CN107774579A - Sort dolly - Google Patents
Sort dolly Download PDFInfo
- Publication number
- CN107774579A CN107774579A CN201711153340.8A CN201711153340A CN107774579A CN 107774579 A CN107774579 A CN 107774579A CN 201711153340 A CN201711153340 A CN 201711153340A CN 107774579 A CN107774579 A CN 107774579A
- Authority
- CN
- China
- Prior art keywords
- sorting
- vehicle body
- sorting dolly
- dolly
- mechanical arm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Discharge Of Articles From Conveyors (AREA)
Abstract
One kind sorting dolly, including vehicle body (3), vehicle body are provided with mechanical arm (2), and mechanical arm is provided with negative pressure device (1), and vehicle body is additionally provided with imaging identification system, figure transmission module, industrial computer, signal receiver, tablet personal computer.Sorting dolly further relates to its mobile device, including roller conveyor and wheel (6).The characteristics of this sorting dolly has intelligent control, and running is orderly, and prescription correctness is checked, prescription and medicinal material real-time core pair, monitoring in real time, and medicine sorting error rate is low, and labor intensity is low, and sort efficiency is high.
Description
Technical field
The present invention relates to sorting device, specifically a kind of sorting dolly.
Background technology
The Chinese medicine sorting dolly generally used currently on the market all only has the structure of a dolly, complete from sorting is navigated to
By manual operation, dolly does not pick medicine information alert and proofreading function without any control system；Directly medicinal material is put into during sorting
Material barrel, function is checked without prescription correctness；Without path setting function is most preferably sorted, gone for accordingly by sorting man memory
Medicinal material；There is no prescription and medicinal material material object real-time check function, packaging is directly packed after manual sorting；Sorting people places again
Polybag, sorted according to dosage.Its shortcoming is that error rate is high, and sorting personnel's walking is unordered, and labor intensity is big.
The content of the invention
In order to overcome the shortcomings of background technology, the present invention provides a kind of sorting dolly.
To achieve the above object, the technical solution adopted by the present invention is：One kind sorting dolly, including vehicle body, the vehicle body
Provided with mechanical arm.
Further, the mechanical arm is provided with negative pressure device.
Further, the vehicle body is provided with imaging identification system.
Further, the vehicle body is additionally provided with figure transmission module, and the figure transmission module connects with the imaging identification circuit system
Connect.
Further, the vehicle body is additionally provided with industrial computer.
Further, the vehicle body is additionally provided with signal receiver, and the signal receiver is connected with the industrial computer circuit.
Further, the sorting dolly also includes the tablet personal computer of remote-controlled sorting dolly, the tablet personal computer difference
With the signal receiver and the figure transmission module wireless connection.
A kind of sorting system, the sorting system include a kind of described sorting dolly and its mobile device.
Preferably, its described mobile device is roller conveyor.
Preferably, its described mobile device is wheel.
The beneficial effect of this sorting dolly is：With intelligent control, running is orderly, and prescription correctness is checked, prescription and medicine
Material real-time core pair, in real time monitoring, medicine sort the characteristics of error rate is low, and labor intensity is low, and sort efficiency is high.
Brief description of the drawings
Fig. 1 is the front view of sorting dolly.
Fig. 2 is the left view of sorting dolly.
Fig. 3 is the structure chart of sorting dolly vehicle body and wheel.
Fig. 4 is sorting dolly electrical schematics.
In figure：1- negative pressure devices, 2- mechanical arms, 3- vehicle bodies, 4- material platforms, 5- electricity cabinets, 6- wheels, 7- servomotors,
8- transfer gears, 9- drive shafts, 10- holes, 11- reinforcements, 12- cover plates, 13- round sockets, the pole socket of eight or six types of 14- two or three, 15- controls
Line processed, 16- chassis, 17- mounting holes.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that specific embodiment described herein is used only for explaining the present invention, and
It is not used in the restriction present invention.
As shown in Figure 1, Figure 2, Figure 3 and Figure 4, in a preferred embodiment of the invention, a kind of sorting dolly, including negative pressure dress
Put 1, mechanical arm 2, vehicle body 3, material platform 4, electric cabinet 5, wheel 6, servomotor 7, transfer gear 8, drive shaft 9, hole 10, reinforcement
11st, cover plate 12, round socket 13, two or three pole sockets 14, control line 15, chassis 16, mounting hole 17.
