CN101214107A - Automatization hospital pharmacy - Google Patents
Automatization hospital pharmacy Download PDFInfo
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- CN101214107A CN101214107A CNA2008100190532A CN200810019053A CN101214107A CN 101214107 A CN101214107 A CN 101214107A CN A2008100190532 A CNA2008100190532 A CN A2008100190532A CN 200810019053 A CN200810019053 A CN 200810019053A CN 101214107 A CN101214107 A CN 101214107A
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Abstract
The invention provides an automatic pharmacy, including a slope type medicine storing cabinet, a medicine distributing device, a sorting device, a medication applying device and a control management system. A U-shaped groove of a slope medicine storing holder is fixed to a supporting beam and forms a dip of 20 degrees with the horizontal plane. The medicine distributing device includes an elevator and a medicine output mechanism. A low end medicine outlet port of the U-shaped groove of the slope medicine storing holder is butted with a medicine inlet port of a U-shaped medicine storing groove of the medicine output mechanism. The medicine outlet is connected with a conveyer belt in a way of transiting through a retaining door to form a medicine distributing channel. The medicine outlet end of the medicine distributing device is equipped with the sorting device. A sorting channel is connected with the medicine distributing channel. The medicine outlet port of a medication applying transporting mechanism is butted with a medicine inlet port of a U-shaped groove of a medication applying manipulator which is installed on a Cartesian-coordinate robot. The medicine outlet port of the U-shaped groove of the medication applying manipulator is butted with a high end medicine inlet port of the U-shaped groove of the slope medicine storing holder to form the medication applying channel. Therefore, the functions of semi-automatic batch recharging of boxed medicine, medicine box dense storage and management, automatic medicine distribution according to a prescription and medicine sorting to the determined windows, etc. can be realized.
Description
Technical field
The present invention relates to a kind of automatic dispensary, be specifically related to the whole automation equipment of providing and storing of hospital pharmacy box packed medicine.
Background technology
The image of hospital is being represented as first window of hospital in the pharmacy.The patient mainly comes from the pharmacy to the impression of experiencing of hospital services.And before hospital outpatient pharmacy is sent out the medicine window, the neck medicine peak period in the morning of every day and afternoon, patient needs to line up length, waits for that the pharmacists opens the prescription of writing according to the doctor to patient, takes off medicine on the medicine shelf, issues patient.The patient's waiting time even the half an hour of reaching, domestic front three hospital is because the patient that seeks medical advice is numerous, all the more so.On the other hand, the pharmacists sends out medicine by hand, judge with individual memory or medicine label, and as easy as rolling off a log going wrong, even the medication accident appears.The pharmacists becomes the warehouseman, causes waste of human resource to a certain degree.
Current hospital pharmacy medicine is put dispersion, has occupied very large tracts of land of pharmacy, has increased pharmacist's labour intensity, but causes the huge waste of pharmacy usage space.
Therefore, at the box packed medicine granting of hospital outpatient pharmacy, be necessary to manufacture and design a kind of high pharmacy of automaticity that can reduce pharmacists's labour intensity, raising medicine granting efficient and accuracy rate, raising hospital pharmacy service quality fully.
Summary of the invention
The purpose of this invention is to provide a kind of automatic dispensary, can require accurately to provide box packed medicine according to prescription, and can store the box packed medicine of some, and guarantee to send out a medicine function and carry out continuously, can also automatic or semi-automatic medicine box be placed on definite medicine storage space.
Purpose of the present invention is achieved through the following technical solutions:
Automatic dispensary, comprise ramp type drug storage cabinet, send out medicine device, sorting equipment, feeding device and control and management system, characteristics are: described ramp type drug storage cabinet comprises support body, U type groove and brace summer, and U type groove fixes with brace summer and becomes 20 ° of inclination angles with horizontal plane; Described medicine device comprises lift, medicament discharge mechanism, retaining door and conveyer belt, and the low side medicine outlet of ramp type drug storage cabinet U type groove and the feeding opening of medicament discharge mechanism connect, and the medicine outlet of medicament discharge mechanism constitutes by retaining door and conveyer belt transition and linkage sends out the medicine passage; The drug end of sending out medicine device is furnished with sorting equipment, and sorting path is connected mutually with a medicine passage; Described feeding device comprises medicine-feeding conveying mechanism, medicine-loading manipulator and Cartesian robot, one end of the belt conveyor of medicine-feeding conveying mechanism is the medicine-feeding end, the other end is the drug end, the medicine outlet of medicine-feeding conveying mechanism and the feeding opening of medicine-loading manipulator U type groove connect, medicine-loading manipulator is installed on the Cartesian robot, the high-end feeding opening of the medicine outlet of medicine-loading manipulator U type groove and ramp type drug storage cabinet U type groove connects, thereby constitutes the medicine-feeding passage; Medicine box is placed in the U type groove of ramp type drug storage cabinet by the inclination that length direction one box connects a box, different medicine boxs is placed in the different U type grooves, when sending out medicine, lift moves to the corresponding storage space layer of ramp type drug storage cabinet, the action of drug turnover panel, granting medicine, medicine box is sent on the pipeline of sorting equipment, and corresponding letter sorting mouth is opened, and prescription medicine is dealt into the foreground window of appointment; During medicine-feeding, medicine box is transported in the medicine-loading manipulator U type groove by the medicine-feeding conveying mechanism, Cartesian robot makes medicine-loading manipulator navigate to definite ramp type drug storage cabinet U type groove, the turnover panel action of medicine-loading manipulator, and medicine box draws off from manipulator U type groove and enters into ramp type drug storage cabinet U type groove.
Further, above-mentioned automatic dispensary, the brace summer of ramp type drug storage cabinet comprises first brace summer, second brace summer and the 3rd brace summer, first brace summer, second brace summer, the 3rd brace summer fix with support body respectively, its fixed form adopts welding manner, and the U type groove and first brace summer, second brace summer, the 3rd brace summer fix and form 20 ° of inclination angles with horizontal plane.
Further, above-mentioned automatic dispensary, described lift comprise left rail and right guide rail, and an AC servo motor is installed in every guide rail bottom, and conveying mechanism is horizontally set between left rail and the right guide rail.
