CN114890043B - Full-automatic intelligent compatibility system suitable for traditional Chinese medicine - Google Patents
Full-automatic intelligent compatibility system suitable for traditional Chinese medicine Download PDFInfo
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- CN114890043B CN114890043B CN202210830219.9A CN202210830219A CN114890043B CN 114890043 B CN114890043 B CN 114890043B CN 202210830219 A CN202210830219 A CN 202210830219A CN 114890043 B CN114890043 B CN 114890043B
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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
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
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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
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The invention relates to a full-automatic intelligent traditional Chinese medicine compatibility system which comprises an AGV intelligent compatibility system, a medicine storage tank intelligent discharging and weighing system, a decoction piece automatic feeding manipulator system and a decoction piece automatic vertical storage system, wherein the discharge end of the decoction piece automatic vertical storage system is provided with the decoction piece automatic feeding manipulator system for grabbing a product, the feed end of the medicine storage tank intelligent discharging and weighing system is provided with the decoction piece automatic feeding manipulator system for putting the product, and the discharge end of the medicine storage tank intelligent discharging and weighing system is butted with the feed end of the AGV intelligent compatibility system. The invention can realize automatic compatibility, thereby improving the compatibility efficiency and achieving the aim of reducing the cost.
Description
Technical Field
The invention belongs to the field of automatic compatibility and intelligent transportation, and particularly relates to a full-automatic intelligent compatibility system suitable for traditional Chinese medicines.
Background
The compatibility of Chinese herbs refers to that in the process of manufacturing medicament or clinical medication, a plurality of different drugs are mixed together according to the weight of each drug according to the respective needs. At present, the whole automatic compatibility process of traditional Chinese medicines is not generally realized, and the traditional compatibility generally adopts manual medicine preparation, manual weighing and manual mixing, so that the time and the labor are consumed, and the compatibility efficiency is low. Meanwhile, the manual compatibility has high cost, uneven compatibility weighing precision and high error rate. In addition, the compatibility process of the traditional Chinese medicines adopts more manual contact with the traditional Chinese medicines, which is easy to cause pollution, is not beneficial to clean production of the medicines and reduces the quality of the traditional Chinese medicines.
The existing traditional Chinese medicines are also compatible by adopting a standard packaging bag, and the compatibility mode can only produce a prescription with standardized weight, can not carry out weight addition and subtraction compatibility at any time according to the specific conditions of patients, and can not realize personalized traditional Chinese medicine ordering service of one part of one person and one dose of one person. Meanwhile, the prior art is difficult to realize intelligent whole-process tracing of the traditional Chinese medicine compatibility process, the traditional Chinese medicine compatibility progress cannot be displayed in real time, and enterprises cannot realize whole-process digital tracking of the traditional Chinese medicine compatibility process.
Disclosure of Invention
In order to solve the technical problems, the invention aims to provide a full-automatic intelligent compatibility system for traditional Chinese medicines.
In order to achieve the purpose, the invention adopts the following technical scheme:
a full-automatic intelligent compatibility system suitable for traditional Chinese medicines comprises an AGV intelligent compatibility system, a medicine storage tank intelligent discharging and weighing system, a decoction piece automatic feeding manipulator system and a decoction piece automatic vertical storage system, wherein a decoction piece automatic feeding manipulator system used for grabbing a product is arranged at a discharging end of the decoction piece automatic vertical storage system, a decoction piece automatic feeding manipulator system used for putting the product is arranged at a feeding end of the medicine storage tank intelligent discharging and weighing system, and a discharging end of the medicine storage tank intelligent discharging and weighing system is butted with a feeding end of the AGV intelligent compatibility system;
the automatic vertical storage system for the decoction pieces comprises a vertical storage chamber, wherein a cool storage area, an easily tainted odor storage area, a cold storage area and a normal temperature storage area are arranged in the vertical storage chamber, the cool storage area, the easily tainted odor storage area, the cold storage area and the normal temperature storage area are isolated from each other, vertical storages are arranged in the cool storage area, the easily tainted odor storage area, the cold storage area and the normal temperature storage area, box-type four-way shuttle cars for storing, taking and carrying products are arranged on the vertical storages, a material inlet/material outlet of the vertical storages is in butt joint with a two-way logistics conveying line body, the box-type four-way shuttle cars are movable between the material inlet/material outlet of the vertical storages and the vertical storages, and the automatic decoction piece feeding mechanical arm system is positioned at a material outlet end of the two-way logistics conveying line body;
the automatic decoction piece feeding manipulator system comprises a manipulator moving slide rail, a feeding manipulator which is movable on the manipulator moving slide rail is arranged on the manipulator moving slide rail, and the feeding manipulator is movably arranged between a bidirectional logistics conveying line body and the intelligent medicine storage tank discharging and weighing system;
