CN202272410U - Automatic symmetrical double-box type medicine-feeding mechanical device - Google Patents

Abstract

The utility model proposes a symmetrical double-box medicine-feeding mechanical device and a control method thereof aiming at the medicine storage tank type automatic pharmacy (rapid medicine dispensing machine). In order to achieve the above purpose, the utility model adopts the following technical scheme: a fully automatic symmetrical double-box medicine feeding mechanism, the medicine feeding mechanism is placed at the back end of the medicine storage tank type dispensing cabinet, the device includes a frame, a horizontal X There are five parts: the motion system in the vertical Y direction, the motion system in the Z direction along the slope of the pumping box, and the mechanical positioning system based on the positioning hole belt: the medicine feeding machine adopts the whole box type drug feeding and changing, which greatly improves the loading and unloading time. The drug speed improves the work efficiency, reduces the labor intensity of the staff, and at the same time facilitates the inventory management of pharmacy drugs; it has the advantages of fast, accurate, and high positioning accuracy; compared with similar foreign products, the drug feeding machine adopts symmetrical double boxes The way of dosing, with a large amount of treatment, is more suitable for the use characteristics of the large flow of Chinese people, and the complexity of the structure and the cost do not increase.

Description

Fully automatic symmetrical double box type drug feeding mechanism

technical field

The utility model relates to a fully automatic symmetrical double-box medicine feeding mechanical device and a control method thereof, belonging to the field of mechanical design and automation. the

Background technique

Pharmacy automation is the development direction of the pharmacy construction of modern large and medium-sized hospitals. At present, the drug storage methods of domestic hospital pharmacies are mainly fixed shelves, the drug storage is scattered, and the space utilization rate is low. The delivery of drugs is basically manually dispensed and sent by medical staff. The amount is large and cumbersome, and patients often need to queue up to buy medicines. Moreover, accidents of manually dispensing wrong medicines are not uncommon every year. Hospital pharmacy automation is a new trend in the development of pharmacies. the

Pharmacy automation equipment-rapid dispensing machine is a high-tech integrated system integrating information technology, computer technology, automatic control technology, detection technology and modern logistics technology. At present, pharmacy products at home and abroad can be summarized into five typical forms of automated pharmacies: robot-type automated pharmacy, drug storage tank-type automated pharmacy (rapid dispensing machine), bulk drug automated pharmacy (tablet subpackaging machine), CNC rotary cabinet type Automated pharmacy, injection dispensing machine. the

The utility model is aimed at the drug storage tank type automatic pharmacy (rapid drug dispensing machine). In order to improve the efficiency of drug storage and delivery, the utility model adopts the whole box type of drug change, which greatly improves the drug circulation speed, improves the work efficiency, and reduces the number of staff. labor intensity; and can monitor the entire process of drug circulation in the pharmacy, improving the quality of drug inventory management. the

Contents of the invention

The purpose of the utility model is to solve the shortcomings of low efficiency and poor positioning accuracy of a single box of a rapid drug dispensing machine in a pharmacy, and proposes a symmetrical double box type drug feeding mechanism and a control method thereof. The device has fast feeding speed, high efficiency, high positioning accuracy and simple operation; at the same time, the core controller of the control system adopts a high-performance programmable logic controller, which has strong logic operation ability; the positioning system adopts a combination of servo positioning module and mechanical positioning, To achieve the purpose of precise positioning. The feasible control method and effective data processing algorithm of the device system make the whole system more perfect. the

In order to achieve the above purpose, the utility model adopts the following technical scheme: a fully automatic symmetrical double-box medicine feeding mechanism, which adopts a plane right-angle robot structure design as a whole, and the medicine feeding mechanism is placed behind the drug storage tank type distribution cabinet end. Under the action of the driving device, the medicine box platform can move quickly along the X and Y directions; the two medicine boxes on the medicine box platform can be sent into the medicine storage track along the Z direction under the action of the driving motor, and when they reach the medicine storage At a certain destination on the track, the medicine box will automatically open the door at the front end of the medicine box under the action of the mechanical top block. Pharmaceutical institution docking. The device includes five parts: frame, horizontal X-direction motion system, vertical Y-direction motion system, Z-direction motion system along the pumping box slope and mechanical positioning system based on positioning hole belt:

Frame (see Figure 1): including rack mounting slot 1, guide rail mounting slot 2, 3, rack body 4, and foot adjustment screw 5. Among them, there is one rack installation slot, one fixed rack, which meshes with the horizontal X-direction movement gear to realize the horizontal movement of the platform; two guide rail installation slots; 4 or 6 foot adjustment screws are installed according to the situation, which are fine teeth Threaded, with lock nuts at both ends, used to adjust the levelness of the entire platform. the

Horizontal X-direction motion system and parts installed on the horizontal platform (see Figure 2): including transmission gear 6, transmission rack 7, transmission gear box and motor 8, vertical guide rail 9, pressure plate 10, sliding guide rail fixing part 11, Sliding rail moving part 12, horizontal installation platform 13, positioning system and positioning pin 14, vertical transmission screw 15. Among them, one transmission gear is rigidly connected with the transmission gearbox and the motor 8, and one transmission rack is fixedly installed; the main function of the horizontal installation platform 13 is to carry and install vertical moving parts, horizontal moving parts and parts of the positioning system parts. The sliding guide rail part has two sliding guide rail fixing parts 11, one sliding guide rail moving part 12 and two pressure plates 10; a set of positioning system and positioning pin 14, wherein the positioning pin is in the shape of a cone; the specific connection method is: sliding guide rail fixing part 11 is installed on the guide rail mounting groove of the above-mentioned base, the sliding guide rail moving part 12 is connected with the horizontal installation platform 13 by bolts, and the transmission motor and the gear box 8 and the positioning system and the positioning pin parts 14 are all installed on the horizontal installation platform 13. The movement process is: the power is transmitted to the transmission gear 6 through the transmission motor and the gearbox 8, and the transmission gear 6 meshes with the transmission rack 7. Since the rack 7 is fixed and the transmission motor and the gearbox 8 are fixedly connected to the horizontal installation platform 13, the The horizontal installation platform 13 together with the sliding guide rail moving part 12 moves horizontally and bidirectionally along the sliding guide rail fixing part 11 . When reaching a certain destination position, the control system sends out a control signal, the positioning system and the positioning pin 14 work, and are inserted into the purpose hole of the positioning hole belt of the medicine storage tank type automatic medicine cabinet. If the deviation of the docking position between the horizontal platform and the automatic medicine cabinet is Within 1mm, its position can be precisely aligned through the conical positioning pin, and at the same time, the connection rigidity between the medicine feeding machine and the automatic medicine cabinet is strengthened to ensure that the platform does not shake during vertical movement or medicine delivery box movement. the

Vertical Y-direction motion system and parts connected and installed on the vertical motion part (see Figure 3): including transmission motor and gear box 16, left sliding guide rail 17, vertical sliding platform 18, transmission nut 19, transmission wire Bar 20, guide rail connecting plate 21, bearing 22, pumping box part 23 (left and right symmetry each one), connecting plate 24 (left and right symmetry each one), right support bar 25. Among them, a transmission motor and a gear box 16 are installed on a horizontal installation platform, and the motor shaft and the lead screw 20 are arranged at 90°; the left sliding guide rail 17 and the right support rod 25 are connected by a guide rail connecting plate 21 on the upper part, forming a rectangle , the transmission lead screw 20 is installed in the center of the rectangle. The transmission nut 19 is fixedly connected with the vertical sliding platform 18 and engaged with the transmission screw 20; both ends of the transmission screw 20 are supported by tapered roller bearings 22 and fixed axially. The pumping box mechanism 23 along the pumping box slope is connected with the vertical sliding platform 18 through the connecting plate 24 . Its main movement process is:

The rotation of the motor and the gear drives the transmission screw 20 to rotate forward or reversely. Since the two ends of the transmission screw 20 are axially fixed, the transmission nut 19 engaged with it moves upward or downward along the axial direction of the screw; the transmission nut 19 and The vertical motion platform 18 is fixedly connected, and the vertical motion platform 18 moves up or down along the working surface of the left sliding guide rail under the drive of the drive nut; the pumping box mechanism 23 is fixedly connected with the vertical sliding platform 18, thereby realizing the pumping box mechanism 23 Up and down movement along the Y direction. the

The Z-direction motion system along the pumping box slope includes (see Figure 4): drive motor 26, transmission nut and slider 27, hook 28, balance guide rod 29, transmission screw 30, medicine box placement guide platform 31, elevation adjustment screw 32. Elevation angle adjustment mechanism base 33, elevation angle adjustment connecting rod and slide block 34, platform 35 along the medicine tank direction, mechanism installation platform 36, rotating shaft mechanism 37, hook driving electromagnet 38. The driving motor 26 is connected with the transmission lead screw 30 through a shaft coupling, and the main function of the balance guide rod 29 is to guide the transmission nut and the slider 27, and limit the rotation of the transmission nut and the slider. Hook 28 is connected with slide block 27, can move along with slide block 27, and effect is to hook the medicine box that needs changing medicine. This mechanism is also designed with an elevation adjustment mechanism, which can adjust the elevation angle of the medicine tank direction platform 35 according to actual conditions. Example), loosen the lock nut of the elevation angle adjustment screw rod 32, and simultaneously loosen the nuts in the opposite direction, then rotate the adjustment screw rod 32, at this time, the platform 35 rotates clockwise around the rotating shaft mechanism 37 along the medicine tank direction, and the elevation angle becomes When the desired angle is reached, tighten the adjusting nut. The process of reducing the elevation angle is opposite to the above. The specific action process of pumping the medicine box is:

Delivery process:

The staff puts the medicine box filled with medicine into the medicine box placement guide platform 31, and at the same time buckles the hanging ring behind the medicine box with the hook 28, and the guide protrusion in the middle of the guide platform cooperates with the slot at the bottom of the medicine box to play a role. guiding role. At the same time, as long as the slots at the bottom of the medicine boxes have the same size, medicine boxes with different widths can be placed on the medicine box placement platform. the

After the X (horizontal) and Y (vertical) two directions go to the designated position, the pumping box mechanism is aligned with the medicine tank track on the medicine storage tank type automatic medicine cabinet. At this time, the drive motor 26 rotates, and the lead screw rotates to drive the nut. Send down to designated position; Now hook drive electromagnet 38 gets signal after energizing and overcomes torsion spring resistance, rotates downwards, and hook 28 is unhooked with medicine box buckle, and medicine box moves down along the frame drawer under the action of gravity. Specify the location to complete the process of filling the whole box. the

Empty box process:

The process of evacuating the box is basically similar to the process of sending the box. the

When the medicine in a certain medicine box on the frame is released to the lower limit and needs to be filled, the medicine loading mechanism walks to the designated position along the X (horizontal) and Y (vertical) directions, and the drive motor 26 rotates to drive the drive nut Move the hook mechanism down to the lower part of the empty medicine box hanging buckle on the frame. During this process, the hook drives the electromagnet 38 to get a signal to energize, overcome the resistance of the torsion spring, and the hook rotates downward to prepare for hanging the box. After reaching the designated position, When the electromagnet is powered off, the hook automatically springs back and connects with the medicine box hanger. At this time, the drive motor reverses, and the drive nut and the hook mechanism return to realize the action of emptying the box. Send it back, and the staff will unload the empty box. the

The mechanical positioning system based on the positioning hole belt includes (see Fig. 5): the positioning hole belt 39 installed on the rear end of the medicine storage tank type automatic medicine cabinet, which is covered with positioning holes 45 corresponding to the position of the medicine storage tank; The power unit 40 can be driven by an electromagnet or an electro-hydraulic power unit; the shaft 41 connected with the positioning pin, the positioning pin guide sleeve 43, and the tapered surface positioning pin 44; the specific action process is:

After the drug-feeding mechanical mechanism reaches a certain medicine tank position in the X (horizontal) direction, the positioning pin drives the power device 40 to get a signal, and quickly pushes out the conical surface positioning pin 44, so that the positioning pin is inserted into the positioning hole 45 on the positioning hole belt 39 At this time, if the motion deviation of the control system is within 1mm, relying on the tapered surface of the positioning pin, the medicine feeding machine can be dragged to the position exactly opposite to the medicine tank to be added. Then along the Z-direction motion system of the pumping box slope, the medicine box full of medicine boxes is sent into the medicine tank, or the empty medicine box is drawn out from the track of the medicine tank. After the action of pumping the medicine box is completed, the positioning pin drives the power unit to reversely drive, and the positioning pin 44 is extracted from the positioning hole 45, and the next process of pumping the medicine box is carried out. the

An overall control system (see Figure 7) of a fully automatic symmetrical double-box medicine feeding mechanism, its hardware includes but not limited to the following parts: control system host computer, core controller (including multi-axis motion controller), touch screen, Horizontal (X direction) motion motor and driver A, vertical (Y direction) motion motor and driver B, along the pumping box slope (Z direction) motor and driver C. Among them, the upper computer is responsible for prescription processing and drug inventory management, and sends the drug information to be released to the core controller. The core controller issues a drug delivery command, drives the drug delivery control relay group, and makes the drug delivery electromagnet operate. At the same time, the sensor detects and Record the action and quantity of medicine dispensing. If a failure occurs, an alarm signal will be sent, and the quantity of medicine dispensing will be fed back to the host computer to modify the inventory. During the process of adding medicine, the upper computer lists the detailed list of medicines to be filled. According to the detailed list of medicines, the staff operates the touch screen near the working window of medicines to carry out the work of adding medicines, and at the same time, modifies and updates the inventory. The action control process of feeding medicine is as follows:

When the medicine in the medicine box of a certain medicine tank reaches the lower limit of lack of medicine, the host computer sends a signal of medicine shortage and need to fill the medicine. At this time, if the supplementary medicine is ready, the staff confirms that the medicine will start, and the horizontal (X direction) movement motor and driver A and the vertical (Y direction) motion motor and driver B start to work, so that the medicine feeding mechanism quickly moves to the position where medicine needs to be fed; then the mechanical positioning system operates, and the cone positioning pin is inserted into the back end of the medicine tank type automatic medicine cabinet. In the positioning hole; work along the (Z direction) motor and driver C on the pumping box slope, send the hook of the hanging box to the bottom of the hanging ring at the end of the medicine box; the hook drives the electromagnet to move, hang the hook, and then move along the pumping box slope The (Z direction) motor rotates in reverse, and the empty medicine box is pulled out to the medicine box placement platform; after the action is completed, the positioning pin is pulled out, and the medicine feeding mechanism quickly returns to the medicine feeding window, and the staff removes the empty medicine box; The action of emptying the box is completed. The staff scans the barcode of the medicine added, and enters or confirms the medicine information such as the quantity displayed on the touch screen, and puts the medicine box full of medicine into the medicine box placement platform. After confirming that it is correct, operate the confirmation button on the touch screen to confirm the medicine addition; The medicine feeding mechanism quickly moves to the position of the dosing tank according to the set position and speed information; after arriving at the position, the positioning pin is inserted to precisely align the medicine box and the medicine tank, and then the motor rotates along the slope (Z direction) of the pumping box Send the medicine box into the medicine storage tank. After being sent to the set position, the hook is released under the action of the electromagnet, and then the hook returns to the original position. And under the action of the mechanical top block, open the front door of the medicine box, and the boxed medicine can be docked with the medicine dispensing mechanism to complete the medicine feeding action. After the single feeding action is completed, according to the information sent by the upper computer, if the feeding work is completed, the feeding machine will return to the feeding work port. If there is still follow-up feeding work, the feeding machine will not return and move directly to the next For the medicine filling position, according to the above process, the empty medicine box is drawn out and sent back to the medicine filling work window, and the subsequent working process is similar and cyclically executed. Until the drug feeding work is completed, the drug feeding machine returns to the drug feeding window and is on standby. the

