CN110482152B - Automatic dispensing and conveying device based on prescription identification information control track switching mechanism - Google Patents
Automatic dispensing and conveying device based on prescription identification information control track switching mechanism Download PDFInfo
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- CN110482152B CN110482152B CN201910676543.8A CN201910676543A CN110482152B CN 110482152 B CN110482152 B CN 110482152B CN 201910676543 A CN201910676543 A CN 201910676543A CN 110482152 B CN110482152 B CN 110482152B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61J—CONTAINERS SPECIALLY ADAPTED FOR MEDICAL OR PHARMACEUTICAL PURPOSES; DEVICES OR METHODS SPECIALLY ADAPTED FOR BRINGING PHARMACEUTICAL PRODUCTS INTO PARTICULAR PHYSICAL OR ADMINISTERING FORMS; DEVICES FOR ADMINISTERING FOOD OR MEDICINES ORALLY; BABY COMFORTERS; DEVICES FOR RECEIVING SPITTLE
- A61J7/00—Devices for administering medicines orally, e.g. spoons; Pill counting devices; Arrangements for time indication or reminder for taking medicine
- A61J7/0076—Medicament distribution means
- A61J7/0084—Medicament distribution means for multiple medicaments
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- 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
- B65G35/00—Mechanical conveyors not otherwise provided for
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- 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
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V30/00—Character recognition; Recognising digital ink; Document-oriented image-based pattern recognition
- G06V30/40—Document-oriented image-based pattern recognition
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Abstract
The invention provides an automatic dispensing conveying device for controlling a track switching mechanism based on prescription identification information, which comprises an AGV trolley and an AGV track, wherein the AGV track is provided with a material receiving stop position; the AGV comprises an AGV track, a first guide rail, a second guide rail, a third guide rail, a fourth guide rail, a fifth guide rail and a sixth guide rail, wherein the AGV track comprises a main track and two branch tracks, the main track is switched and butted with the two branch tracks through a track switching mechanism; the main track is provided with a stop bit for rechecking; the medicine dispensing process control system firstly acquires prescription information and then identifies whether an artificial medicine dispensing process is needed or not through an analysis and identification module; if the analysis and recognition module analyzes that the prescription information contains traditional Chinese medicine decoction pieces needing manual medicine dispensing; the medicine dispensing process control system controls the track switching mechanism to butt the main track and the first branch track, and the AGV sequentially passes through the material receiving stop position, the stop position for manual medicine dispensing and the stop position for rechecking; otherwise, the AGV passes through the material receiving stopping position and the stopping position for rechecking in sequence.
Description
Technical Field
The invention relates to the technical field of machinery, in particular to a traditional Chinese medicine decoction piece conveying device.
Background
At present, the centralized prescription dispensing of traditional Chinese medicine decoction pieces and the centralized decoction dispensing process of traditional Chinese medicine decoction-substituting factories are carried out.
Most traditional Chinese medicine decoction pieces can be automatically dispensed by a medicine taking robot, but because the traditional Chinese medicine decoction pieces are various, the traditional Chinese medicine decoction pieces such as corn stigma, fresh dendrobium, arsenic and the like can only be manually dispensed.
At present, a device which can identify whether automatic dispensing, artificial dispensing or combination of artificial dispensing and automatic dispensing is needed is lacked.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides an automatic dispensing conveying device for controlling a track switching mechanism based on prescription identification information, and aims to solve the technical problem that manual dispensing and automatic dispensing cannot be combined in the prior art.
The technical scheme of the invention is as follows: the automatic dispensing conveying device is characterized by further comprising a manual dispensing table, a rechecking workbench and a dispensing process control system;
the AGV comprises an AGV track, a front end of the AGV track and a rear end of the AGV track, wherein the front end of the AGV track is connected with the front end of the front end;
the two branch rails are respectively a first branch rail and a second branch rail, the first branch rail is provided with a stop position for manual medicine dispensing, and one side of the first branch rail, which is close to the stop position for manual medicine dispensing, is provided with a manual medicine dispensing table;
the material receiving stopping position is arranged at the position, close to the rail switching mechanism, of the main rail;
a rechecking stop position for rechecking the dispensed medicines is arranged at the tail end of the main track close to the first branch track and the second branch track, and a rechecking workbench is arranged at one side of the main track close to the rechecking stop position;
the dispensing process control system comprises an acquisition module, a storage module and a processing module, wherein the acquisition module is used for acquiring prescription information to be dispensed;
the dispensing process control system also comprises an analysis and identification module which is used for analyzing and identifying whether the prescription information contains traditional Chinese medicine decoction pieces needing artificial dispensing;
the dispensing process control system controls a signal input end of the track switching mechanism;
the medicine dispensing process control system firstly acquires prescription information and then identifies whether an artificial medicine dispensing process is needed or not through an analysis and identification module;
if the analysis and recognition module analyzes that the prescription information contains traditional Chinese medicine decoction pieces needing manual medicine dispensing; the dispensing process control system controls the track switching mechanism to butt joint the main track and the first branch track, and the AGV passes through the material receiving stop position, the stop position for manual dispensing and the stop position for rechecking in sequence;
if the analysis and recognition module analyzes that the prescription information does not contain the traditional Chinese medicine decoction pieces needing manual medicine dispensing; the dispensing process control system controls the track switching mechanism to butt the main track and the second branch track, and the AGV passes through the material receiving stop position and the re-checking stop position in sequence.
