CN111960011A - Medicine automatic control system and operation method thereof - Google Patents
Medicine automatic control system and operation method thereof Download PDFInfo
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- CN111960011A CN111960011A CN202010895390.9A CN202010895390A CN111960011A CN 111960011 A CN111960011 A CN 111960011A CN 202010895390 A CN202010895390 A CN 202010895390A CN 111960011 A CN111960011 A CN 111960011A
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- 239000003814 drug Substances 0.000 title claims abstract description 158
- 229940079593 drug Drugs 0.000 title claims abstract description 61
- 238000000034 method Methods 0.000 title claims abstract description 17
- 238000004891 communication Methods 0.000 claims description 2
- 239000000126 substance Substances 0.000 claims 3
- 238000007599 discharging Methods 0.000 description 14
- 239000000825 pharmaceutical preparation Substances 0.000 description 6
- 229940127557 pharmaceutical product Drugs 0.000 description 6
- 230000002159 abnormal effect Effects 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000012377 drug delivery Methods 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
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Classifications
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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
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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
- B65G37/00—Combinations of mechanical conveyors of the same kind, or of different kinds, of interest apart from their application in particular machines or use in particular manufacturing processes
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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
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
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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
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
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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
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
-
- 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
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/041—Camera
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Specific Conveyance Elements (AREA)
Abstract
The automatic medicine control system and the operation method thereof comprise a warehousing system, a storage system and a manipulator. Wherein, warehouse entry system includes: a first conveying unit having a first motor, a first conveyor belt extending in a first direction, the first conveyor belt having a first end and a second end; the second conveying unit is provided with a second motor and a second conveying belt extending along the second direction, and the second conveying belt is provided with a third end and a fourth end; the first direction and the second direction form an included angle which is not 0 degree or 180 degrees; the manipulator is arranged close to the fourth end; the second end is arranged close to the third end, and the third end is higher than the second end; the second end is positioned in front of the third end. The invention effectively solves the problem that the drugs can not be put in storage due to different placing states, and the drugs can be placed again without manpower. In addition, when the medicine shifts between the conveyer belt, will not conform to the medicine adjustment that absorbs the state to conforming to the state to promote the efficiency that the medicine was carried.
Description
Technical Field
The invention relates to the field of medicine management, in particular to a medicine automatic control system and an operation method thereof.
Background
The automatic medicine control system is one system capable of realizing automatic medicine conveying and control among the warehouse entry system, the storage system and the manipulator. The automatic control system for the medicines in the prior art comprises a first conveying unit, a second conveying unit, a transfer device, a discharging part and a manipulator. The first conveying unit extends along a first direction, the second conveying unit extends along a second direction, and the first direction and the second direction form an included angle of not 0 degrees or 180 degrees. A discharging part is arranged between the first conveying unit and the second conveying unit. The transfer device is used for transferring the medicines placed on the first conveying unit to the second conveying unit. The manipulator is arranged at one end, far away from the first conveying unit, of the second conveying unit and is used for moving the medicine out of the second conveying unit. There is no height difference between the first conveyor belt in the first conveying unit and the second conveyor belt in the second conveying unit, and any end of the first conveyor belt is not placed in front of any end of the second conveyor belt. When the medicine was carried to the manipulator and snatchs the region, if the medicine condition appears and lead to the manipulator can't snatch the time, then the medicine can only return along opposite direction to fall into ejection of compact portion, the medicine transmission success rate is low, on follow-up medicine that still will put into the conveyer belt once more in the ejection of compact portion, there was the problem of extravagant manpower.
Disclosure of Invention
In order to overcome the defects in the prior art, embodiments of the present invention provide a drug automation control system and an operation method thereof, which are used for solving the above-mentioned problems of low success rate of drug delivery and manpower waste.