the intelligent discharging and weighing system of the medicine storage tank comprises a medicine storage chamber, wherein a medicine storage cool region, a medicine storage easily tainting region, a medicine storage cold storage region and a medicine storage normal temperature region which are independent and isolated from each other are arranged in the medicine storage chamber, the medicine storage cool region, the medicine storage easily tainting region, the medicine storage cold storage region and the medicine storage normal temperature region are all provided with the medicine storage tanks which are uniformly arranged, and the medicine storage tanks are arranged on a weighing platform for feeding back the weight information of the materials in the medicine storage tanks in real time;
the medicine storage tank comprises a medicine storage tank body, an upper cover of the medicine storage tank is arranged above the medicine storage tank body, telescopic cylinders are arranged on two side faces of the upper cover of the medicine storage tank, telescopic rods of the telescopic cylinders are connected with a feeding cover plate movably connected to the upper cover of the medicine storage tank, a cone hopper is connected below the medicine storage tank body, a discharge port of the cone hopper is butted with a feed port of a spiral discharge device, a discharge port of the spiral discharge device is butted with a feed port of a discharge pipeline, the discharge port of the discharge pipeline is butted with the feed port of a feed hopper, the discharge pipeline and the feed hopper are both connected on a weighing discharge frame, a high-frequency vibration discharge device is arranged in the weighing discharge frame, a vibration plate is connected on the high-frequency vibration discharge device, the vibration plate is positioned below the discharge port of the feed hopper, and the discharge port of the vibration plate for vibration discharge is butted with the feed port of the feed hopper, the automatic guided vehicle is characterized in that the receiving hopper is connected to a weighing sensor, the weighing sensor is connected in a weighing and discharging frame, a discharging port of the receiving hopper is connected with a feeding port of the discharging hopper, and a discharging port of the discharging hopper is connected in an AGV intelligent compatibility system;
AGV intelligence compatibility system includes the AGV dolly, be provided with the hanging flower basket on the AGV dolly.
Preferably, the full-automatic intelligent compatibility system suitable for traditional Chinese medicines is characterized in that an audible and visual alarm device is arranged on the upper cover of the medicine storage tank.
Preferably, the temperature of the medicine storage cool area is less than or equal to 25 ℃; the temperature of the area where the medicine is easy to taint is less than or equal to 25 ℃; the temperature of a medicine storage refrigeration area is 2-10 ℃; the temperature of the medicine storage normal-temperature area is 10-30 ℃, and meanwhile, the indoor humidity ranges of the medicine storage cool area, the medicine storage area prone to taint of odor, the medicine storage refrigeration area and the medicine storage normal-temperature area are 45-75%.
Preferably, the full-automatic intelligent compatibility system suitable for traditional Chinese medicines, the medicine storage tank body is connected to the weighing platform through supporting legs.
Preferably, the full-automatic intelligent compatibility system for the traditional Chinese medicine is characterized in that a medicine storage tank base is arranged at a discharge port of the cone hopper, an arch breaking device is arranged on the medicine storage tank base, and an arch breaking rod of the arch breaking device (30508) penetrates through the medicine storage tank base and extends into the cone hopper.
Preferably, the full-automatic intelligent compatibility system suitable for traditional Chinese medicine, the medicine storage tank is provided with medicine storage tanks with two sizes, wherein one medicine storage tank with the diameter of 1200mm and the other medicine storage tank with the diameter of 600 mm.
Preferably, a be applicable to full-automatic intelligent system of adding of traditional chinese medicine, the AGV dolly includes the AGV frame, AGV frame below is connected with the walking drive wheel, AGV frame top is connected with hanging flower basket fixing device, the AGV shell is installed to AGV frame periphery, AGV shell top is provided with the touch-sensitive screen, the AGV shell left and right sides all goes up and is connected with scram switch, laser sensor and safe crashproof strip, be connected with the speaker on the AGV shell, battery power display and the manual interface that charges are installed to the front of AGV shell, the automatic piece that charges is installed to the reverse side of AGV shell, install the LED pilot lamp in the four corners of AGV shell, install the power supply battery who is used for AGV dolly power supply in the AGV frame.
Preferably, the full-automatic intelligent compatibility system suitable for traditional Chinese medicines, the box-type four-way shuttle comprises a shuttle frame, four-way walking driving wheels are connected below the shuttle frame, a fork taking and placing device is installed in the middle of the shuttle frame, and a shuttle shell is installed on the periphery of the shuttle frame.
Preferably, the system is suitable for full-automatic intelligent compatibility of traditional Chinese medicines, the temperature in a shady and cool storage area is less than or equal to 25 ℃, the temperature in an easily tainted flavor storage area is less than or equal to 25 ℃, the temperature in a cold storage area is 2-10 ℃, the temperature in a normal temperature storage area is 10-30 ℃, and the humidity ranges in the shady and cool storage area, the easily tainted flavor storage area, the cold storage area and the normal temperature storage area are all 45-75%.
By the scheme, the invention at least has the following advantages:
1. the invention realizes full automation and intellectualization of a traditional Chinese medicine compatibility process, realizes 100% of automation rate, greatly improves compatibility efficiency, can realize the compatibility efficiency of 1.6 ten thousand prescription sheets per day and effectively reduces cost.