This patent is through adding track switching mechanism on conveyor, is convenient for contain the artifical variety that dispenses of needs (for example chinese medicine sliced medicinal herbs such as stigma Maydis, bright stem of noble dendrobium, arsenic etc.) according to traditional chinese medicine in the prescription, is convenient for realize the switching of two kinds of modes of getting it filled. And (4) rechecking all the medicines, determining whether the information of the prescription information is consistent with that of the traditional Chinese medicine decoction pieces conveyed by the AGV trolley, and carrying out the next process.
Further preferably, the acquiring module includes at least one of a camera device for capturing images and acquiring prescription information, a scanning device for scanning the prescription information, and a communication module for being in communication connection with a pharmacy host in which the prescription information is stored.
The prescription information of the patient can be conveniently obtained.
Preferably, the analysis and identification module comprises a processor and a storage module, and a sub-database of the information of the traditional Chinese medicine decoction pieces needing to be dispensed manually is stored in the storage module;
the processor controls a signal input end of the track switching mechanism;
after the acquisition module acquires prescription information, a processor in the analysis and identification module compares traditional Chinese medicine decoction piece information in the prescription information acquired by the acquisition module with traditional Chinese medicine decoction piece information in the sub-database for analysis, and once one traditional Chinese medicine decoction piece is stored as a traditional Chinese medicine decoction piece in the sub-database, the processor controls the track switching mechanism to butt the main track and the first branch track;
and otherwise, the processor controls the track switching mechanism to butt the main track and the second branch track.
Further preferably, the track switching mechanism includes a switching track for switching and butting the main track and two branch tracks, and a driving mechanism for driving the switching track to perform a switching operation by reciprocating oscillation, and the driving mechanism is in driving connection with the switching track.
The driving mechanism is preferably a steering engine. And a power output shaft of the steering engine is in transmission connection with the switching track.
Further preferably, still install a discharge end that is used for responding to the robot of getting it filled on the AGV dolly and whether with the inductive switch on the leading-in AGV dolly of material, inductive switch is for the starting switch who is used for controlling the walking of AGV dolly.
Once the inductive switch senses the materials given by the medicine taking robot, the AGV trolley is triggered to walk.
Preferably, the AGV track material receiving stop, the manual medicine dispensing stop and the rechecking stop are provided with stop trigger mechanisms for triggering the AGV to stop;
install the stop switch who is used for controlling the AGV dolly and stops walking on the AGV dolly, stop switch is one and is used for the response stop trigger mechanism's inductive switch, inductive switch includes one and is used for the response stop trigger mechanism's sensing device.
After being convenient for walk to each station when the AGV dolly, sensing device senses the stop trigger mechanism after, triggers the AGV dolly and stops work.
Further preferably, when the stop trigger mechanism is a metal block, the inductive switch is a metal proximity switch, and the sensing device is a metal sensor;
when the stop trigger mechanism is a light source, the inductive switch is a photoelectric switch, and the sensing device is a photosensitive sensor;
when the stop trigger mechanism is a magnetic strip, the inductive switch is a magnetic sensitive switch, and the sensing device is a magnetic inductor.
After being convenient for the AGV dolly senses the stop trigger mechanism, the trigger dolly stops, stops in each station department, carries out corresponding process.
Further preferably, the AGV track is provided with a front and rear positioning device for controlling the AGV to be positioned in the front and rear direction in the traveling direction and a left and right positioning device for controlling the AGV to be positioned in the left and right direction at the material receiving stop.
The AGV trolley cannot stop in time due to inertia in the walking process. This patent is through adding positioner around and controlling positioner, and the AGV dolly of being convenient for stops in the station department accuracy of difference.
Preferably, the front and rear positioning devices comprise a third inductive switch for inducing the AGV, positioning blocks for clamping the front and rear sides of the AGV, and a power unit for driving the positioning blocks to switch between a clamping mode and a releasing mode of the AGV through swinging, and the power unit is in driving connection with the positioning blocks;
and the third inductive switch is in control connection with the power unit.
After the third inductive switch senses the AGV trolley, the power unit is triggered to start, and then the two positioning blocks are used for clamping and positioning the AGV trolley in the front-back direction.
Preferably, the two power units are arranged in a front-back manner along the guiding direction of the AGV track, and are respectively connected with the two positioning blocks in a driving manner;
the positioning block is L-shaped;
the power unit is an electric cylinder, and a cylinder body of the electric cylinder is hinged and installed on a base by taking the vertical direction as a rotating center line; a piston rod of the electric cylinder is hinged with a right-angle edge of the positioning block,
the right angle of the positioning block is hinged and installed on the base or the left and right positioning devices by taking the vertical direction as a rotation center line;
and a piston rod of the electric cylinder drives the other right-angle side of the positioning block to rotate around the right angle position by taking the vertical direction as a rotation center line.