Compared with the prior art, the utility model has the following advantages:

1. Compared with the existing drug storage tank type automatic pharmacy (rapid drug dispensing machine) drug feeding machine, the drug feeding machine adopts the whole box type drug feeding and changing, which greatly improves the speed of drug feeding, improves work efficiency, and reduces Reduce the labor intensity of the staff, and at the same time facilitate the inventory management of pharmacies;

2. The medicine feeding machine adopts the positioning and addressing mode combining servo motor control and mechanical positioning, which has the advantages of fast, accurate and high positioning accuracy; 

3. The mechanical mechanism and control method are simple and reliable;

4. Compared with similar foreign products, the drug feeding machine adopts a symmetrical double-box drug feeding method, which can handle a large amount of drug, which is more suitable for the use characteristics of Chinese people with large traffic, and the structure complexity and cost do not increase. the

Description of drawings

Figure 1 Rack

Figure 2 Assembly drawing of horizontal X-direction motion system

Figure 3 Front view of the vertical Y-direction motion system

Figure 4 The front view and left view of the Z-direction motion system along the slope of the pumping box

Figure 5 Working diagram of mechanical positioning system based on positioning hole belt

Figure 6 The complete left view of the connection between the medicine feeding machine and the automated medicine cabinet

Figure 7 Control system hardware connection diagram

Figure 8 Flowchart of Prescription Data Transmission

Figure 9 Workflow diagram of drug application

In the figure: 1. Rack installation slot, 2. Front guide rail installation slot, 3. Rear guide rail installation slot, 4. Rack body, 5. Foot adjustment screw, 6. Transmission gear, 7. Transmission rack, 8. Transmission gearbox and motor, 9. Vertical guide rail, 10. Pressure plate, 11. Slide guide rail fixing part, 12. Slide guide rail moving part, 13. Horizontal installation platform, 14. Positioning system and positioning pin, 15. Vertical transmission screw , 16, transmission motor and gear box, 17, left sliding guide rail, 18, vertical sliding platform, 19, transmission nut, 20, transmission screw, 21, guide rail connecting plate, 22, bearing, 23, pumping box parts, 24 , connection plate, 25, right support rod, 26, drive motor, 27, transmission nut and slider, 28, hook, 29, balance guide rod, 30, transmission screw, 31, medicine box placement guide platform, 32, elevation angle Adjusting screw, 33, base of elevation angle adjustment mechanism, 34, elevation angle adjustment connecting rod and slider, 35, platform along the medicine tank direction, 36, mechanism installation platform, 37, rotating shaft mechanism, 38, hook driving electromagnet, 39, positioning hole Belt, 40, positioning pin driving power unit, 41, shaft, 43, positioning pin guide sleeve, 44, tapered surface positioning pin, 45, positioning hole, A, horizontal (X direction) motion motor and driver, B, vertical (Y direction) motion motor and driver, C, (Z direction) motor and driver along the slope of the pumping box. the

Detailed ways

This embodiment is described in detail in conjunction with accompanying drawings 1 to 9

The utility model mainly includes two parts of a fully automatic integral medicine box type medicine feeding mechanical structure and a control system. the

(1) Fully automatic symmetrical double-box drug feeding mechanism

A fully automatic symmetrical double-box drug feeding mechanism, which adopts a plane right-angle robot structure design as a whole, and the drug feeding mechanism is placed at the back end of the drug storage tank type distribution cabinet. Under the action of the driving device, the medicine box platform can move freely and quickly along the X and Y directions; the medicine box on the medicine box platform can be sent into the medicine storage track along the Z direction under the action of the driving motor. The device includes five parts: a frame, a horizontal X-direction motion system, a vertical Y-direction motion system, a Z-direction motion system along the slope of the pumping box, and a mechanical positioning system based on positioning hole belts. the