Vehicle body 3 is provided with handle, and desktop is provided with handle, and desktop has a mounting hole 17, can be installed by mounting hole 17 automatically
Change equipment, can be mechanical arm or manipulator.Vehicle body 3 can be welded by 304 stainless steel square tubes, and square tube can arrange control line
15。
Vehicle body 3 includes material platform 4, electric cabinet 5, and vehicle body 3 can be divided into three layers, and first and second layer is material platform 4, and material is put down
Platform 4 is provided with the hole 10 that can carry eight sorting buckets, and third layer is electric cabinet 5, and material platform 4 is using the 1.5mm provided with reinforcement 11
Plate, electric cabinet 5 include side wall, cover plate 12 and chassis 16, and the side wall of electric cabinet 5 uses the stainless steel metal plates of 1.0mm 304, folds shaping,
The round socket 13 for being available for charging in aviation and using is provided with outside the side wall of electric cabinet 5, interior can be that eight or six types two or three are extremely inserted
Seat 14, cover plate 12 can be the demountable panels of corner dress screw, and chassis 16 is provided with heat emission hole, and cover plate 12 and chassis 16 also are provided with adding
Strengthening tendons 11, ups power, industrial computer are mountable in electric cabinet 5.
Mechanical arm 2 is installed on the handle desktop of vehicle body 3 by mounting hole 17, and the type of drive of mechanical arm can be hydraulic pressure
Formula, pneumatic type, electrodynamic type, can also three kinds be mixed to get composite mechanical arm, in addition with mechanical mechanical arm；Mechanical arm 2
Material is light-duty alloy, can be titanium alloy, magnesium alloy, aluminium alloy；The free degree scope of mechanical arm 2 is two to six, at this
In embodiment, mechanical arm 2 has five frees degree, and mechanical arm 2B can need to control stroke according to the height and depth of medicine-chest,
It is freely rotatable in the horizontal direction, it is flexible when drawing or release and diversion medicaments；Mechanical arm 2A parts and mechanical arm
The length ratio of 2B parts is：It is X before mechanical arm 2B parts are not flexible:Y=1:1, it is X after mechanical arm 2B parts are flexible:Y
=1:(1.1 to 2).
Mechanical arm 2 is provided with negative pressure device 1, and the entrance of negative pressure device 1 can persistently form vacuum or negative pressure, at exhaust nozzle
Pressure-fired is formed, working media is mainly gas, and negative pressure device 1 realizes absorption or releasing using the effect of pressure differential.
As shown in figure 4, the vehicle body of sorting dolly is additionally provided with imaging identification system, signal receiver, imaging identification system is not
Only there is camera function, Medicine Package Bag and Quick Response Code can also be identified, imaging identification system is mountable on negative pressure device；Letter
Number receiver has the wireless communication function that can receive or send signal to electronic equipment.
Ups power can be signal receiver, negative pressure device 1, servomotor 7, imaging identification system and figure transmission module, machinery
Arm 2, industrial computer are continuously powered 8 hours.Industrial computer respectively with ups power, signal receiver, negative pressure device 1, servomotor 7, take the photograph
As identifying system connects with figure transmission module, the circuit of mechanical arm 2 and controls its running, industrial computer, which is additionally provided with, can plan optimal sorting road
The operation sequence of line, sorting dolly is can control by setting sorting route crawl article.
The tablet personal computer of remote-controlled sorting dolly can also pass through tablet personal computer with industrial computer by wireless connection, staff
Manually operated or processing emergency case.Imaging identification system can also be connected with figure transmission module, figure transmission module and tablet personal computer without
Line connects, and can be monitored in real time by imaging identification system and figure transmission module.
A kind of sorting system includes a kind of sorting dolly and its mobile device, and its mobile device includes wheel (6) and roller
Conveyer belt.Vehicle body can realize and actively travel that servomotor 7 is mountable to electric cabinet 5 or the chassis of vehicle body 3 by installing wheel 6
16, servomotor 7 provides power for sorting dolly and helps to sort dolly positioning, and sorting dolly can be made to be moved to the displacement of setting
After be automatically stopped, servomotor 7 can be connected by speed changer with transfer gear 8, transfer gear 8 can pass through universal driving device with driving
Axle 9 is connected, and drive shaft 9 is connected with wheel 6, and wheel 6 can be sheave, and sheave can move on guide rail, the driver slot of servomotor 7
Wheel travels on guide rail；Sorting dolly can also be placed in roller conveyor and realize passive traveling, rolled by Serve Motor Control
The displacement for taking turns conveyer belt drives sorting dolly using frictional force, and sorting dolly is controlled by controlling the start and stop of roller conveyor
Corresponding sports state.