The clamping to the AGV dolly is convenient to realize.
Further preferably, the left and right positioning devices comprise two positioning guide rails respectively arranged at the left and right sides of the AGV track;
when the AGV trolley is positioned at the positioning guide rails, the left side and the right side of the AGV trolley are positioned and clamped between the two positioning guide rails;
the front sides of the two positioning guide rails are respectively provided with a guide block for guiding the AGV to enter the positioning guide rails;
the AGV positioning device is characterized in that the guide blocks are provided with guide surfaces for guiding the AGV to enter the positioning guide rails, and the distance between the guide surfaces of the guide blocks at the front ends of the two positioning guide rails is gradually decreased from the front to the back until the distance between the guide surfaces and the two positioning guide rails is consistent.
Avoid the deviation of AGV dolly left and right sides direction.
Further preferably, still install a discharge end that is used for responding to the robot of getting it filled on the AGV dolly and whether with the leading-in first inductive switch on the AGV dolly of material, first inductive switch is for the starting switch who is used for controlling the walking of AGV dolly. Once the first inductive switch senses that the materials given by the medicine taking robot are received, the AGV trolley is triggered to walk.
Preferably, the walking track of the AGV at the medicine taking station is opposite to the walking track of the medicine taking robot at the medicine taking station, and the walking track of the AGV at the medicine taking station is from front to back;
the medicine taking robot linkage system is also included;
the medicine taking robot linkage system comprises a second induction switch and a touch pin which are arranged on the AGV, the second induction switch and the touch pin are arranged in front of and behind the AGV, and the second induction switch is used for controlling a starting switch for controlling the AGV to walk;
the medicine taking robot linkage system also comprises an induction device arranged on the medicine taking robot, and the induction device is used for triggering a second induction switch;
induction system includes that an response piece, revolving fragment, stationary blade and elasticity direction are vertical direction's extension spring, the response piece is installed on the revolving fragment, the revolving fragment articulates on getting it filled the robot, the stationary blade is fixed on getting it filled the robot, extension spring's top is installed on the stationary blade, extension spring's bottom with the top of revolving fragment links to each other.
The medicine taking robot is arranged on a movement mechanism for driving the medicine taking robot to move. The movement mechanism can drive the medicine taking robot to move to butt and take the medicine with the medicine storage boxes in different directions.
The working steps of the medicine taking robot linkage system comprise the following steps:
firstly, the nth AGV trolley moves to a medicine taking station along an AGV track;
the mth medicine taking robot moves to the medicine taking station, the container is placed on the nth AGV trolley, and when the induction sheet of the mth medicine taking robot moves to the second induction switch of the nth AGV trolley, the nth AGV trolley carries the container to travel along the AGV track;
then, the empty container carried by the (n + 1) th AGV moves to a medicine taking station;
when the rotating piece of the mth medicine taking robot contacts with the contact pin of the (n + 1) th AGV, the rotating piece of the mth medicine taking robot drives the induction piece to rotate upwards, the second induction switch does not contact with the signal at the moment, and the (n + 1) th AGV stops;
the mth medicine taking robot takes the empty containers carried by the (n + 1) th AGV trolley, and the mth medicine taking robot carries the empty containers to take the medicines;
and circulating in sequence.
Further preferably, the AGV is a tape guided AGV;
the AGV tracks are made of magnets.
The magnetic tape guiding technology is adopted to facilitate the magnetic guidance of the AGV.
Of course, the AGV dolly can also adopt the optics guidance type AGV dolly, be provided with the typewriter ribbon on the AGV track. The AGV car can conveniently realize guidance by simply processing color band image signals acquired by the camera. Alternatively, the AGV cart and the AGV track may also adopt other existing guidance methods, such as electromagnetic guidance, laser guidance, and the like.
Drawings
FIG. 1 is a schematic structural diagram of embodiment 1 of the present invention;
fig. 2 is a schematic partial structure diagram of a medicine taking station according to embodiment 2 of the present invention;
fig. 3 is a schematic partial structure view of a linkage system of a medicine taking robot according to embodiment 3 of the present invention;
fig. 4 is a schematic view of a partial structure of linkage of three medicine taking robots and 3 AGV carts according to embodiment 3 of the present invention.
In fig. 1: 1 is an AGV trolley, 2 is an AGV track, 4 is a rechecking workbench, 5 is an artificial dispensing table, 6 is a container, 7 is a dispensing robot, 21 is a main track, 22 is a first branch track, 23 is a second branch track, 101 is a walking switch, 201 is a material receiving stop position, 202 is a stop position for rechecking, 203 is a stop position for artificial dispensing, 302 is a driving mechanism, and 303 is a switching track;
in fig. 2: 801 is a front and rear positioning device, 80101 is a positioning block, 80102 is a power unit, and 80103 is a third inductive switch; 802 is a left and right positioning device, 80101 is a positioning block, 80202 is a positioning guide rail, and 803 is a first inductive switch;
in fig. 3: 901 is a sensing device, 902 is a second sensing switch, 903 is a touch pin, 90101 is a rotating piece, 90102 is a tension spring, 90103 is a sensing piece, 90104 is a fixing piece.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
Referring to fig. 1, in embodiment 1, the automated dispensation delivery apparatus for controlling the track switching mechanism based on the prescription identification information includes an AGV cart 1, an AGV track 2 for guiding the AGV cart 1 to travel, and further includes an artificial dispensation table 5, a rechecking table 4, and a dispensation process control system.