Figure 1 is the frame part; it includes a rack mounting slot 1, guide rail mounting slots 2, 3, a rack body 4, and anchor adjustment screws 5. Among them, there is one rack installation slot, one fixed rack, which meshes with the horizontal X-direction movement gear to realize the horizontal movement of the platform; two guide rail installation slots; 4 or 6 foot adjustment screws are installed according to the situation, which are fine teeth Threaded, with lock nuts at both ends, used to adjust the levelness of the entire platform. the

Figure 2 is the part of the horizontal X-direction motion system; including transmission gear 6, transmission rack 7, transmission gear box and motor 8, vertical guide rail 9, pressure plate 10, sliding guide rail fixing part 11, sliding guide rail moving part 12, horizontal installation platform 13 , positioning system and positioning pin 14, vertical transmission screw 15. The specific connection method is: the sliding guide rail fixing part 11 is installed on the guide rail installation groove of the above-mentioned base, the sliding guide rail moving part 12 is connected with the horizontal installation platform 13 through bolts, the transmission motor and the gear box 8, the positioning system and the positioning pin parts 14 are all Installed on the horizontal installation platform 13. The movement process is: the power is transmitted to the transmission gear 6 through the transmission motor and the gearbox 8, and the transmission gear 6 meshes with the transmission rack 7. Since the rack 7 is fixed and the transmission motor and the gearbox 8 are fixedly connected to the horizontal installation platform 13, the The horizontal installation platform 13 together with the sliding guide rail moving part 12 moves horizontally and bidirectionally along the sliding guide rail fixing part 11 . When reaching a certain destination position, the control system sends a control signal, the positioning system and the positioning pin 14 work, and are inserted into the purpose hole of the positioning hole belt of the medicine storage tank type automatic medicine cabinet. If the deviation of the docking position between the horizontal platform and the automatic medicine cabinet is Within 1mm, its position can be precisely aligned through the conical positioning pin, and at the same time, the connection rigidity between the medicine feeding machine and the automatic medicine cabinet is strengthened to ensure that the platform does not shake during vertical movement or medicine delivery box movement. the

Figure 3 is the part of the vertical Y-direction motion system; including the transmission motor and gearbox 16, the left sliding guide rail 17, the vertical sliding platform 18, the transmission nut 19, the transmission screw 20, the guide rail connecting plate 21, the bearing 22, and the pumping box parts 23, connecting plate 24, right support bar 25. The main movement process is: the rotation of the motor and the gear box drives the transmission screw 20 to rotate forward or reverse. Since the two ends of the transmission screw 20 are axially fixed, the transmission nut 19 meshing with it will move upward or downward along the axial direction of the screw. Downward movement; transmission nut 19 is fixedly connected with vertical movement platform 18, and vertical movement platform 18 moves up or down along the working face of left sliding guide rail under the drive of transmission nut; Pumping box mechanism 23 and vertical sliding platform 18 are fixed connection, so as to realize the up and down movement of the pumping box mechanism 23 along the Y direction. the

Fig. 4 is a front view and a left view of the Z-direction motion system along the pumping box slope; it includes a driving motor 26, a transmission nut and a slider 27, a hook 28, a balance guide rod 29, a transmission screw 30, a medicine box placement guide platform 31, Elevation angle adjustment screw 32, elevation angle adjustment mechanism base 33, elevation angle adjustment connecting rod and slider 34, platform 35 along the medicine tank direction, mechanism installation platform 36, shaft mechanism 37, hook driving electromagnet 38;

Elevation angle adjustment action realization process:

The base 33 of the elevation angle adjustment mechanism is installed on the installation platform 36. If you need to adjust the elevation angle (take the increase as an example), loosen the lock nut of the elevation angle adjustment screw 32, and at the same time loosen the screws in the opposite direction, and then tighten the adjustment Screw 32. At this time, the platform 35 rotates clockwise around the rotating shaft mechanism 37 along the direction of the medicine tank, and the elevation angle becomes larger. After reaching the required angle, tighten the adjusting screw. The process of reducing the elevation angle is opposite to the above. the