Further, above-mentioned automatic dispensary, described medicament discharge mechanism comprises drug turnover panel and slender axles, the drug turnover panel is acute angle folding shape, rib roller and rear roller are housed on turnover panel, U type drug storage groove dual-side has axis hole, slender axles pass the through hole on the drug turnover panel, torsion spring is equipped with at the slender axles two ends, and two spindle noses of slender axles are embedded in the axis hole of U type drug storage groove side, the below that is positioned at the drug turnover panel is provided with the electromagnetism post rod mechanism, the push rod of electromagnetism post rod mechanism is relative with ear shape contact site on the drug turnover panel, rear side at the electromagnetism post rod mechanism also is provided with the photoelectric counting sensor, and the detection faces of photoelectric counting sensor is close to mutually with U type drug storage groove contact-making surface.
Again further, above-mentioned automatic dispensary, described sorting equipment comprise conveying mechanism, letter sorting medicament discharge mechanism and conveyer motor, and the letter sorting medicament discharge mechanism is installed in a side of conveying mechanism conveyer belt, and the letter sorting medicament discharge mechanism adopts rotation push type structure.
Again further, above-mentioned automatic dispensary, described medicine-feeding conveying mechanism comprises belt conveyor, short transverse ultrasonic sensor, width ultrasonic sensor and length direction ultrasonic sensor, be provided with short transverse ultrasonic sensor support above front end, the short transverse ultrasonic sensor is fixed on the short transverse ultrasonic sensor support; The side direction of front end is provided with width ultrasonic sensor support, and the width ultrasonic sensor is fixed on the width ultrasonic sensor support; Forward in the conveyer rear end is provided with length direction ultrasonic sensor support, the length direction ultrasonic sensor is fixed on the length direction ultrasonic sensor support, and short transverse ultrasonic sensor, width ultrasonic sensor and length direction ultrasonic sensor are the three-dimensional orthogonal setting.
Again further, above-mentioned automatic dispensary, described medicine-loading manipulator comprises manipulator U type groove, canting motor and frame, manipulator U type groove is connected on the frame, manipulator U type groove is horizontal by 25 degree inclination angles, the casing of canting motor links to each other with the right bearing seat by motor flange, right bearing seat and frame are connected, the output shaft of motor links to each other with long driven axle by shaft coupling, long driven axle and U type piece are connected, and long driven axle is bearing on the right bearing seat by bearing, and the slide block of U type piece and Cartesian robot is connected; One end and the U type piece of short driven axle are connected, and the other end of short driven axle links to each other with left shaft holder by bearing, and left shaft holder and frame are connected; The below of frame low side is equipped with electromagnet, and the turning cylinder of folding shape turnover panel is connected the low side of frame, and an end of folding shape turnover panel is corresponding with electromagnet, on the other end of folding shape turnover panel roller is housed.
Again further, above-mentioned automatic dispensary, described Cartesian robot comprises the electronic guide rail of horizontal direction and the electronic guide rail of a cover vertical direction of the parallel placement of two covers, the electronic guide rail of horizontal direction is made of X-axis servomotor, X-axis horizontal guide rail, synchronizing shaft and X-axis horizontal guide rail, two cover horizontal guide rails adopt synchronizing shaft to connect, rotatablely moving of X-axis servomotor drives the slide block move left and right of X-axis horizontal guide rail, and same rotatablely moving is delivered to the slide block move left and right that the X-axis horizontal guide rail drives the X-axis horizontal guide rail by synchronizing shaft; The electronic guide rail of vertical direction is made of Y-axis servomotor and Y-axis guide rail, and Y-axis guide rail two ends are installed on the slide block of X-axis horizontal guide rail, on the Y-axis guide rail slide block are arranged, and the Y-axis servomotor rotatablely moves and drives slide block and move up and down; Medicine-loading manipulator is connected with Y-axis guide rail top shoe.
Again further, above-mentioned automatic dispensary, described automatic dispensary control and management system comprises the automatic dispensary server, automatic dispensary server heat is equipped with device, automatic dispensary medicine-feeding terminal computer, the automatic dispensary supervisory control comuter, the step motion controller, servo motion controller, data collecting card and PLC module, automatic dispensary server heat is equipped with device, hospital information system, automatic dispensary medicine-feeding terminal computer links to each other the step motion controller respectively with the automatic dispensary supervisory control comuter with the automatic dispensary server, servo motion controller, data collecting card and PLC module insert the automatic dispensary supervisory control comuter.
The outstanding substantive distinguishing features and the obvious improvement of technical solution of the present invention is mainly reflected in:
Automatic dispensary of the present invention can require accurately to provide box packed medicine according to prescription, and stores the box packed medicine of some, guarantees to send out the medicine function and carries out continuously, can also semi-automatic medicine box be placed on definite medicine storage space; The satisfied semi-automatic supply of finishing box packed medicine, the intensive storage and management of medicine box and send out medicine automatically and be sorted to definite window by prescription.Improve the storage density of hospital's medicine and the granting efficient of medicine greatly, better realized the overall procedure automation that the hospital pharmacy box packed medicine is provided.Design is unique, novel structure, and is ease in use, and the function brilliance is with low cost, good reliability, and very practical, application should be widely promoted.
Description of drawings
Below in conjunction with accompanying drawing technical solution of the present invention is described further:
Fig. 1: automatic dispensary overall schematic of the present invention;
Fig. 2: ramp type drug storage cabinet schematic diagram;
Fig. 3: send out the medicine device schematic diagram;
Fig. 4: send out medicine device lift schematic diagram;
Fig. 5: send out medicine device medicament discharge mechanism schematic diagram;
Fig. 6: sorting equipment schematic diagram;
Fig. 7: feeding device schematic diagram;
Fig. 8: feeding device conveying mechanism schematic diagram;
Fig. 9: feeding device medicine-loading manipulator schematic diagram;
Figure 10: feeding device Cartesian robot schematic diagram;
Figure 11: automatic dispensary control and management system schematic.