The AGV track 2 is provided with a material receiving stop 201 for butting the discharge ends of the medicine taking robots 7 for automatic medicine preparation, and the AGV track 2 comprises a main track 21 and two branch tracks; the main track 21 is switched and butted with the two branch tracks through a track switching mechanism, the track switching mechanism comprises a switching track 303 used for switching and butting the two branch tracks by the main track 21 and a driving mechanism 302 used for driving the switching track 303 to perform reciprocating swing so as to perform switching action, and the driving mechanism 302 is connected with the switching track 303 in a driving way; the two branch rails are respectively a first branch rail 22 and a second branch rail 23, the first branch rail is provided with a stop position for artificial dispensing, one side of the first branch rail, which is close to the stop position for artificial dispensing, is provided with an artificial dispensing table 5, and the tail ends of the first branch rail 22 and the second branch rail 23 are both connected with the main rail 21; the material receiving stopping position 201 is arranged at the position, close to the rail switching mechanism, of the main rail 21; a rechecking stop 22 for rechecking the dispensed medicines is arranged at the tail end of the main track 21 close to the first branch track and the second branch track, and a rechecking workbench is arranged at one side of the main track close to the rechecking stop.
The dispensing process control system comprises an acquisition module, a storage module and a dispensing module, wherein the acquisition module is used for acquiring prescription information to be dispensed; the dispensing process control system also comprises an analysis and identification module which is used for analyzing and identifying whether the prescription information contains traditional Chinese medicine decoction pieces needing manual dispensing; the dispensing process control system controls a signal input end of the track switching mechanism; the medicine dispensing process control system firstly acquires prescription information and then identifies whether an artificial medicine dispensing process is needed or not through an analysis and identification module; if the analysis and recognition module analyzes that the prescription information contains traditional Chinese medicine decoction pieces needing manual medicine dispensing; the medicine dispensing process control system controls the track switching mechanism to butt the main track and the first branch track, and the AGV sequentially passes through the material receiving stop position, the stop position for manual medicine dispensing and the stop position for rechecking; if the analysis and recognition module analyzes that the prescription information does not contain the traditional Chinese medicine decoction pieces needing manual medicine dispensing; the dispensing process control system controls the track switching mechanism to butt the main track and the second branch track, and the AGV sequentially passes through the material receiving stop position and the re-checking stop position.
This patent is through adding track switching mechanism on conveyor, whether be convenient for contain the artifical variety that dispenses of needs (for example chinese medicine sliced medicinal herbs such as corn silk, bright stem of noble dendrobium, arsenic in white) in according to traditional chinese medicine prescription, if contain the artifical variety that dispenses of needs, control track switching mechanism docks main track 21 and first branch track 22, AGV dolly 1 is in proper order through connecing material stop position 201, artifical dispense with stop position 203 and recheck with stop position 202. When the formula does not contain varieties needing manual dispensing, the rail switching mechanism is controlled to butt the main rail 21 and the second branch rail 23, and the AGV trolley 1 sequentially passes through the material receiving stop 201 and the check stop 202. The switching of two medicine taking modes is convenient to realize. And rechecking all the medicines, determining whether the traditional Chinese medicine decoction pieces conveyed by the AGV trolley 1 are consistent with the prescription information, and performing the next process.
The drive mechanism 302 may be a steering engine. The switching track 303 is driven by the rotating shaft of the steering engine to be respectively butted with the first branch track 22 and the second branch track 23.
The AGV trolley 1 can travel with the container 6 according to the travel track 2. The AGV trolley is a magnetic tape guided AGV trolley; the AGV track is constructed of magnets. The magnetic tape guiding technology is adopted to facilitate the magnetic guidance of the AGV. Of course, the AGV trolley can also adopt an optical guidance type AGV trolley, and the AGV track is provided with color ribbons. The AGV car can conveniently realize guidance by simply processing color band image signals acquired by the camera. Alternatively, the AGV cart and the AGV track may also adopt other existing guidance methods, such as electromagnetic guidance, laser guidance, and the like.
The AGV trolley is provided with a walking switch 101 for manually touching the AGV trolley to walk. When the worker is at the stop position for rechecking, the walking switch 101 is touched after the rechecking is finished, and the AGV trolley 1 continues to run.
