Method, device and system for automatic cleaning of a medicine frame

Abstract

The application discloses a kind of medicine frame automatic cleaning method, device and system, including response to enter working state signal, according to the first movement path control manipulator to be cleaned medicine frame is taken out to transfer carrier;According to the second movement path, control manipulator is transferred to cleaning station with the transfer carrier with the medicine frame to be cleaned;When cleaning station is placed with transfer carrier, control cleaning mechanism to be cleaned medicine frame is cleaned;Based on the third movement path, control manipulator is transferred to drying station from cleaning station with the medicine frame to be dried, and according to the fourth movement path control manipulator is transferred to carrier position;According to the same method, each group of medicine frame to be cleaned is sequentially transferred to drying station, and multiple groups of medicine frame to be dried are obtained;Response to drying signal, control drying mechanism to all medicine frame to be dried is dried, and the automatic cleaning of medicine frame is completed.The application realizes the automatic cleaning of large quantity medicine frame, and improves medicine frame cleaning efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of pharmacy, in particular to a medicine frame automatic cleaning method, device and system. BACKGROUND

[0002] The medicine frame is a commonly used medical auxiliary tool in hospitals. The medicine frame is used to transfer medical products or medical waste, which can reduce the direct contact between medical products, medical waste and medical staff and the external environment, so as to avoid the infection of bacteria in the process of transferring medical products and medical waste. Therefore, in order to avoid the secondary infection of bacteria on the medicine frame to the medical staff and the external environment, the medicine frame usually needs to be disinfected.

[0003] At present, most hospitals still use manual cleaning method. However, the number of medicine frames used in hospitals every day is large. The manual cleaning method will result in low cleaning efficiency, which is difficult to support the cleaning demand of a large number of medicine frames, and cannot effectively avoid the secondary infection of bacteria on the medicine frame.

[0004] Therefore, there is an urgent need for a medicine frame cleaning technology that can support a large number of medicine frames and has high cleaning efficiency. SUMMARY

[0005] Therefore, the present application provides a medicine frame automatic cleaning method, device and system to solve the problem that the existing manual cleaning technology cannot support a large number of medicine frame cleaning and has low cleaning efficiency.

[0006] The present application provides a medicine frame automatic cleaning method for a medicine frame cleaning machine, the medicine frame cleaning machine comprising a storage station, a transfer carrier, a cleaning station and a drying station, the storage station being used for storing a plurality of groups of medicine frames to be cleaned; the cleaning station being provided with a first sensor and a cleaning mechanism, the drying station being provided with a drying mechanism, and the drying station being capable of accommodating a plurality of groups of medicine frames cleaned by the cleaning mechanism; the medicine frame cleaning machine further comprising a mechanical hand and an upper computer; the method comprising:

[0007] obtaining in advance a first movement path of the mechanical hand moving between a mechanical hand starting position, the storage station and a carrier position corresponding to the transfer carrier, a second movement path of moving between the carrier position and the cleaning station, a third movement path of moving between the cleaning station and the drying station, and a fourth movement path of moving between the cleaning station and the carrier position;

[0008] in response to an entering working state signal sent by the upper computer, controlling the mechanical hand to take out a group of the medicine frames to be cleaned from the storage station and put them into the transfer carrier according to the first movement path;

[0009] When the robot moves to the carrier position, the robot is controlled to transport the transfer carrier carrying a group of the to-be-cleaned medicine boxes to the cleaning station according to the second movement path;

[0010] The first position signal collected by the first sensor is acquired in real time, and when the first position signal indicates that the transfer carrier is placed on the cleaning station, the cleaning mechanism is controlled to clean a group of the to-be-cleaned medicine boxes carried on the transfer carrier, so as to obtain the transfer carrier carrying a group of the to-be-dried medicine boxes;

[0011] Based on the third movement path, the robot is controlled to transport a group of the to-be-dried medicine boxes on the transfer carrier from the cleaning station to the drying station, and the robot is controlled to transport the transfer carrier from the cleaning station to the carrier position according to the fourth movement path;

[0012] In the same way, each group of the to-be-cleaned medicine boxes on the storage station is sequentially transported from the storage station, the transfer carrier and the cleaning station to the drying station, so as to obtain a plurality of groups of the to-be-dried medicine boxes;

[0013] In response to the drying signal sent by the upper computer, the drying mechanism is controlled to dry all the to-be-dried medicine boxes, and the automatic cleaning of the medicine boxes is completed.