The implication of each Reference numeral sees the following form among the figure:
| Reference numeral | Implication | Reference numeral | Implication | | Implication | |
| 101 | Medicine box | 1 | Ramp type |
11 | |
|
| 12 | |
13 | |
14 | The 3rd supports beam- |
|
| 15 | Drug storage cabinet |
2 | Send out the |
21 | |
|
| 22 | The lift |
23 | Lift |
24 | Elevator delivery mechanism | |
| 25 | The |
26 | The right guide rail of |
27 | The |
|
| 3 | Send out the medicine device |
31 | The |
32 | |
|
| 33 | Slender axles | 34 | U type |
35 | |
|
| 36 | The |
37 | The |
38 | |
|
| 4 | The retaining |
5 | Conveyer |
6 | |
|
| 61 | |
62 | The letter sorting |
63 | The conveyer motor | |
| 7 | The medicine- |
71 | The medicine- |
72 | Short transverse |
|
| 73 | The short transverse |
74 | |
75 | Baffle plate |
| Reference numeral | Implication | Reference numeral | Implication | | Implication | |
| 76 | Length direction |
77 | The length direction |
78 | |
|
| 79 | The width |
8 | Medicine- |
81 | Manipulator U type groove | |
| 82 | |
83 | Long driven axle | 84 | |
|
| 85 | |
86 | Short driven |
87 | |
|
| 88 | Folding |
89 | |
9 | The medicine-feeding Cartesian |
|
| 91 | |
92 | The |
93 | The X-axis |
|
| 94 | Synchronizing |
95 | The X-axis |
96 | |
|
| 97 | The Y- |
98 | |
99 | The Y-axis servomotor | |
| 201 | The automatic dispensary server | 202 | Automatic dispensary server heat is equipped with |
203 | Hospital information system | |
| 204 | Automatic dispensary medicine- |
205 | The automatic dispensary supervisory control comuter | 206 | The step motion controller | |
| 207 | Servo motion controller | 208 | Data collecting card | 209 | The PLC module |
The specific embodiment
Automatic dispensary of the present invention can require accurately to provide box packed medicine according to prescription, and stores the box packed medicine of some, guarantees to send out the medicine function and carries out continuously, can also automatic or semi-automatic medicine box be placed on definite medicine storage space; Improve the storage density of hospital's medicine and the granting efficient of medicine, supporting semi-automatic medicine-feeding conveying device, indirect labor's medicine-feeding realizes the overall procedure automation that the hospital pharmacy box packed medicine is provided.
Mainly comprise the following aspects:
(1) medicine is provided by prescription in batches
The hand-written prescription of doctor is transfused to computer at the place of having a prescription priced become electronic prescription, enters hospital information system (HIS system).The automatic dispensary server reads the prescription information in the HIS system, and send out medicine at one of automatic dispensary and in the cycle medicine is provided out by value volume and range of product, and before the medicine of a prescription being sorted to the window that patient waiting for.The pharmacists on foreground checks the kind and the quantity of medicine, then medicine is issued patient.Medicine divides storage space to arrange by kind in the drug storage cabinet, can not be by the prescription storage.After the automatization drug-store computer management system reads electronic prescription in the HIS system cash statement, prescription information is converted into storage space information and quantity sends to the automatic dispensary supervisory control comuter, send the drug order, send out medicine device lift drive medicament discharge mechanism and run to corresponding storage space, obtain the medicine of prescription specified quantity, and medicine box is sent to sorting equipment, and collect all medicines of whole prescription, transmit and be sorted to the prescription specified window.Specifically accept the electronic prescription that hospital information system sends, generate corresponding storage space and information and send to the automatic dispensary supervisory control comuter by server.Supervisory control comuter control lift moves on the layer of corresponding storage space, and the electromagnet corresponding with these storage space row promotes the drug turnover panel, provides medicine.If it is complete that the medicine of whole prescription all distributes, medicine box is sent on the pipeline of sorting equipment, and corresponding foreground is sent out the letter sorting mouth of medicine window and opened, and the medicine of this prescription is dealt into the appointment foreground window.
(2) intensive storage and stock control
Intensive storage not only solves the storage problem of medicine, guarantees that also medicine can provide and supply smoothly.Adopt ramp type U type drug storage groove storage medicine, make full use of gravity and realize advancing and going out of medicine.Obtain the inventory information of current medicine accurately, not only help the doctor and open smoothly and write prescription, and can in time avoid the medicine shortage phenomenon to take place, improve the velocity of liquid assets of hospital's medicine, reduce hospital's medical procurement cost.Specifically be that medicine box is placed in the drug storage cabinet U type groove by the inclination that length direction one box connects a box.Different medicine boxs is placed in the different ramp type U type grooves.According to the medicine box actual size, medicine require reserves and pharmacy medication ratio, design and layout drug storage cabinet U type groove, it is the highest to reach space availability ratio.Medicine box quantity in each drug storage cabinet U type groove is all by server admin, in real time the dynamic management drug stock.
(3) semi-automatic medicine-feeding
Automatic dispensary has sends out medicine and intensive memory function automatically, improves the efficient that medicine flows out, corresponding, to the also corresponding raising of efficient of pharmacy drug supply, in medicine peak period or unusual time, avoids occurring disconnected medicine phenomenon.Adopt the mode of manually putting and adding medicine to the cooperation of conveying mechanism and medicine-loading manipulator automatically, guarantee the accuracy and the efficient of medicine-feeding.Control software adopts multithreading to write, and sends out medicine and carries out simultaneously with medicine-feeding.Specifically be by the server admin drug stock, regularly generate this medicine-feeding kind and quantity automatically, and send to the medicine-feeding terminal computer.The medicine-feeding operator contrasts the prompting of medicine-feeding terminal interface inventory, the medicine box of certain kind and quantity is placed on the medicine-feeding conveying mechanism, through detecting the ultrasonic sensor of medicine box length, width and height, after finishing size detection, with medicine box size contrast in the server database, judge whether medicine box size and placement orientation be wrong.If the size contrast is errorless, the operation of medicine-feeding conveying mechanism, medicine box is transported in the medicine-loading manipulator U groove, the medicine-feeding Cartesian robot navigates to definite drug storage cabinet U type groove with medicine-loading manipulator, medicine-loading manipulator drug turnover panel is opened, medicine box draws off from the ramp type drug storage groove of manipulator, and box packed medicine slides in the drug storage cabinet U type groove owing to the effect of gravity downslide component.