In one embodiment, sorting dolly desktop has a mounting hole 17 to be used to install mechanical arm 2, and wheel 6 is installed on vehicle body 3
Chassis 16, intelligent medicine-chest is in single arrangement, and guide rail and alignment sensor for sorting dolly traveling are provided with front of intelligent medicine-chest,
Sorting dolly can be travelled by the driving moment 6 of servomotor 7 on guide rail.During operation, the patient prescription from background server
Information accesses sorting dolly signal receiver by wireless telecommunications, then signal is transmitted into industrial computer, by industrial computer prescription just
True property is checked, and industrial computer is planned and sets out optimal sorting route and perform successively, and sorting dolly will be automatic by servomotor 7
In front of traveling to specified medicine-chest, the stroke of control machinery arm 2 makes negative pressure device 1 stretch into medicine-chest and by imaging identification system
Prescription is carried out with medicinal material real-time core to function, the sucker suction gram dress medicine materical crude slice packaging bag of the errorless rear end of negative pressure device 1 is confirmed, bears
Pressure device 1 rotates horizontally that packaging bag is transferred to sorting dolly and sorted in bucket by mechanical arm 2 to be discharged, and can once sort same place
The list of square or different prescriptions is secondary or more auxiliaries, all after sorting, at automatic running to desk checking vouching, completes single point
Pick task.It is equipped with starting point and terminal at desk checking vouching,, only need to be from end without returning to starting point when sorting again
Point starts to sort, then travels to starting point, is delivered at desk checking vouching, then starts lower subtask again, completes to a gram dress drink
Piece makes up a prescription.
In one embodiment, roller conveyor and alignment sensor are provided with before intelligent medicine-chest, it is automatic every a segment distance
Calibration sorting dolly traveling location data.After sorting dolly receives the signal from intelligent medicine-chest, intelligent medicine-chest is according to sorting
Dolly is automatically stopped roller transmission after reaching each medicine position.During operation, industrial computer obtains intelligence by signal receiver
Medicine-chest charge information, sorting dolly stop movement after roller conveyor is sent to specified location, and mechanical arm 2 starts to act, and leads to
The Quick Response Code crossed on imaging identification system identification target medicine-chest, then identify Quick Response Code or medicine bag on the sorting bucket equipped with medicinal material
Pack, after confirming that medicinal material corresponds to unanimously, negative pressure device 1 stretches into sorting bucket absorption Medicine Package Bag, after then putting in target medicine-chest,
Sucker discharges Medicine Package Bag, repeats the action until medicine filling finishes, it is small that negative pressure device 1 then is put into sorting
The supporting cleaning machine of car removes residual impurity, then advances to down medicinal material simply, repeats aforesaid operations, completes all medicinal material sortings
Afterwards, nearest check point can be automatically selected back according to distance, completes storage of the medicine from sorting bucket to medicine-chest.In addition, pass through
Imaging identification system and figure transmission module, staff can be transmitted from the real-time figure of tablet personal computer checks the recognizable medicine of naked eyes
Basic condition, including medicament storage amount, make moist it is mouldy.
This sorting dolly uses industrial computer Intelligent control；Dolly is sorted to move by setting path in guide rail or roller conveyor
It is dynamic；Take hierarchical design to carry multiple sorting buckets simultaneously in structure, while handle the how secondary component of same prescription, improve and divide
Pick efficiency；Vehicle body is provided with imaging identification system and figure transmission module, has identification and real-time monitoring and control.Therefore, this sorting dolly
With intelligent control, running is orderly, and prescription correctness is checked, prescription and medicinal material real-time core pair, monitoring in real time, medicine sorting error
The characteristics of rate is low, and labor intensity is low, and sort efficiency is high.
The preferred embodiments of the present invention are the foregoing is only, are not intended to limit the invention, all spirit in the present invention
With any modification affected within principle, equivalent substitution and improvement etc., should be included in the scope of the protection.
Claims (10)
1. one kind sorting dolly, including vehicle body (3), it is characterised in that the vehicle body is provided with mechanical arm (2).
2. a kind of sorting dolly according to claim 1, it is characterised in that the mechanical arm is provided with negative pressure device (1).
3. a kind of sorting dolly according to claim 1, it is characterised in that the vehicle body is provided with imaging identification system.
4. a kind of sorting dolly according to claim 3, it is characterised in that the vehicle body is additionally provided with figure transmission module, described
Figure transmission module is connected with the imaging identification circuit system.
5. a kind of sorting dolly according to claim 1, it is characterised in that the vehicle body is additionally provided with industrial computer.
6. a kind of sorting dolly according to claim 5, it is characterised in that the vehicle body is additionally provided with signal receiver, institute
Signal receiver is stated to be connected with the industrial computer circuit.
7. a kind of sorting dolly according to claim 4 or 6, it is characterised in that the sorting dolly also includes remote-controlled
Sort dolly tablet personal computer, the tablet personal computer respectively with the signal receiver and the figure transmission module wireless connection.
8. a kind of sorting system, it is characterised in that the sorting system is included described in claim 1-7 one of which claims
A kind of sorting dolly and its mobile device.
9. a kind of sorting dolly according to claim 8, it is characterised in that its described mobile device is roller conveyor.