The specific action realization process of pumping the medicine box: (take the box delivery process as an example) 

The staff puts the medicine box filled with medicine on the medicine box placement guide platform 31, and at the same time buckles the hanging ring behind the medicine box with the hook 28, and the guide protrusion in the middle of the medicine box placement guide platform matches the slot at the bottom of the medicine box. , play a guiding role. At the same time, as long as the slots at the bottom of the medicine boxes have the same size, different medicine boxes can be placed on the medicine box placement platform. the

After the X (horizontal) and Y (vertical) two directions go to the designated position, the pumping box mechanism is aligned with the medicine tank track on the medicine storage tank type automatic medicine cabinet. At this time, the drive motor 26 rotates, and the lead screw rotates to drive the nut. Send down to designated position; At this moment, after the hook driving electromagnet 38 gets the signal, the energization overcomes the resistance of the torsion spring, and it rotates downward, and the hook 28 is unhooked with the medicine box buckle, and the medicine box moves down along the frame drawer under the action of gravity. Specify the location to complete the process of filling the whole box. the

It is basically similar to the box sending process, so I won’t repeat it here. the

The mechanical positioning system based on the positioning hole belt is shown in Figure 5. After the medicine feeding machine is connected with the automated medicine cabinet, it forms an integrated automatic medicine storage tank type automated medicine cabinet, as shown in Figure 6. the

(2) Control system

The hardware of the overall control system of the fully automatic integrated medicine box type medicine feeding mechanism is shown in Figure 7, including the control system host computer, core controller (including multi-axis motion controller), touch screen, horizontal (X direction) motion motor and Driver A, vertical (Y direction) motion motor and driver B, motor along the slope of the pumping box (Z direction) and driver C, conveyor belt transportation equipment motor, medicine discharge control relay group, medicine discharge electromagnet, sensor and alarm indication. Figure 8 shows the prescription data processing process of the upper computer. The drug application control method is carried out according to the following three major work steps:

1. Power-on initialization: When the system is powered on, the drug feeding mechanism looks for the horizontal (X direction) and vertical (Y direction) initial positions, and starts to run from the initial position to the end position, so that the drug feeding mechanism traverses the entire drug storage Each medicine trough of the trough-type automated medicine cabinet, and then return to the initial position. At this time, if there are unfinished tasks that need to be filled with medicine during the shutdown, the system will send out an alarm to remind the staff to deal with it. the

2. Execute the work of applying medicine:

i) When the equipment is running and the medicine in one or some medicine tanks reaches the lower limit of the alarm, the system will send out an alarm to remind the staff to take medicine, and at the same time transmit the name list of medicines that need to be taken to the touch screen of the medicine work window , the staff carry out the work of applying medicine according to the list details;

ii) The staff confirms the start of the drug feeding work, the system self-checks the position of the drug feeding mechanism, and confirms that the device is in the initial position. The staff selects an option in the drug feeding list according to the medicines in the medicine box and confirms that the drug feeding is done. The machine starts to evacuate the box;

iii) According to the two directions (X, Y), the medicine-feeding machine drives the motor to run at the same time, moves to the destination quickly, and then the mechanical positioning system operates to insert the conical surface positioning pin 44 into the corresponding position at the rear end of the medicine tank type automatic medicine cabinet. In the positioning hole, the positioning and addressing action ends; the (Z direction) motor C runs along the inclined plane of the pumping box, and the hook 28 is sent to the bottom of the hanging ring at the end of the medicine box; the hook drives the electromagnet 38 to move, hangs the hook, and then Z Reversely rotate to the motor, pull out the empty medicine box to the medicine box placement platform, after the action is completed, the positioning pin 44 is pulled out, the medicine feeding mechanism quickly returns to the medicine feeding window, and the staff removes the empty medicine box; the action of pumping out the box Completed; start the work of feeding the medicine box;