2. The invention can realize the prescription of any prescription, and doctors can add or subtract the weight formula of any one or more decoction pieces according to the specific conditions of patients, thereby realizing the personalized Chinese medicine ordering service of one person and one dose.
3. The invention adopts no manual contact of traditional Chinese medicine in the whole process of the compatibility of traditional Chinese medicine, avoids pollution caused by manual contact, is beneficial to clean production of medicines and effectively improves the quality of traditional Chinese medicine.
4. The invention adopts a digital and intelligent management system in the whole process of the compatibility of the traditional Chinese medicines, accumulates a large amount of data for the symptomatic administration of the traditional Chinese medicine preparation, and can provide big data analysis and decision basis for the optimization and improvement of the treatment curative effect of the traditional Chinese medicine preparation for doctors.
The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical solutions of the present invention more clearly understood and to implement them in accordance with the contents of the description, the following detailed description is given with reference to the preferred embodiments of the present invention and the accompanying drawings.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a schematic structural view of the present invention.
Fig. 2 is a schematic structural diagram of the automated decoction piece vertical warehouse storage system.
Fig. 3 is a schematic structural diagram of an automatic decoction piece feeding manipulator system of the invention.
Fig. 4 is a schematic structural view of the intelligent discharging and weighing system of the medicine storage tank.
Fig. 5 is a schematic structural view of the medicine storage tank of the invention.
Figure 6 is a schematic view of the drug storage canister of the present invention from another perspective.
FIG. 7 is a schematic diagram of an AGV intelligent compatibility system according to the present invention.
FIG. 8 is a schematic diagram of a partial internal structure of an AGV car in the AGV intelligent compatibility system of the present invention.
FIG. 9 is a schematic diagram of the structure of the right side of the AGV car in the AGV intelligent compatibility system of the present invention.
FIG. 10 is a schematic diagram of a front side structure of an AGV car in the AGV intelligent compatibility system of the present invention.
Fig. 11 is a schematic view of the box-type four-way shuttle of the present invention.
Fig. 12 is a side elevational view of the box-type four-way shuttle of the present invention.
Fig. 13 is a top view of the box-type four-way shuttle of the present invention.
Fig. 14 is an enlarged partial view of the spiral discharge apparatus and the arch breaking apparatus of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present application, it should be noted that the terms "vertical", "horizontal", "inside", "outside", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or orientations or positional relationships that the products of the application usually place when in use, and are used only for convenience in describing the present application and for simplification of description, but do not indicate or imply that the devices or elements that are referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application. Furthermore, the terms "first," "second," and the like are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance.
Furthermore, the terms "horizontal", "vertical" and the like do not imply that the components are required to be absolutely horizontal or vertical, but may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
In the description of the present application, it is further noted that, unless expressly stated or limited otherwise, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.
Examples
As shown in fig. 1 to 14, a full-automatic intelligent compatibility system for traditional Chinese medicine comprises an AGV intelligent compatibility system 400, a medicine storage tank intelligent discharging and weighing system 300, a decoction piece automatic feeding manipulator system 200 and a decoction piece automatic vertical warehouse storage system 100, wherein the decoction piece automatic feeding manipulator system 200 for grabbing a product is arranged at a discharging end of the decoction piece automatic vertical warehouse storage system 100, the decoction piece automatic feeding manipulator system 200 for putting a product is arranged at a feeding end of the medicine storage tank intelligent discharging and weighing system 300, and the discharging end of the medicine storage tank intelligent discharging and weighing system 300 is butted with a feeding end of the AGV intelligent compatibility system 400;
the automatic vertical storage system 100 for the decoction pieces comprises a vertical storage chamber, wherein a shady and cool storage area 101, an easily tainted odor storage area 102, a cold storage area 103 and a normal temperature storage area 104 are arranged in the vertical storage chamber, the shady and cool storage area 101, the easily tainted odor storage area 102, the cold storage area 103 and the normal temperature storage area 104 are isolated from each other, the vertical storage is arranged in each of the shady and cool storage area 101, the easily tainted odor storage area 102, the cold storage area 103 and the normal temperature storage area 104, a box-type four-way shuttle 106 for storing, taking and carrying the products is arranged on the vertical storage, a material inlet/outlet of the vertical storage is in butt joint with a bidirectional logistics conveying line body 107, the box-type four-way shuttle 106 is movable between the material inlet/outlet of the vertical storage and the vertical storage, and the automatic feeding mechanical arm system 200 for the decoction pieces is positioned at a material outlet end of the bidirectional logistics conveying line body 107;
