CN110239951A - A kind of automatic dispensation apparatus and its control method of full coverage type cup array - Google Patents
A kind of automatic dispensation apparatus and its control method of full coverage type cup array Download PDFInfo
- Publication number
- CN110239951A CN110239951A CN201910614948.9A CN201910614948A CN110239951A CN 110239951 A CN110239951 A CN 110239951A CN 201910614948 A CN201910614948 A CN 201910614948A CN 110239951 A CN110239951 A CN 110239951A
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- relay
- medicine
- chip microcontroller
- solenoid valve
- straight line
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- 238000000034 method Methods 0.000 title claims abstract description 19
- 239000003814 drug Substances 0.000 claims abstract description 149
- 229940079593 drug Drugs 0.000 claims abstract description 62
- 238000005303 weighing Methods 0.000 claims abstract description 22
- 239000002360 explosive Substances 0.000 claims abstract description 18
- 239000000955 prescription drug Substances 0.000 claims abstract description 4
- 238000001514 detection method Methods 0.000 claims description 12
- 239000000758 substrate Substances 0.000 claims description 8
- 239000007921 spray Substances 0.000 claims description 7
- 230000015556 catabolic process Effects 0.000 claims description 3
- 238000005259 measurement Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/912—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems with rectilinear movements only
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Medical Preparation Storing Or Oral Administration Devices (AREA)
Abstract
The invention discloses the automatic dispensation apparatus and its control method of a kind of full coverage type cup array, automatic dispensation apparatus includes rack, medicine taking device and title drug row device；Medicine taking device includes guide rail, slide, first straight line driver, full coverage type vacuum Inhale medicine machine tool hand and second straight line driver；Claiming drug row device includes weighing sensor, medicine receiving groove and drug row mechanism；Control method includes: 1) after single-chip microcontroller receives and makes up the prescription drug instruction, and single-chip microcontroller issues control signal to the 4th relay, and then controls first straight line driver and slide is pushed to move forward to position of making up the prescription；After 2) explosive box reaches fixed station, single-chip microcontroller issues control signal to the 5th relay, and then controls second straight line driver driving full coverage type vacuum Inhale medicine machine tool subordinate and move ... and etc..The present invention can take out pack from the explosive box of fixed station, and medicine-chest is discharged in the pack of accurate measurement, realize and replace manually taking medicine, can improve the intelligence degree and drug efficiency of medicine-chest, save human cost.
Description
Technical field
The present invention relates to automatic dispensary technical field, in particular to the automated dispensing of a kind of full coverage type cup array fills
It sets and its control method.
Background technique
In order to solve traditional Chinese medicine room by the technical issues of making up a prescription more labor intensive, drug low efficiency of manually making up the prescription, intelligence
Energy medicine-chest becomes the research hotspot of field of medical device.Existing semi-automatic inner wrapping prepared slices of Chinese crude drugs intelligence medicine-chest, Zhi Nengshi
Now according to prescription Automatic-searching drug, and the explosive box for having relative medicine is transported to drug window, to a certain extent
Pharmacy drug efficiency is improved, but there is still a need for manually take out drug and count from a drawer this semi-automatic medicine-chest.
Summary of the invention
In view of this, the object of the present invention is to provide a kind of automatic dispensation apparatus of full coverage type cup array and its controls
Method, to solve the technical issues of pack is manually taken out and counted from explosive box by existing semi-automatic intelligent medicine-chest needs.
The automatic dispensation apparatus of full coverage type cup array of the present invention, including rack are provided in the rack and medicine are taken to fill
Set and claim drug row device；
The medicine taking device includes horizontally disposed guide rail on the rack, the slide being arranged on guide rail, is arranged in rack
It is upper driving slide moved along guide rail first straight line driver, the full coverage type vacuum Inhale medicine machine tool hand below slide, with
And the second straight line driver for driving full coverage type vacuum Inhale medicine machine tool hand to move up and down on slide, the full coverage type are set
Vacuum Inhale medicine machine tool hand includes that the full coverage type substrate connecting with second straight line driver and array are arranged in full coverage type base
Vacuum chuck on plate, and vacuum chuck is uniformly distributed on the entire opening face of explosive box, is provided on each vacuum chuck
The tracheae being independently connected with gas source, and vacuum generator and the first electromagnetism are provided on the tracheae connecting with each vacuum chuck
Valve；
The title drug row device includes the weighing sensor being arranged on the rack and is arranged in connecing on weighing sensor
Drug slot, the medicine receiving groove are located at the lower section of guide rail, and the longitudinal direction of medicine receiving groove is longitudinal parallel with guide rail, and longitudinal both ends of medicine receiving groove
It is respectively arranged with preceding drug row mouth and rear drug row mouth, the preceding drug row mouth is used to flow back to medicine explosive box, and the rear drug row mouth is used for
Medicine-chest is discharged in medicine；The title drug row device further include be arranged on the rack for by the medicine in medicine receiving groove from preceding drug row mouth and after
The drug row mechanism that drug row mouth is sent out.