During detailed design, automatic dispensary mainly comprises ramp type drug storage cabinet, sends out medicine device, sorting equipment and feeding device.
Ramp type drug storage cabinet 1 comprises support body and brace summer, as shown in Figure 2, first brace summer 12, second brace summer 13, the 3rd brace summer 14 fix the position on request with support body 11 respectively, the fixed form of brace summer and support body adopts welding, U type groove 15 fixes with mode and the brace summer that flexibly connects, and U type groove 15 and first brace summer 12, second brace summer 13, the 3rd brace summer 14 fixing backs form 20 ° of inclination angles with horizontal plane.
As Fig. 1, send out the medicine mouth position that medicine device is arranged in ramp type drug storage cabinet 1 automatically.As Fig. 3, send out the conveyer belt 5 that medicine device comprises that lift 2, medicament discharge mechanism 3, retaining door 4 and medicine transport.As Fig. 4, lift 2 comprises AC servo motor 21, left rail 22, right guide rail 26, conveying mechanism 24 and baffle plate 25, drives the unit that moves along a straight line by AC servo motor 21 and moves up and down.Medicament discharge mechanism 3 is installed in medicine outlet position, ramp type drug storage cabinet U type drug storage groove 15 bottom, medicament discharge mechanism 3 as shown in Figure 5, mainly comprise drug turnover panel 31, rib roller 36, slender axles 33, rear roller 35, drug turnover panel 31 is " ∠ " acute angle folding shape, on acute angle folding shape turnover panel 31, rib roller 36 and rear roller 35 are housed, U type drug storage groove 34 leaves the space of drug turnover panel 31 upsets, U type drug storage groove dual-side has axis hole, and slender axles 33 pass the through hole on the drug turnover panel 31, torsion spring is equipped with at the slender axles two ends, and two spindle noses of slender axles are embedded in the axis hole of U type drug storage groove side.The below that is positioned at drug turnover panel 31 is provided with the electromagnetism post rod mechanism, the push rod 38 of electromagnetism post rod mechanism is relative with ear shape contact site on the drug turnover panel, rear side at the electromagnetism post rod mechanism also is provided with photoelectric counting sensor 37, and the detection faces of photoelectric counting sensor is relative with U type drug storage groove contact-making surface.When medicine box 101 places on the U type drug storage groove 34, gravity effect landing is to front end, blocked by rib roller 36, drug turnover panel 31 upset makes the medicine box front end be raised to by rear roller 35 to be higher than rib roller 36, this moment, medicine box bottom surface and rib roller 36 and rear roller 35 were tangent, and the gravity effect makes medicine box skid off U type drug storage groove trend, and two rollers roll, medicine box is converted into the rolling friction that medicine box contacts with roller with the sliding friction that U type drug storage groove contacts, realizes drug by weight component.Retaining door 4 is installed in the medicine outlet of medicament discharge mechanism 3, conveyer belt 5 is positioned at the below of medicine outlet and is connected mutually with the drug passage, the main part of lift 2 is two drive rail, the elevator delivery band is horizontally set between two drive rail, an AC servo motor 21 is installed in every drive rail bottom, to realize sync bit and speed drive.When sending out medicine, generate drug planning and the anti-motion planning of piling up according to medicine shown in the prescription by controller, lift is positioned at the storage layer of medicine by planning, electromagnetism push rod coil electricity after finish the location, drive 38 actions of electromagnetism push rod, the medicine of taking-up detects through photoelectric counting sensor 37, and sensor is issued the controller counting with detection signal, and by the action frequency of controller control electromagnetism push rod 38, thereby medicine quantity is sent out in control; Medicine is delivered to retaining door 4 places, and the retaining door is opened, and medicine flows out, and finishes once the medicine of sending out of prescription.
The output of sending out medicine device is equipped with sorting equipment 6, and the medicine that sends from a medicine device is sent to sorting equipment 6.As Fig. 6, sorting equipment 6 mainly comprises conveying mechanism 61, letter sorting medicament discharge mechanism 62 and conveyer motor 63, letter sorting medicament discharge mechanism 62 is installed in a side of conveying mechanism conveyer belt, 4 letter sorting medicament discharge mechanisms are installed usually, the letter sorting medicament discharge mechanism adopts rotation push type structure, it mainly acts on is when medicine to be sorted sorts medicine outlet by specifying, and makes a medicine in the prescription slide conveyer belt so that carry out subsequent job.
As Fig. 7, feeding device mainly comprises conveying mechanism 7, medicine-loading manipulator 8 and Cartesian robot 9.
Medicine-feeding conveying device 7 as shown in Figure 8 is provided with short transverse ultrasonic sensor support 72 above front end, short transverse ultrasonic sensor 73 is fixed on the short transverse ultrasonic sensor support 72 by nut 74; The side direction of front end is provided with width ultrasonic sensor support, and width ultrasonic sensor 79 is fixed on the width ultrasonic sensor support by nut; Forward in the conveyer rear end is provided with length direction ultrasonic sensor support 76, and length direction ultrasonic sensor 77 is fixed on the length direction ultrasonic sensor support 76 by nut 78.Short transverse ultrasonic sensor 73, width ultrasonic sensor 79 and length direction ultrasonic sensor 77 are the three-dimensional orthogonal setting.Side at medicine-feeding belt conveyor 71 is equipped with baffle plate 75, and stepper motor drives belt conveyor 71 runnings.