the automatic decoction piece feeding manipulator system 200 comprises a manipulator moving slide rail 203, a feeding manipulator 202 which moves on the manipulator moving slide rail 203 is arranged on the manipulator moving slide rail 203, and the feeding manipulator 202 is movably arranged between a bidirectional logistics conveying line body 107 and a medicine storage tank intelligent discharging and weighing system 300;
the intelligent discharging and weighing system 300 for the medicine storage tanks comprises a medicine storage chamber, a medicine storage cool region 301, a medicine storage easily tainting region 302, a medicine storage cold region 303 and a medicine storage normal temperature region 304 which are independent and isolated from each other are arranged in the medicine storage chamber, the medicine storage cool region 301, the medicine storage easily tainting region 302, the medicine storage cold region 303 and the medicine storage normal temperature region 304 are all provided with the medicine storage tanks 305 which are uniformly arranged, and the medicine storage tanks 305 are arranged on a weighing platform 306 for feeding back information of the weight of materials in the medicine storage tanks in real time;
the medicine storage tank 305 comprises a medicine storage tank body 30501, a medicine storage tank upper cover 30503 is arranged above the medicine storage tank body 30501, telescopic cylinders 30504 are arranged on two side faces of the medicine storage tank upper cover 30503, telescopic rods of the telescopic cylinders 30504 are connected with a feeding cover plate 30505 which is movably connected on the medicine storage tank upper cover 30503, a cone hopper 30507 is connected below the medicine storage tank body 30501, a discharge port of the cone hopper 30507 is in butt joint with a feed port of a spiral discharging device 30510, a discharge port of the spiral discharging device 30510 is in butt joint with a feed port of a discharging pipeline 30511, a discharge port of the discharging pipeline 30511 is in butt joint with a feed port of a feeding hopper 30512, the discharging pipeline 30511 and the feeding hopper 30512 are both connected on a weighing discharging frame 30513, a high-frequency vibration discharging device 30514 is arranged in the weighing discharging frame 30513, a vibration plate 30515 is connected on the high-frequency vibration discharging device 30514, and the vibration plate 30515 is positioned below the discharge port of the feeding hopper 30512, the discharging hole of the vibrating plate 30515 for vibrating discharging is butted with the feeding hole of the receiving hopper 30516, the receiving hopper 30516 is connected to the weighing sensor 30517, the weighing sensor 30517 is connected to the inside of the weighing discharging frame 30513, the discharging hole of the receiving hopper 30516 is connected to the feeding hole of the discharging hopper 30518, and the discharging hole of the discharging hopper 30518 is connected to the inside of the AGV intelligent compatibility system 400;
AGV intelligence compatibility system 400 includes AGV dolly 402, be provided with hanging flower basket 401 on the AGV dolly 402.
The upper cover 30503 of the medicine storage tank is provided with a sound and light alarm 30506.
The temperature of the medicine storage cool area 301 is less than or equal to 25 ℃; the temperature of the medicine storage area 302 with easy taint of odor is less than or equal to 25 ℃; the temperature of the medicine storage refrigeration area 303 is 2-10 ℃; the temperature of the medicine storage normal temperature area 304 is 10-30 ℃, and meanwhile, the indoor humidity ranges of the medicine storage cool and shady area 301, the medicine storage easily tainted by odor area 302, the medicine storage cold storage area 303 and the medicine storage normal temperature area 304 are 45-75%.
The medicine storage tank body 30501 is connected to a weighing platform through the supporting legs 30502.
According to the invention, the discharge hole of the conical hopper 30507 is provided with the medicine storage tank base 30509, the medicine storage tank base 30509 is provided with the arch breaking device 30508, and the arch breaking rod of the arch breaking device 30508 penetrates through the medicine storage tank base 30509 and extends into the conical hopper 30507.
The medicine storage tank 305 is provided with two sizes of medicine storage tanks, wherein one medicine storage tank with the diameter of 1200mm and the other medicine storage tank with the diameter of 600 mm.
According to the invention, the AGV trolley 402 comprises an AGV frame 40201, walking driving wheels 40202 are connected below the AGV frame 40201, a hanging basket fixing device 40203 is connected above the AGV frame 40201, an AGV shell 40204 is installed on the periphery of the AGV frame 40201, a touch screen 40205 is arranged above the AGV shell 40204, emergency stop switches 40206, laser sensors 40207 and safety anti-collision bars 40208 are connected to the left side and the right side of the AGV shell 40204, a loudspeaker 40209 is connected to the AGV shell 40204, a battery power display 40210 and a manual charging interface 40211 are installed on the front side of the AGV shell 40204, automatic charging blocks 40212 are installed on the back side of the AGV shell 40204, LED indicating lamps 40213 are installed on the four corners of the AGV shell 40204, and a power supply battery 40214 for supplying power to the AGV trolley is installed in the AGV frame 40201.
The box-type four-way shuttle 106 comprises a shuttle framework 10601, four-way traveling driving wheels 10602 are connected below the shuttle framework 10601, a pallet fork taking and placing device 10603 is installed in the middle of the shuttle framework 10601, and a shuttle shell 10604 is installed on the periphery of the shuttle framework 10601.