Further, the drug row mechanism include set on the rack and from preceding drug row mouth backward drug row mouth direction blow preceding spray
Mouth is arranged on the rack and connect from the rear drug row mouth rear nozzle that drug row mouth direction is blown forward, setting in front nozzle with gas source
Second solenoid valve on pipeline and the third solenoid valve being arranged on rear nozzle and gas source connecting line.
Further, the medicine taking device further includes being oriented to moving up and down for full coverage type vacuum Inhale medicine machine tool hand
Guiding mechanism, the guiding mechanism include guide rod, slide or fixed plate and setting on second straight line driver are arranged in
Linear bearing in fixed plate and with guide rod cooperation, the lower end of the guide rod is fixed on full coverage type substrate.
Further, the first straight line driver and second straight line driver are cylinder or electronic screw rod.
Further, the first straight line driver and second straight line driver are cylinder, and first straight line driver is by setting
The tracheae for being equipped with the 4th solenoid valve is connect with gas source, and second straight line driver is by being provided with the tracheae and gas source of the 5th solenoid valve
Connection.
Further, the automatic dispensation apparatus of the full coverage type cup array further includes control device, the control dress
It sets including single-chip microcontroller, the first relay being connect with the first solenoid valve, the second relay being connect with second solenoid valve and third
Solenoid valve connection third relay, connect with the 4th solenoid valve the 4th relay, connect with the 5th solenoid valve the 5th after
Electric appliance and power module；
The power module respectively with single-chip microcontroller, the first relay, the second relay, third relay, the 4th relay,
5th relay, the first solenoid valve, second solenoid valve, third solenoid valve, the 4th solenoid valve and the connection of the 5th solenoid valve, the
One relay, the second relay, third relay, the 4th relay and the 5th relay are connect with single-chip microcontroller respectively；
The weighing sensor is connect with single-chip microcontroller；
The control device further includes the pressure reducing valve being arranged on the tracheae of connection second straight line driver and gas source.
The control method of the automatic dispensation apparatus of full coverage type cup array of the present invention, comprising the following steps:
1) after single-chip microcontroller receives and makes up the prescription drug instruction, single-chip microcontroller issues control signal to the 4th relay, makes the 4th
Relay controls the 4th electromagnetism valve events and connects positive gas circuit, makes up the prescription to control first straight line driver and slide is pushed to move forward to
Position；
2) single-chip microcontroller issues control signal to the 5th relay, so that the 5th relay is controlled the 5th electromagnetism valve events and connects just
To gas circuit, moved to control second straight line driver driving full coverage type vacuum Inhale medicine machine tool subordinate；
3) single-chip microcontroller issues control signal to each first relay, so that the first relay is controlled the first electromagnetism valve events and connects
Vent passage to allow airflow into vacuum generator, and then makes the vacuum chuck connecting with vacuum generator generate negative pressure, by medicine
Packet is sucked；
4) single-chip microcontroller issues control signal to the 5th relay, so that the 5th relay is controlled the 5th electromagnetism valve events and connects instead
To gas circuit, moved on hand to control second straight line driver driving full coverage type vacuum Inhale medicine machine tool；
5) single-chip microcontroller issues control signal to the 4th relay, so that the 4th relay is controlled the first electromagnetism valve events and connects instead
To gas circuit, slide is pushed to retreat to putting medicine position to control first straight line driver；
6) single-chip microcontroller pack quantity according to as defined in prescription and the selection of the difference between current weighing sensor amount detection
First relay of respective numbers, selects the mode of the first relay to randomly select, and sends out to the first selected relay
Signal is controlled out, corresponding first relay is made to control corresponding first electromagnetism valve breakdown gas circuit, so that corresponding vacuum be made to inhale
Disk puts down pack；