The embodiment of the application discloses: an automatic medicine control system comprises a warehousing system, a storage system and a manipulator, wherein the warehousing system comprises: the first conveying unit comprises a first conveying belt extending along a first direction and a first motor capable of driving the first conveying belt to move along the first direction and a direction opposite to the first direction; the second conveying unit comprises a second conveying belt extending along the second direction and a second motor capable of driving the second conveying belt to move along the second direction and the direction opposite to the second direction; wherein the first direction and the second direction form an included angle which is not 0 degree or 180 degrees; the first conveyor belt has a first end and a second end opposite in a first direction; the second conveying belt is provided with a third end and a fourth end which are opposite along the second direction; the manipulator is arranged close to the fourth end of the second conveying belt; the second end of the first conveying belt is arranged close to the third end of the second conveying belt, and the third end of the second conveying belt is higher than the second end of the first conveying belt; the second end of the first conveyor belt is positioned in front of the third end of the second conveyor belt along the second direction.
Further, the second conveyor belt has a first side wall and a second side wall oppositely disposed in a direction perpendicular to the second direction, and the second end of the first conveyor belt is located between the first side wall and the second side wall.
Further, including the ejection of compact portion, the ejection of compact portion communicates with the space that is formed by the second end of first conveyer belt and the third end of second conveyer belt.
Further, the first conveyer belt is horizontal setting, and the second conveyer belt is higher than first conveyer belt 30 to 100 millimeters.
Further, a transfer device is included for transferring the pharmaceutical product on the first conveyor belt to the second conveyor belt.
Further, the transfer device enables adjustment of the position of the drug.
Further, the transfer device comprises a vacuum suction head and a picture acquisition device, and the vacuum suction head can move according to the picture acquisition device.
The embodiment of the application also discloses: an operation method of a drug automation control system comprises the following steps: when the manipulator grabs the medicine and meets the condition, the second conveying belt moves the medicine to the direction of the first conveying belt, so that at least part of the medicine is returned to the first conveying belt from the second conveying belt; the first conveyor belt moves the medicine returned thereto to a working position where the transfer device can adjust the medicine.
Further, after the step "the first conveyor belt moves the medicine returned thereon to the working position where the transfer device can adjust the medicine", the transfer device transfers the medicine adjusted in position to the second conveyor belt.
Further, in the step "when the manipulator grabs the medicine and meets the situation, the second conveyer belt makes the medicine move towards the direction of the first conveyer belt", at least part of the medicine falls into the discharging part.
The invention has the following beneficial effects:
1. according to the automatic medicine control system and the operation method thereof, the medicine placing states are readjusted through secondary conveying of the medicines in the abnormal state, the probability of the condition that the medicines cannot be put in a warehouse due to different medicine placing states is reduced, and the success rate of putting the medicines in the warehouse is improved.
2. The automatic medicine control system and the operation method thereof can realize the automation of putting the medicines again, do not need manpower to put the returned medicines on the first conveying belt again, save the manpower and improve the efficiency. The existence of the discharging part eliminates the possibility of medicine accumulation and provides guarantee for the normal operation of the system.
3. The medicine automatic control system and the operation method thereof can realize the adjustment of the medicine placing state, and adjust the medicines which do not conform to the suction state to the conforming state, thereby improving the medicine conveying efficiency.
4. The automatic medicine control system and the operation method thereof can realize the treatment of medicines in various states on the second conveying belt, thereby enhancing the treatment capacity of the automatic medicine control system on medicines.
In order to make the aforementioned and other objects, features and advantages of the invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic perspective view of an automated pharmaceutical control system according to an embodiment of the present invention;
FIG. 2 is a top view of a drug automation control system in accordance with an embodiment of the present invention;
fig. 3 is a front view of a structure between a first delivery unit and a second delivery unit in the automatic drug control system according to the embodiment of the present invention.