The AGV trolley stopping device comprises an AGV track, wherein stopping mechanisms for triggering the AGV trolley to stop are arranged on the AGV track, a stopping position for manual medicine dispensing and a stopping position for rechecking; the AGV trolley is provided with a stop switch used for controlling the AGV trolley to stop walking, the stop switch is an induction switch used for inducing a stop trigger mechanism, and the induction switch comprises a sensing device used for inducing the stop trigger mechanism. After being convenient for walk to each station when the AGV dolly, sensing device senses the stop trigger mechanism after, triggers the AGV dolly and stops work. When the stop trigger mechanism is a metal block, the inductive switch is a metal proximity switch, and the sensing device is a metal sensor; when the stop trigger mechanism is a light source, the inductive switch is a photoelectric switch, and the sensing device is a photosensitive sensor; when the stop trigger mechanism is a magnetic strip, the inductive switch is a magnetic sensitive switch, and the sensing device is a magnetic inductor. After being convenient for the AGV dolly senses the stop trigger mechanism, the trigger dolly stops, stops in each station department, carries out corresponding process. Shown in FIG. 1 is that the stop trigger mechanism is a magnetic strip that is positioned perpendicular to the guidance direction of the AGV tracks.
Referring to fig. 2, in embodiment 2, on the basis of embodiment 1, a front-rear positioning device 801 for controlling front-rear positioning of an AGV in a traveling direction and a left-right positioning device 802 for controlling left-right positioning of the AGV are installed at a material receiving stop on an AGV track. The AGV trolley cannot stop in time due to inertia in the walking process. This patent is through adding positioner around and controlling positioner, and the AGV dolly of being convenient for stops in the station department accuracy of difference.
For the front and rear positioning device, specifically, the front and rear positioning device 801 includes a third inductive switch 80103 for sensing an AGV, positioning blocks for clamping front and rear sides of the AGV, and a power unit 80102 for driving the positioning blocks 80101 to switch between two modes of clamping and releasing the AGV by swinging, and the power unit 80102 is drivingly connected to the positioning blocks; the third inductive switch 80103 controls the coupling power unit. When the third inductive switch senses the AGV, the power unit is triggered to start, so that the two positioning blocks 80101 clamp and position the AGV in the front and rear directions. Two power units 80102 are arranged in front of and behind the AGV track guiding direction, and the two power units 80102 are respectively connected with the two positioning blocks 80101 in a driving manner; the positioning block 80101 is L-shaped; the power unit 80102 is an electric cylinder, and a cylinder body of the electric cylinder is hinged and installed on a base by taking a vertical direction as a rotating center line; a piston rod of the electric cylinder is hinged with a right-angle edge of the positioning block, and the right-angle position of the positioning block 80101 is hinged and installed on a base or a left and right positioning device by taking the vertical direction as a rotating center line; the piston rod of the electric cylinder drives the other right-angle side of the positioning block to rotate around the right angle position by taking the vertical direction as a rotating center line. The clamping to the AGV dolly is convenient to realize.
For the left and right positioning device, specifically, the left and right positioning device may include two positioning guide rails 80202 respectively disposed on the left and right sides of the AGV track; when the AGV cart is at the positioning rails 80202, the left and right sides of the AGV cart are positioned and clamped between the two positioning rails 80202; the front sides of the two positioning guide rails 80202 are respectively provided with a guide block 80201 for guiding the AGV to enter the positioning guide rails; the guide block 80201 is provided with a guide surface for guiding the AGV to enter the positioning guide rail 80202, and the distance between the guide surfaces of the guide blocks at the front ends of the two positioning guide rails gradually decreases from front to back until the distance between the guide surfaces of the two positioning guide rails is consistent with the distance between the two positioning guide rails. Avoid the deviation of AGV dolly left and right sides direction.
Still install a discharge end that is used for responding to get it filled the robot on the AGV dolly and whether with the leading-in first inductive switch 803 of material on the AGV dolly, first inductive switch 803 is for the starting switch who is used for controlling the walking of AGV dolly. Once the first inductive switch senses that the materials given by the medicine taking robot are received, the AGV trolley is triggered to walk.
The specific working process is that the AGV trolley 1 travels along the AGV track 2, the AGV trolley 1 enters the positioning guide rail 80202 after contacting with the guide block 80201, when the AGV trolley 1 moves to the third inductive switch 80103, the power unit 80102 starts working and drives the positioning block 80101 to move, the AGV trolley 1 stops when moving to the medicine taking station, and the positioning block 80101 moves the AGV trolley 1 to a specified position. When the medicine taking robot 7 moves to the zero position (when being at the zero position, the medicine taking robot is in butt joint with the AGV trolley at the medicine taking station on the AGV track), the container 6 is placed on the AGV trolley 1, the container 6 accurately falls onto the AGV trolley 1 and touches the first inductive switch 803, and the AGV trolley 1 carries the container 6 to walk along the AGV track 2.
Referring to fig. 3 and 4, in embodiment 3, on the basis of embodiment 1 or embodiment 2, a plurality of AGV carts may travel on the AGV track. The medicine taking robot is also provided with a plurality of medicine taking robots. The cooperation of a plurality of robots of getting it filled and a plurality of AGV dolly can adopt following structure to go on:
the number of the AGV trolleys is at least three, and the walking track of the AGV trolleys at the medicine taking station is opposite to the walking track of the medicine taking robot at the medicine taking station; the traveling track of the AGV trolley at the medicine taking station is from front to back.