7) single-chip microcontroller acquires the detection data of weighing sensor in real time, and by pack number as defined in the data of acquisition and prescription
Amount is compared, and makes following judgement and control:
If comparison result is that the two is equal, single-chip microcontroller issues control signal to the second relay, makes the second relay control
Second solenoid valve processed, which connects gas circuit, allows air-flow to spray from front nozzle, so that medicine-chest is discharged in the medicine in medicine receiving groove；Then single-chip microcontroller
Judge whether that the gas circuit there are also the first solenoid valve is not turned off again, if the finishing control process without if, if having first to being not turned off gas circuit
The first corresponding relay issues control signal, and then so that corresponding first solenoid valve is disconnected gas circuit and vacuum chuck is allowed to put down medicine
Packet, last single-chip microcontroller issue control signal to third relay again, so that third relay control third solenoid valve is connected gas circuit and allow
Air-flow is sprayed from rear nozzle, so that the medicine in medicine receiving groove is blown back explosive box, and finishing control process；
If the detection data that comparison result is weighing sensor is less than pack quantity as defined in prescription, and the first solenoid valve is still
Whole gas circuits are not turned off, then single-chip microcontroller, which jumps, executes step 6), and otherwise single-chip microcontroller, which jumps, executes step 1)；
If the detection data that comparison result is weighing sensor is greater than pack quantity as defined in prescription, single-chip microcontroller is first to the
Three relays issue control signal, so that third relay control third solenoid valve is connected gas circuit and air-flow is allowed to spray from rear nozzle, from
And the medicine in medicine receiving groove is blown back into explosive box；Then compare again as defined in the gas circuit quantity and prescription that the first solenoid valve not yet turns off
Pack quantity, it is if comparison result is that the gas circuit quantity that the first solenoid valve not yet turns off is greater than pack quantity as defined in prescription, then single
Piece machine, which jumps, executes step 6), and otherwise single-chip microcontroller, which jumps, executes step 1).
Beneficial effects of the present invention:
The automatic dispensation apparatus and its control method of full coverage type cup array of the present invention, can be from medicine-chest fixed station
Pack is automatically taken out in explosive box, and accurate measurement is provided that medicine-chest is discharged in equal pack with prescription, to replace artificial
Medicine is taken, can be further improved the intelligence degree of medicine-chest, improves drug efficiency, saves human cost.
Detailed description of the invention
Fig. 1 is the schematic perspective view of the automatic dispensation apparatus of full coverage type cup array in embodiment；
Fig. 2 is the air circuit connection schematic diagram of the automatic dispensation apparatus of full coverage type cup array in embodiment；
Fig. 3 is the attachment structure schematic diagram of control device.
Specific embodiment
The invention will be further described with reference to the accompanying drawings and examples.
As shown, the automatic dispensation apparatus of the present embodiment full coverage type cup array, including rack 1, in the rack
It is provided with medicine taking device and claims drug row device.
The medicine taking device includes horizontally disposed guide rail 2 on the rack, the slide 3 being arranged on guide rail, is arranged in machine
On frame drive slide moved along guide rail first straight line driver 4, the full coverage type vacuum Inhale medicine machine tool hand below slide,
And the second straight line driver 5 for driving full coverage type vacuum Inhale medicine machine tool hand to move up and down on slide is set, it is described to cover entirely
Lid formula vacuum Inhale medicine machine tool hand includes that the full coverage type substrate 6 connecting with second straight line driver and array are arranged in all standing
Vacuum chuck 7 on formula substrate, and vacuum chuck is uniformly distributed on the entire opening face of explosive box 8, on each vacuum chuck
It is provided with the tracheae being independently connected with gas source 9, and is provided with vacuum generator 10 on the tracheae connecting with each vacuum chuck
With the first solenoid valve 11.