Medicine-loading manipulator medicament discharge mechanism 8 shown in Figure 9, comprise manipulator U type groove 81, canting motor 82 and frame 85, manipulator U type groove 81 is connected on the frame 85, manipulator U type groove 81 is horizontal by 25 degree inclination angles, the casing of canting motor 82 links to each other with the right bearing seat by motor flange, right bearing seat and frame 85 are connected, the output shaft of motor 82 links to each other with long driven axle 83 by shaft coupling, long driven axle 83 is connected with U type piece 84, and long driven axle 83 is bearing on the right bearing seat by bearing, U type piece 84 is connected with medicine-feeding Cartesian robot slide block 91, and slide block 91 can be with about guide rail or move up and down.One end and the U type piece 84 of short driven axle 86 are connected, and the other end of short driven axle 86 links to each other with left shaft holder by bearing, and left shaft holder and frame 85 are connected; The below of frame 85 bottoms is equipped with electromagnet 87, and folding shape turnover panel 88 is movably connected in the bottom of frame 85, and an end of folding shape turnover panel 88 is corresponding with electromagnet 87, on the other end of folding shape turnover panel 88 roller 89 is housed.When medicine-feeding conveying device conveyer belt 71 during to manipulator 8 drug delivery, motor 82 counterclockwise (from the eyes front of manipulator rear portion) rotation, the right bearing seat drives frame 85 and goes up 81 rotations of U type groove, thereby make medicine finish lateral register, and electromagnet 87 this moment jack-up turnover panel 88 upwards, the restriction medicine skids off U type groove 81.When robot movement arrives the U type groove of ramp type drug storage cabinet correspondence, motor 82 clockwise (from the eyes front of manipulator rear portion) rotation, the right bearing seat drives frame 85 and goes up 81 rotations of U type groove, so that manipulator alignment ramp type drug storage cabinet U type groove 15, electromagnet 87 actions subsequently, make the top edge of turnover panel 88 be lower than the lower edge of U type groove 81, box-packed medicine skids off from manipulator U type groove 81 and drops in the ramp type drug storage cabinet 15, and the top edge of turnover panel 88 is equipped with roller 89 and helps medicine box and slide smoothly.
For considering manipulator positioning accuracy and use cost, Cartesian robot adopts and is with electronic line slideway type synchronously, finishes the positioning function of manipulator.Plane rectangular coordinates robot 9, as shown in figure 10, the electronic guide rail of horizontal direction and the electronic guide rail of a cover vertical direction that comprise the parallel placement of two covers, the electronic guide rail of horizontal direction is made of X-axis servomotor 92, X-axis horizontal guide rail 93, synchronizing shaft 94 and X-axis horizontal guide rail 95, two cover horizontal guide rails adopt synchronizing shaft to connect, rotatablely moving of X-axis servomotor 92 drives slide block 98 move left and right of X-axis horizontal guide rail, and is delivered to slide block 96 move left and right that X-axis horizontal guide rail 95 drives the X-axis horizontal guide rail by synchronizing shaft 94.The electronic guide rail of vertical direction is made of Y-axis servomotor 99 and Y-axis guide rail 97, and Y-axis guide rail 97 two ends are attached on slide block 98 and the slide block 96, and slide block 91 is arranged on the Y-axis guide rail, and Y-axis servomotor 99 rotatablely moves and drives slide block 91 and move up and down; Medicine-loading manipulator 8 is installed on the slide block 91, thus realize medicine-loading manipulator about move up and down.
As shown in figure 11, automatic dispensary control and management system comprises that automatic dispensary server 201, automatic dispensary server heat are equipped with device 202, automatic dispensary medicine-feeding terminal computer 204, automatic dispensary supervisory control comuter 205, step motion controller 206, servo motion controller 207, data collecting card 208 and PLC module 209.Automatic dispensary server heat device 202, hospital information system 203, automatic dispensary medicine-feeding terminal computer 204 fully links to each other with automatic dispensary server 201 respectively with automatic dispensary supervisory control comuter 205, and step motion controller 206, servo motion controller 207, data collecting card 208 and PLC module 209 insert automatic dispensary supervisory control comuters 205.
During concrete the application: manually medicine box is placed on the belt conveyor 71 of medicine-feeding conveying mechanism 7, the conveyer motion is sent to medicine box in the medicine-loading manipulator ramp type U type groove 81, and manipulator is discharged to medicine box 101 in the U type groove of determining in the ramp type drug storage cabinet 15 behind the location.Ramp type drug storage cabinet 1 is by forming with the U type grooves at horizontal direction inclination 20 degree angles, and U type groove is pressed the medicine box highl stratification, divides Column Layout by the medicine box width, utilizes the space to greatest extent.The multiplexing electromagnet of every row U type groove, drug lift 2 is located in the floor height direction, be contained in the turnover panel 31 of the electromagnet promotion medicament discharge mechanism on the drug lift, medicine box slides in the lift medicine box bucket 23, conveyer belt 3 is transported to sorting equipment 6 with ethical goods, and the mechanism for sorting of corresponding window is sorted to the foreground with medicine box and sends out the medicine window.
1. medicine is provided by prescription in batches
Medicine box branch kind is placed in the different U type groove of ramp type drug storage cabinet, puts a row medicine box in each drug storage cabinet U type groove, and its length can obtain the medicine box maximum quantity that this drug storage cabinet U type groove can be put divided by the length of single medicine box.As shown in Figure 2, the lower curtate of ramp type drug storage cabinet U type groove 15 is equipped with slender axles 33 and drug turnover panel 31, and medicine box 101 contacts with rib roller 36 in the drug process, is subjected to rolling friction rather than sliding friction.Drug turnover panel 31 forms by mould extruding nylon, can rotate around slender axles 33.When 38 actions of push-down electromagnet push rod, drug turnover panel 31 is by jack-up, drug turnover panel 31 rotates around slender axles 33, medicine box 101 is upwards boosted, pushed away the height of rib roller 36, because medicine box 101 is subjected to the thrust (if the back also has medicine box) of the downslide component and the back medicine box of self gravitation, medicine box 101 contacts with rib roller 36 simultaneously, skid off forward, slide on the angle plate.Have through hole on the angle plate, reflective photoelectricity sensor for countering 37 is housed under it.When medicine box slips over the angle plate through photoelectric counting sensor 37, reflect its emission light, photoelectric counting sensor 37 sends a pulse to the PLC controller, and the PLC controller is counted once, finishes the action that goes out a box medicine at drug storage cabinet U type groove.The push-down electromagnet resets under self action of reset spring fast, and drug turnover panel 31 is close to rib roller 36 because the restoring force effect of torsion spring 32 also resets under the sliding under gravity component effect of the medicine box of back, finishes at a U type groove and gets a box medicine.If need go out two boxes or the medicine more than two boxes by the prescription requirement in the drug storage cabinet U type groove, controller control electromagnet perseveration, require be longer than the push-down electromagnet jack-up time resetting time, send the pulse of respective numbers to the PLC controller up to photoelectric counting sensor 37, after PLC controller counting reached analog value, electromagnet push rod 38 stopped action and resets.