The medicine taking robot linkage system is also included; the medicine taking robot linkage system comprises a second inductive switch 902 and a touch pin 903 which are arranged on the AGV, the second inductive switch 902 and the touch pin 903 are arranged in front of and behind, and the second inductive switch 902 is used for controlling a starting switch for the walking of the AGV; the medicine taking robot linkage system further comprises an induction device 901 which is arranged on the medicine taking robot and used for triggering a second induction switch, wherein the induction device 901 comprises an induction sheet 90103, a rotating sheet 90101, a fixing sheet 90104 and a tension spring with the elastic direction being the vertical direction; the induction piece is installed on the rotary piece 90101, the rotary piece 90101 is hinged to the medicine taking robot, the fixing piece 90104 is fixed to the medicine taking robot 7, the top of the extension spring 90102 is installed on the fixing piece 90104, and the bottom of the extension spring 90102 is connected with the top of the rotary piece. The medicine taking robot is arranged on a movement mechanism for driving the medicine taking robot to move. The movement mechanism can drive the medicine taking robot to move to butt and take the medicine with the medicine storage boxes in different directions.
When only the second inductive switch 902 and the first inductive switch 803 are simultaneously activated, the AGV starts to travel.
Sequentially defining the AGV trolleys which circulate on the AGV track and pass through the medicine taking stopping positions as nth trolleys, wherein n is more than or equal to 1;
in an initial state, no empty container is carried when the AGV trolley 1 passes through the medicine taking stop position, and all AGV trolleys behind the AGV trolley 1 carry empty containers through the medicine taking stop position;
defining the medicine taking robot which is in butt joint with the AGV trolley by the medicine taking stopping position of the medicine taking robot sequentially as the mth trolley, wherein m is more than or equal to 1;
in the initial state, all the medicine taking robots carry containers.
The linkage steps of the plurality of medicine taking robots and the plurality of AGV trolleys comprise the following steps:
firstly, the nth AGV trolley moves to a medicine taking station along an AGV track;
the mth medicine taking robot moves to the medicine taking station, the mth medicine taking robot places the container on the nth AGV, and when the induction sheet of the mth medicine taking robot moves to the second induction switch of the nth AGV, the nth AGV carries the container to travel along the AGV track;
then, the empty container carried by the (n + 1) th AGV moves to a medicine taking station;
when the rotating piece of the mth medicine taking robot contacts with the contact pin of the (n + 1) th AGV, the rotating piece of the mth medicine taking robot drives the induction piece to rotate upwards, the second induction switch does not contact with the signal at the moment, and the (n + 1) th AGV stops;
the mth medicine taking robot takes the empty containers carried by the (n + 1) th AGV trolley, and the mth medicine taking robot carries the empty containers to take the medicines; and circulating in sequence.
In the process that the mth medicine taking robot moves to the initial position, the mth medicine taking robot vertically descends, containers on the mth medicine taking robot are placed on the nth AGV trolley, the containers on the mth medicine taking robot are separated from the mth medicine taking robot, then the mth medicine taking robot continues to descend to the initial position, and the induction sheet of the mth medicine taking robot moves to the second induction switch of the nth AGV trolley.
The container breaks away from the medicine taking robot, and can be that the medicine taking robot is provided with a hanging rack for hanging the container, and the container is provided with an arc-shaped flanging bent downwards. The flanging is hung on the hanging frame. Or a manipulator for grabbing and releasing the container is arranged on the medicine taking robot.
See fig. 4, for example, containing 3 drug-fetching robots 7 and 3 AGV carts 1.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that it is obvious to those skilled in the art that various modifications and improvements can be made without departing from the principle of the present invention, and these modifications and improvements should also be considered as the protection scope of the present invention.
Claims (10)
1. The automatic dispensing conveying device is characterized by further comprising a manual dispensing table, a rechecking workbench and a dispensing process control system;
the AGV comprises an AGV track, a front end of the AGV track and a rear end of the AGV track, wherein the front end of the AGV track is connected with the front end of the front end;
the two branch rails are respectively a first branch rail and a second branch rail, the first branch rail is provided with a stop position for manual medicine dispensing, and one side of the first branch rail, which is close to the stop position for manual medicine dispensing, is provided with a manual medicine dispensing table;
the material receiving stopping position is arranged at the position, close to the rail switching mechanism, of the main rail;
a rechecking stop position for rechecking the dispensed medicines is arranged at the tail end of the main track close to the first branch track and the second branch track, and a rechecking workbench is arranged at one side of the main track close to the rechecking stop position;
the dispensing process control system comprises an acquisition module, a storage module and a processing module, wherein the acquisition module is used for acquiring prescription information to be dispensed;
the dispensing process control system also comprises an analysis and identification module which is used for analyzing and identifying whether the prescription information contains traditional Chinese medicine decoction pieces needing artificial dispensing;
the dispensing process control system controls a signal input end of the track switching mechanism;
the medicine dispensing process control system firstly acquires prescription information and then identifies whether an artificial medicine dispensing process is needed or not through an analysis and identification module;
if the analysis and recognition module analyzes that the prescription information contains traditional Chinese medicine decoction pieces needing manual medicine dispensing; the dispensing process control system controls the track switching mechanism to butt joint the main track and the first branch track, and the AGV passes through the material receiving stop position, the stop position for manual dispensing and the stop position for rechecking in sequence;
if the analysis and recognition module analyzes that the prescription information does not contain the traditional Chinese medicine decoction pieces needing manual medicine dispensing; the dispensing process control system controls the track switching mechanism to butt the main track and the second branch track, and the AGV passes through the material receiving stop position and the re-checking stop position in sequence.