The title drug row device includes the weighing sensor 12 being arranged on the rack and is arranged on weighing sensor
Medicine receiving groove 13, the medicine receiving groove are located at the lower section of guide rail, and the longitudinal direction of medicine receiving groove is longitudinal parallel with guide rail, and the longitudinal direction of medicine receiving groove
Both ends are respectively arranged with preceding drug row mouth and rear drug row mouth, and the preceding drug row mouth is used to flow back to medicine explosive box, the rear drug row mouth
For medicine-chest to be discharged in medicine；The title drug row device further include be arranged on the rack for by the medicine in medicine receiving groove from preceding drug row mouth
The drug row mechanism sent out with rear drug row mouth.The medicine receiving groove 13 is by U-lag bottom and is arranged in U-lag bottom opening into herringbone cloth
That sets connects medicine inclined plate composition, connects medicine inclined plate for the pack caught and is discharged into U-lag bottom, and U-lag Bottom Shape is smaller, is convenient for pack collection
Middle discharge.Certainly in different embodiments, medicine receiving groove 13 can also be made into the groove-like structure of other open contracting bottoms shape.
In the present embodiment, the drug row mechanism includes setting on the rack and drug row mouth direction is blown backward from preceding drug row mouth
Front nozzle 14, be arranged on the rack and from rear drug row mouth forward drug row mouth direction blow rear nozzle 15, setting front nozzle with
Second solenoid valve 16 on gas source connecting line and the third solenoid valve 17 being arranged on rear nozzle and gas source connecting line.
Certainly in different embodiments, other forms also can be used in drug row mechanism.
In the present embodiment, the medicine taking device further includes leading to moving up and down for full coverage type vacuum Inhale medicine machine tool hand
To guiding mechanism, the guiding mechanism include guide rod 18, the fixed plate being arranged on slide 19 and be arranged in fixed plate
Linear bearing upper and with guide rod cooperation, the lower end of the guide rod is fixed on full coverage type substrate.Certainly not
With in embodiment, fixed plate 19 be can also be provided on second straight line driver.It can preferably guarantee all standing by guiding device
Formula vacuum Inhale medicine machine tool hand will not deflect shaking in the process of moving up and down, to make full coverage type vacuum Inhale medicine machine tool hand
It can accurately enter in explosive box and make up the prescription.
In the present embodiment, the first straight line driver and second straight line driver are cylinder；Certainly in different embodiments
In, the first straight line driver and second straight line driver can also be electronic screw rod.
In the present embodiment, the first straight line driver is connect by being provided with the tracheae of the 4th solenoid valve 20 with gas source,
Second straight line driver is connect by being provided with the tracheae of the 5th solenoid valve 21 with gas source.
The automatic dispensation apparatus of full coverage type cup array further includes control device in the present embodiment, the control device packet
Include single-chip microcontroller 22, the first relay 23 for being connect with the first solenoid valve, the second relay 24 being connect with second solenoid valve, with the
The third relay 25 of three solenoid valves connection, is connect with the 5th solenoid valve the 4th relay 26 connecting with the 4th solenoid valve
5th relay 27 and power module 28.
The power module respectively with single-chip microcontroller, the first relay, the second relay, third relay, the 4th relay,
5th relay, the first solenoid valve, second solenoid valve, third solenoid valve, the 4th solenoid valve and the connection of the 5th solenoid valve, the
One relay, the second relay, third relay, the 4th relay and the 5th relay are connect with single-chip microcontroller respectively.
The weighing sensor is connect with single-chip microcontroller.
The control device further includes the pressure reducing valve 29 being arranged on the tracheae of connection second straight line driver and gas source.Subtract
Pressure valve is used to control the stroke of second straight line driver moved down, and inhales in second straight line driver driving full coverage type vacuum
In medicine manipulator folding process, after vacuum chuck and pack contact, in the pipeline that second straight line driver is connect with gas source
Air pressure rises, when rising to the pressure beyond pressure reducing valve setting, pressure reducing valve, that is, exhaust pressure relief, so that stable gas pressure set
Value can guarantee and form good sealing cooperation between vacuum chuck oral area and pack under certain contact pressure, raising is made up the prescription into
Power, and it is avoided that second straight line driver stroke excessive the problem of leading to equipment damage and stroke not enough lead to mistake of making up the prescription
The problem of losing.
The control method of the automatic dispensation apparatus of full coverage type cup array in the present embodiment, comprising the following steps:
1) after single-chip microcontroller receives and makes up the prescription drug instruction, single-chip microcontroller issues control signal to the 4th relay, makes the 4th
Relay controls the 4th electromagnetism valve events and connects positive gas circuit, makes up the prescription to control first straight line driver and slide is pushed to move forward to
Position.