Owing to need intensive storage, need a maximum storage hundreds of kind, several ten thousand box medicines could satisfy the needs of hospital pharmacy in the drug storage cabinet.The quantity of drug storage cabinet U type groove is also very big, if each drug storage cabinet U type groove is installed a push-down electromagnet, cost can be very high, thus only adorn an electromagnet at every row drug storage groove, if need get it filled at ground floor first row, No. 1 electromagnet action, if need get it filled, rise to the 10th layer position by sending out medicine lift 2, No. 1 electromagnet action at the 10th layer of first row, realize the drug function of this drug storage cabinet U type groove, reach the multiplexing function of electromagnet.According to the requirement of memory space, design how many row drug storage grooves and just design what electromagnet, reduce agency cost, improve reliability.
According to the method described above, after a medicine box was removed, medicine box just slipped in the medicine box bucket 23 of sending out the medicine lift.If the medicine of a prescription is distributed in the multiple row drug storage cabinet U type groove with one deck, the corresponding push-down electromagnet of each row is realized the parallel drug of multiple-grooved simultaneously simultaneously with doing, and improves the drug effect rate of sending out.The medicine of a prescription is distributed in the position of multilayer, sends out the position that the medicine lift will move to a plurality of floor heights so.If same push-down electromagnet will move repeatedly in a prescription, go out many boxes medicine, elevator delivery mechanism 24 needs left or the segment distance that moves right, prevent the 23 same local medicine boxs accumulations of lift medicine box bucket, the medicine that causes the back to slide on the angle plate 27 can not slide into lift medicine box bucket 23, influences medicine and normally provides.After the medicine box for the treatment of a prescription was all provided and finished, lift baffle plate 25 was transferred to by the rise state and putting down, and elevator delivery mechanism 24 is sent to all medicine boxs in the sorting equipment 6, is placed on the conveying mechanism 61.Letter sorting belt line is provided with the letter sorting baffle plate of corresponding each drug window.If hospital information system is assigned to No. 2 windows (patient of this prescription has reached No. 2 windows and waited) to the medicine of this prescription, then No. 2 letter sorting baffle plates are driven by stepper motor and do gyration, baffle plate is opened, to sort belt line transmission line blocks, medicine box just all is blocked in this letter sorting mouth, can not be sent to other letter sorting mouth.Time-delay a period of time, when treating that medicine box all is blocked in No. 2 letter sorting baffle plate places, the letter sorting baffle plate is closed in the stepper motor counter-rotating No. 2, and medicine box is all swept to be led in the slope of No. 2 windows, slides into the foreground and sends out the medicine window.If need be sorted to other windows, other numbers letter sorting mouthful baffle plate is by this action.Last sorts mouth need not be provided with baffle plate, and front letter sorting mouth all is in closed condition, and medicine box just has been transported to last letter sorting mouth naturally.
2. intensive storage and stock control
Usually regulation medicine box full-size direction is a length, and minimum dimension is a height, and placed in the middle is width.The length range of medicine box changes greatly, width range takes second place, the altitude range minimum, so by the medicine box height and leave the certain space surplus drug storage cabinet is divided into several layers, according to the medicine box width range whole drug storage cabinet is divided into some row, drug storage cabinet U type groove is placed in the staggered place of row and column, holds medicine box in the groove.The floor height of each layer is consistent, chooses the floor height of this layer at the highest medicine box of this layer according to pendulum.The width of every row needn't equate, still divides Series Design, need not do a kind of drug storage cabinet U type groove by every kind of medicine, reduces U type groove mould quantity, reduces cost.Each the laminated removing the work drug storage cabinet U of office type groove, drug turnover panel one side that makes medicament discharge mechanism push-down electromagnet can withstand on each drug storage cabinet U type groove gets final product.Each row arranges that a push-down electromagnet is corresponding with it.Each U type groove tilts to place, with the horizontal direction inclination angle be 20 the degree, this angle not only can guarantee that medicine box leaves in the drug storage cabinet U type groove by the mode of first in first out successively, and the impulsive force that medicine box glides is smaller, can be because of the not high enough misoperation that causes medicine box to go out U type groove of rib.U type groove adopts the mould extruded aluminum to process, and the one side of contact medicine box is pulled out prominent muscle, makes that medicine box is the mode that line contacts with U type groove, reduces friction, helps smooth drug.Kind for storing in each drug storage groove is set up by the server data library initialization, and the medicine that use amount is big may occupy a plurality of drug storage grooves.Medicine box quantity in each drug storage groove is zero when program initialization.Medicine-feeding conveying device tonic in the drug storage groove, medicine box quantity is done addition; Send out medicine device and get it filled from the drug storage groove, medicine box quantity is done subtraction.Server can each drug storage groove of real time dynamic tracing medicine box quantity, and then know the quantity of each medicine kind, thereby can accurately know the inventory information of medicine.If total box number of certain medicine is lower than the lower limit quantity of setting, server is made warning, and reminds medicine-feeding.The pharmacy management personnel can inquire about drug stock information at any time, according to software prompt and auxiliary, propose the medical procurement inventory as early as possible.
3. semi-automatic medicine-feeding
The hospital pharmacy medicine-feeding cycle was generally 2～3 days, and according to the medicine-feeding inventory that automatic dispensary server 201 generates, the medicine-feeding operator gives a collection of medicine of supply in the ramp type drug storage cabinet.Feeding device adopts semi-automatic mode to work, and be to improve ease of use, so whenever all may finish the medicine-feeding operation, medicine-feeding and drug is concurrent carries out is controlled software and management software employing multi-threaded parallel mode and worked.
