CN109279080A - Medicine dispensing system in intelligent pharmacy - Google Patents
Medicine dispensing system in intelligent pharmacy Download PDFInfo
- Publication number
- CN109279080A CN109279080A CN201811315713.1A CN201811315713A CN109279080A CN 109279080 A CN109279080 A CN 109279080A CN 201811315713 A CN201811315713 A CN 201811315713A CN 109279080 A CN109279080 A CN 109279080A
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- China
- Prior art keywords
- drug
- feeding
- medicine box
- fixed
- medicine
- Prior art date
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
- B65B35/10—Feeding, e.g. conveying, single articles
- B65B35/16—Feeding, e.g. conveying, single articles by grippers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B43/00—Forming, feeding, opening or setting-up containers or receptacles in association with packaging
- B65B43/42—Feeding or positioning bags, boxes, or cartons in the distended, opened, or set-up state; Feeding preformed rigid containers, e.g. tins, capsules, glass tubes, glasses, to the packaging position; Locating containers or receptacles at the filling position; Supporting containers or receptacles during the filling operation
- B65B43/52—Feeding or positioning bags, boxes, or cartons in the distended, opened, or set-up state; Feeding preformed rigid containers, e.g. tins, capsules, glass tubes, glasses, to the packaging position; Locating containers or receptacles at the filling position; Supporting containers or receptacles during the filling operation using roller-ways or endless conveyors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B43/00—Forming, feeding, opening or setting-up containers or receptacles in association with packaging
- B65B43/42—Feeding or positioning bags, boxes, or cartons in the distended, opened, or set-up state; Feeding preformed rigid containers, e.g. tins, capsules, glass tubes, glasses, to the packaging position; Locating containers or receptacles at the filling position; Supporting containers or receptacles during the filling operation
- B65B43/54—Means for supporting containers or receptacles during the filling operation
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Specific Conveyance Elements (AREA)
Abstract
The invention relates to automatic medicine conveying equipment, in particular to an automatic medicine delivery system. A drug dispensing system in an intelligent pharmacy comprising: workstation, be used for putting the material loading transfer chain of medicine box, be used for following snatch the material loading manipulator of medicine box on the material loading transfer chain, be used for realizing the position correction to the medicine box and get into the centering centre gripping workstation of medicine box, be used for providing the medicine feed platform of medicine, be used for snatching the medicine and place medicine material loading manipulator on the centering centre gripping workstation, be used for with the medicine box suction and deliver for the top suction mechanism of material loading manipulator, the linkage manipulator that realizes that off-the-shelf snatchs and place the output on the finished product transfer chain, material loading manipulator, centering centre gripping workstation, finished product transfer chain, medicine material loading manipulator, medicine feed platform link firmly in the workstation. The medicine dispensing system in the intelligent pharmacy improves the automation level of medicine packaging and improves the speed of medicine delivery from a warehouse.
Description
Technical field
The present invention relates to a kind of automation of drug transmission to equip, more specifically to a kind of dissolving automatically for drug
Library system.
Background technique
The description of following background technology can be used as the reference for understanding this patent, but not guarantee the correctness of background technique.
The automation supply for fast implementing drug is the basis for realizing automatic dispensary, and the granting of current drug is to certainly
The direction in dynamic chemical drug room is developed.
1. perfect in shape and function
The service function in current pharmacy, which can add, to be highlighted, and " first window " of hospital is had become.Simple artificial drug is provided not
It is able to satisfy the demand of patient medication safety and clinical treatment.Patient knows more concerned about drug application method and related pharmacology
Know, can actively seek pharmacist's help.Automatic dispensary is to be automated as means, " patient-centered health care ", sends out by hand instead of pharmacist
The process of medicine makes pharmacist preferably carry out clinical medicine service and the guidance of patient medication, keeps pharmacy function more complete.
2. economic benefit and social benefit
Pharmacy automation equipment is by " improving that pharmacy management is horizontal, reduce drug loss, ensure drug quality, less medication is poor
It is wrong, reduce drug control cost " and improve the economic benefit of hospital.Improve patient simultaneously and see a doctor and takes cyclome border, shortening when taking medicine
Between, so that patient is obtained more medication guide services and improves the social benefit of hospital.
3. reducing labor intensity and improving working environment
Quick medicine discharge system is automated instead of the both hands of traditional pharmacy Chinese medicine teacher, pharmacists is effectively alleviated and takes medicine, adjusts
The working strength of agent drug etc..The concentrated type storage function in automatic pharmacy saves pharmacy area, enable pharmacy have it is more spacious,
Comfortable working space.
4. shortening the waiting time of patient
After automatic dispensary use, the function of debit, verification are had at each dispensing concurrently.Quick medicine discharge system is automated to shorten
The time of pharmacy drug reduces patient and takes the medicine time, efficiently solves the medicine Room and is lined up the situation for taking medicine crowded.
5. drug kind quantity increases with drug amount of storage comprehensively
The drug putting mode of traditional drug frame, needs that there are certain craft to take medicine gap between drug putting supporting plate, to a certain extent
Drug amount of storage is limited, drug will be made to put more densification, rationalization in automatic dispensary, to increase drug list
The product amount of putting and storage capacity.Such as: the automation drug control equipment of 16 square metres of land occupation can store 40000 to 60000 box packets
Containing medicines (drug kind number is unlimited), this has apparent advantage for the drug putting mode of original Drug shelf.
Summary of the invention
The object of the present invention is to provide the drug dispensing systems in a kind of Intelligent Pharmacy, for improving drug pack
Automatization level, the speed of drug outbound.
A kind of drug dispensing system in Intelligent Pharmacy, comprising: workbench, the feeding pipeline for putting medicine box,
For grabbing the feeding manipulator of medicine box from the feeding pipeline, for realizing position correction to medicine box and by Key works Drug packing
Into the centering clamping workbench of medicine box, the drug rollway for providing drug, for described in drug grab and is placed into
Machine is inhaled on drug feeding manipulator on centering clamping workbench, the top for medicine box to be sucked out to and consigned to the feeding manipulator
Structure, the crawl for realizing finished product are simultaneously placed in the linkage manipulator exported on finished product pipeline, and the feeding pipeline, feeding are mechanical
Hand, centering clamping workbench, finished product pipeline, drug feeding manipulator, drug rollway are fixed on the workbench, it is described on
Material pipeline is located at the lower part of the feeding manipulator, and the centering clamping workbench is located at the work model of the feeding manipulator
In enclosing, the Ding Xi mechanism is fixed on the centering clamping workbench, and the linkage manipulator is fixed on the Ding Xi mechanism, institute
It states finished product pipeline to be located in the working range of the linkage manipulator, the drug feeding manipulator is from the drug rollway
On grab drug and be placed on centering clamping workbench.
