A drug automation control system and its operation method

Abstract

The drug automation control system and its operation method in the present application include a warehousing system, a storage system and a manipulator. Among them, the warehousing 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; a second conveying unit, having a second motor, a second conveyor belt extending in a second direction, the second conveyor belt having a third end and a fourth end; the first direction and the second direction are at an angle not equal to 0 degrees or 180 degrees; the manipulator is arranged near the fourth end; the second end is arranged near the third end, and the third end is higher than the second end; the second end is located in front of the third end. The present invention effectively solves the problem that drugs cannot be stored due to different placement states, and the drugs can be rearranged without manpower. In addition, when drugs are transferred between conveyor belts, drugs that do not meet the absorption state are adjusted to meet the state, thereby improving the efficiency of drug delivery.

Description

Technical Field

[0001] The present invention relates to the field of medicine management, and in particular to an automatic medicine control system and an operation method thereof. Background Art

[0002] The drug automation control system is a system that can realize the automatic transportation and control of drugs between the storage system, the storage system and the manipulator. The drug automation control system in the prior art includes 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, and the second conveying unit extends along a second direction, and the first direction and the second direction are at an angle not equal to 0° or 180°. A discharging part is arranged between the first conveying unit and the second conveying unit. The transfer device is used to transfer the drugs placed on the first conveying unit to the second conveying unit. The manipulator is arranged at one end of the second conveying unit away from the first conveying unit, and is used to move the drugs 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 drugs are transported to the grabbing area of ​​the manipulator, if the drugs have a problem and the manipulator cannot grab them, the drugs can only return in the opposite direction and fall into the discharging part, and the success rate of drug transmission is low. The drugs in the discharging part must be put back on the conveyor belt later, which wastes manpower. Summary of the invention

[0003] In order to overcome the defects in the prior art, an embodiment of the present invention provides a drug automation control system and an operating method thereof, which are used to solve the above-mentioned problems of low drug transmission success rate and waste of manpower.

[0004] The embodiment of the present application discloses: a drug automation control system, including a warehousing system, a storage system and a manipulator, the warehousing system includes: a first conveying unit, the first conveying unit includes a first conveyor belt extending along a first direction and a first motor capable of driving the first conveyor belt to move along the first direction and a direction opposite to the first direction; a second conveying unit, the second conveying unit includes a second conveyor belt extending along a second direction and a second motor capable of driving the second conveyor belt to move along the second direction and a direction opposite to the second direction; wherein the first direction and the second direction form an angle that is not 0 degrees or 180 degrees; the first conveyor belt has a first end and a second end opposite to each other along the first direction; the second conveyor belt has a third end and a fourth end opposite to each other along the second direction; the manipulator is arranged adjacent to the fourth end of the second conveyor belt; the second end of the first conveyor belt is arranged adjacent to the third end of the second conveyor belt, and the third end of the second conveyor belt is higher than the second end of the first conveyor belt; the second end of the first conveyor belt is located in front of the third end of the second conveyor belt along the second direction.

[0005] Further, the second conveyor belt has a first side wall and a second side wall which are arranged opposite to each other 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.

[0006] Furthermore, it comprises a discharging portion, which is communicated with a space formed by the second end of the first conveyor belt and the third end of the second conveyor belt.

[0007] Furthermore, the first conveyor belt is horizontally arranged, the second conveyor belt is horizontally arranged, and the second conveyor belt is 30 to 100 mm higher than the first conveyor belt.

[0008] Furthermore, it comprises a transfer device, which is used to transfer the medicines on the first conveyor belt to the second conveyor belt.

[0009] Furthermore, the transfer device can adjust the position of the medicine.

[0010] Further, the transfer device comprises a vacuum suction head and an image acquisition device, and the vacuum suction head can move according to the image acquisition device.

[0011] The embodiment of the present application also discloses: an operating method of a drug automation control system, comprising the following steps: when a situation occurs when a robot arm grabs drugs, the second conveyor belt causes the drugs to move in the direction of the first conveyor belt, thereby causing at least part of the drugs to return from the second conveyor belt to the first conveyor belt; the first conveyor belt causes the drugs returned thereto to move to a working position where a transfer device can adjust the drugs.

[0012] Further, after the step of "the first conveyor belt moves the medicine returned thereon to a working position where the transfer device can adjust the medicine", the transfer device transfers the medicine after the position is adjusted to the second conveyor belt.

[0013] Further, in the step of "when the robot encounters a situation while grabbing the medicine, the second conveyor belt causes the medicine to move in the direction of the first conveyor belt", at least part of the medicine falls into the discharge part.