Server generates this medicine-feeding inventory according to setting-up time, and sends to medicine-feeding terminal computer 204.The medicine-feeding operator gets medicine according to inventory to hospital's medicine storehouse, finishes the odd-job of tearing open of medicine by hand and does.Medicine-feeding person selects from the own medicine box of most convenient recently, selects this kind medicine according to its name of an article, specification and the place of production on medicine-feeding terminal medicine-feeding operation interface, the maximum medicine-feeding quantity of the current permission of interface prompt.As Fig. 8, the medicine-feeding operator puts this kind medicine box on the medicine-feeding conveying mechanism by the quantity of prompting.The tight T type of medicine box head rest bar, the medicine box side is close to the support frame of belt conveyor 71, places the back medicine-feeding operator that finishes by the size on the conveyer " scanning " action button.Length direction ultrasonic sensor 77, width ultrasonic sensor 79 and short transverse ultrasonic sensor 73 are started working, the output valve that data collecting card 208 is gathered three ultrasonic sensors, and this value issued automatic dispensary supervisory control comuter 205, supervisory control comuter 205 is done linear calculating and is obtained width and height dimension, read this medicine box size in the server database again, two packet sizes contrast, and whether size is correct to judge medicine box.Length direction obtains medicine box quantity divided by medicine box unit length in the database, judges whether medicine box quantity is correct.If it is correct, the stepper motor of conveyer rotates, the medicine box that is placed on the medicine-feeding conveyer zone face advances, be transported in the manipulator U type groove 81 that its front end waits, manipulator U type groove 81 this moment side-sway direction under 82 effects of manipulator canting motor keeps certain angle, makes medicine box slip into wherein to the snap on one side of U type groove.If detect incorrectly, stepper motor does not move, and medicine box can not advance, and medicine-feeding terminal computer interface is reminded medicine-feeding operator's error message also to provide and handled suggestion.Again after putting medicine box, press size " scanning " action button on the conveyer, make size detection once more.If the medicine box that has in the row medicine box of pendulum on medicine-feeding conveyer belt 71 zone faces is put in width and short transverse and is put upside down, ultrasonic sensor detects and reports an error, stepper motor stops, correct up to medicine box being put orientation adjustment, stepper motor could turn round, and medicine box is sent in the manipulator U type groove 81.Medicine-loading manipulator 8 is positioned in corresponding drug storage cabinet U type groove position as the end of plane rectangular coordinates medicine-feeding robot 9,82 counter-rotatings of manipulator canting motor, and manipulator U type groove 81 goes back to horizontal level, and medicine box is over against drug storage cabinet U type groove 15.Drug turnover panel 88 is promoted by push-down electromagnet 87 on the manipulator, turnover panel 88 ribs reduce, the medicine box component that is subjected to gliding enters drug storage cabinet U type groove 15, after medicine box all slips into drug storage cabinet U type groove 15, the push-down electromagnet resets, the turnover panel rib raises, and medicine-loading manipulator returns medicine-feeding conveyer front end, finishes the flow process of once adding medicine to.
Ultrasonic sensor is the linear calibration before use, its concrete scaling method: select the medicine box of known accurate size, place reliablely, gather the voltage output value of each sensor simultaneously, obtain a packet size and voltage respective value.Select the medicine box of different sizes, gather 8 groups of data so repeatedly, adopt least square method to fit out length magnitude of voltage and medicine box length dimension, width magnitude of voltage and medicine box width dimensions, short transverse magnitude of voltage and medicine box height dimension line correspondence equation.After obtaining above three linear equations, when the unknown dimension medicine box was placed on the medicine-feeding conveyer, data collecting card was issued supervisory control comuter with the sensor values that obtains, and supervisory control comuter is calculated the medicine box actual size.
As fully visible, the semi-automatic supply of box packed medicine is finished in automatic dispensary satisfaction of the present invention, the intensive storage and management of medicine box and automatically send out medicine and be sorted to definite window by prescription, the storage density of hospital's medicine and the granting efficient of medicine have not only been improved, also realized the overall procedure automation that the hospital pharmacy box packed medicine is provided, its economic benefit and social effect are very remarkable.
Below only be concrete exemplary applications of the present invention, protection scope of the present invention is not constituted any limitation.All employing equivalents or equivalence are replaced and the technical scheme of formation, all drop within the rights protection scope of the present invention.
Claims (9)
1. automatic dispensary, comprise ramp type drug storage cabinet (1), send out medicine device, sorting equipment (6), feeding device and control and management system, it is characterized in that: described ramp type drug storage cabinet (1) comprises support body (11), U type groove (15) and brace summer, and U type groove (15) fixes with brace summer and becomes 20 ° of inclination angles with horizontal plane; Described medicine device comprises lift (2), medicament discharge mechanism (3), retaining door (4) and conveyer belt (5), the feeding opening of the low side medicine outlet of ramp type drug storage cabinet U type groove (15) and medicament discharge mechanism (3) connects, and the medicine outlet of medicament discharge mechanism (3) constitutes by retaining door (4) and conveyer belt (5) transition and linkage sends out the medicine passage; The drug end of sending out medicine device is furnished with sorting equipment (6), and sorting path is connected mutually with a medicine passage; Described feeding device comprises medicine-feeding conveying mechanism (7), medicine-loading manipulator (8) and Cartesian robot (9), one end of the belt conveyor (71) of medicine-feeding conveying mechanism is the medicine-feeding end, the other end is the drug end, the medicine outlet of medicine-feeding conveying mechanism and the feeding opening of medicine-loading manipulator U type groove (81) connect, medicine-loading manipulator (8) is installed on the Cartesian robot (9), the high-end feeding opening of the medicine outlet of medicine-loading manipulator U type groove (81) and ramp type drug storage cabinet U type groove (15) connects, thereby constitutes the medicine-feeding passage; Medicine box is placed in the U type groove (15) of ramp type drug storage cabinet by the inclination that length direction one box connects a box, different medicine boxs is placed in the different U type grooves, when sending out medicine, lift (2) moves to the corresponding storage space layer of ramp type drug storage cabinet, drug turnover panel (31) action, granting medicine, medicine box is sent on the pipeline of sorting equipment, and corresponding letter sorting mouth is opened, and prescription medicine is dealt into the foreground window of appointment; During medicine-feeding, medicine box is transported in the medicine-loading manipulator U type groove (81) by medicine-feeding conveying mechanism (7), Cartesian robot (9) makes medicine-loading manipulator (8) navigate to definite ramp type drug storage cabinet U type groove, the turnover panel of medicine-loading manipulator (88) action, medicine box draws off from manipulator U type groove (81) and enters into ramp type drug storage cabinet U type groove.