Drug dispensing system in Intelligent Pharmacy, comprising the following steps:
1) drug is placed in drug rollway, and the drug rollway realizes position correction to drug:
The cylinder block of the long cylinder of feed is fixed on the workbench, and the end of the piston rod of the long cylinder of feed is fixed on
The piston rod of one end of the feed slide unit, the long cylinder of feed retracts, and the drug on the drug rollway is made to be located at medicine
In the working range of product feeding manipulator；The left hand ski, right hand ski are movably connected on the feed guide rail, the feed
The end of the piston rod of gripper cylinder is fixed on the left hand ski, the cylinder block of the feed gripper cylinder is fixed on the right side
Sideskid；The left grip block is fixed on the left hand ski, and the right grip block is fixed on the right hand ski, the left folder
It holds and is provided with first clamp bar, third clamp bar on plate, second clamp bar, the 4th clamp bar are provided on the right grip block；
Drug is between first clamp bar and the second clamp bar, and drug is between the third clamp bar and the 4th clamp bar；The confession
The piston rod of material clamping cylinder retracts, and first clamp bar and the second clamp bar close up and realize position correction to drug, and described the
Three clamp bars and the 4th clamp bar close up and realize position correction to drug；
2) the drug rollway unclamps the clamping to drug:
The piston rod of the feed gripper cylinder stretches out, and first clamp bar and the second clamp bar unclamp the clamping to drug, described
Third clamp bar and the 4th clamp bar unclamp the clamping to drug；
3) medicine box is delivered to the crawl position of feeding manipulator by feeding pipeline:
The synchronous conveyer band is movably connected on the transmission bracket, and the synchronous conveyer band is at inclination arrangement；The conveying electricity
Machine is fixed on the transmission bracket, and the output shaft of the feeder motor is connected to the synchronization by the synchronous belt drive mechanism
Conveyer belt；Medicine box is placed on synchronous transport band, and pushes the medicine box to hoist conveying from lower by the conveying push plate, is reached
To after the crawl position of feeding manipulator, the main shaft of the feeder motor is locked；
4) feeding manipulator grabs medicine box from the feeding pipeline:
The feeding horizontal slider is movably connected on the feeding horizontal guide rail, and the piston rod of the long cylinder of feeding stretches out, makes
The feeding horizontal slider is moved to the roller Impactor direction, and the roller Impactor and roller collide, described
The roller Impactor drives the feeding vertical cylinder to rotate certain angle around the feeding swinging axle, grabs the feeding
Plate and the medicine box on the feeding pipeline is taken to be in the posture being parallel to each other；The piston rod of the feeding vertical cylinder is stretched
Out, the feeding crawl plate is made to adsorb medicine box；
5) medicine box is placed in the centering and clamps workbench by feeding manipulator:
The piston rod of the feeding vertical cylinder retracts, and the feeding crawl plate and medicine box rise；The work of the long cylinder of feeding
Stopper rod retracts, and the feeding horizontal slider is moved far from the roller Impactor direction, and the roller Impactor is detached from institute
Roller is stated, the feeding crawl plate and medicine box are in horizontal attitude, and medicine box reaches on the centering clamping workbench；The feeding
Machinery, which hands down, medicine box and is detached from centering clamping workbench；
6) the drug rollway realizes the position correction to drug, and drug is sent to the work of the drug feeding manipulator
In range:
The left grip block is fixed on the left hand ski, and the right grip block is fixed on the right hand ski, the left clamping
It is provided with first clamp bar, third clamp bar on plate, second clamp bar, the 4th clamp bar are provided on the right grip block；Medicine
Grade is between first clamp bar and the second clamp bar, and first clamp bar and the second clamp bar folder hold together, and drug is located at the third
Between clamp bar and the 4th clamp bar, the third clamp bar and the 4th clamp bar folder hold together, and realize the position correction to drug；
7) the centering clamping workbench realizes position correction to medicine box, and the Ding Xi mechanism pushes down medicine box, the centering clamping
Workbench enters Key works Drug packing in medicine box:
First connecting plate is fixed on the end of the piston rod of the centering gripper cylinder, and the one of the left connecting rod, right connecting rod
End is symmetrically movably connected on first connecting plate, and the other end of the left connecting rod is movably connected on the left side T-shaped plate, institute
The other end for stating right connecting rod is movably connected on the right side T-shaped plate；First grip block, third grip block are fixed on the left side
Side T-shaped plate, second grip block, the 4th grip block are fixed on the right side T-shaped plate；Medicine box be located at first grip block,
Between second grip block, medicine box is between second grip block, the 4th grip block, the piston rod of the centering gripper cylinder
It stretching out upwards, the left connecting rod, right connecting rod is made to link, first grip block, the second grip block press from both sides medicine box, and described the
Two grip blocks, the 4th grip block folder hold together medicine box, make medicine box position occur to correct and fix；The Ding Xi mechanism pushes down medicine box；
The push rod is movably connected on the push-in guide rail, and the cylinder block of the push-in cylinder is fixed on the centering bracket,
The end of the piston rod of the push-in cylinder is fixed on the push rod by the push-in connecting plate, and the push rod pushes medicine
Product enter drug in medicine box；
8) the Ding Xi mechanism inhales the medicine box for completing assembly and drug high, and medicine box is placed in by the feeding manipulator unloads material torr
On disk, and remove；
9) linkage manipulator grabs medicine box from feeding manipulator, and medicine box is placed in defeated on the finished product pipeline
Out:
The cylinder block of the linkage vertical cylinder is fixed on the linkage core the tip of the axis, and the linked suction cup is solid by hollow pipe
It is connected in the end of the piston rod of the linkage vertical cylinder.The linked suction cup is adsorbed onto medicine box.The work of the long cylinder of linkage
Stopper rod stretches out, and the catenating slider is pushed to move along the horizontally-guided guide rail.Since the linkage swing rod is movably connected on institute
Linkage support is stated, the linkage swing rod is rotated around swinging axle, and the linkage mandrel is movably connected on the catenating slider, the pendulum
Motion block is fixed on the linkage core the tip of the axis, and the swing to match with the linkage swing rod is provided on the swinging block
Hole, the linkage swing rod pass through the swing hole；The linkage mandrel is described during moving with the catenating slider
Moving mandrel swings with the linkage swing rod, causes the linkage vertical cylinder that the movement in even direction occurs, to adjust
The placement position of whole medicine box.
The drug rollway includes: feed guiderail base, feed slide unit, the long cylinder of feed, feed table top, is fed and leads
Rail, feed gripper cylinder, left hand ski, right hand ski, left grip block, right grip block, the first clamp bar, the second clamp bar, third folder
Article, the 4th clamp bar, the feed guiderail base is fixed on the workbench, and the feed slide unit is movably connected on the feed and leads
Rail bottom seat, the cylinder block of the long cylinder of feed are fixed on the workbench, and the end of the piston rod of the long cylinder of feed is solid
It is connected in one end of the feed slide unit；The feed table top is fixed on the feed slide unit, and the feed guide rail level is fixed on
The feed table top, the left hand ski, right hand ski are movably connected on the feed guide rail, the work of the feed gripper cylinder
The end of stopper rod is fixed on the left hand ski, the cylinder block of the feed gripper cylinder is fixed on the right hand ski；It is described
Left grip block is fixed on the left hand ski, and the right grip block is fixed on the right hand ski, is arranged on the left grip block
There are first clamp bar, third clamp bar, second clamp bar, the 4th clamp bar are provided on the right grip block；Drug is located at institute
It states between the first clamp bar and the second clamp bar, drug is between the third clamp bar and the 4th clamp bar.
