取出的若干托盘102；机械手400用于在缓存平台300上的托盘102中取放药品；交换操作平台500设置在缓存平台300一侧，其分为供机械手400取放药品的机械手操作区50a和供人工取放药品的人工操作区50b，交换操作平台500包括放置药品的移动台，移动台可往返于机械手操作区50a和人工操作区50b。
参照图4、图6和图7，取放组件1包括支撑架11，伸缩盘设置在支撑架11上。伸缩盘包括第一伸缩盘12和第二伸缩盘13，第一伸缩盘12可向着置放架101伸缩，第二伸缩盘13可相对第一伸缩盘12伸缩，并伸入置放架101内对托盘102进行取放。具体的，取放组件1包括设置在支撑架11上的第一导轨14和第一驱动组件15，第一导轨14上滑动配接有与第一伸缩盘12固定的第一滑块141，第一驱动组件15驱动第一伸缩盘12沿着第一导轨14移动。
优选的，为了提高第一伸缩盘12连接的稳定性，第一导轨14数量为两个且分别位于第一伸缩盘12两侧。为了确保能够容置第一驱动组件15，第一伸缩盘12和第一滑块141之间通过一固定板16相接，从而增大第一伸缩盘12与支撑架11之间的距离。
第一驱动组件15包括第一平移驱动件151和第一同步带152，第一平移驱动件151具体为电机，第一同步带152的一端与第一平移驱动件151的输出端传动连接，第一伸缩盘12下方固定设置有一与第一同步带152相接的同步带链接板17，通过第一平移驱动件151驱动第一同步带152转动，进而能够带动第一伸缩盘12随第一同步带152同步移动。诚然，在其他实施例中，第一驱动组件15也可采用丝杆或者气缸的方式进行传动，本申请在此不作具体限定。
取放组件1还包括设置在第一伸缩盘12上方的第二导轨18以及设置在支撑架11上的第二驱动组件19，第二导轨18上滑动配接有与第二伸缩盘13相接的第二滑块181，第二驱动组件19驱动第二伸缩盘13沿着第二导轨18移动。  
第二驱动组件19与第一驱动组件15结构相同，其包括第二平移驱动件191和与第二平移驱动件191传动连接的第二同步带192，第二伸缩盘13下方也设置有与第二同步带192相接的同步带链接板17。在本实施例中，为了避免第一伸缩盘12限位，第一伸缩盘12在第二伸缩盘13的同步带链接板17的移动轨迹处开设有避位条孔121，同步带链接板17穿过避位条孔121与第二同步带192相接。
参照图5和图6，为了防止托盘102抖动，在本实施例中，第二伸缩盘13采用推拉方式取放托盘102。具体的，第二伸缩盘13端部设置有向上凸出的钩块131，托盘102边侧对应开设有容纳钩块131的钩孔1022。优选的，在本实施例中，为了进一步减小相邻两托盘102间的间距，托盘102边侧向外凸出设置有凸部102a，凸部102a自下而上开设有用于避位钩块131的避位槽1021，钩孔1022开设在凸部102a上。在取放过程中，钩块131通过避位槽1021并可伸入钩孔1022内，以将托盘102拉出或者推入置放架101。钩块131数量为多个且分别分布在第二伸缩盘13两侧。在本实施例中，为了提高推拉的可靠性，托盘102边侧的钩孔1022数量为两个，每个钩孔1022内容纳有两个钩块131。通过在托盘102上设置凸部102a，并在凸部102a上开设避位槽1021，在保证原有托盘102容量不变的同时，能够减小相邻两托盘102间的间距，并确保钩块131能够顺利伸入到托盘102底部。
优选的，为了提高托盘102在取放组件1上的稳定性，取放组件1两侧还固定安装有与托盘102边侧相对应的支撑板20，支撑板20向内凹陷并形成支撑托盘102的托盘容置槽201，以限制托盘102上下移动，防止其抖动。在对托盘102推拉时，托盘102可沿着托盘容置槽201的端口进入和离开托盘容置槽201，为了确保托盘102边侧能够顺利嵌入托盘容置槽201，托盘容置槽201端部设置有引导面2011，引导面2011自靠近托盘102的一端至另一端向内倾斜。