2. The automated medication delivery apparatus for controlling an orbital switching mechanism based on identifying prescription information according to claim 1, wherein: the acquisition module comprises at least one of a camera device for shooting and acquiring prescription information, a scanning device for scanning the prescription information and a communication module for being in communication connection with a pharmacy host computer in which the prescription information is stored;
the analysis and identification module comprises a processor and a storage module, and a sub-database of the information of the traditional Chinese medicine decoction pieces needing artificial medicine preparation is stored in the storage module;
the processor controls a signal input end of the track switching mechanism;
after the acquisition module acquires prescription information, a processor in the analysis and identification module compares traditional Chinese medicine decoction piece information in the prescription information acquired by the acquisition module with traditional Chinese medicine decoction piece information in the sub-database for analysis, and once one traditional Chinese medicine decoction piece is stored as a traditional Chinese medicine decoction piece in the sub-database, the processor controls the track switching mechanism to butt the main track and the first branch track;
and otherwise, the processor controls the track switching mechanism to butt the main track and the second branch track.
3. The automated medication delivery apparatus for controlling an orbital switching mechanism based on identifying prescription information according to claim 1, wherein: the AGV trolley is also provided with an inductive switch used for sensing whether the discharging end of the medicine taking robot guides the materials into the AGV trolley or not, and the inductive switch is a starting switch used for controlling the AGV trolley to travel;
the AGV rail material receiving stopping position, the stopping position for manual medicine dispensing and the stopping position for rechecking are respectively provided with a stopping triggering mechanism for triggering the AGV to stop;
install the stop switch who is used for controlling the AGV dolly and stops walking on the AGV dolly, stop switch is one and is used for the response stop trigger mechanism's inductive switch, inductive switch includes one and is used for the response stop trigger mechanism's sensing device.
4. The automated medication delivery apparatus for controlling an orbital switching mechanism based on identifying prescription information according to claim 3, wherein: when the stop trigger mechanism is a metal block, the inductive switch is a metal proximity switch, and the sensing device is a metal sensor;
when the stop trigger mechanism is a light source, the inductive switch is a photoelectric switch, and the sensing device is a photosensitive sensor;
when the stop trigger mechanism is a magnetic strip, the inductive switch is a magnetic sensitive switch, and the sensing device is a magnetic inductor.
5. The automated medication delivery apparatus for controlling an orbital switching mechanism based on identifying prescription information according to claim 1, wherein: connect material stop position department on the AGV track to install and be used for controlling AGV dolly and go up the front and back positioner of front and back location and be used for controlling the controlling positioning device of controlling the location about the AGV dolly in the walking direction.
6. The automated medication delivery apparatus for controlling an orbital switching mechanism based on identifying prescription information according to claim 5, wherein: the front and rear positioning devices comprise a third inductive switch for inducing the AGV, positioning blocks for clamping the front side and the rear side of the AGV, and a power unit for driving the positioning blocks to switch between a clamping mode and a releasing mode of the AGV through swinging, and the power unit is in driving connection with the positioning blocks;
and the third inductive switch is in control connection with the power unit.
7. The automated medication delivery apparatus for controlling an orbital switching mechanism based on identifying prescription information according to claim 6, wherein: the two power units are arranged in the front and back direction along the guiding direction of the AGV track and are respectively connected with the two positioning blocks in a driving mode;
the positioning block is L-shaped;
the power unit is an electric cylinder, and a cylinder body of the electric cylinder is hinged and installed on a base by taking the vertical direction as a rotating center line; a piston rod of the electric cylinder is hinged with a right-angle edge of the positioning block,
the right angle of the positioning block is hinged and installed on the base or the left and right positioning devices by taking the vertical direction as a rotation center line;
and a piston rod of the electric cylinder drives the other right-angle side of the positioning block to rotate around the right angle position by taking the vertical direction as a rotation center line.
8. The automated medication delivery apparatus for controlling an orbital switching mechanism based on identifying prescription information according to claim 5, wherein: the left positioning device and the right positioning device comprise two positioning guide rails which are respectively arranged on the left side and the right side of the AGV track;
when the AGV trolley is positioned at the positioning guide rails, the left side and the right side of the AGV trolley are positioned and clamped between the two positioning guide rails;
the front sides of the two positioning guide rails are respectively provided with a guide block for guiding the AGV to enter the positioning guide rails;
the AGV positioning device is characterized in that the guide blocks are provided with guide surfaces for guiding the AGV to enter the positioning guide rails, and the distance between the guide surfaces of the guide blocks at the front ends of the two positioning guide rails is gradually decreased from the front to the back until the distance between the guide surfaces and the two positioning guide rails is consistent.