Preferably, the drug feeding manipulator include: A-frame, the long cylinder of pivot angle, rack gear, gear shaft, swing seat,
Square hole, lifting double-rod cylinder, swing arm, drug feeding sucker, the A-frame are fixed on the workbench, the pivot angle
The cylinder block of long cylinder is fixed on the workbench, and the gear shaft is movably connected on the A-frame, the rack gear activity
It is connected to the square hole, the rack and pinion axis matches, and the end of the piston rod of the long cylinder of pivot angle is fixed on institute
State one end of rack gear；The swing seat is fixed on the gear shaft, and the cylinder block of the lifting double-rod cylinder is fixed on the pendulum
Dynamic seat, the swing arm are fixed on the end of the piston rod of the lifting double-rod cylinder, and the drug feeding sucker is fixed on institute
State the lower part of swing arm.
Preferably, the linkage manipulator includes: linkage swing rod, linkage support, linkage vertical cylinder, linked suction cup, connection
It moves long cylinder, horizontally-guided guide rail, catenating slider, linkage mandrel, swinging block, swing hole, the linkage support is fixed on described
Ding Xi mechanism, the cylinder block and horizontally-guided guide rail level of the long cylinder of linkage are fixed on the linkage support, the linkage
Sliding block is movably connected on the horizontally-guided guide rail, and the end of the piston rod of the long cylinder of linkage is fixed on the linkage and slides
Block；The linkage swing rod is movably connected on the linkage support, and the linkage swing rod is rotated around swinging axle, and the linkage mandrel is living
Dynamic to be connected to the catenating slider, the swinging block is fixed on the linkage core the tip of the axis, be provided on the swinging block with
The swing hole that the linkage swing rod matches, the linkage swing rod pass through the swing hole, and the linkage swing rod can edge
The axis direction movement for swinging hole；The cylinder block of the linkage vertical cylinder is fixed on the linkage core the tip of the axis, institute
State the end that linked suction cup is fixed on the piston rod of the linkage vertical cylinder by hollow pipe.
Preferably, the feeding pipeline includes: transmission bracket, synchronous conveyer band, synchronous belt drive mechanism, conveying electricity
Machine, the transmission bracket are fixed on the workbench, and the synchronous conveyer band is movably connected on the transmission bracket, the synchronization
Conveyer belt is at inclination arrangement；The feeder motor is fixed on the transmission bracket, and the output shaft of the feeder motor passes through described
Synchronous belt drive mechanism is connected to the synchronous conveyer band；The conveying push plate is fixed on the synchronous conveyer band, and medicine box is put
The medicine box is pushed to hoist conveying from lower on synchronous transport band, and by the conveying push plate.
Preferably, the feeding pipeline further include: conveying push plate, the first backplate, the second backplate, third backplate, the 4th
Backplate, the first slide plate, the first guide rail, the second slide plate, connecting plate, the second guide rail, the conveying push plate and the first backplate are located at one
The two sides of synchronous conveyer band described in item, the third backplate, the 4th backplate are located at the two sides of another article of synchronous conveyer band；Institute
State the first guide rail, the second guide rail is fixed on the transmission bracket, first slide plate is movably connected on first guide rail, described
Second slide plate is movably connected on second guide rail；First backplate and third backplate are fixed on first slide plate, described
Second backplate and the 4th backplate are fixed on second slide plate by the connecting plate.
Preferably, the feeding manipulator includes: feeding bracket, the long cylinder of feeding, feeding vertical cylinder, feeding level cunning
Block, feeding horizontal guide rail, slide plate connecting plate, tension elastic element, roller bracket, roller, roller Impactor, feeding crawl plate,
Feeding swinging axle swings connecting plate, horizontal stop block, and the feeding bracket is fixed on the workbench, the long cylinder of feeding
Cylinder block be fixed on the feeding bracket, the feeding horizontal guide rail level is fixed on the feeding bracket, the feeding water
Smooth block is movably connected on the feeding horizontal guide rail, and the end of the piston rod of the long cylinder of feeding is fixed on the feeding water
Smooth block；The slide plate connecting plate is fixed on the feeding horizontal slider, and the feeding swinging axle is fixed on the slide plate connection
Plate, the swing connecting plate are movably connected on the feeding swinging axle, and the cylinder block of the feeding vertical cylinder is fixed on described
Connecting plate is swung, the feeding crawl plate is fixed on the end of the piston rod of the feeding vertical cylinder；It is grabbed in the feeding
The tension elastic element is set between plate and slide plate connecting plate；The roller bracket is fixed on the gas of the feeding vertical cylinder
Cylinder body, the roller are movably connected on the roller bracket, and the roller Impactor is fixed on the feeding bracket, the roller
Impactor and roller match；The horizontal stop block is fixed on the feeding bracket, the horizontal stop block and roller bracket
Match.
Preferably, the feeding manipulator further include: discharging pallet, the discharging pallet are fixed on the slide plate connection
Plate, the discharging pallet is in horizontally disposed；The discharging pallet is located at the top of feeding crawl plate.
Preferably, the tension elements are in tension state.
Preferably, the horizontal stop block is used to limit the hunting range of the feeding vertical cylinder, the Horizontal limiting
Block makes the feeding crawl plate be in horizontality, and sucker is fixed on the feeding crawl plate.
Preferably, the centering clamping workbench includes: centering bracket, the first grip block, the second grip block, third clamping
Block, the 4th grip block, centering linear guide, centering gripper cylinder, the first connecting plate, left connecting rod, right connecting rod, left side T-shaped plate, the right side
Side T-shaped plate, the centering bracket are fixed on the workbench, and the centering linear guide is fixed on the centering bracket, described
First grip block, the second grip block, third grip block, the 4th grip block are successively movably connected on the centering straight line by sliding block
Guide rail；The cylinder block of the centering gripper cylinder is fixed on the centering bracket, and the centering gripper cylinder is located at the centering
The lower part of linear guide；First connecting plate is fixed on the end of the piston rod of the centering gripper cylinder, the left connecting rod,
One end of right connecting rod is symmetrically movably connected on first connecting plate, and the other end of the left connecting rod is movably connected on the left side
Side T-shaped plate, the other end of the right connecting rod are movably connected on the right side T-shaped plate；First grip block, third grip block are solid
It is connected in the left side T-shaped plate, second grip block, the 4th grip block are fixed on the right side T-shaped plate.