Reference numerals of the above figures: 1. a first conveying unit; 11. a first conveyor belt; 111. a first end; 112. a second end; 2. a second conveying unit; 21. a second conveyor belt; 211. a third end; 212. a fourth end; 22. a first side wall; 23. a second side wall; 3. a transfer device; 31. a vacuum suction head; 32. a picture acquisition device; 33. a discharge part; 4. a robot arm.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. 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 invention.
As shown in fig. 1 to fig. 3, the automatic medicine control system of the present embodiment includes a warehousing system, a storage system, and a manipulator 4, and the warehousing system includes:
a first conveying unit 1, the first conveying unit 1 comprising a first conveyor belt 11 and a first motor (not shown in the figure). The first conveyor belt 11 extends in a first direction, and the first conveyor belt 11 has a first end 111 (left end in fig. 2) and a second end 112 (right end in fig. 2) opposite in the first direction. The first direction may be a width direction of the paper surface in fig. 2, and may be from left to right. Of course, in other alternative embodiments, the first direction may be adjusted according to actual needs. The first motor is capable of driving the first conveyor belt 11 to move in a first direction and a direction opposite to the first direction, so that the first conveyor belt 11 can convey the medicines thereon from the first end 111 to the second end 112, and also can cause the first conveyor belt 11 to convey the medicines thereon from the second end 112 to the first end 111, and is preferably a continuously variable frequency motor.
And a second conveying unit 2, the second conveying unit 2 including a second conveyor belt 21 and a second motor (not shown in the figure). The second conveyor belt 21 extends in the second direction, and the second conveyor belt 21 has a third end 211 (lower end in fig. 2) and a fourth end 212 (upper end in fig. 2) that are opposite in the second direction. The second direction may be a length direction of the paper surface in fig. 2, and is from bottom to top. Of course, in other alternative embodiments, the second direction may be adjusted according to actual needs. The second motor can drive the second conveyor belt 21 to move in the second direction and the direction opposite to the second direction, so that the second conveyor belt 21 can convey the medicine on the second conveyor belt from the third end 211 to the fourth end 212, and can also cause the second conveyor belt 21 to convey the medicine on the second conveyor belt from the fourth end 212 to the third end 211, and is preferably a stepless variable frequency motor.
The second direction and the first direction form an included angle of 0 degree or 180 degrees, namely the first direction and the second direction are not coincident or parallel. Preferably, the first direction and the second direction are at an angle of 90 degrees to facilitate position control of the medication. Of course, in other alternative embodiments, the included angle formed by the first direction and the second direction may be adjusted according to actual needs.
The robot 4 is arranged adjacent to the fourth end 212 of the second conveyor belt 21 and the robot 4 may comprise a suction device or a gripping device or other mechanism that can pick up a drug and place it in a drug library.
In the present embodiment, the second end 112 of the first conveyor belt 11 is disposed adjacent to the third end 211 of the second conveyor belt 21, the third end 211 of the second conveyor belt 21 is higher than the second end 112 of the first conveyor belt 11, and the second end 112 of the first conveyor belt 11 is located in front of the third end 211 of the second conveyor belt 21 along the second direction. Since the third end 211 is higher than the second end 112 and the second end 112 is disposed adjacent to the third end 211, it is also possible that both the first conveyor belt 11 and the second conveyor belt 21 can move bidirectionally. Therefore, the second motor may drive the medicine on the second conveyor belt 21 to move from the fourth end 212 of the second conveyor belt 21 to the third end 211 of the second conveyor belt 21, so that at least a portion of the medicine separated from the second conveyor belt 21 can fall on the first conveyor belt 11. At this time, the first conveyor belt 11 may move the medicine thereon from the second end 112 toward the first end 111.
By means of the above structure, the second conveying belt 21 runs in the second direction after receiving the medicine, and under the condition that the medicine is not satisfactory (for example, the manipulator 4 cannot grab the medicine), the second conveying belt 21 can run in the direction opposite to the second direction. Thereby, at least part of the medicine can fall from the second conveyor belt 21 onto the first conveyor belt 11 which is lower than the second conveyor belt 21 and has a partially overlapped portion with the second conveyor belt 21. After the medicine is returned to the first conveyor belt 11, the medicine may be readjusted, and the readjusted medicine may be transferred to the second conveyor belt 21 again.