In the invention, the temperature in the cool storage area 101 is less than or equal to 25 ℃, the temperature in the easy tainting storage area 102 is less than or equal to 25 ℃, the temperature in the cold storage area 103 is 2-10 ℃, the temperature in the normal temperature storage area 104 is 10-30, and the humidity ranges in the cool storage area 101, the easy tainting storage area 102, the cold storage area 103 and the normal temperature storage area 104 are all 45-75%.
The invention also comprises a WMS/WCS system which is used for the automatic dispatching of the AGV intelligent compatibility system 400, the intelligent medicine storage tank discharging and weighing system 300, the automatic decoction piece feeding manipulator system 200 and the automatic decoction piece vertical storage system 100.
The working principle of the invention is as follows:
the automatic vertical storage system 100 for the decoction pieces is divided into four areas according to the storage characteristics of the decoction pieces, namely a shady and cool storage area 101: less than or equal to 25 ℃; tainted-prone storage area 102: less than or equal to 25 ℃; refrigerated storage area 103: 2-10 ℃; normal temperature storage area 104: the humidity of the shady and cool storage area 101, the easily tainted odor storage area 102, the cold storage area 103 and the normal temperature storage area 104 is 45-75%; each area is isolated from each other in order to meet the storage environment requirement of the decoction pieces.
The automatic vertical storage system 100 for the decoction pieces is used for storing the decoction pieces in an automatic three-dimensional library mode, the storage carrier is a standard turnover box 105, the bagged decoction pieces are placed in the turnover box 105 for storage, the weight of one box of the decoction pieces is set to be less than or equal to 25kg, and the size of the turnover box 105 is defined as 600mm x 400mm x 300 mm.
The bulk densities of different types of decoction pieces are different, and the weight of the decoction pieces packed in the bags with different bulk densities is different but is controlled to be less than or equal to 25kg on the principle that the volumes are approximately equal. The vertical warehouse storing, taking and transporting equipment adopts a box-type four-way shuttle 106, the warehouse entry and the warehouse exit adopt automatic logistics conveyor line bodies 107, and the warehouse entry and warehouse exit principle adopts a first-in first-out principle.
According to the decoction piece production plan, the WMS/WCS system automatically dispatches an empty turnover box 105 to supply a packaging decoction piece off-line station, the packaging decoction piece off-line station is responsible for placing packaged decoction pieces into the corresponding empty turnover box 105, meanwhile, information of the decoction pieces and the turnover box 105 is bound through code scanning and is conveyed to a warehousing port through an automatic material flow conveying line body 107, and after the WMS/WCS system receives warehousing information, the WMS/WCS system automatically dispatches a corresponding box type four-way shuttle 106 to perform warehousing operation.
When the weight of a certain decoction piece in the medicine storage tank intelligent discharging and weighing system 300 is consumed to a set lowest critical point (the lowest critical point is set by a person skilled in the art), the weighing platform 306 automatically sends a material supplementing application. After receiving the material supplementing application, the WMS/WCS system automatically dispatches the box-type four-way shuttle 106 to carry out the ex-warehouse operation of the decoction pieces with corresponding requirements, and the decoction pieces after being out-warehouse are conveyed to the automatic feeding mechanical arm system 200 of the decoction pieces by the automatic material flow conveying line 107.
When the herbal pieces reach the feeding position 201 of the herbal piece automatic feeding manipulator system (i.e. the feeding end of the manipulator moving slide rail), the feeding manipulator 202 automatically drives the vehicle to the feeding position 201 through the manipulator moving slide rail 203, the feeding manipulator 202 picks the herbal pieces packaged in bags, the barcode of the herbal piece bags is scanned first, and after the system confirms that the herbal pieces are correct, the feeding manipulator 202 sends a feeding application and walks to the corresponding drug storage tank feeding position (i.e. the storage tank needing to be supplemented) 204 through the manipulator moving slide rail 203. The feeding manipulator 202 scans the information of the medicine storage tank 305 at the position of the code feeding position, then scans the information of the code decoction piece bag, and after the system confirms that the decoction piece information is matched with the information of the medicine storage tank 305, the feeding cover plate 30505 is automatically opened, so that the feeding manipulator 202 is allowed to automatically feed.
If the decoction piece information is not matched with the medicine storage tank 305 information, the system does not allow uncovering and gives out acousto-optic alarm, the HMI picture displays the alarm place, and people participate in finding the reason to avoid putting wrong decoction pieces. When a certain decoction piece weight is fed to the highest critical point of the material in the medicine storage tank 305, the weighing platform 306 sends a feeding stopping application, the feeding manipulator 202 stops feeding the corresponding decoction piece, and the automatic upright storage system 100 for the decoction pieces automatically stops the delivery operation of the decoction pieces.