2. automatic dispensary according to claim 1, it is characterized in that: the brace summer of ramp type drug storage cabinet comprises first brace summer (12), second brace summer (13) and the 3rd brace summer (14), first brace summer (12), second brace summer (13), the 3rd brace summer (14) fix with support body (11) respectively, its fixed form adopts welding manner, and U type groove (15) fixes with first brace summer (12), second brace summer (13), the 3rd brace summer (14) and forms 20 ° of inclination angles with horizontal plane.
3. automatic dispensary according to claim 1, it is characterized in that: described lift (2) comprises left rail (22) and right guide rail (26), an AC servo motor (21) is installed in every guide rail bottom, and conveying mechanism (24) is horizontally set between left rail (22) and the right guide rail (26).
4. automatic dispensary according to claim 1, it is characterized in that: described medicament discharge mechanism (3) comprises drug turnover panel (31) and slender axles (33), drug turnover panel (31) is acute angle folding shape, rib roller (36) and rear roller (35) are housed on turnover panel (31), U type drug storage groove (34) dual-side has axis hole, slender axles (33) pass the through hole on the drug turnover panel (31), torsion spring is equipped with at the slender axles two ends, and two spindle noses of slender axles are embedded in the axis hole of U type drug storage groove side, the below that is positioned at drug turnover panel (31) is provided with the electromagnetism post rod mechanism, the push rod of electromagnetism post rod mechanism (38) is relative with ear shape contact site on the drug turnover panel, rear side at the electromagnetism post rod mechanism also is provided with photoelectric counting sensor (37), and the detection faces of photoelectric counting sensor is close to mutually with U type drug storage groove contact-making surface.
5. automatic dispensary according to claim 1, it is characterized in that: described sorting equipment (6) comprises conveying mechanism (61), letter sorting medicament discharge mechanism (62) and conveyer motor (63), letter sorting medicament discharge mechanism (62) is installed in a side of conveying mechanism conveyer belt, and letter sorting medicament discharge mechanism (62) adopts rotation push type structure.
6. automatic dispensary according to claim 1, it is characterized in that: described medicine-feeding conveying mechanism (7) comprises belt conveyor (71), short transverse ultrasonic sensor (73), width ultrasonic sensor (79) and length direction ultrasonic sensor (77), be provided with short transverse ultrasonic sensor support (72) above front end, short transverse ultrasonic sensor (73) is fixed on the short transverse ultrasonic sensor support (72); The side direction of front end is provided with width ultrasonic sensor support, and width ultrasonic sensor (79) is fixed on the width ultrasonic sensor support; Forward in the conveyer rear end is provided with length direction ultrasonic sensor support (76), length direction ultrasonic sensor (77) is fixed on the length direction ultrasonic sensor support (76), and short transverse ultrasonic sensor (73), width ultrasonic sensor (79) and length direction ultrasonic sensor (77) are the three-dimensional orthogonal setting.
7. automatic dispensary according to claim 1, it is characterized in that: described medicine-loading manipulator (8) comprises manipulator U type groove (81), canting motor (82) and frame (85), manipulator U type groove (81) is connected on the frame (85), manipulator U type groove (81) is horizontal by 25 degree inclination angles, the casing of canting motor (82) links to each other with the right bearing seat by motor flange, right bearing seat and frame (85) are connected, the output shaft of motor (82) links to each other with long driven axle (83) by shaft coupling, long driven axle (83) is connected with U type piece (84), and long driven axle (83) is bearing on the right bearing seat by bearing, and U type piece (84) is connected with the slide block of Cartesian robot; One end and the U type piece (84) of short driven axle (86) are connected, and the other end of short driven axle (86) links to each other with left shaft holder by bearing, and left shaft holder and frame (85) are connected; The below of frame (85) low side is equipped with electromagnet (87), and the turning cylinder of folding shape turnover panel (88) is connected the low side of frame (85), and an end of folding shape turnover panel (88) is corresponding with electromagnet (87), on the other end of folding shape turnover panel (88) roller (89) is housed.
8. automatic dispensary according to claim 1, it is characterized in that: described Cartesian robot (9) comprises the electronic guide rail of horizontal direction and the electronic guide rail of a cover vertical direction of the parallel placement of two covers, the electronic guide rail of horizontal direction is by X-axis servomotor (92), X-axis horizontal guide rail (93), synchronizing shaft (94) and X-axis horizontal guide rail (95) constitute, two cover horizontal guide rails adopt synchronizing shaft to connect, rotatablely moving of X-axis servomotor (92) drives slide block (98) move left and right of X-axis horizontal guide rail, and same rotatablely moving is delivered to slide block (96) move left and right that X-axis horizontal guide rail (95) drives the X-axis horizontal guide rail by synchronizing shaft (94); The electronic guide rail of vertical direction is made of Y-axis servomotor (99) and Y-axis guide rail (97), the two ends of Y-axis guide rail (97) are installed on the slide block (98) and slide block (96) of X-axis horizontal guide rail, the Y-axis guide rail has slide block (91), and Y-axis servomotor (99) rotatablely moves and drives slide block (91) and move up and down; Medicine-loading manipulator is connected with Y-axis guide rail top shoe (91).
9. automatic dispensary according to claim 1, it is characterized in that: described automatic dispensary control and management system comprises automatic dispensary server (201), automatic dispensary server heat is equipped with device (202), automatic dispensary medicine-feeding terminal computer (204), automatic dispensary supervisory control comuter (205), step motion controller (206), servo motion controller (207), data collecting card (208) and PLC module (209), automatic dispensary server heat is equipped with device (202), hospital information system (203), automatic dispensary medicine-feeding terminal computer (204) links to each other step motion controller (206) respectively with automatic dispensary supervisory control comuter (205) with automatic dispensary server (201), servo motion controller (207), data collecting card (208) and PLC module (209) insert automatic dispensary supervisory control comuter (205).
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