[0014] The beneficial effects of the present invention are as follows:

[0015] 1. The drug automation control system and its operation method described in this embodiment realize the readjustment of the placement status of such drugs by secondary delivery of drugs in abnormal status, thereby reducing the probability of drugs being unable to enter the warehouse due to different drug placement status and improving the success rate of drug storage.

[0016] 2. The drug automation control system and its operation method described in this embodiment can realize the automation of drug re-placement, and no manpower is required to put the returned drugs back on the first conveyor belt, which saves manpower and improves efficiency. The existence of the discharge part eliminates the possibility of drug accumulation and provides guarantee for the normal operation of the system.

[0017] 3. The automated drug control system and its operating method described in this embodiment can adjust the drug placement status and adjust drugs that do not meet the absorption status to meet the status, thereby improving the efficiency of drug delivery.

[0018] 4. The drug automation control system and its operation method described in this embodiment can process drugs in various states on the second conveyor belt, thereby enhancing the drug processing capability of the drug automation control system.

[0019] In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0021] Figure 1 It is a schematic diagram of the three-dimensional structure of the drug automation control system described in an embodiment of the present invention;

[0022] Figure 2 is a top view of the drug automation control system described in an embodiment of the present invention;

[0023] Figure 3 It is a front view of the structure between the first conveying unit and the second conveying unit in the drug automation control system described in an embodiment of the present invention.

[0024] The figure marks of the above drawings are: 1. first conveying unit; 11. first conveyor belt; 111. first end; 112. second end; 2. second conveying unit; 21. second conveyor belt; 211. third end; 212. fourth end; 22. first side wall; 23. second side wall; 3. transfer device; 31. vacuum suction head; 32. image acquisition device; 33. discharge part; 4. robot. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0026] like Figures 1 to 3 As shown, the drug automation control system of this embodiment includes a warehousing system, a storage system and a manipulator 4. The warehousing system includes:

[0027] The first conveying unit 1 includes a first conveying belt 11 and a first motor (not shown in the figure). The first conveying belt 11 extends along a first direction, and the first conveying belt 11 has a first end 111 ( Figure 2 The left end of the second end 112 ( Figure 2 The first direction can be Figure 2 The first direction is the width direction of the paper surface in the drawing, and from left to right. Of course, in other optional embodiments, the first direction can be adjusted according to actual needs. The first motor can drive the first conveyor belt 11 to move in the first direction and in the 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 can also convey the medicines thereon from the second end 112 to the first end 111. Preferably, the first motor is a stepless variable frequency motor.

[0028] The second conveying unit 2 includes a second conveying belt 21 and a second motor (not shown in the figure). The second conveying belt 21 extends along the second direction, and the second conveying belt 21 has a third end 211 ( Figure 2 The lower end of the middle) and the fourth end 212 ( Figure 2 The second direction can be Figure 2 The second direction is in the length direction of the paper in the drawing, and from bottom to top. Of course, in other optional embodiments, the second direction can be adjusted according to actual needs. The second motor can drive the second conveyor belt 21 to move in the second direction and in the direction opposite to the second direction, so that the second conveyor belt 21 can convey the medicines thereon from the third end 211 to the fourth end 212, and can also convey the medicines thereon from the fourth end 212 to the third end 211. Preferably, the second motor is a stepless variable frequency motor.

[0029] The second direction is at an angle other than 0 or 180 degrees to the first direction, that is, the first direction and the second direction are neither coincident nor parallel. Preferably, the first direction and the second direction are at an angle of 90 degrees to facilitate the position control of the drug. Of course, in other optional embodiments, the angle between the first direction and the second direction can be adjusted according to actual needs.

[0030] The robot 4 is disposed adjacent to the fourth end 212 of the second conveyor belt 21 . The robot 4 may include a suction device or a gripping device or other mechanism that can pick up medicines and place the medicines in a medicine library.

[0031] In this embodiment, the second end 112 of the first conveyor belt 11 is arranged adjacent to the third end 211 of the second conveyor belt 21, and 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 arranged adjacent to the third end 211, and since both the first conveyor belt 11 and the second conveyor belt 21 can move in both directions, the second motor can 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 part of the medicine that has been separated from the second conveyor belt 21 can fall on the first conveyor belt 11. At this time, the first conveyor belt 11 can move the medicine on it from the second end 112 to the first end 111.

[0032] With the above structure, the second conveyor belt 21 runs along the second direction after receiving the medicine. If the medicine does not meet the requirements (for example, the manipulator 4 cannot grab the medicine), the second conveyor belt 21 can run in the direction opposite to the second direction. Thus, at least part of the medicine can fall from the second conveyor belt 21 to the first conveyor belt 11 which is lower than the second conveyor belt 21 and partially overlaps with the second conveyor belt 21. After the medicine returns to the first conveyor belt 11, the medicine can be adjusted again, and the adjusted medicine can be transferred back to the second conveyor belt 21.