Medicine storage tank intelligence ejection of compact and weighing system 300 is mainly used for storing the discharge of weighing herbal pieces-830 in total, and there are 830 medicine storage tanks 305 correspondingly. The diameter of the medicine storage tank 305 is 1200mm and 600mm, and the height is designed into a uniform specification. The medicine storage tank 305 is divided into four regions according to the requirement of the storage characteristics of the decoction pieces, namely a medicine storage shady and cool region 301: less than or equal to 25 ℃; storage area 302 for easily tainting odor with medicine: less than or equal to 25 ℃; medicine storage refrigeration area 303: 2-10 ℃; drug storage normal temperature region 304: the humidity of a medicine storage shade area 301, a medicine storage odor easily-crossing area 302, a medicine storage cold storage area 303 and a medicine storage normal temperature area 304 is 45-75 percent at 10-30 ℃; each area is isolated from each other in order to meet the storage environment requirement of the decoction pieces.
Each medicine storage tank 305 is provided with three supporting legs 30502, the lower part of each supporting leg 30502 is arranged on a weighing platform 306, and a feedback device is arranged in the weighing platform 306 and is used for feeding back information of the weight of the material in the medicine storage tank 305 in real time, so that the weight of the material at the lowest critical point of the medicine storage tank 305 can be fed back, and the weight of the material at the highest critical point of the medicine storage tank 305 can be fed back.
When the weight of the materials is lower than the lowest critical point, the acousto-optic alarm is given to remind that the materials need to be fed, and when the weight of the materials is higher than the highest critical point, the acousto-optic alarm is given to remind that the materials are stopped to be fed. The weighing accuracy of the weighing platform 306 is controlled to be 5% of the total amount.
A cone hopper 30507 is mounted below the medicine storage tank body 30501, an arch breaking device 30508 is mounted inside the cone hopper 30507, the arch breaking device 30508 is used for preventing decoction pieces in the medicine storage tank 30501 from being stacked to cause difficulty in discharging, the lower end of the arch breaking device 30508 is mounted on a medicine storage tank base 30509, the upper end of the medicine storage tank base 30509 is mounted below the cone hopper 30507, a spiral discharging device 30510 is mounted at the lower end of the medicine storage tank base 30509, a discharging pipeline 30511 is mounted at the lower end of the spiral discharging device 30510, a feeding hopper 30512 is connected below the discharging pipeline 30511, and the discharging pipeline 30511 and the feeding hopper 30512 are both mounted on a weighing and discharging frame 30513; weighing discharge frame 30513 internally mounted has high-frequency vibration discharging device 30514, vibration 30515 is installed to high-frequency vibration discharging device 30514 upper end, vibration 30515 is used for the vibration ejection of compact, vibration 30515 vibrates the ejection of compact and expects to connect in hopper 30516, connect hopper 30516 to install on weighing sensor 30517, weighing sensor 30517 is used for the accurate weighing, and ejection of compact weighing precision must guarantee at 5% of total amount, connect hopper 30516 below to be connected with down hopper 30518, connect hopper 30516 to expect the sliced medicinal herbs through down hopper 30518 in the hanging flower basket 401 of AGV dolly 402 top of AGV intelligence compatibility system 400.
The intelligent medicine storage tank discharging and weighing system 300 and the AGV intelligent matching system 400 work cooperatively, a patient makes an appointment for a doctor to see a doctor through a patient end APP, the doctor makes a prescription order through a doctor end APP, each prescription is equivalent to an order, the orders are sent from the doctor end APP, the prescription made by the doctor is confirmed to be correct and then is sent to an MES system, and the prescription management system performs matching according to the name and weight specified by the prescription, and the prescription management system sends the compatibility task to the intelligent medicine storage tank discharging and weighing system 300 and the AGV intelligent compatibility system 400, when the intelligent discharge and weighing system 300 receives the compatibility task, it assigns to the medicine storage tank 305 responsible for the corresponding decoction pieces, after the medicine storage tank 305 receives the task, the high-frequency vibration discharging device 30514 and the weighing sensor 30517 cooperate to complete the discharging and weighing tasks of the corresponding decoction pieces, and the completion condition is fed back to the formula management system.
After the AGV intelligent compatibility system 400 receives the compatibility tasks sent by the formula management system, the AGV dispatching system dispatches one AGV car 402 to execute the received compatibility tasks, the AGV car 402 carries an empty hanging basket 401 back to the position below a decoction piece medicine storage tank 305 required by the formula immediately, after the system receives the discharging and weighing tasks finished by the feedback of the high-frequency vibration discharging device 30514 and the weighing sensor 30517, and the system confirms that the AGV car 402 executing the corresponding compatibility tasks carries the empty hanging basket 401 to reach the corresponding material receiving position, the material receiving hopper 30516 is automatically opened, and the decoction pieces are discharged into the hanging basket 401 above the AGV car 402 through the material discharging hopper 30518.