2) single-chip microcontroller issues control signal to the 5th relay, so that the 5th relay is controlled the 5th electromagnetism valve events and connects just
To gas circuit, moved to control second straight line driver driving full coverage type vacuum Inhale medicine machine tool subordinate.
3) single-chip microcontroller issues control signal to each first relay, so that the first relay is controlled the first electromagnetism valve events and connects
Vent passage to allow airflow into vacuum generator, and then makes the vacuum chuck connecting with vacuum generator generate negative pressure, by medicine
Packet is sucked.
4) single-chip microcontroller issues control signal to the 5th relay, so that the 5th relay is controlled the 5th electromagnetism valve events and connects instead
To gas circuit, moved on hand to control second straight line driver driving full coverage type vacuum Inhale medicine machine tool.
5) single-chip microcontroller issues control signal to the 4th relay, so that the 4th relay is controlled the first electromagnetism valve events and connects instead
To gas circuit, slide is pushed to retreat to putting medicine position to control first straight line driver.
6) single-chip microcontroller pack quantity according to as defined in prescription and the selection of the difference between current weighing sensor amount detection
First relay of respective numbers, selects the mode of the first relay to randomly select, and sends out to the first selected relay
Signal is controlled out, corresponding first relay is made to control corresponding first electromagnetism valve breakdown gas circuit, so that corresponding vacuum be made to inhale
Disk puts down pack.
7) single-chip microcontroller acquires the detection data of weighing sensor in real time, and by pack number as defined in the data of acquisition and prescription
Amount is compared, and makes following judgement and control:
If comparison result is that the two is equal, single-chip microcontroller issues control signal to the second relay, makes the second relay control
Second solenoid valve processed, which connects gas circuit, allows air-flow to spray from front nozzle, so that medicine-chest is discharged in the medicine in medicine receiving groove；Then single-chip microcontroller
Judge whether that the gas circuit there are also the first solenoid valve is not turned off again, if the finishing control process without if, if having first to being not turned off gas circuit
The first corresponding relay issues control signal, and then so that corresponding first solenoid valve is disconnected gas circuit and vacuum chuck is allowed to put down medicine
Packet, last single-chip microcontroller issue control signal to third relay again, so that third relay control third solenoid valve is connected gas circuit and allow
Air-flow is sprayed from rear nozzle, so that the medicine in medicine receiving groove is blown back explosive box, and finishing control process；
If the detection data that comparison result is weighing sensor is less than pack quantity as defined in prescription, and the first solenoid valve is still
Whole gas circuits are not turned off, then single-chip microcontroller, which jumps, executes step 6), and otherwise single-chip microcontroller, which jumps, executes step 1)；
If the detection data that comparison result is weighing sensor is greater than pack quantity as defined in prescription, single-chip microcontroller is first to the
Three relays issue control signal, so that third relay control third solenoid valve is connected gas circuit and air-flow is allowed to spray from rear nozzle, from
And the medicine in medicine receiving groove is blown back into explosive box；Then compare again as defined in the gas circuit quantity and prescription that the first solenoid valve not yet turns off
Pack quantity, it is if comparison result is that the gas circuit quantity that the first solenoid valve not yet turns off is greater than pack quantity as defined in prescription, then single
Piece machine, which jumps, executes step 6), and otherwise single-chip microcontroller, which jumps, executes step 1).
Finally, it is stated that the above examples are only used to illustrate the technical scheme of the present invention and are not limiting, although referring to compared with
Good embodiment describes the invention in detail, those skilled in the art should understand that, it can be to skill of the invention
Art scheme is modified or replaced equivalently, and without departing from the objective and range of technical solution of the present invention, should all be covered at this
In the scope of the claims of invention.