参照图4和图9，托盘存取机构200还包括行走轨道2、行走组件3、升降组件4和旋转组件5。行走轨道2沿着置放架101布置，行走组件3设置在行走轨道2上，并用于带动取放组件1沿着行走轨道2移动，升降组件4设置在行走组件3上，并带动取放组件1升降。托盘存取机构200工作时，行走组件3带动取放组件1移动至不同位置的置放架101处，升降组件4带动取放组件1升降至置放架101待取放托盘102的高度，旋转组件5可带动取放组件1向着置放架101转动，以便对置放架101内的托盘102进行取放，同时，旋转组件5也可带动取放组件1转向库体100的第一传递窗口103，以便取放组件1将托盘102输送至库体100外。
参照图8所示，行走轨道2固定在库体100底部且位于置放架101侧边，行走轨道2包括沿其长度方向布置的磁轨21以及设置在磁轨21两侧的第三导轨22，行走组件3包括行走底架31、设置在行走底架31下方的第三滑块32和直线电机33，第三滑块32与第三导轨22滑动配接，直线电机33与磁轨21对应设置，以产生推动力驱使行走底架31沿着第三导轨22移动。诚然，在其他实施例中，行走组件3也可采用电机驱动丝杆的方式或者其他驱动方式来实现行走底架31的移动，在此不作限定。
作为一种优选的实施例，如图3所示，置放架101分别并排排列在行走轨道2两侧，便于取放组件1取放托盘102的同时，提高库体100存储能力。
参照图4、图9和图10，升降组件4固定在行走底架31上，并与取放组件1相接。升降组件4包括升降底架41、安装在升降底架41上直线运动单元42以及安装在直线运动单元42上的连接架43。直线运动单元42包括竖直设置的第四导轨421、滑动配接在第四导轨421上的第四滑块422以及驱动第四滑块422沿着第四导轨421上下移动的升降驱动件423，升降驱动件423具体可为伺服电机，第四导轨421内可设置于升降驱动件423传动的连接的皮带（图未示）或者丝杆（图未示），皮带或丝杆与第四滑块422相接。连接架43分别与第四滑块422和取放组件1相接，从而带动取放组件1升降。在本实施例中，直线运动单元42数量为两个且分布在升降底架41一侧的两端，两直线运动单元42之间通过一传动轴44相接，进而能够采用同一升降驱动件423实现同步升降。
由于直线运动单元42高度较高，为了提高升降组件4在行走轨道2上移动的稳定性，升降组件4上方设置有第五滑块45，库体100顶部固定有与第五滑块45配接的第五导轨104，第五导轨104沿着行走轨道2的长度方向设置。具体的，升降组件4还包括竖直设置在升降底架41上、且与第四导轨421相对立的支撑杆46，支撑杆46上端与第四导轨421配合固定有一顶板47，第五滑块45固定在顶板47上。
旋转组件5包括固定在连接架43上的转盘51以及驱动转盘51转动的旋转驱动件52，旋转驱动件52具体可为伺服电机，转盘51与支撑架11相接以带动支撑架11转动。
托盘存取机构200工作时，当需要自库体100取出药品时，行走组件3配合升降组件4将取放组件1移动至指定托盘102位置；第一伸缩盘12在第一平移驱动件151的驱动下移动至托盘102外侧，第二伸缩盘13在第二平移驱动件191的驱动下伸入置放架101并移动至托盘102底部，且钩块131对应于钩孔1022下方位置；升降组件4带动取放组件1上升一小段距离，以使钩块131嵌入钩孔1022内；接着第二平移驱动件191反向转动，以将托盘102拉入托盘容置槽201，同时第一平移驱动件151配合第二平移驱动件191反向转动，以将托盘102完全拉出置放架101；行走组件3沿着行走轨道2移动至第一传递窗口103，由旋转组件5旋转90°使取放组件1朝向第一传递窗口103，并将托盘102递出库体100，完成药品取出；当待取托盘102在另一侧的置放架101上时，旋转组件5可将取放组件1旋转至另一侧的置放架101，以对另一侧上的托盘102进行取放。
当需要对库体100存入药品时，行走组件3配合升降组件4将取放组件1移动至传递窗口处；旋转组件5将取放组件1旋转至传递窗口处，取放组件1的第二伸缩盘13伸出第一传递窗口103，以接收托盘102；行走组件3配合升降组件4将托盘102移动至指定置放架101位置；旋转组件5旋转一定角度，以使取放组件1朝向置放架101第一伸缩盘12配合第二伸缩盘13将托盘102推入置放架101；升降组件4带动取放组件1下降一小段距离，以使钩块131脱离钩孔1022，取放组件1收回，完成存入。