When a single herbal piece is prepared, the AGV trolley 402 moves to the lower part of the corresponding herbal piece storage tank 305 with the basket 401 to take the herbal pieces, and after the herbal pieces of one order are taken in sequence, the collection of the herbal pieces of the single order is completed in the basket 401. For example, if a prescription list comprises 20 herbal pieces, the AGV cart 402 will move back to the basket 401 to the position below the corresponding 20 herbal piece storage tank 305 to take out the herbal pieces, and the collection of 20 herbal pieces is completed in the basket 401. After the system or pharmacist checks the basket without errors, the AGV cart 402 is carried to a corresponding gripping position of the robot basket 401 at the decocting and feeding point by carrying the basket 401.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, it should be noted that, for those skilled in the art, many modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (9)
1. The utility model provides a be applicable to full-automatic intelligent system of compatiblizing of traditional chinese medicine which characterized in that: the automatic storage and weighing system comprises an AGV intelligent compatibility system (400), a medicine storage tank intelligent discharging and weighing system (300), a decoction piece automatic feeding manipulator system (200) and a decoction piece automatic vertical storage system (100), wherein a decoction piece automatic feeding manipulator system (200) for grabbing a product is arranged at a discharging end of the decoction piece automatic vertical storage system (100), a decoction piece automatic feeding manipulator system (200) for feeding the product is arranged at a feeding end of the medicine storage tank intelligent discharging and weighing system (300), and a discharging end of the medicine storage tank intelligent discharging and weighing system (300) is butted with a feeding end of the AGV intelligent compatibility system (400);
the automatic upright storage system (100) for the decoction pieces comprises an upright storage chamber, wherein a shade storage area (101), an easily tainted flavor storage area (102), a cold storage area (103) and a normal temperature storage area (104) are arranged in the upright storage chamber, the shade storage area (101), the easily tainted flavor storage area (102), the cold storage area (103) and the normal temperature storage area (104) are isolated from each other, the shady and cool storage area (101), the easily tainted odor storage area (102), the cold storage area (103) and the normal temperature storage area (104) are all provided with a vertical warehouse, the vertical warehouse is provided with a box type four-way shuttle (106) for storing, taking and carrying products, the material inlet/outlet of the vertical warehouse is butted with a bidirectional logistics conveying line body (107), the box-type four-way shuttle (106) is movably arranged between a material inlet/outlet of the vertical warehouse and the vertical warehouse, and the automatic decoction piece feeding manipulator system (200) is positioned at the material outlet end of the bidirectional logistics conveying line body (107);
the automatic feeding manipulator system (200) for the decoction pieces comprises a manipulator moving slide rail (203), wherein a feeding manipulator (202) moving on the manipulator moving slide rail (203) is arranged on the manipulator moving slide rail (203), and the feeding manipulator (202) is movably arranged between a bidirectional logistics conveying line body (107) and a medicine storage tank intelligent discharging and weighing system (300);
the intelligent discharging and weighing system (300) for the medicine storage tanks comprises a medicine storage chamber, a medicine storage cool region (301), a medicine storage region (302) with easy smell mixing, a medicine storage cold region (303) and a medicine storage normal temperature region (304) which are independent and isolated from each other are arranged in the medicine storage chamber, the medicine storage cool region (301), the medicine storage region (302) with easy smell mixing, the medicine storage cold region (303) and the medicine storage normal temperature region (304) are all internally provided with the medicine storage tanks (305) which are uniformly arranged, and the medicine storage tanks (305) are arranged on a weighing platform (306) for feeding back the information of the material weight of the medicine storage tanks in real time;
the medicine storage tank (305) comprises a medicine storage tank body (30501), a medicine storage tank upper cover (30503) is arranged above the medicine storage tank body (30501), telescopic cylinders (30504) are arranged on two side faces of the medicine storage tank upper cover (30503), telescopic rods of the telescopic cylinders (30504) are connected with a feeding cover plate (30505) movably connected to the medicine storage tank upper cover (30503), a cone hopper (30507) is connected below the medicine storage tank body (30501), a discharge port of the cone hopper (30507) is in butt joint with a feed port of a spiral discharging device (30510), a discharge port of the spiral discharging device (30510) is in butt joint with a feed port of a discharging pipeline (30511), a discharge port of the discharging pipeline (30511) is in butt joint with a feed port of a feeding hopper (30512), the discharging pipeline (11) and the feeding hopper (30512) are both connected to a weighing discharging frame (30513), and a high-frequency vibration discharging device (30514) is arranged in the weighing discharging frame (30513), the high-frequency vibration discharging device (30514) is connected with a vibration plate (30515), the vibration plate (30515) is positioned below a discharging port of a feeding hopper (30512), a discharging port of the vibration plate (30515) for vibration discharging is in butt joint with a feeding port of a receiving hopper (30516), the receiving hopper (30516) is connected to a weighing sensor (30517), the weighing sensor (30517) is connected to a weighing discharging frame (30513), a discharging port of the receiving hopper (30516) is connected with a feeding port of a discharging hopper (30518), and a discharging port of the discharging hopper (30518) is connected to an AGV intelligent compatibility system (400);
AGV intelligence compatibility system (400) include AGV dolly (402), be provided with hanging flower basket (401) on AGV dolly (402).
2. The system of claim 1, wherein the system is adapted for full-automatic intelligent compatibility of traditional Chinese medicines, and comprises: an audible and visual alarm device (30506) is arranged on the upper cover (30503) of the medicine storage tank.