Claims (7)
1. a kind of automatic dispensation apparatus of full coverage type cup array, it is characterised in that: including rack, be provided in the rack
Medicine taking device and title drug row device；
The medicine taking device includes horizontally disposed guide rail on the rack, the slide being arranged on guide rail, is arranged on the rack drive
First straight line driver, full coverage type vacuum Inhale medicine machine tool hand, the Yi Jishe below slide that dynamic slide is moved along guide rail
Set the second straight line driver for driving full coverage type vacuum Inhale medicine machine tool hand to move up and down on slide, the full coverage type vacuum
Inhale medicine machine tool hand includes that the full coverage type substrate connecting with second straight line driver and array are arranged on full coverage type substrate
Vacuum chuck, and vacuum chuck is uniformly distributed on the entire opening face of explosive box, is provided on each vacuum chuck and gas
The tracheae of source independent connection, and vacuum generator and the first solenoid valve are provided on the tracheae connecting with each vacuum chuck；
The title drug row device includes the weighing sensor being arranged on the rack and is arranged on weighing sensor and connects medicine
Slot, the medicine receiving groove are located at the lower section of guide rail, and the longitudinal direction of medicine receiving groove is longitudinal parallel with guide rail, and longitudinal both ends of medicine receiving groove point
It is not provided with preceding drug row mouth and rear drug row mouth, the preceding drug row mouth is used to flow back to medicine explosive box, and the rear drug row mouth is used for will
Medicine-chest is discharged in medicine；The title drug row device further include be arranged on the rack for by the medicine in medicine receiving groove from preceding drug row mouth and heel row
The drug row mechanism that medicine mouth is sent out.
2. the automatic dispensation apparatus of full coverage type cup array according to claim 1, it is characterised in that: the drug row machine
Structure includes setting on the rack and from the preceding drug row mouth front nozzle that drug row mouth direction is blown backward, being arranged on the rack and from rear drug row
The mouth rear nozzle that drug row mouth direction is blown forward, the second solenoid valve being arranged on front nozzle and gas source connecting line, Yi Jishe
Set the third solenoid valve on rear nozzle and gas source connecting line.
3. the automatic dispensation apparatus of full coverage type cup array according to claim 1, it is characterised in that: described that medicine is taken to fill
Setting further includes moving up and down the guiding mechanism being oriented to full coverage type vacuum Inhale medicine machine tool hand, and the guiding mechanism includes
Guide rod is arranged in slide or fixed plate on second straight line driver and is arranged in fixed plate and cooperates with guide rod
Linear bearing, the lower end of the guide rod is fixed on full coverage type substrate.
4. the automatic dispensation apparatus of full coverage type cup array according to claim 1 or 3, it is characterised in that: described
One linear actuator and second straight line driver are cylinder or electronic screw rod.
5. the automatic dispensation apparatus of full coverage type cup array according to claim 4, it is characterised in that: described first is straight
Line drive and second straight line driver are cylinder, and first straight line driver is by being provided with the tracheae and gas source of the 4th solenoid valve
Connection, second straight line driver are connect by being provided with the tracheae of the 5th solenoid valve with gas source.
6. the automatic dispensation apparatus of full coverage type cup array according to claim 5, it is characterised in that: further include control
Device, the control device include single-chip microcontroller, the first relay being connect with the first solenoid valve, connect with second solenoid valve
Two relays, the third relay being connect with third solenoid valve, the 4th relay being connect with the 4th solenoid valve and the 5th electromagnetism
The 5th relay and power module of valve connection；
The power module respectively with single-chip microcontroller, the first relay, the second relay, third relay, the 4th relay, the 5th
Relay, the first solenoid valve, second solenoid valve, third solenoid valve, the 4th solenoid valve and the 5th solenoid valve connection, first after
Electric appliance, the second relay, third relay, the 4th relay and the 5th relay are connect with single-chip microcontroller respectively；
The weighing sensor is connect with single-chip microcontroller；
The control device further includes the pressure reducing valve being arranged on the tracheae of connection second straight line driver and gas source.