参照图11和图12，缓存平台300包括支撑组件6，其沿竖直方向间隔设置有若干支撑翻板62；以及抬升组件7，包括抬升翻板72和驱动抬升翻板72升降的直线模组73；其中，支撑翻板62用于承托托盘102，直线模组73可驱动抬升翻板72，并将托盘102由下层的支撑翻板62抬升至上层的支撑翻板62。
支撑翻板62包括第一位置和第二位置；其中，处于第一位置时，支撑翻板62处于水平状态，并承托托盘102；处于第二位置时，支撑翻板62向上翻转，以避开待抬升的托盘102。抬升翻板72也包括第一位置和第二位置；其中，处于第一位置时，抬升翻板72处于水平状态，并抬升托盘102；处于第二位置时，抬升翻板72向上翻转，以避开抬升后的托盘102。
缓存平台300包括缓存架301和设置在缓存架301上的台板302，支撑组件6和抬升组件7安装在台板302上。在本实施例中，支撑组件6数量为两对且分别设置在台板302的前端和后端，支撑组件6包括两相对设置的支撑单元6a，支撑单元6a间形成容纳托盘102的容置空间6b，支撑翻板62设置在支撑单元6a上以分别承托托盘102的两侧。抬升组件7包括两相对设置且位于相邻两支撑单元6a之间的抬升单元7a，抬升翻板72设置在抬升单元7a上以对托盘102两侧进行抬升。采用托盘102两侧各设支撑单元6a和抬升单元7a的方式来承托和抬升托盘102，其稳定性较佳。诚然，在其他实施例中，支撑单元6a和抬升单元7a也可设置在托盘102一侧，并通过加长支撑翻板62和抬升翻板72的长度，以使托盘102能够受其承托。
参照图14，支撑单元6a包括缓存支架61，支撑翻板62转动配接在缓存支架61上，缓存支架61位于支撑翻板62上方位置设置有限制支撑翻板62向下转动的限位轴64。具体的，缓存支架61上固定有导轴63，支撑翻板62可转动的穿设在导轴63上。支撑翻板62包括与导轴63相接的翻板主体621和成型在翻板主体621一侧的抵持部622，抵持部622位于限位轴64下方。在自然状态下，支撑翻板62受重力影响，向下翻转，当支撑翻板62转至水平状态时，抵持部622与限位轴64相抵持，从而限制支撑翻板62继续向下转动。此外，支撑翻板62还包括成型在翻板主体621另一侧的支撑部623，支撑部623相对翻板主体621下凹成型，托盘102的底面和侧面与均支撑部623相贴合，从而能够限制托盘102左右移动。
优选的，为了限制支撑翻板62沿着导轴63的轴向移动，导轴63上固定套设有轴环65，轴环65分别位于支撑翻板62的两侧。此外，为了避免导轴63和支撑翻板62磨损，导轴63和支撑翻板62之间设置有衬套66。优选的，如图12所示，位于后端的支撑单元6a上设置有限制托盘102后移的限位板67，当将二级库中的托盘102自前端的支撑单元6a放入时，限位板67可与托盘102的边侧相接触，从而限制托盘102后移，进而使得托盘102更为可靠的存放在支撑单元6a上。
参照图15，抬升单元7a包括升降支架71，抬升翻板72转动配接在升降支架71上，升降支架71位于抬升翻板72上方也设置有限位轴64，从而限制抬升翻板72向下翻转。在自然状态下，抬升翻板72受重力影响，向下翻转，当抬升翻板72转至水平状态时，其与限位轴64相抵持，从而限制抬升翻板72继续向下转动。抬升翻板72与支撑翻板62的结构和安装方式大致相同，本申请在此不再赘述其结构。
直线模组73数量为两个且分别与抬升单元7a对应设置，直线模组73包括可沿着竖直方向移动的升降滑块731，升降滑块731与升降支架71相接以带动抬升翻板72上下移动。直线模组73可采用丝杆或皮带驱动升降滑块731进行升降。