9. The automated medication delivery apparatus according to any of claims 1 to 8, wherein: the walking track of the AGV trolley at the medicine taking station is opposite to that of the medicine taking robot at the medicine taking station, and the walking track of the AGV trolley at the medicine taking station is from front to back;
the medicine taking robot linkage system is also included;
the medicine taking robot linkage system comprises a second induction switch and a touch pin which are arranged on the AGV, the second induction switch and the touch pin are arranged in front of and behind the AGV, and the second induction switch is used for controlling a starting switch for controlling the AGV to walk;
the medicine taking robot linkage system also comprises an induction device arranged on the medicine taking robot, and the induction device is used for triggering a second induction switch;
induction system includes that an response piece, revolving fragment, stationary blade and elastic direction are vertical direction's extension spring, the response piece is installed on the revolving fragment, the revolving fragment articulates on the stationary blade perhaps gets on the robot of getting it filled, the stationary blade is fixed on the robot of getting it filled, extension spring's top is installed on the stationary blade, extension spring's bottom with the top of revolving fragment links to each other.
10. The automated medication delivery apparatus for controlling an orbital switching mechanism based on identifying prescription information of claim 9, wherein: the working steps of the medicine taking robot linkage system comprise the following steps:
firstly, the nth AGV trolley moves to a medicine taking station along an AGV track;
the mth medicine taking robot moves to the medicine taking station, the container is placed on the nth AGV trolley, and when the induction sheet of the mth medicine taking robot moves to the second induction switch of the nth AGV trolley, the nth AGV trolley carries the container to travel along the AGV track;
then, the empty container carried by the (n + 1) th AGV moves to a medicine taking station;
when the rotating piece of the mth medicine taking robot contacts with the contact pin of the (n + 1) th AGV, the rotating piece of the mth medicine taking robot drives the induction piece to rotate upwards, the second induction switch does not contact with the signal at the moment, and the (n + 1) th AGV stops;
the mth medicine taking robot takes the empty containers carried by the (n + 1) th AGV trolley, and the mth medicine taking robot carries the empty containers to take the medicines;
and circulating in sequence.
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| CN111332828A (en) * | 2020-03-24 | 2020-06-26 | 北京华夏艺匠模型科技有限公司 | Simulated port unloading and transporting system and operation method thereof |
| CN111899839A (en) * | 2020-08-12 | 2020-11-06 | 河北如许科技有限公司 | Intelligent pharmacy management system of community hospital |
| KR102644150B1 (en) * | 2021-11-02 | 2024-03-08 | 김미연 | Drug Dispensing Device capable of Discharging, Retrieving and Redistributing Drug |
| CN114307818A (en) * | 2021-12-28 | 2022-04-12 | 浙江三信智能机械股份有限公司 | Intelligent batching system and batching method |
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| CN101020535A (en) * | 2007-03-22 | 2007-08-22 | 红云烟草(集团)有限责任公司 | Efficient tobacco material conveying system |
| JP5045705B2 (en) * | 2009-04-16 | 2012-10-10 | 村田機械株式会社 | Transport vehicle system |
| CN205257318U (en) * | 2015-12-24 | 2016-05-25 | 宁波圣瑞思工业自动化有限公司 | Formula of cutting off becomes trailer and constructs |
| CN105711864B (en) * | 2016-03-08 | 2018-09-11 | 山东东翰机械有限公司 | A kind of control method of Chinese medicine automated dispensing |
| CN105600294B (en) * | 2016-03-10 | 2017-09-01 | 青岛酷特智能股份有限公司 | Intelligent hangar system and hanging distribution control method |
| CN106136702B (en) * | 2016-06-30 | 2019-12-03 | 广东一方制药有限公司 | A kind of full-automatic dosage of prescriptions of traditional Chinese medicine |
| CN206307624U (en) * | 2016-08-31 | 2017-07-07 | 佛山市飞碟智能科技有限公司 | A kind of large-scale dining room automation food delivery system |
| CN107028727B (en) * | 2017-05-23 | 2022-03-11 | 杭州师范大学钱江学院 | Automatic traditional Chinese medicine dispensing vehicle and dispensing method thereof |
| CN107934418B (en) * | 2017-11-01 | 2019-03-19 | 骆骏踔 | A kind of intelligent transport robot |
| CN108557195B (en) * | 2018-05-08 | 2021-01-05 | 安徽智汇和科技服务有限公司 | Control method of traditional Chinese medicine decoction piece dispensing system |
| CN109276082B (en) * | 2018-09-06 | 2020-05-05 | 上海超客机器人有限公司 | Automatic traditional Chinese medicine decoction piece dispensing system for traditional Chinese medicine pharmacy |
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