3. The system of claim 1, wherein the system is adapted for full-automatic intelligent compatibility of traditional Chinese medicines, and comprises: the temperature of the medicine storage cool area (301) is less than or equal to 25 ℃; the temperature of the medicine storage area (302) which is easy to taint with the odor is less than or equal to 25 ℃; the temperature of the medicine storage refrigeration area (303) is 2-10 ℃; the temperature of the medicine storage normal temperature area (304) is 10-30 ℃, and meanwhile, the indoor humidity ranges of the medicine storage cool area (301), the medicine storage area (302) which is easy to get mixed with smell, the medicine storage cold storage area (303) and the medicine storage normal temperature area (304) are 45-75%.
4. The system of claim 1, wherein the system is adapted for full-automatic intelligent compatibility of traditional Chinese medicines, and comprises: the medicine storage tank body (30501) is connected to the weighing platform through the supporting legs (30502).
5. The system of claim 1, wherein the system is adapted for full-automatic intelligent compatibility of traditional Chinese medicines, and comprises: a medicine storage tank base (30509) is arranged at a discharge hole of the conical hopper (30507), an arch breaking device (30508) is arranged on the medicine storage tank base (30509), and an arch breaking rod of the arch breaking device (30508) penetrates through the medicine storage tank base (30509) and extends into the conical hopper (30507).
6. The system of claim 1, wherein the system is adapted for full-automatic intelligent compatibility of traditional Chinese medicines, and comprises: the medicine storage tank (305) is provided with two sizes of medicine storage tanks, wherein one diameter of the medicine storage tank is 1200mm, and the other diameter of the medicine storage tank is 600 mm.
7. The system of claim 1, wherein the system is adapted for full-automatic intelligent compatibility of traditional Chinese medicines, and comprises: the AGV trolley (402) comprises an AGV frame (40201), a traveling driving wheel (40202) is connected below the AGV frame (40201), a hanging basket fixing device (40203) is connected above the AGV frame (40201), an AGV shell (40204) is installed on the periphery of the AGV frame (40201), a touch screen (40205) is arranged above the AGV shell (40204), the left side and the right side of the AGV shell (40204) are connected with an emergency stop switch (40206), a laser sensor (40207) and a safety anti-collision strip (40208), the AGV shell (40204) is connected with a loudspeaker (40209), the front of the AGV shell (40204) is provided with a battery power display (40210) and a manual charging interface (40211), an automatic charging block (40212) is arranged on the reverse side of the AGV shell (40204), LED indicating lamps (40213) are arranged at four corners of the AGV shell (40204), a power supply battery (40214) for supplying power to the AGV trolley is installed in the AGV frame (40201).
8. The system of claim 1, wherein the system is adapted for full-automatic intelligent compatibility of traditional Chinese medicines, and comprises: the box-type four-way shuttle (106) comprises a shuttle framework (10601), four-way walking driving wheels (10602) are connected below the shuttle framework (10601), a fork taking and placing device (10603) is installed in the middle of the shuttle framework (10601), and a shuttle shell (10604) is installed on the periphery of the shuttle framework (10601).
9. The system of claim 1, wherein the system is adapted for full-automatic intelligent compatibility of traditional Chinese medicines, and comprises: the temperature in the cool storage area (101) is less than or equal to 25 ℃, the temperature in the easy taint storage area (102) is less than or equal to 25 ℃, the temperature in the cold storage area (103) is 2-10 ℃, the temperature in the normal temperature storage area (104) is 10-30 ℃, and the humidity ranges in the cool storage area (101), the easy taint storage area (102), the cold storage area (103) and the normal temperature storage area (104) are all 45-75%.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105378450A (en) * | 2013-02-18 | 2016-03-02 | 赛拉诺斯股份有限公司 | Systems and methods for multi-analysis |
| CN108438687A (en) * | 2018-03-07 | 2018-08-24 | 合肥佳田自动化工程科技有限公司 | A kind of logistic storage system of medical intelligent plant |
| CN111099374A (en) * | 2019-12-16 | 2020-05-05 | 意欧斯智能科技股份有限公司 | Automatic storage and sorting system |
| CN111655597A (en) * | 2017-11-21 | 2020-09-11 | 实现解决方案公司 | Product handling and packaging system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US9250229B2 (en) * | 2011-09-25 | 2016-02-02 | Theranos, Inc. | Systems and methods for multi-analysis |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105378450A (en) * | 2013-02-18 | 2016-03-02 | 赛拉诺斯股份有限公司 | Systems and methods for multi-analysis |
| CN111655597A (en) * | 2017-11-21 | 2020-09-11 | 实现解决方案公司 | Product handling and packaging system |
| CN108438687A (en) * | 2018-03-07 | 2018-08-24 | 合肥佳田自动化工程科技有限公司 | A kind of logistic storage system of medical intelligent plant |
| CN111099374A (en) * | 2019-12-16 | 2020-05-05 | 意欧斯智能科技股份有限公司 | Automatic storage and sorting system |
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