在采用机械手400对缓存平台300中的托盘102上的药品进行取放时，由于不同的机械手行程各不相同，存在将机械手安装后无法完全取放托盘102各处药品的情况。作为一种优选的实施例，如图13所示，台板302和缓存架301之间设置有平移机构，平移机构用于调节台板302在缓存架301上的相对位置，进而调整托盘102在缓存架301上的相对位置。具体的，平移机构包括固定在缓存架301上的第六导轨303和第三驱动组件304，第三驱动组件304驱动台板302沿着第六导轨303移动。第六导轨303上配接有第六滑块3031，第六滑块3031与台板302的底部固定连接。第六导轨303数量为两个，且分别设置在台板302的两侧。第三驱动组件304包括第三平移驱动件3041和第三同步带3042，第三同步带3042的一端与第三平移驱动件3041传动连接，台板302下方固定设置有一与第三同步带3042相接的滑动连接板3021，通过第三平移驱动件3041驱动第三同步带3042转动，从而能够带动台板302随第三同步带3042同步移动。在本实例中，第三平移驱动件3041具体为伺服电机。
缓存平台300工作时，库体100的托盘存取机构200将托盘102取出并推入最底层的支撑翻板62上；直线模组73带动抬升单元7a上升，并通过抬升翻板72将底层的托盘102抬升至最上层支撑翻板62处，在此过程中，上层的支撑翻板62受到托盘102向上的推力，从而向上翻转，并避开托盘102；当抬升单元7a将托盘102抬升至最上层支撑翻板62上方位置时，最上层的支撑翻板62未受作用力，并受重力作用复位至水平状态，接着抬升单元7a下降，最上层的支撑翻板62将对托盘102进行承托；托盘存取机构200继续将托盘102取出并推入最底层的支撑翻板62上，重复上述动作并将托盘102抬升至最上层托盘102下层的支撑翻板62上；重复上述动作直至每层支撑翻板62均承托托盘102。通过设置缓存平台300，机械手400可对上层的托盘102进行取放药品的同时，库内的取放组件1可继续将其他的托盘102继续放入缓存平台300，从而提高取放效率。当上层托盘102药品取放完成后，托盘存取机构200上升并将上层的托盘102拉回库体100，缓存平台300可继续对下层托盘102进行上升。
机械手400设置在缓存平台300上方，其可采用夹取或者吸盘吸附的方式对药品进行取放，机械手400上设置有CCD相机（图未示），由其扫码确认后将药品自交换操作平台500放入缓存平台300或者自缓存平台300放入交换操作平台500。
参照图16、图17和图19，交换操作平台500包括：用于存放药品的上托盘格组件8和用于存放药品的下托盘格组件9；上托盘格组件8包括第一移动台81、驱动第一移动台81移动的第四驱动组件82和放置在第一移动台81上的上托盘格83；下托盘格组件9包括第二移动台91、驱动第二移动台91移动的第五驱动组件92和放置在第二移动台91上的下托盘格93；交换操作平台分为机械手操作区50a和人工操作区50b；其中，第四驱动组件82可驱动第一移动台81往返于机械手操作区50a和人工操作区50b；第五驱动组件92可驱动第二移动台91往返于机械手操作区50a和人工操作区50b。
交换操作平台500包括交换架501，交换架501上设置有底板502，机械手操作区50a位于底板502的一侧，人工操作区50b位于该侧的对立侧，上托盘格组件8和下托盘格组件9均安装在底板502上。
第一移动台81底部与第四驱动组件82传动连接。第一移动台81包括上移板811和承托上移板811的第一托架812，第一托架812与第四驱动组件82相接。第一托架812包括连接在上移板811两侧底部的第一竖板8121和水平连接在第一竖板8121上的第一驱动板8122。第四驱动组件82包括第四同步带821和与第四同步带821一端传动连接的第四平移驱动件822，第四同步带821布置在机械手操作区50a和人工操作区50b之间。第一驱动板8122通过连接块8113与第四同步带821相接；第四平移驱动件822为伺服电机，第四平移驱动件822驱动第四同步带821转动，第一驱动板8122随第四同步带821同步移动，进而带动第一移动台81整体随着第四同步带821往返于机械手操作区50a和人工操作区50b。诚然，在其他实施例中，第一移动台81也可采用气缸或者丝杆进行传动。
作为一种优选的实施例，为了使第四驱动组件82传动均衡，上移板811两侧的第一竖板8121上均设置有第一驱动板8122，第四同步带821的数量为两个，且分别对应设置在两第一驱动板8122下方，两第四同步带821之间连接有联动轴823，第四平移驱动件822与联动轴823传动连接。