Preferably, the centering clamps workbench further include: absorption cylinder, centering clamping sucking disk, the absorption cylinder
Cylinder block is fixed on the centering bracket, and the centering clamping sucking disk is fixed on the piston rod of the absorption cylinder by hollow pipe
End.
Preferably, the centering clamps workbench further include: push-in guide rail, push rod, push-in cylinder, push-in connecting plate,
The push-in guide rail is fixed on the centering bracket, and the push rod is movably connected on the push-in guide rail, the push-in cylinder
Cylinder block be fixed on the centering bracket, the end of the piston rod of the push-in cylinder is fixed on by the push-in connecting plate
The push rod.
Preferably, the Ding Xi mechanism include: top inhale bracket, vertical servo slide table, top inhale servo slide plate, top suction pressure plate,
Suction cylinder, top air intake duct, top suction sucker are pushed up, the top is inhaled bracket and is fixed on the centering clamping workbench, described to watch vertically
It takes slide unit and is fixed on the top suction bracket, the vertical servo slide table is at vertical arrangement；It inhales servo slide plate and is connected to institute in the top
Vertical servo slide table is stated, the top suction pressure plate is fixed on the top and inhales servo slide plate, and the top suction pressure plate is at horizontally disposed；It is described
The cylinder block of top suction cylinder is fixed on the top and inhales servo slide plate, and the top air intake duct is fixed on the piston rod of the top suction cylinder
End, the top inhales the end that sucker is fixed on the top air intake duct, and the top air intake duct is directed downward, and is located at medicine box
Top.
Preferably, the finished product pipeline includes: finished product conveyer belt, finished product motor, finished product synchronous belt drive mechanism, described
The output shaft of product motor drives the product conveyer belt rotation by the product synchronous belt drive mechanism.
Detailed description of the invention
Fig. 1,2,3 are the structural schematic diagrams of the drug dispensing system in Intelligent Pharmacy of the present invention；
Fig. 4 is the partial structural diagram of the drug dispensing system in Intelligent Pharmacy of the present invention；
Fig. 5 is the structural schematic diagram of the feeding pipeline of the drug dispensing system in Intelligent Pharmacy of the present invention；
The structural schematic diagram of the feeding manipulator of drug dispensing system in the Intelligent Pharmacy of Fig. 6,7,8；
Fig. 9 is the Ding Xi mechanism of the drug dispensing system in Intelligent Pharmacy of the present invention and the structural representation of centering clamping workbench
Figure；
Figure 10,11,12,13,14,15 are the knots of the centering clamping workbench of the drug dispensing system in Intelligent Pharmacy of the present invention
Structure schematic diagram；
Figure 16,17 be drug dispensing system in Intelligent Pharmacy of the present invention linkage manipulator structural schematic diagram；
Figure 18 is the structural schematic diagram of the finished product pipeline of the drug dispensing system in Intelligent Pharmacy of the present invention；
Figure 19 is the structural schematic diagram of the drug feeding manipulator of the drug dispensing system in Intelligent Pharmacy of the present invention；
Figure 20,21 be drug dispensing system in Intelligent Pharmacy of the present invention drug rollway structural schematic diagram.
In figure: 1 medicine box, 2 workbench, 3 feeding pipelines, 4 feeding manipulators, 5 centerings clamping workbench, 10 pass
Send bracket, 11 synchronous conveyer bands, 12 synchronous belt drive mechanisms, 13 feeder motors, 14 conveying push plates, 15 first backplates, 16
Second backplate, 17 third backplates, 18 the 4th backplates, 19 first slide plates, 20 first guide rails, 21 second slide plates, 22 connections
Plate, 23 second guide rails, 30 feeding brackets, the long cylinder of 31 feedings, 32 feeding vertical cylinders, 33 feeding horizontal sliders, 34
Feeding horizontal guide rail, 35 slide plate connecting plates, 36 tension elastic elements, 37 roller brackets, 38 rollers, 39 roller Impactors,
40 feedings grab plate, 41 feeding swinging axles, 42 swing connecting plates, 43 horizontal stop blocks, 44 suckers, 50 centering brackets,
51 first grip blocks, 52 second grip blocks, 53 third grip blocks, 54 the 4th grip blocks, 55 centering clamping sucking disks, 56 pairs
Middle linear guide, 57 centering gripper cylinders, 58 absorption cylinders, 59 first connecting plates, 60 left connecting rods, 61 right connecting rods, 62
Left side T-shaped plate, 63 right side T-shaped plates, 64 push-in guide rails, 65 push rod, 66 push-in cylinders, 67 push-in connecting plates, 70 tops
Inhale mechanism, bracket is inhaled on 71 tops, 72 vertical servo slide tables, 73 top suction servo slide plates, 74 top suction pressure plates, 75 top suction cylinders, 76
Push up air intake duct, sucker is inhaled on 77 tops, 80 discharging pallets, 85 drugs, 90 linkage manipulators, 91 linkage swing rods, 92 linkage branch
Frame, 93 linkage vertical cylinders, 94 linked suction cups, 95 swinging axles, the long cylinder of 96 linkages, 97 horizontally-guided guide rails, 98
Movable slider, 99 linkage mandrels, 100 swinging blocks, 101 swing hole, 110 finished product pipelines, 111 finished product conveyer belts, 112 one-tenth
Product motor, 113 finished product synchronous belt drive mechanisms, 120 drug feeding manipulators, 121 A-frames, the long cylinder of 122 pivot angles,
123 rack gears, 124 gear shafts, 125 swing seats, 126 square holes, 127 lifting double-rod cylinders, 128 swing arms, 129 medicines
Product feeding sucker, 130 drug rollways, 131 feed guiderail bases, 132 feed slide units, the long cylinder of 133 feed, 134 supply
Expect table top, 135 feed guide rails, 136 feed gripper cylinders, 137 left hand skis, 138 right hand skis, 139 left grip blocks,
140 right grip blocks, 141 first clamp bars, 142 second clamp bars, 143 third clamp bars, 144 the 4th clamp bars.
Specific embodiment
The present invention is described in further detail below in conjunction with attached drawing, but does not constitute any limitation of the invention,
Similar element numbers represent similar element in attached drawing.As described above, the present invention provides the medicines in a kind of Intelligent Pharmacy
Product delivery system is exported for realizing the automation of drug, the massive store of medicine box is realized using feeding pipeline, in utilization
Expect that manipulator is realized to grab the automation of drug, realizes the position correction to drug using centering clamping workbench and by drug
It is encased in medicine box, the medicine box that packaging is completed can be sucked out and consigned to feeding manipulator using Ding Xi mechanism, utilize linkage
Manipulator realizes that the crawl and being placed on finished product pipeline of finished product exports, the drug dispensing system in Intelligent Pharmacy of the present invention
The speed for improving the automatization level of Key works Drug packing, improving drug outbound.