By adopting the embodiment, the medicine automatic control system can convey the medicine which is not in line with the grabbing state of the mechanical arm 4 again. Through the secondary delivery of the medicines, the readjustment of the placing states of the medicines is realized, and the probability that the medicines cannot be put in a warehouse due to different placing states is reduced.
Specifically, referring to fig. 2 and 3, the second conveyor belt 21 has a first sidewall 22 and a second sidewall 22 oppositely disposed in a direction perpendicular to the second direction, and the second end 112 of the first conveyor belt 11 is located between the first sidewall 22 and the second sidewall 22. The first and second side walls 22, 22 extend along a second direction. The first and second sidewalls 22 and 22 are spaced apart along the first direction.
In a preferred embodiment, as shown in fig. 1 and 2, the medicine automation control system includes a discharging part 33, and the discharging part 33 is connected to a space formed by the second end 112 of the first conveyor belt 11 and the third end 211 of the second conveyor belt 21. In a certain case, the medicine cannot always satisfy the conveying requirement, and the first conveyor belt 11 or the second conveyor belt 21 may remove the medicine from the discharge portion 33. Preferably, the opening of the discharging portion 33 is rectangular in order to match the first conveying unit 1 and the second conveying unit 2 in the communication space so that the medicine does not fall into the region outside the first conveying belt 11 and the discharging portion 33. Of course, in other embodiments, the shape and size of the discharging part 33 can be adjusted according to actual needs. Because the discharging part 33 is connected with the second end 112 of the first conveyor belt 11, the medicines on the first conveyor belt 11 which are not transferred to the second conveyor belt 21 can fall into the discharging part 33, and the existence of the discharging part 33 eliminates the possibility that the medicines are accumulated on the second end 112 of the first conveyor belt 11, thereby providing a guarantee for the normal operation of the system. And the discharging part 33 is connected with the third end 211 of the second conveyor belt 21, so that when the second motor drives the medicine on the second conveyor belt 21 to move from the fourth end 212 to the third end 211, at least part of the medicine falls into the discharging part 33.
Specifically, as shown in fig. 1 and 3, the first conveyor belt 11 and the second conveyor belt 21 are horizontally disposed, so that both the first conveyor belt 11 and the second conveyor belt 21 can make the medicine move more stably. Of course, in other alternative embodiments, the inclination angles of the first conveyor belt 11 and the second conveyor belt 21 may be adjusted according to actual needs. The second conveyor belt 21 is higher than the first conveyor belt 1130 by 100 mm, so that the medicines are not damaged when falling from the second conveyor belt 21 onto the first conveyor belt 11, and the medicines can be prevented from being stacked at the second end 112 of the first conveyor belt 11 and the third end 211 of the second conveyor belt 21. This embodiment can realize the automation that the medicine was put again, has reduced the manpower that need put the medicine that returns again to first conveyer belt 11, has also promoted efficiency when using manpower sparingly
Specifically, as shown in fig. 1 and 2, the automated drug control system according to the present embodiment includes a transfer device 3 for transferring the drugs on the first conveyor 11 to the second conveyor 21. The transfer device 3 may be located on one side of the first conveyor belt 11 and in close proximity to the first conveyor belt 11, so that the transfer device 3 can cover a larger area and save space inside the medication control system when transferring medication on the first conveyor belt 11.
In a preferred embodiment, the transfer device 3 in this embodiment is capable of adjusting the position of the medication, as shown in fig. 1 and 2. The transfer device 3 may comprise a cylinder or cylinder controlled by an electric circuit or other device for moving the vacuum nozzle 31 up and down.