为了支撑第一移动台81和使第一移动台81移动顺畅稳定，第一移动台81下方设置有第一导向组件84。第一导向组件84包括固定在底板502上的第七导轨841，第七导轨841与第四同步带821的布置方向相同，第七导轨841数量为两个，且分别与两第一驱动板8122相对应，第七导轨841上滑动配接有第七滑块842，第一驱动板8122与第七滑块842固定连接。
第二移动台91位于第一移动台81内侧，第二移动台91底部与第五驱动组件92传动连接。第二移动台91包括下移板911和承托下移板911的第二托架912，第二托架912包括连接在下移板911两侧底部的两块第二竖板9121和水平连接在第二竖板9121之间的第二驱动板9122。其中,下移板911位于上移板811下方，第二竖板9121位于第一竖板8121内侧，以便第一移动台81和第二移动台91在往返过程中不会相互限位。第五驱动组件92包括第五同步带921和与第五同步带921一端传动连接的第五平移驱动件922，第五平移驱动件922为伺服电机，第五同步带921布置在机械手操作区50a和人工操作区50b之间。优选的，为了传动均衡，第五同步带921位于第二驱动板9122下方中部位置，第二驱动板9122中部连接有与第五同步带921相接的连接块8113。  
为了支撑第二移动台91和使第二移动台91移动顺畅稳定，第二移动台91下方设置有第二导向组件94。第二导向组件94包括固定在底板502上的第八导轨941，第八导轨941与第五同步带921的布置方向相同，第八导轨941数量为两个，且分别位于第二驱动板9122两侧，第八导轨941上滑动配接有第八滑块942，第二驱动板9122与第八滑块942固定连接。
作为一种优选的实施例，由于放置上托盘格83、下托盘格93的上移板811和下移板911具有高度差，为了方便人工从上托盘格83和下托盘格93进行取放药品，第一托架812为可伸缩结构，以带动上移板811相对下移板911升降。
具体的，为了便于描述，参照图17和图18，将第一托架812的其中一块第一竖板8121称为第一上竖板812a，另一块第一竖板8121称为第一下竖板812b。 第一上竖板812a与上移板811相接，第一下竖板812b与第一驱动板8122相接，第一上竖板812a和第一下竖板812b之间设置有滑动组件85，以使第一上竖板812a可相对第一下竖板812b升降。滑动组件85包括竖直固定在第一下竖板812b上的第九导轨851以及滑动配接在第九导轨851上的第九滑块852，第一上竖板812a与第九滑块852固定连接。
上托盘格组件8还包括引导第一上竖板812a升降的引导组件86，引导组件86包括导槽板861和导向轮862。导槽板861竖直固定在底板502上，且位于第一移动台81外侧，导槽板861上开设有导向槽861a。导向轮862安装在第一上竖板812a上且嵌设在导向槽861a内，导向轮862可沿着导向槽861a的轨迹移动，进而带动上移板811升降。导向槽861a包括第一水平段8611、第二水平段8612和连接二者的倾斜段8613，其中，第一水平段8611位于机械手操作区50a，第二水平段8612位于人工操作区50b，第一水平段8611的高度高于第二水平段8612的高度。当将第一移动台81移动时，第一移动台81沿着第七导轨841移动，同时导向轮862沿着导向槽861a移动，并带动第一上竖板812a沿着导向槽861a的轨迹进行升降，当导向轮862移动至第一水平段8611时，上移板811位于下移板911上方，当导向轮862移动至第二水平段8612时，上移板811与下移板911处于同一水平高度。采用导向轮862配合导向槽861a的方式来驱动第一上竖板812a进行升降，无需额外设置电动或气动的驱动件，结构简单，且成本低。诚然，在其他实施例中，引导组件86也可采用气缸或者电机配合丝杆的方式来对第一上竖板812a进行升降。