Fig. 1,2,3 are the structural schematic diagrams of the drug dispensing system in Intelligent Pharmacy of the present invention, and Fig. 4 is intelligence of the invention
The partial structural diagram of drug dispensing system in chemical drug room, Fig. 5 are the drug dispensing systems in Intelligent Pharmacy of the present invention
Feeding pipeline structural schematic diagram, the structure of the feeding manipulator of the drug dispensing system in the Intelligent Pharmacy of Fig. 6,7,8
Schematic diagram, Fig. 9 are the Ding Xi mechanism of the drug dispensing system in Intelligent Pharmacy of the present invention and the structure of centering clamping workbench
Schematic diagram, Figure 10,11,12,13,14,15 are the centering clamping workbench of the drug dispensing system in Intelligent Pharmacy of the present invention
Structural schematic diagram, Figure 16,17 be drug dispensing system in Intelligent Pharmacy of the present invention linkage manipulator structural representation
Figure, Figure 18 is the structural schematic diagram of the finished product pipeline of the drug dispensing system in Intelligent Pharmacy of the present invention, and Figure 19 is this hair
The structural schematic diagram of the drug feeding manipulator of drug dispensing system in bright Intelligent Pharmacy, Figure 20,21 are intelligence of the invention
The structural schematic diagram of the drug rollway of drug dispensing system in chemical drug room.
Drug dispensing system in Intelligent Pharmacy of the present invention, comprising: workbench 2, the feeding for putting medicine box 1 convey
Line 3, the feeding manipulator 4 for grabbing medicine box 1 from the feeding pipeline 3 are used to realize position correction to medicine box 1 and incite somebody to action
The packaging of drug 85 enters the centering clamping workbench 5 of medicine box 1, the drug rollway 130 for providing drug 85, is used for drug
85 grab and be placed on centering clamping workbench 5 drug feeding manipulator 120, for medicine box 1 to be sucked out and deliver
To the Ding Xi mechanism 70 of the feeding manipulator 4, the crawl of realization finished product and it is placed in the linkage exported on finished product pipeline 110
Manipulator 90, the feeding pipeline 3, feeding manipulator 4, centering clamp workbench 5, finished product pipeline 110, drug feeder
Tool hand 120, drug rollway 130 are fixed on the workbench 2, and the feeding pipeline 3 is located under the feeding manipulator 4
Portion, the centering clamping workbench 5 are located in the working range of the feeding manipulator 4, and the Ding Xi mechanism 70 is fixed on institute
Centering clamping workbench 5 is stated, the linkage manipulator 90 is fixed on the Ding Xi mechanism 70, and the finished product pipeline 110 is located at
In the working range of the linkage manipulator 90, the drug feeding manipulator 120 is grabbed from the drug rollway 130
Drug 85 is simultaneously placed on the centering clamping workbench 5；
The drug rollway 130 includes: feed guiderail base 131, feed slide unit 132, the long cylinder 133 of feed, feed table top
134, guide rail 135, feed gripper cylinder 136, left hand ski 137, right hand ski 138, left grip block 139, right grip block are fed
140, the first clamp bar 141, the second clamp bar 142, third clamp bar 143, the 4th clamp bar 144, the feed guiderail base 131 are fixed on
The workbench 2, the feed slide unit 132 are movably connected on the feed guiderail base 131, the long cylinder 133 of feed
Cylinder block is fixed on the workbench 2, and the end of the piston rod of the long cylinder 133 of feed is fixed on the feed slide unit 132
One end；The feed table top 134 is fixed on the feed slide unit 132, and 135 level of feed guide rail is fixed on the feed
Table top 134, the left hand ski 137, right hand ski 138 are movably connected on the feed guide rail 135, the feed gripper cylinder
Described in the end of 136 piston rod is fixed on the left hand ski 137, the cylinder block of the feed gripper cylinder 136 is fixed on
Right hand ski 138；The left grip block 139 is fixed on the left hand ski 137, and the right grip block 140 is fixed on the right side
Sideskid 138 is provided with first clamp bar 141, third clamp bar 143, the right grip block 140 on the left grip block 139
On be provided with second clamp bar 142, the 4th clamp bar 144；Drug 85 be located at first clamp bar 141 and the second clamp bar 142 it
Between, drug 85 is between the third clamp bar 143 and the 4th clamp bar 144.
More specifically, the drug feeding manipulator 120 include: A-frame 121, the long cylinder 122 of pivot angle, rack gear 123,
Gear shaft 124, swing seat 125, square hole 126, lifting double-rod cylinder 127, swing arm 128, drug feeding sucker 129, it is described
A-frame 121 is fixed on the workbench 2, and the cylinder block of the long cylinder 122 of pivot angle is fixed on the workbench 2, described
Gear shaft 124 is movably connected on the A-frame 121, and the rack gear 123 is movably connected on the square hole 126, the tooth
Item 123 and gear shaft 124 match, and the end of the piston rod of the long cylinder 122 of pivot angle is fixed on the one of the rack gear 123
End；The swing seat 125 is fixed on the gear shaft 123, and the cylinder block of the lifting double-rod cylinder 127 is fixed on the swing
Seat 125, the swing arm 128 are fixed on the end of the piston rod of the lifting double-rod cylinder 127, the drug feeding sucker
129 are fixed on the lower part of the swing arm 128.
More specifically, the linkage manipulator 90 includes: linkage swing rod 91, linkage support 92, linkage vertical cylinder 93, connection
Dynamic sucker 94, horizontally-guided guide rail 97, catenating slider 98, linkage mandrel 99, swinging block 100, swings hole at the long cylinder 96 of linkage
101, the linkage support 92 is fixed on the Ding Xi mechanism 70, the cylinder block and horizontally-guided guide rail of the long cylinder 96 of linkage
97 levels are fixed on the linkage support 92, and the catenating slider 98 is movably connected on the horizontally-guided guide rail 97, described
The end for moving the piston rod of long cylinder 96 is fixed on the catenating slider 98；The linkage swing rod 91 is movably connected on the linkage
Bracket 92, the linkage swing rod 91 are rotated around swinging axle 95, and the linkage mandrel 99 is movably connected on the catenating slider 98, institute
The end that swinging block 100 is fixed on the linkage mandrel 99 is stated, is provided with and 91 phase of linkage swing rod on the swinging block 100
The matched swing hole 101, the linkage swing rod 91 pass through the swing hole 101；The cylinder of the linkage vertical cylinder 93
Body is fixed on the end of the linkage mandrel 99, and the linked suction cup 94 is fixed on the linkage vertical cylinder 93 by hollow pipe
Piston rod end.
More specifically, the feeding pipeline 3 includes: transmission bracket 10, synchronous conveyer band 11, synchronous belt drive mechanism
12, feeder motor 13, the transmission bracket 10 are fixed on the workbench 2, and the synchronous conveyer band 11 is movably connected on described
Bracket 10 is transmitted, the synchronous conveyer band 11 is at inclination arrangement；The feeder motor 13 is fixed on the transmission bracket 10, described
The output shaft of feeder motor 13 is connected to the synchronous conveyer band 11 by the synchronous belt drive mechanism 12；The conveying push plate
14 are fixed on the synchronous conveyer band 11, and medicine box 1 is placed on synchronous conveyer band 11, and are pushed by the conveying push plate 14 described
Medicine box 1 hoists conveying from lower.