In a preferred embodiment, as shown in fig. 1, the transfer device 3 comprises a vacuum suction head 31 and a picture acquisition device 32, wherein the picture acquisition device 32 can take pictures and identify the positions of the medicines, preferably, the vacuum suction head 31 is made of rubber, and the vacuum suction head 31 can move according to the picture acquisition device 32.
Referring to fig. 1 to 3, when the medicine is on the first conveyor belt 11, the picture taking means 32 can determine the current state of the medicine by recognizing the state of the medicine in the photographed picture and transmit the information to the vacuum nozzle 31. When the medicine is in a flat state, the picture taking device 32 enables the vacuum suction head 31 to directly suck the medicine. When the medicine is in an upright state, the picture taking device 32 can control the vacuum suction head 31 by positioning the medicine, so that the vacuum suction head 31 moves up and down and touches the medicine, the medicine is changed from the upright state to a flat state, and then the vacuum suction head 31 sucks the medicine again. In this embodiment, can realize the regulation to the medicine state of putting on first conveyer belt 11, will not conform to the medicine adjustment that absorbs the state to conforming to the state to promote the efficiency that the medicine carried.
The invention also provides an embodiment of an operation method of the automatic drug control system, which is shown in fig. 1 to 3 and comprises the following steps: the robot arm 4 can recognize the medicine on the fourth end 212 of the second conveyor belt 21 and grasp the medicine conforming to the pickup state. When the manipulator 4 grasps the medicine and encounters a condition, the second conveyor belt 21 moves the medicine in the direction of the first conveyor belt 11, which may or may not include: the medicines on the second conveyor belt 21 are in an upright state, one part of the medicines on the second conveyor belt 21 and the other part of the medicines outside the second conveyor belt 21 are in a suspended state, the mechanical arm 4 fails to grab the medicines, and the medicines fall onto the second conveyor belt 21 again or other mechanical arms 4 cannot correctly pick up the medicines.
In an alternative embodiment, at least part of the pharmaceutical product is returned from the second conveyor belt 21 onto the first conveyor belt 11 after the second conveyor belt 21 has moved the pharmaceutical product in the direction of the first conveyor belt 11. At this time, the medicine falls in the first direction at the working position where the transfer device 3 can adjust the medicine, and then the first conveyor belt 11 moves in the opposite direction of the first direction, so that the medicine is conveyed to the working position where the transfer device 3 can adjust the medicine. Of course, the movement of the transfer device 3 and the first conveyor belt 11 can be adjusted according to the actual needs. The picture taking device 32 on the transfer device 3 can then make a decision on the status of the drug and transmit the information to the vacuum cleaner head 31. When the medicine is in a flat state, the picture taking device 32 enables the vacuum suction head 31 to directly suck the medicine. When the medicine is in an upright state, the picture taking device 32 can control the vacuum suction head 31 by positioning the medicine, so that the vacuum suction head 31 moves up and down and touches the medicine, and the medicine is changed from the upright state to a flat state. Then, the vacuum nozzle 31 sucks the medicine directly.
In a preferred embodiment, the transfer device 3 transfers the adjusted pharmaceutical product onto the second conveyor belt 21.
In another alternative embodiment, at least part of the pharmaceutical product falls into the outfeed portion 33 after the second conveyor 21 has moved the pharmaceutical product in the direction of the first conveyor 11.
In the operation method of the automatic medicine control system, the medicines in various states on the second conveying belt 21 can be processed, so that the processing capacity of the automatic medicine control system on the medicines is enhanced. Meanwhile, the whole conveying and adjusting process is only carried out in the first conveying unit 1 and the second conveying unit 2, and no new conveying and adjusting unit is added, so that the space in a control system is saved, and the utilization rate of a medicine automatic control system is increased.