交换操作平台500取药过程如下，初始时，上托盘格组件8和下托盘格组件9均位于机械手操作区50a；机械手400将缓存平台300托盘102上的药品抓取放入第一移动台81上的上托盘格83中，第四驱动组件82驱动第一移动台81沿着第七导轨841移动至人工操作区50b，作业人员可对药品取出，取出完毕后，第四驱动组件82驱动第一移动台81返回机械手操作区50a；作业人员在取药过程中，机械手400可继续将药品抓取放入第二移动台91上的下托盘格93中，并通过第五驱动组件92驱动第二移动台91沿着第八导轨941移动至人工操作区50b，作业人员可继续对下托盘格93内的药品取出，同时机械手400可继续将药品放入返回至机械手操作区50a的上托盘格83内，重复上述动作，实现机械手400和作业人员不间断作业。
当需要存放药品时，初始时，上托盘格组件8或下托盘格组件9其中一个位于人工操作区50b，作业人员将药品放入人工操作区50b处的托盘格内，机械手400用于将机械手操作区50a的药品取出至指定位置，第一移动台81和第二移动台91的具体移动过程与取药过程相似，在此不再赘述。
作为一种优选的实施例，二级库还包括蒙皮外框600，库体100、缓存平台300、机械手400以及交换操作平台500均收容于蒙皮外框600内。蒙皮外框600位于人工操作区50b处开设有供第一移动台81上的上托盘格83和第二移动台91上的下托盘格93进出蒙皮外框600的第二传递窗口601，作业人员可从第二传递窗口601进行取放药品。通过设置蒙皮外框600，可在其内形成密闭的输送空间，避免灰尘进入二级库内，同时也能够阻挡外界的作业人员，提高安全性。
本发明还提供一种智能留样二级库的使用方法，包括入库流程和出库流程；入库流程包括以下步骤：
A1，工作人员选择所需出库药品的类型；
A2，托盘存取机构200行走至与所需出库药品对应的置放架101的侧部；
A3，通过伸缩盘将存放该药品的托盘102拉出；
A4，取放组件1行走至第一传递窗口103处，伸缩盘自第一传递窗口103伸出库体并将托盘102放入缓存平台300，并复位；
A5，机械手400将托盘102上的药品抓取并放入机械手操作区50a的移动台上；
A6，移动台将药品输送至人工操作区50b，作业人工从移动台上取下出库药品，所述移动台复位。
入库流程包括以下步骤：
B1，托盘存取机构200行走至待放入药品对应的置放架101的侧部；
B2，通过伸缩盘将待放入药品的托盘102拉出；
B3，取放组件1行走至第一传递窗口103处，伸缩盘自第一传递窗口103伸出库体100并将托盘102放入缓存平台300；
B4，工作人员选择所需入库药品的类型；
B5，作业人员自人工操作区50b将所需入库药品放入移动台；
B6，移动台移动至机械手操作区50a；
B7，机械手400将移动台上的药品抓取并放入缓存平台300的托盘102内；
B8，通过伸缩盘将托盘102收回所述库体100；
B9，托盘存取机构200行走至待放入药品对应的置放架101的侧部，并通过伸缩盘将托盘102放回置放架101。
综上所述：本发明通过在库体内设置托盘存取机构，库体外设置缓存平台、机械手和操作交换平台，其中，托盘存取机构能够将库体内的托盘放入缓存平台或者将缓存平台上的托盘取回库体，机械手能够自动从缓存平台处的托盘中取出药放入交换操作平台或者从交换操作平台取出药放入托盘，实现对药品的自动出入库处理，免去了人工进入库体找寻药品，节省了人力劳动，大幅地提升了药盒出入库的效率；此外，交换操作平台分为人工操作区和机械手操作区，作业时人工和机械手处于各自区域，能够有效提高人工作业时的安全性。
以上所述实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。
以上所述实施例仅表达了本发明的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干变形和改进，这些都属于本发明的保护范围。因此，本发明专利的保护范围应以所附权利要求为准。

Claims (10)

  1. 一种智能留样二级库，其特征在于，包括：
    库体，其侧部设有第一传递窗口，其内部排布有若干置放架，所述置放架上放置有若干存放药品的托盘；
    托盘存取机构，设置在库体内，其可沿着置放架主动行走，包括取放组件，所述取放组件包括可伸缩的伸缩盘，所述伸缩盘可伸入所述置放架取放所述托盘以及带着所述托盘穿过所述第一传递窗口输送至所述库体外；