More specifically, the feeding pipeline 3 further include: conveying push plate 14, the first backplate 15, the second backplate 16, third
Backplate 17, the 4th backplate 18, the first slide plate 19, the first guide rail 20, the second slide plate 21, connecting plate 22, the second guide rail 23, it is described defeated
Push plate 14 and the first backplate 15 is sent to be located at the two sides of a synchronous conveyer band 11, the third backplate 17, the 4th backplate 18
Positioned at the two sides of another synchronous conveyer band 11；First guide rail 20, the second guide rail 23 are fixed on the transmission bracket
10, first slide plate 19 is movably connected on first guide rail 20, and second slide plate 21 is movably connected on described second and leads
Rail 23；First backplate 15 and third backplate 17 are fixed on first slide plate 19, second backplate 16 and the 4th backplate
18 are fixed on second slide plate 21 by the connecting plate 22.
More specifically, the feeding manipulator 4 include: feeding bracket 30, the long cylinder 31 of feeding, feeding vertical cylinder 32,
Feeding horizontal slider 33, feeding horizontal guide rail 34, slide plate connecting plate 35, tension elastic element 36, roller bracket 37, roller 38,
Roller Impactor 39, feeding swinging axle 41, swings connecting plate 42, horizontal stop block 43, the feeding bracket at feeding crawl plate 40
30 are fixed on the workbench 2, and the cylinder block of the long cylinder 31 of feeding is fixed on the feeding bracket 30, and the feeding is horizontal
34 level of guide rail is fixed on the feeding bracket 30, and the feeding horizontal slider 33 is movably connected on the feeding horizontal guide rail
34, the end of the piston rod of the long cylinder 31 of feeding is fixed on the feeding horizontal slider 33；The slide plate connecting plate 35 is solid
It is connected in the feeding horizontal slider 33, the feeding swinging axle 41 is fixed on the slide plate connecting plate 35, the swing connecting plate
42 are movably connected on the feeding swinging axle 41, and the cylinder block of the feeding vertical cylinder 32 is fixed on the swing connecting plate
42, the feeding crawl plate 40 is fixed on the end of the piston rod of the feeding vertical cylinder 32；Plate 40 is grabbed in the feeding
The tension elastic element 36 is set between slide plate connecting plate 35；The roller bracket 37 is fixed on the feeding vertical cylinder
32 cylinder block, the roller 38 are movably connected on the roller bracket 37, and the roller Impactor 39 is fixed on the feeding
Bracket 30, the roller Impactor 39 and roller 38 match；The horizontal stop block 43 is fixed on the feeding bracket 30, institute
It states horizontal stop block 43 and roller bracket 37 matches.
More specifically, the feeding manipulator 4 further include: discharging pallet 80, the discharging pallet 80 are fixed on the cunning
Plate connecting plate 35, the discharging pallet 80 is in horizontally disposed；The discharging pallet 80 is located at the top of feeding crawl plate 40.
More specifically, the tension elements 36 are in tension state.
More specifically, the horizontal stop block 43 is used to limit the hunting range of the feeding vertical cylinder 32, the water
Flat limited block 43 makes the feeding crawl plate 40 be in horizontality, and sucker 44 is fixed on the feeding crawl plate 40.
More specifically, the centering clamping workbench 5 includes: centering bracket 50, the first grip block 51, the second grip block
52, third grip block 53, the 4th grip block 54, centering linear guide 56, centering gripper cylinder 57, the first connecting plate 59, Zuo Lian
Bar 60, right connecting rod 61, left side T-shaped plate 62, right side T-shaped plate 63, the centering bracket 50 is fixed on the workbench 2, described right
Middle linear guide 56 is fixed on the centering bracket 50, first grip block 51, the second grip block 52, third grip block 53,
4th grip block 54 is successively movably connected on the centering linear guide 56 by sliding block；The cylinder of the centering gripper cylinder 57
Body is fixed on the centering bracket 50, and the centering gripper cylinder 57 is located at the lower part of the centering linear guide 56；Described
One connecting plate 59 is fixed on the end of the piston rod of the centering gripper cylinder 57, one end of the left connecting rod 60, right connecting rod 61
It is symmetrically movably connected on first connecting plate 59, the other end of the left connecting rod 60 is movably connected on the left side T-shaped plate
62, the other end of the right connecting rod 61 is movably connected on the right side T-shaped plate 63；First grip block 51, third grip block
53 are fixed on the left side T-shaped plate 62, and second grip block 52, the 4th grip block 54 are fixed on the right side T-shaped plate 63.
More specifically, the centering clamps workbench 5 further include: absorption cylinder 58, centering clamping sucking disk 55, the absorption
The cylinder block of cylinder 58 is fixed on the centering bracket 50, and the centering clamping sucking disk 55 is fixed on the absorption by hollow pipe
The end of the piston rod of cylinder 58.
More specifically, the centering clamps workbench 5 further include: push-in guide rail 64, push-in cylinder 66, pushes away push rod 65
Enter connecting plate 67, the push-in guide rail 64 is fixed on the centering bracket 50, and the push rod 65 is movably connected on the push-in
Guide rail 64, the cylinder block of the push-in cylinder 66 are fixed on the centering bracket 50, the end of the piston rod of the push-in cylinder 66
End is fixed on the push rod 65 by the push-in connecting plate 67.
More specifically, the Ding Xi mechanism 70 include: top inhale bracket 71, vertical servo slide table 72, top inhale servo slide plate 73,
Suction pressure plate 74, top suction cylinder 75, top air intake duct 76, top suction sucker 77 are pushed up, the top inhales bracket 71 and is fixed on the centering clamping
On workbench 5, the vertical servo slide table 72 is fixed on the top and inhales bracket 71, and the vertical servo slide table 72 is at vertical cloth
It sets；The top inhales servo slide plate 73 and is connected to the vertical servo slide table 72, and the top suction pressure plate 74 is fixed on the top suction and watches
Slide plate 73 is taken, the top suction pressure plate 74 is at horizontally disposed；It is sliding that the cylinder block of the top suction cylinder 75 is fixed on the top suction servo
Plate 73, the top air intake duct 76 are fixed on the end of the piston rod of the top suction cylinder 75, and the top inhales sucker 77 and is fixed on institute
The end of top air intake duct 76 is stated, the top air intake duct 76 is directed downward, and is located at the top of medicine box 1.
More specifically, the finished product pipeline 110 includes: finished product conveyer belt 111, finished product motor 112, finished product synchronous belt biography
The output shaft of motivation structure 113, the product motor 112 drives the product to pass by the product synchronous belt drive mechanism 113
Band 111 is sent to rotate.