10. a kind of sorting dolly according to claim 8, it is characterised in that its described mobile device is wheel (6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711153340.8A CN107774579A (en) | 2017-11-16 | 2017-11-16 | Sort dolly |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711153340.8A CN107774579A (en) | 2017-11-16 | 2017-11-16 | Sort dolly |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107774579A true CN107774579A (en) | 2018-03-09 |
Family
ID=61429751
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711153340.8A Pending CN107774579A (en) | 2017-11-16 | 2017-11-16 | Sort dolly |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107774579A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110471318A (en) * | 2019-06-26 | 2019-11-19 | 康美药业股份有限公司 | A kind of intelligence control system of pharmacy heating cooking stove |
| CN110586489A (en) * | 2019-08-06 | 2019-12-20 | 广东工业大学 | Intelligent vehicle for classifying articles based on image recognition and control method thereof |
| CN111070219A (en) * | 2019-12-17 | 2020-04-28 | 五邑大学 | Intelligent medicine distribution robot |
| CN111822367A (en) * | 2019-04-17 | 2020-10-27 | 北京旷视机器人技术有限公司 | Cargo Handling Systems and Sorting Container Mobile Equipment |
| CN112238961A (en) * | 2020-10-12 | 2021-01-19 | 蔡云建 | Automatic traditional Chinese medicine decoction piece batching method based on visual analysis |
| CN112439704A (en) * | 2020-11-16 | 2021-03-05 | 深圳市海达威工业自动化设备有限公司 | Sorting system and method based on vertical sorting |
| TWI843627B (en) * | 2023-07-13 | 2024-05-21 | 百國科技股份有限公司 | This invention discloses a drug identification system |
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| CN103043359A (en) * | 2011-10-17 | 2013-04-17 | 株式会社安川电机 | Robot system, robot, and sorted article manufacturing method |
| US20150032252A1 (en) * | 2013-07-25 | 2015-01-29 | IAM Robotics, LLC | System and method for piece-picking or put-away with a mobile manipulation robot |
| CN105381961A (en) * | 2015-12-23 | 2016-03-09 | 胡琳丽 | Comprehensive detection device for brake blocks |
| CN105751452A (en) * | 2016-04-22 | 2016-07-13 | 苏州超群智能科技有限公司 | Mechanical arm with visual image system |
| CN107116531A (en) * | 2017-06-30 | 2017-09-01 | 合肥博创机械制造有限公司 | A kind of pharmacy manages robot |
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Patent Citations (6)
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| JP2010131685A (en) * | 2008-12-03 | 2010-06-17 | Seiko Epson Corp | Robot system and imaging method |
| CN103043359A (en) * | 2011-10-17 | 2013-04-17 | 株式会社安川电机 | Robot system, robot, and sorted article manufacturing method |
| US20150032252A1 (en) * | 2013-07-25 | 2015-01-29 | IAM Robotics, LLC | System and method for piece-picking or put-away with a mobile manipulation robot |
| CN105381961A (en) * | 2015-12-23 | 2016-03-09 | 胡琳丽 | Comprehensive detection device for brake blocks |
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| CN107116531A (en) * | 2017-06-30 | 2017-09-01 | 合肥博创机械制造有限公司 | A kind of pharmacy manages robot |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111822367A (en) * | 2019-04-17 | 2020-10-27 | 北京旷视机器人技术有限公司 | Cargo Handling Systems and Sorting Container Mobile Equipment |
| CN110471318A (en) * | 2019-06-26 | 2019-11-19 | 康美药业股份有限公司 | A kind of intelligence control system of pharmacy heating cooking stove |
| CN110471318B (en) * | 2019-06-26 | 2022-05-10 | 康美药业股份有限公司 | Intelligent control system of pharmacy heating furnace |
| CN110586489A (en) * | 2019-08-06 | 2019-12-20 | 广东工业大学 | Intelligent vehicle for classifying articles based on image recognition and control method thereof |
| CN111070219A (en) * | 2019-12-17 | 2020-04-28 | 五邑大学 | Intelligent medicine distribution robot |
| CN112238961A (en) * | 2020-10-12 | 2021-01-19 | 蔡云建 | Automatic traditional Chinese medicine decoction piece batching method based on visual analysis |
| CN112238961B (en) * | 2020-10-12 | 2022-03-15 | 山东池翔中药饮片有限公司 | Automatic traditional Chinese medicine decoction piece batching method based on visual analysis |
| CN112439704A (en) * | 2020-11-16 | 2021-03-05 | 深圳市海达威工业自动化设备有限公司 | Sorting system and method based on vertical sorting |
| TWI843627B (en) * | 2023-07-13 | 2024-05-21 | 百國科技股份有限公司 | This invention discloses a drug identification system |
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Legal Events
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
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| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180309 |