    缓存平台，设置在所述库体外，且位于所述第一传递窗口一侧，用于缓存自所述伸缩盘取出的若干托盘；
    机械手，设置在所述库体外，用于在所述缓存平台处的托盘中取放药品；以及
    交换操作平台，设置在所述库体外，分为供机械手取放药品的机械手操作区和供人工取放药品的人工操作区，所述交换操作平台包括放置药品的移动台，所述移动台可往返于机械手操作区和人工操作区。
  2. 根据权利要求1所述的智能留样二级库，其特征在于，所述伸缩盘包括：
    第一伸缩盘，所述第一伸缩盘可向着所述置放架伸缩；
    第二伸缩盘，设置在所述第一伸缩盘上，所述第二伸缩盘可相对所述第一伸缩盘伸缩，并伸入所述置放架对所述托盘进行取放；
    其中，所述第二伸缩盘凸出设置有钩块，所述托盘边侧开设有钩孔，所述钩块可收容于所述钩孔内，以从所述置放架上拉出和推入所述托盘。
  3. 根据权利要求2所述的智能留样二级库，其特征在于，所述存取机构还包括：行走轨道，沿着所述置放架布置；以及
    行走组件，设置在所述行走轨道上，并用于带动所述取放组件沿着所述行走轨道移动。
  4. 根据权利要求2所述的智能留样二级库，其特征在于，所述存取机构还包括设置在所述行走组件上的升降组件，所述升降组件包括直线运动单元和安装在所述直线运动单元上的连接架，所述取放组件连接在所述连接架上并可随所述直线运动单元升降。
  5. 根据权利要求4所述的智能留样二级库，其特征在于，所述留样二级库还包括旋转组件，所述旋转组件包括固定在所述连接架上的转盘以及驱动所述转盘转动的旋转驱动件，所述转盘与所述取放组件相接。
  6. 根据权利要求1所述的智能留样二级库，其特征在于，所述缓存平台包括：
    支撑组件，其沿竖直方向间隔设置有若干支撑翻板；
    以及抬升组件，包括抬升翻板和驱动所述抬升翻板升降的直线模组；
    其中，所述支撑翻板用于承托所述托盘，所述直线模组可驱动所述抬升翻板，并将所述托盘由下层的所述支撑翻板抬升至上层的所述支撑翻板。
  7. 根据权利要求1所述的智能留样二级库，其特征在于，所述移动台包括可独立移动的第一移动台和第二移动台。
  8. 根据权利要求1所述的智能留样二级库，其特征在于，所述二级库还包括蒙皮外框，所述库体、缓存平台、机械手以及交换操作平台均收容于所述蒙皮外框内，所述蒙皮外框位于所述人工操作区处开设有供所述移动台进出所述蒙皮外框的第二传递窗口。
  9. 根据权利要求1-8中任一项所述的智能留样二级库的使用方法，其特征在于，包括出库流程；
    所述出库流程包括以下步骤：
    A1，工作人员选择所需出库药品的类型；
    A2，所述托盘存取机构行走至与所需出库药品对应的置放架的侧部；
    A3，通过所述伸缩盘将存放该药品的所述托盘拉出；
    A4，所述取放组件行走至所述第一传递窗口处，所述伸缩盘自所述第一传递窗口伸出库体并将所述托盘放入所述缓存平台，并复位；
    A5，所述机械手将所述托盘上的药品抓取并放入机械手操作区的移动台上；
    A6，所述移动台将药品输送至人工操作区，作业人工从所述移动台上取下所述出库药品，所述移动台复位。
  10. 根据权利要求9所述的智能留样二级库的使用方法，其特征在于，还包括入库流程；
    所述入库流程包括以下步骤：
    B1，所述托盘存取机构行走至待放入药品对应的置放架的侧部；
    B2，通过所述伸缩盘将待放入药品的所述托盘拉出；
    B3，所述取放组件行走至所述第一传递窗口处，所述伸缩盘自所述第一传递窗口伸出库体并将所述托盘放入所述缓存平台；
    B4，工作人员选择所需入库药品的类型；
    B5，作业人员自人工操作区将所需入库药品放入移动台；
    B6，所述移动台移动至机械手操作区；
    B7，所述机械手将所述移动台上的药品抓取并放入所述缓存平台的托盘内；
    B8，通过所述伸缩盘将所述托盘收回所述库体；
    B9，所述托盘存取机构行走至待放入药品对应的置放架的侧部，并通过所述伸缩盘将所述托盘放回所述置放架。
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