7. the control method of the automatic dispensation apparatus of full coverage type cup array, feature described in a kind of claim 6 exist
In: the following steps are included:
1) after single-chip microcontroller receives and makes up the prescription drug instruction, single-chip microcontroller issues control signal to the 4th relay, makes the 4th relay
Device controls the 4th electromagnetism valve events and connects positive gas circuit, pushes slide to move forward to position of making up the prescription to control first straight line driver
It sets；
2) single-chip microcontroller issues control signal to the 5th relay, so that the 5th relay is controlled the 5th electromagnetism valve events and connects positive gas
Road is moved to control second straight line driver driving full coverage type vacuum Inhale medicine machine tool subordinate；
3) single-chip microcontroller issues control signal to each first relay, so that the first relay is controlled the first electromagnetism valve events and connects gas
Road to allow airflow into vacuum generator, and then makes the vacuum chuck connecting with vacuum generator generate negative pressure, pack is inhaled
Firmly；
4) single-chip microcontroller issues control signal to the 5th relay, and the 5th relay is made to control the 5th electromagnetism valve events turn-on reversal gas
Road is moved on hand to control second straight line driver driving full coverage type vacuum Inhale medicine machine tool；
5) single-chip microcontroller issues control signal to the 4th relay, and the 4th relay is made to control the first electromagnetism valve events turn-on reversal gas
Road pushes slide to retreat to putting medicine position to control first straight line driver；
6) single-chip microcontroller pack quantity according to as defined in prescription and the selection of the difference between current weighing sensor amount detection are corresponding
First relay of quantity, selects the mode of the first relay to randomly select, and issues control to the first selected relay
Signal processed makes corresponding first relay control corresponding first electromagnetism valve breakdown gas circuit, so that corresponding vacuum chuck be made to put
Lower pack；
7) single-chip microcontroller acquires the detection data of weighing sensor in real time, and by pack quantity as defined in the data of acquisition and prescription into
Row compares, and makes following judgement and control:
If comparison result both be it is equal, single-chip microcontroller issues control signal to the second relay, makes the second relay control the
Two solenoid valves, which connect gas circuit, allows air-flow to spray from front nozzle, so that medicine-chest is discharged in the medicine in medicine receiving groove；Then single-chip microcontroller is sentenced again
It is disconnected that whether there are also the gas circuits of the first solenoid valve to be not turned off, if the finishing control process without if, if having it is first right to gas circuit institute is not turned off
The first relay answered issues control signal, and then so that corresponding first solenoid valve is disconnected gas circuit and vacuum chuck is allowed to put down pack,
Last single-chip microcontroller issues control signal to third relay again, so that third relay control third solenoid valve is connected gas circuit and allows air-flow
It is sprayed from rear nozzle, so that the medicine in medicine receiving groove is blown back explosive box, and finishing control process；
If the detection data that comparison result is weighing sensor is less than pack quantity as defined in prescription, and the first solenoid valve not yet closes
Disconnected whole gas circuit, then single-chip microcontroller, which jumps, executes step 6), and otherwise single-chip microcontroller, which jumps, executes step 1)；
If comparison result be weighing sensor detection data be greater than prescription as defined in pack quantity, single-chip microcontroller first to third after
Electric appliance issues control signal, so that third relay control third solenoid valve is connected gas circuit and air-flow is allowed to spray from rear nozzle, thus will
Medicine in medicine receiving groove blows back explosive box；Then compare pack as defined in the gas circuit quantity and prescription that the first solenoid valve not yet turns off again
Quantity, if comparison result is that the gas circuit quantity that not yet turns off of the first solenoid valve is greater than pack quantity as defined in prescription, then single-chip microcontroller
It jumps and executes step 6), otherwise single-chip microcontroller, which jumps, executes step 1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910614948.9A CN110239951B (en) | 2019-07-09 | 2019-07-09 | Automatic dispensing device of full-coverage type sucker array and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910614948.9A CN110239951B (en) | 2019-07-09 | 2019-07-09 | Automatic dispensing device of full-coverage type sucker array and control method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110239951A true CN110239951A (en) | 2019-09-17 |
| CN110239951B CN110239951B (en) | 2024-02-02 |
Family
ID=67891416
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201910614948.9A Active CN110239951B (en) | 2019-07-09 | 2019-07-09 | Automatic dispensing device of full-coverage type sucker array and control method thereof |
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| CN111854908A (en) * | 2020-07-21 | 2020-10-30 | 重庆大学 | Dynamic weighing method for traditional Chinese medicine in small bulk bag |
| CN112978366A (en) * | 2019-12-17 | 2021-06-18 | 南京极智嘉机器人有限公司 | Pickup system |
| CN114619449A (en) * | 2022-03-22 | 2022-06-14 | 重庆大学 | Medicine discharge decision method of array type vacuum sucker medicine taking device |
| CN114619449B (en) * | 2022-03-22 | 2024-06-21 | 重庆大学 | Drug release decision method of array type vacuum chuck drug grabbing device |
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| CN114619449B (en) * | 2022-03-22 | 2024-06-21 | 重庆大学 | Drug release decision method of array type vacuum chuck drug grabbing device |
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