Drug dispensing system in Intelligent Pharmacy, comprising the following steps:
1) drug 85 is placed in drug rollway 130, and the drug rollway 130 realizes position correction to drug 85:
The cylinder block of the long cylinder 133 of feed is fixed on the workbench 2, the end of the piston rod of the long cylinder 133 of feed
End is fixed on one end of the feed slide unit 132, and the piston rod of the long cylinder 133 of feed retracts, and makes the drug rollway
Drug 85 on 130 is located in the working range of drug feeding manipulator 120；The left hand ski 137, right hand ski 138 are living
Dynamic to be connected to the feed guide rail 135, the end of the piston rod of the feed gripper cylinder 136 is fixed on the left hand ski
137, the cylinder block of the feed gripper cylinder 136 is fixed on the right hand ski 138；The left grip block 139 is fixed on institute
Left hand ski 137 is stated, the right grip block 140 is fixed on the right hand ski 138, is arranged on the left grip block 139
The first clamp bar 141, third clamp bar 143 are stated, is provided with second clamp bar 142, the 4th clamp bar 144 on the right grip block 140；
For drug 85 between first clamp bar 141 and the second clamp bar 142, drug 85 is located at the third clamp bar 143 and the 4th folder
Between item 144；The piston rod of the feed gripper cylinder 136 retracts, and first clamp bar 141 and the second clamp bar 142 close up simultaneously
Position correction is realized to drug 85, the third clamp bar 143 and the 4th clamp bar 144 close up and realize position correction to drug 85；
2) the drug rollway 130 unclamps the clamping to drug 85:
The piston rod of the feed gripper cylinder 136 stretches out, and first clamp bar 141 and the second clamp bar 142 are unclamped to drug 85
Clamping, the third clamp bar 143 and the 4th clamp bar 144 unclamp the clamping to drug 85；
3) medicine box 1 is delivered to the crawl position of feeding manipulator 4 by feeding pipeline 3:
The synchronous conveyer band 11 is movably connected on the transmission bracket 10, and the synchronous conveyer band 11 is at inclination arrangement；It is described
Feeder motor 13 is fixed on the transmission bracket 10, and the output shaft of the feeder motor 13 passes through the synchronous belt drive mechanism 12
It is connected to the synchronous conveyer band 11；Medicine box 1 is placed on synchronous conveyer band 11, and pushes the medicine by the conveying push plate 14
Box 1 hoists conveying from lower, and behind the crawl position for reaching feeding manipulator 4, the main shaft of the feeder motor 13 is locked；
4) feeding manipulator 4 grabs medicine box 1 from the feeding pipeline 3:
The feeding horizontal slider 33 is movably connected on the feeding horizontal guide rail 34, and the piston rod of the long cylinder 31 of feeding is stretched
Out, move the feeding horizontal slider 33 to 39 direction of roller Impactor, the roller Impactor 39 and roller
38 collide, and the roller Impactor 39 drives the feeding vertical cylinder 32 to rotate centainly around the feeding swinging axle 41
Angle, so that feeding crawl plate 40 and the medicine box 1 on the feeding pipeline 3 is in the posture being parallel to each other；Institute
The piston rod for stating feeding vertical cylinder 32 stretches out, and the feeding crawl plate 40 is made to adsorb medicine box 1；
5) medicine box 1 is placed in the centering and clamps workbench 5 by feeding manipulator 4:
The piston rod of the feeding vertical cylinder 32 retracts, and the feeding crawl plate 40 and medicine box 1 rise；The long cylinder of feeding
31 piston rod retracts, and the feeding horizontal slider 33 is moved far from 39 direction of roller Impactor, and the roller touches
Collision block 39 is detached from the roller 38, and the feeding crawl plate 40 and medicine box 1 are in horizontal attitude, and medicine box 1 reaches the centering folder
It holds on workbench 5；The feeding manipulator 4 puts down medicine box 1 and is detached from the centering clamping workbench 5；
6) the drug rollway 130 realizes the position correction to drug 85, and drug 85 is sent to the drug feeding machinery
In the working range of hand 120:
The left grip block 139 is fixed on the left hand ski 137, and the right grip block 140 is fixed on the right hand ski
138, first clamp bar 141, third clamp bar 143 are provided on the left grip block 139, are arranged on the right grip block 140
There are second clamp bar 142, the 4th clamp bar 144；Drug 85 is described between first clamp bar 141 and the second clamp bar 142
First clamp bar 141 and the second clamp bar 142 folder hold together, and drug 85 is described between the third clamp bar 143 and the 4th clamp bar 144
Third clamp bar 143 and the 4th clamp bar 144 folder hold together, and realize the position correction to drug 85；
7) the centering clamping workbench 5 realizes position correction to medicine box 1, and the Ding Xi mechanism 70 pushes down medicine box 1, the centering
Workbench 5 is clamped to enter the packaging of drug 85 in medicine box 1:
First connecting plate 59 is fixed on the end of the piston rod of the centering gripper cylinder 57, the left connecting rod 60, right company
One end of bar 61 is symmetrically movably connected on first connecting plate 59, and the other end of the left connecting rod 60 is movably connected on described
Left side T-shaped plate 62, the other end of the right connecting rod 61 are movably connected on the right side T-shaped plate 63；First grip block 51,
Three grip blocks 53 are fixed on the left side T-shaped plate 62, and second grip block 52, the 4th grip block 54 are fixed on the right side T
Shape plate 63；Medicine box 1 between first grip block 51, the second grip block 52, medicine box 1 be located at second grip block 52,
Between 4th grip block 54, the piston rod of the centering gripper cylinder 57 stretches out upwards, sends out the left connecting rod 60, right connecting rod 61
Raw linkage, first grip block 51, the second grip block 52 folder hold together medicine box 1, second grip block 52, the 4th grip block 54 folder
Hold together medicine box 1,1 position of medicine box is made to occur to correct and fixes；The Ding Xi mechanism 70 pushes down medicine box 1；
The push rod 65 is movably connected on the push-in guide rail 64, and the cylinder block of the push-in cylinder 66 is fixed on the centering
The end of bracket 50, the piston rod of the push-in cylinder 66 is fixed on the push rod 65, institute by the push-in connecting plate 67
It states push rod 65 and pushes drug 85, enter drug 85 in medicine box 1；
8) medicine box 1 for completing assembly and drug 85 are inhaled height by the Ding Xi mechanism 70, and the feeding manipulator 4 places medicine box 1
In on discharging pallet 80, and remove；
9) linkage manipulator 90 grabs medicine box 1 from feeding manipulator 4, and medicine box 1 is placed in the finished product and is conveyed
It is exported on line 110:
The cylinder block of the linkage vertical cylinder 93 is fixed on the end of the linkage mandrel 99, and the linked suction cup 94 passes through sky
Heart pipe is fixed on the end of the piston rod of the linkage vertical cylinder 93.The linked suction cup 94 is adsorbed onto medicine box 1.The linkage
The piston rod of long cylinder 96 stretches out, and the catenating slider 98 is pushed to move along the horizontally-guided guide rail 97.Due to the linkage
Swing rod 91 is movably connected on the linkage support 92, and the linkage swing rod 91 is rotated around swinging axle 95, and the linkage mandrel 99 is living
Dynamic to be connected to the catenating slider 98, the swinging block 100 is fixed on the end of the linkage mandrel 99, the swinging block 100
On be provided with the swing hole 101 that matches of linkage swing rod 91, the linkage swing rod 91 is across the swing hole
101；For the linkage mandrel 99 during moving with the catenating slider 98, the linkage mandrel 99 is with the linkage swinging
Bar 91 is swung, and is caused the linkage vertical cylinder 93 that the movement in even direction occurs, is put position so as to adjust medicine box 1
It sets.