iv) The staff scans the barcode of the medicine added, and at the same time enters or confirms the medicine information such as the quantity displayed on the touch screen, and puts the medicine box full of medicine into the medicine box placement platform. After confirming that it is correct, operate the confirmation button on the touch screen to confirm the addition medicine; the medicine feeding machine will reach the empty slot position in the previous step according to the same action as step (iii), and insert the positioning pin; the Z direction motor will rotate the medicine box into the medicine storage tank, and after reaching the set position, the hook is on the Released under the action of the electromagnet, and then the hook returns to the original position, the medicine box slides down by its own weight along the slope to the tail of the medicine box at the front end of the medicine storage tank, and under the action of the mechanical top block, the front door of the medicine box is opened, and the boxed medicine is ready It can be connected with the drug dispensing organization to complete the action of feeding the drug; the information and quantity of the added drug are simultaneously transmitted to the host computer database for data update;

v) If the drug feeding schedule has not been executed to the last item, that is, there is still a drug tank that needs to be added, and the staff does not press the drug feeding stop button, the drug feeding machine will start from the stop position of step iv and execute step 4. In step iii, take out the empty medicine box, and then execute step iv until the medicine feeding schedule is completed or the staff presses the medicine feeding stop button, then the medicine feeding machine executes and completes the medicine feeding standby work step;

3. Complete the medicine standby:

After the dosing work is completed, or the staff presses the dosing stop button, the dosing machine will return to the initial position, stop and wait. the

The overall workflow of the drug application is shown in Figure 9. the

The above is an example of the utility model, and we can also make some changes to its mechanical structure to be applied to other similar devices. As long as the mechanical structure design idea and the overall control idea of the drug-applying machine are consistent with those described in the utility model, it should be regarded as the scope included in the utility model. the

Claims (2)

1. Fully automatic symmetrical double-box medicine feeding mechanism, characterized in that the device includes a frame, a horizontal X-direction movement system, a vertical Y-direction movement system, a Z-direction movement system along the slope of the pumping box, and a belt based on positioning holes The five parts of the mechanical positioning system will deliver the two medicine boxes carried to the target position or retrieve the empty box from the target position, of which: The rack includes: rack mounting slots (1), rail mounting slots (2), (3), rack body (4), and foot adjustment screws (5); The horizontal X-direction motion system and components installed on the horizontal platform include: transmission gear (6), transmission rack (7), transmission gearbox and motor (8), vertical guide rail (9), pressure plate (10), slide Guide rail fixing part (11), sliding guide rail moving part (12), horizontal installation platform (13), positioning system and positioning pin (14), vertical transmission screw (15); The vertical Y-direction motion system and parts connected and installed on the vertical motion part include: transmission motor and gear box (16), left sliding guide rail (17), vertical sliding platform (18), transmission nut (19) , transmission screw (20), guide rail connecting plate (21), bearing (22), pumping box parts (23), connecting plate (24), right support rod (25); The Z-direction motion system along the inclined plane of the delivery box includes: drive motor (26), drive nut and slider (27), hook (28), balance guide rod (29), drive screw (30), medicine box placement guide platform (31), elevation angle adjustment screw (32), elevation angle adjustment mechanism base (33), elevation angle adjustment connecting rod and slide block (34), platform along medicine tank direction (35), mechanism installation platform (36), rotating shaft mechanism (37 ), hook driving electromagnet (38); The mechanical positioning system based on the positioning hole belt includes: the positioning hole belt (39), which is covered with positioning holes (45) corresponding to the position of the medicine storage tank; the electromagnet power device (40) driving the positioning pin; The shaft (41) that is connected, the locating pin guide sleeve (43), the tapered surface locating pin (44). 2. The control system of the full-automatic integrated medicine box type medicine-feeding mechanical device according to claim 1, comprising: a control system host computer, a core controller, a touch screen, a horizontal X-direction motion motor and a driver (A), a vertical Y Move the motor and driver (B) in the direction, and the motor and driver (C) along the Z-direction of the inclined surface of the delivery box. the

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