The principle and the implementation mode of the invention are explained by applying specific embodiments in the invention, and the description of the embodiments is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (10)
1. An automatic medicine control system comprises a warehousing system, a storage system and a manipulator, and is characterized in that the warehousing system comprises:
a first conveying unit including a first conveyor belt extending in a first direction and a first motor capable of driving the first conveyor belt to move in the first direction and a direction opposite to the first direction;
a second conveying unit including a second conveyor belt extending in a second direction and a second motor capable of driving the second conveyor belt to move in the second direction and a direction opposite to the second direction;
wherein the first direction and the second direction form an included angle which is not 0 degree or 180 degrees;
the first conveyor belt has a first end and a second end opposite in a first direction; the second conveying belt is provided with a third end and a fourth end which are opposite along a second direction; the manipulator is arranged close to the fourth end of the second conveying belt;
the second end of the first conveying belt is arranged close to the third end of the second conveying belt, and the third end of the second conveying belt is higher than the second end of the first conveying belt;
the second end of the first conveyor belt is located in front of the third end of the second conveyor belt in the second direction.
2. The automated drug control system of claim 1, wherein the second conveyor belt has a first sidewall and a second sidewall disposed opposite in a direction perpendicular to the second direction, the second end of the first conveyor belt being positioned between the first sidewall and the second sidewall.
3. The drug automation control system of claim 2, comprising an outfeed portion in communication with a space formed by the second end of the first conveyor belt and the third end of the second conveyor belt.
4. The automated drug control system of claim 1, wherein the first conveyor belt is horizontally disposed and the second conveyor belt is horizontally disposed, the second conveyor belt being 30 to 100 mm higher than the first conveyor belt.
5. The drug automation control system of claim 1 comprising a transfer device for transferring drugs on the first conveyor belt to the second conveyor belt.
6. The drug automation control system of claim 5, wherein the transfer device is capable of adjusting the position of the drug.
7. The automated drug control system according to claim 6, wherein the transfer device includes a vacuum nozzle and a picture taking device, the vacuum nozzle being movable according to the picture taking device.
8. A method of operating a drug automation control system using the drug automation control system according to any one of claims 1 to 7, comprising the steps of:
when the manipulator grabs the medicine and meets the condition, the second conveying belt moves the medicine to the direction of the first conveying belt, so that at least part of the medicine is returned to the first conveying belt from the second conveying belt;
the first conveyor belt moves the medicine returned thereto to a working position where the transfer device can adjust the medicine.
9. The method of operating a drug automation control system according to claim 8, wherein the transfer means transfers the drug after the adjustment of the position to the second conveyor after the step of the first conveyor moving the drug returned thereto to the working position where the transfer means can adjust the drug.
10. The method of claim 8, wherein at least a portion of the chemicals are dropped into the dispensing section during the step "when the robot arm is in an encounter with the chemicals, the second conveyor moves the chemicals in the direction of the first conveyor".
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010895390.9A CN111960011A (en) | 2020-08-31 | 2020-08-31 | Medicine automatic control system and operation method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010895390.9A CN111960011A (en) | 2020-08-31 | 2020-08-31 | Medicine automatic control system and operation method thereof |
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| CN111960011A true CN111960011A (en) | 2020-11-20 |
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| CN202010895390.9A Pending CN111960011A (en) | 2020-08-31 | 2020-08-31 | Medicine automatic control system and operation method thereof |
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| JP2013010630A (en) * | 2011-06-30 | 2013-01-17 | Tsubakimoto Chain Co | Article conveying-sorting apparatus |
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| CN108655726A (en) * | 2018-05-21 | 2018-10-16 | 广东科捷龙机器人有限公司 | Manipulator based on Machine Vision Recognition captures assembly control system |
| CN109747476A (en) * | 2019-03-21 | 2019-05-14 | 博众精工科技股份有限公司 | A kind of solid charging unit |
| CN212374157U (en) * | 2020-08-31 | 2021-01-19 | 苏州吉成智能科技有限公司 | Medicine automated control system |
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