[0033] By adopting the above embodiment, the drug automation control system can re-convey the drugs that do not meet the gripping state of the manipulator 4. Through the secondary delivery of the drugs, the placement state of the drugs is readjusted, reducing the probability that the drugs cannot be stored due to different placement states.

[0034] Specifically, refer to Figure 2 and Figure 3As shown, the second conveyor belt 21 has a first side wall 22 and a second side wall 22 arranged opposite to each other along a direction perpendicular to the second direction, and the second end 112 of the first conveyor belt 11 is located between the first side wall 22 and the second side wall 22. The first side wall 22 and the second side wall 22 extend along the second direction. The first side wall 22 and the second side wall 22 are arranged at intervals along the first direction.

[0035] In a preferred embodiment, Figure 1 and Figure 2 As shown, the drug automation control system includes a discharge portion 33, and the discharge portion 33 is connected to the space formed by the second end 112 of the first conveyor belt 11 and the third end 211 of the second conveyor belt 21. Under certain circumstances, the drug can never meet the conveying requirements, and the first conveyor belt 11 or the second conveyor belt 21 can exclude the drug from the discharge portion 33. Preferably, in order to match the first conveying unit 1 and the second conveying unit 2 in the connecting space, so that the drug does not fall into the area outside the first conveyor belt 11 and the discharge portion 33, the opening of the discharge portion 33 is rectangular. Of course, in other embodiments, the shape and size of the discharge portion 33 can be adjusted according to actual needs. Since the discharge portion 33 is connected to the second end 112 of the first conveyor belt 11, the drug on the first conveyor belt 11 that has not been transferred to the second conveyor belt 21 can fall into the discharge portion 33. The existence of the discharge portion 33 eliminates the possibility of drug accumulation on the second end 112 of the first conveyor belt 11, providing a guarantee for the normal operation of the system. Since the discharge portion 33 is connected to the third end 211 of the second conveyor belt 21 , when the second motor drives the medicines on the second conveyor belt 21 to move from the fourth end 212 to the third end 211 , at least part of the medicines fall into the discharge portion 33 .

[0036] Specifically, Figure 1 and Figure 3 As shown, the first conveyor belt 11 and the second conveyor belt 21 are arranged horizontally, so that the first conveyor belt 11 and the second conveyor belt 21 can make the medicine move more stably. Of course, in other optional embodiments, the inclination angles of the first conveyor belt 11 and the second conveyor belt 21 can be adjusted according to actual needs. The second conveyor belt 21 is 30 to 100 mm higher than the first conveyor belt 11, so that the medicine will not be damaged when it falls from the second conveyor belt 21 to the first conveyor belt 11, and at the same time, it can avoid the accumulation of medicines 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 of the rearrangement of medicines, reduce the manpower required to put the returned medicines back on the first conveyor belt 11, and improve efficiency while saving manpower.

[0037] Specifically, Figure 1 and Figure 2As shown, in the drug automation control system of this embodiment, a transfer device 3 is included, which is used to transfer the drugs on the first conveyor belt 11 to the second conveyor belt 21. The transfer device 3 can be located on one side of the first conveyor belt 11 and close to the first conveyor belt 11, so that the transfer device 3 can cover a larger range when transferring the drugs on the first conveyor belt 11 and save the internal space of the drug control system.

[0038] In a preferred embodiment, Figure 1 and Figure 2 As shown, the transfer device 3 in this embodiment can adjust the position of the medicine. The transfer device 3 may include an oil cylinder or an air cylinder controlled by a circuit or other devices that can move the vacuum suction head 31 up and down.

[0039] In a preferred embodiment, Figure 1 As shown, the transfer device 3 includes a vacuum suction head 31 and a picture acquisition device 32 . The picture acquisition device 32 can take pictures and identify the position of the medicine. 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 .

[0040] See also Figures 1 to 3 As shown, when the medicine is located on the first conveyor belt 11, the picture acquisition device 32 can determine the current state of the medicine by identifying the state of the medicine in the photographed picture, and transmit the information to the vacuum suction head 31. When the medicine is in a flat state, the picture acquisition device 32 enables the vacuum suction head 31 to directly absorb the medicine. When the medicine is in an upright state, the picture acquisition 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, so that the medicine changes from an upright state to a flat state, and then the vacuum suction head 31 absorbs the medicine again. In this embodiment, the placement state of the medicine on the first conveyor belt 11 can be adjusted, and the medicine that does not meet the absorption state can be adjusted to a meeting state, thereby improving the efficiency of medicine transportation.