Finally it is pointed out that above embodiments are only the more representational examples of the present invention.It is clear that the invention is not restricted to
Above-described embodiment, acceptable there are many deformations.Any letter to the above embodiments according to the technical essence of the invention
Single modification, equivalent variations and modification, are considered as belonging to the scope of protection of the present invention.
Claims (1)
1. the drug dispensing system in a kind of Intelligent Pharmacy, it is characterised in that the following steps are included:
1) drug is placed in drug rollway, and the drug rollway realizes position correction to drug:
2) the drug rollway unclamps the clamping to drug:
The piston rod of the feed gripper cylinder stretches out, and first clamp bar and the second clamp bar unclamp the clamping to drug, described
Third clamp bar and the 4th clamp bar unclamp the clamping to drug；
3) medicine box is delivered to the crawl position of feeding manipulator by feeding pipeline:
4) feeding manipulator grabs medicine box from the feeding pipeline:
5) medicine box is placed in the centering and clamps workbench by feeding manipulator:
6) the drug rollway realizes the position correction to drug, and drug is sent to the work of the drug feeding manipulator
In range:
7) the centering clamping workbench realizes position correction to medicine box, and the Ding Xi mechanism pushes down medicine box, the centering clamping
Workbench enters Key works Drug packing in medicine box:
8) the Ding Xi mechanism inhales the medicine box for completing assembly and drug high, and medicine box is placed in by the feeding manipulator unloads material torr
On disk, and remove；
9) linkage manipulator grabs medicine box from feeding manipulator, and medicine box is placed in defeated on the finished product pipeline
Out.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811315713.1A CN109279080B (en) | 2018-11-07 | 2018-11-07 | Drug distribution system in intelligent pharmacy |
| CN202011408827.8A CN112498813B (en) | 2018-11-07 | 2018-11-07 | Intelligent dispensing system for medicine in pharmacy |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811315713.1A CN109279080B (en) | 2018-11-07 | 2018-11-07 | Drug distribution system in intelligent pharmacy |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011408827.8A Division CN112498813B (en) | 2018-11-07 | 2018-11-07 | Intelligent dispensing system for medicine in pharmacy |
Publications (2)
| Publication Number | Publication Date |
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| CN109279080A true CN109279080A (en) | 2019-01-29 |
| CN109279080B CN109279080B (en) | 2020-12-29 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811315713.1A Active CN109279080B (en) | 2018-11-07 | 2018-11-07 | Drug distribution system in intelligent pharmacy |
| CN202011408827.8A Active CN112498813B (en) | 2018-11-07 | 2018-11-07 | Intelligent dispensing system for medicine in pharmacy |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN202011408827.8A Active CN112498813B (en) | 2018-11-07 | 2018-11-07 | Intelligent dispensing system for medicine in pharmacy |
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| US1266809A (en) * | 1916-10-05 | 1918-05-21 | Warren B Hutchinson | Machine for filling match-boxes. |
| IE970406A1 (en) * | 1997-05-30 | 1998-12-02 | Oldbridge Investments Ltd | A biscuit manufacturing process |
| CN207433957U (en) * | 2017-10-31 | 2018-06-01 | 苏州江锦自动化科技有限公司 | Rectangular piece packing device |
| CN108163302A (en) * | 2018-01-13 | 2018-06-15 | 温州职业技术学院 | A kind of fully-automatic packaging equipment |
| CN108674725A (en) * | 2018-04-26 | 2018-10-19 | 襄阳凌浩科技有限公司 | Automatic box jacketing mechanism and application |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3706402B2 (en) * | 1994-08-22 | 2005-10-12 | 株式会社マキ製作所 | Long vegetable boxing equipment |
| CN103342171B (en) * | 2013-07-15 | 2014-12-10 | 淄博荣琦自动化科技有限公司 | Box packing machine |
| CN106144022A (en) * | 2016-08-17 | 2016-11-23 | 芜湖凯尔电气科技有限公司 | High-temperature battery automatic blanking collating unit |
| CN108528815B (en) * | 2018-08-08 | 2018-12-07 | 龙口盛福达食品有限公司 | A kind of food fills packet closing device automatically |
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- 2018-11-07 CN CN201811315713.1A patent/CN109279080B/en active Active
- 2018-11-07 CN CN202011408827.8A patent/CN112498813B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US1266809A (en) * | 1916-10-05 | 1918-05-21 | Warren B Hutchinson | Machine for filling match-boxes. |
| IE970406A1 (en) * | 1997-05-30 | 1998-12-02 | Oldbridge Investments Ltd | A biscuit manufacturing process |
| CN207433957U (en) * | 2017-10-31 | 2018-06-01 | 苏州江锦自动化科技有限公司 | Rectangular piece packing device |
| CN108163302A (en) * | 2018-01-13 | 2018-06-15 | 温州职业技术学院 | A kind of fully-automatic packaging equipment |
| CN108674725A (en) * | 2018-04-26 | 2018-10-19 | 襄阳凌浩科技有限公司 | Automatic box jacketing mechanism and application |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112498813B (en) | 2022-07-19 |
| CN109279080B (en) | 2020-12-29 |
| CN112498813A (en) | 2021-03-16 |
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Effective date of registration: 20221212 Address after: 276000 science and technology Avenue, high tech Industrial Development Zone, Linyi City, Shandong Province Patentee after: SHANDONG WEIKANG BIOLOGICAL PHARMACEUTICAL TECHNOLOGY CO.,LTD. Address before: 325000 No.79, Fuqiang street, Baotian, Tangxia Town, Wenzhou City, Zhejiang Province Patentee before: Dai Yi |
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Effective date of registration: 20250307 Address after: Room 1205, Building B, Soubao Center, Sanqiao New Street, Fengdong New City, Xixian New Area, Xi'an City, Shaanxi Province 710000 Patentee after: Shaanxi Huaren Guoji Pharmaceutical Co.,Ltd. Country or region after: China Address before: 276000 science and technology Avenue, high tech Industrial Development Zone, Linyi City, Shandong Province Patentee before: SHANDONG WEIKANG BIOLOGICAL PHARMACEUTICAL TECHNOLOGY CO.,LTD. Country or region before: China |