[0041] The present invention also provides an embodiment of an operation method of a drug automation control system, see Figures 1 to 3 As shown, this embodiment includes the following steps: the manipulator 4 can identify the medicines on the fourth end 212 of the second conveyor belt 21, and grab the medicines that meet the picking state. When the manipulator 4 encounters a situation when grabbing the medicine, the second conveyor belt 21 moves the medicine in the direction of the first conveyor belt 11. The situation may include or be limited to: the medicine on the second conveyor belt 21 is in an upright state, part of the medicine is on the second conveyor belt 21 and the other part is outside the second conveyor belt 21 and is suspended, the manipulator 4 fails to grab the medicine and the medicine falls onto the second conveyor belt 21 again, or other states where the manipulator 4 cannot correctly pick up the medicine.

[0042] In an optional embodiment, after the second conveyor belt 21 moves the medicine toward the first conveyor belt 11, at least part of the medicine returns from the second conveyor belt 21 to the first conveyor belt 11. At this time, the medicine falls to the working position where the transfer device 3 can adjust the medicine along the first direction, 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 actual needs. Then, the image acquisition device 32 on the transfer device 3 can judge the state of the medicine and transmit the information to the vacuum suction head 31. When the medicine is in a flat state, the image acquisition device 32 enables the vacuum suction head 31 to directly absorb the medicine. When the medicine is in an upright state, the image acquisition 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, so that the medicine changes from an upright state to a flat state. Then, the vacuum suction head 31 directly absorbs the medicine.

[0043] In a preferred embodiment, the transfer device 3 transfers the medicines after the positions are adjusted to the second conveyor belt 21 .

[0044] In another optional embodiment, after the second conveyor belt 21 moves the medicines toward the first conveyor belt 11 , at least part of the medicines fall into the discharge portion 33 .

[0045] In the operation method of the drug automation control system, it is possible to process drugs in various states on the second conveyor belt 21, thereby enhancing the drug processing capability of the drug automation control system. At the same time, since the entire conveying and adjustment process is only performed in the first conveying unit 1 and the second conveying unit 2, no new conveying and adjustment units are added, thereby saving space in the control system and increasing the utilization rate of the drug automation control system.

[0046] The present invention uses specific embodiments to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A method for operating a drug automation control system, wherein: The drug automation control system includes a warehousing system, a storage system and a manipulator, and is characterized in that the warehousing system includes: A first conveying unit, the first conveying unit comprising a first conveying belt extending in a first direction and a first motor capable of driving the first conveying belt to move in the first direction and in a direction opposite to the first direction; a second conveying unit, the second conveying unit comprising a second conveying belt extending in a second direction and a second motor capable of driving the second conveying belt to move in the second direction and in a direction opposite to the second direction; wherein the first direction and the second direction form an angle that is not 0 degrees or 180 degrees; The first conveyor belt has a first end and a second end opposite to each other along a first direction; the second conveyor belt has a third end and a fourth end opposite to each other along a second direction; the manipulator is disposed adjacent to the fourth end of the second conveyor belt; The second end of the first conveyor belt is arranged adjacent to the third end of the second conveyor belt, and the third end of the second conveyor belt is higher than the second end of the first conveyor belt; The second end of the first conveyor belt is located in front of the third end of the second conveyor belt along the second direction; The second conveyor belt has a first side wall and a second side wall which are oppositely arranged along 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; Also includes a discharge portion, the discharge portion is communicated with a space formed by the second end of the first conveyor belt and the third end of the second conveyor belt; Also included is a transfer device, the transfer device is used to transfer the medicine on the first conveyor belt to the second conveyor belt; The transfer device can adjust the position of the medicine; The transfer device includes a vacuum suction head and an image acquisition device, and the vacuum suction head can move according to the image acquisition device; Among them, the operating method of the drug automation control system includes that when the robot encounters a situation when grabbing the drug, the second conveyor belt causes the drug to move in the direction of the first conveyor belt, so that at least part of the drug returns from the second conveyor belt to the first conveyor belt; the first conveyor belt causes the drug returned thereon to move to a working position where the transfer device can adjust the drug.

2. The operating method of the drug automation control system according to claim 1, characterized in that: The first conveyor belt is arranged horizontally, the second conveyor belt is arranged horizontally, and the second conveyor belt is 30 to 100 mm higher than the first conveyor belt.

3. The operating method of the drug automation control system according to claim 1, characterized in that: After the step "the first conveyor belt moves the medicine returned thereon to a working position where the transfer device can adjust the medicine", the transfer device transfers the medicine after the adjusted position to the second conveyor belt.

4. The operating method of the drug automation control system according to claim 1, characterized in that: In the step of "when the robot encounters a situation while grabbing the medicine, the second conveyor belt causes the medicine to move in the direction of the first conveyor belt", at least part of the medicine falls into the discharge portion.

Images