[0014] Optionally, the storage station is provided with a plurality of first slot positions, each of which is used for storing a group of the to-be-cleaned medicine boxes, and each of the first slot positions is provided with a second sensor;

[0015] The response to the entering working state signal sent by the upper computer includes:

[0016] The second position signal collected by the second sensor is acquired in real time;

[0017] When all the second position signals indicate that the to-be-cleaned medicine boxes are placed in the corresponding first slot positions, the entering working state signal sent by the upper computer is responded to.

[0018] Optionally, the medicine box cleaning machine is further provided with a switch panel;

[0019] The response to the entering working state signal sent by the upper computer includes:

[0020] When the starting working instruction input by the user through the switch panel is received, the entering working state signal sent by the upper computer is responded to.

[0021] Optionally, the medicine box cleaning machine further comprises a first sliding door mechanism arranged between the carrier position and the storage station, and the first sliding door mechanism has a first initial position, when the first sliding door mechanism is located at the first initial position, the carrier position and the storage station are not communicated;

[0022] The method further comprises the following steps:

[0023] The method further comprises the following steps:

[0024] In response to the entering working state signal sent by the upper computer, a first control instruction is sent to the mechanical arm, and a first door opening instruction is sent to the first sliding door mechanism;

[0025] According to the first door opening instruction, the first sliding door mechanism is controlled to move from the first initial position to a first specified position, and then according to the first control instruction, the mechanical arm is controlled to take a group of the medicine boxes to be cleaned from the storage station and put them into the transfer carrier according to the first movement path;

[0026] When the mechanical arm puts a group of the medicine boxes to be cleaned into the transfer carrier, a first door closing instruction is sent to the first sliding door mechanism, and according to the first descending instruction, the first sliding door mechanism is controlled to move from the first specified position to the first initial position.

[0027] Optionally, the medicine box cleaning machine further comprises a lifting mechanism arranged between the cleaning station and the carrier position, and the lifting mechanism has a second initial position, when the lifting mechanism is located at the second initial position, the cleaning station and the carrier position are not communicated;

[0028] The method further comprises the following steps:

[0029] When the mechanical arm moves to the carrier position, a second control instruction is sent to the mechanical arm, and an ascending instruction is sent to the lifting mechanism;

[0030] According to the lifting instruction, the lifting mechanism is controlled to rise from the second initial position to a second specified position, and then according to the second control instruction, the robot arm is controlled to transport the transfer carrier carrying a group of the to-be-cleaned medicine boxes to the cleaning station along the second movement path;

[0031] Before the first position signal indicates that the transfer carrier is placed on the cleaning station, the method further comprises:

[0032] A fifth movement path of the robot arm between the cleaning station and a starting position of the robot arm is acquired in advance;

[0033] After the first position signal indicates that the transfer carrier is placed on the cleaning station, the method further comprises:

[0034] After the first position signal indicates that the transfer carrier is placed on the cleaning station, a third control instruction is sent to the robot arm, and a lowering instruction is sent to the lifting mechanism;

[0035] According to the third control instruction, the robot arm is controlled to exit from the cleaning station to the starting position of the robot arm along the fifth movement path, and then according to the lowering instruction, the lifting mechanism is controlled to descend from the second specified position to the second initial position.

[0036] Optionally, the medicine box cleaning machine further comprises a second sliding door mechanism arranged between the drying station and the cleaning station, and the second sliding door mechanism has a third initial position, when the second sliding door mechanism is located at the third initial position, the drying station and the cleaning station are not communicated;

[0037] According to the second movement path and the third movement path, the robot arm is controlled to transport a group of the to-be-dried medicine boxes on the transfer carrier from the cleaning station to the drying station, and according to the fourth movement path, the robot arm is controlled to transport the transfer carrier from the drying station to the carrier position, comprising:

[0038] According to the third movement path, the robot arm is controlled to transport a group of the to-be-dried medicine boxes on the transfer carrier from the cleaning station to the drying station, and according to the fourth movement path, the robot arm is controlled to transport the transfer carrier from the cleaning station to the carrier position, comprising:

[0039] When the to-be-cleaned medicine boxes on the cleaning station complete cleaning, a third control instruction is sent to the robot arm, and the lifting mechanism and the second sliding door mechanism are respectively sent the lifting instruction and the second door opening instruction;

[0040] According to the lifting instruction, the lifting mechanism is controlled to rise from the second initial position to the second specified position, and according to the second door opening instruction, the second sliding door mechanism is controlled to move from the third initial position to a third specified position, and then according to the third control instruction, the robot arm is controlled to transfer a group of the to-be-dried medicine boxes on the transfer carrier from the cleaning station to the drying station along the fifth movement path and the third movement path;

[0041] When the robot arm moves to the position where the drying station is located, a fourth control instruction is sent to the robot arm;

[0042] According to the fourth control instruction, the robot arm is controlled to transfer the transfer carrier from the cleaning station to the carrier position along the third movement path and the second movement path;

[0043] When the robot arm transfers the transfer carrier from the cleaning station to the carrier position, a second door closing instruction is sent to the second sliding door mechanism, and a lowering instruction is sent to the lifting mechanism;

[0044] According to the lowering instruction, the second sliding door mechanism is controlled to move from the third specified position to the third initial position, and then according to the lowering instruction, the lifting mechanism is controlled to descend from the second specified position to the second initial position.

[0045] Optionally, the drying station is provided with a plurality of second slot positions, and each of the second slot positions is provided with a third sensor;

[0046] The response to the drying signal sent by the upper computer includes:

[0047] The third position signals collected by the third sensors are acquired in real time;

[0048] When all the third position signals indicate that the to-be-dried medicine boxes are placed in the corresponding second slot positions, the drying signal sent by the upper computer is responded to.

[0049] Optionally, the response to the drying signal sent by the upper computer includes:

[0050] When a drying work instruction input by a user is received, the drying signal sent by the upper computer is responded to.

[0051] Further, the application also provides a medicine frame automatic cleaning device for a medicine frame cleaning machine, which is applied to the medicine frame automatic cleaning method described above, the medicine frame cleaning machine comprises a storage station, a transfer carrier, a cleaning station and a drying station, the storage station is used for storing a plurality of groups of medicine frames to be cleaned; the cleaning station is provided with a first sensor and a cleaning mechanism, the drying station is provided with a drying mechanism, and the drying station can accommodate a plurality of groups of medicine frames cleaned by the cleaning mechanism; the medicine frame cleaning machine further comprises a mechanical hand and an upper computer; the device comprises:

[0052] a path planning module, configured to pre-acquire a first movement path of the mechanical hand between a starting position of the mechanical hand, a storage station and a carrier position corresponding to the transfer carrier, a second movement path between the carrier position and the cleaning station, a third movement path between the cleaning station and the drying station, and a fourth movement path between the cleaning station and the carrier position;

[0053] a medicine frame taking-out module, configured to, in response to an entering working state signal sent by the upper computer, control the mechanical hand to take out a group of the medicine frames to be cleaned from the storage station and place them into the transfer carrier according to the first movement path; and further configured to transmit each group of the medicine frames to be cleaned on the storage station from the storage station to the transfer carrier according to the same method;

[0054] a first medicine frame transfer module, configured to, when the mechanical hand moves to the carrier position, control the mechanical hand to transmit the transfer carrier carrying a group of the medicine frames to be cleaned to the cleaning station according to the second movement path; and further configured to sequentially transmit the transfer carrier carrying the medicine frames to be cleaned to the cleaning station according to the same method;

[0055] a cleaning control module, configured to acquire a first position signal collected by the first sensor in real time, and when the first position signal indicates that the transfer carrier is placed on the cleaning station, control the cleaning mechanism to clean a group of the medicine frames to be cleaned carried on the transfer carrier, to obtain the transfer carrier carrying a group of medicine frames to be dried; and further configured to sequentially control the cleaning mechanism to clean the medicine frames to be cleaned carried on the transfer carrier, to obtain the corresponding transfer carrier carrying the medicine frames to be dried according to the same method;

[0056] a second medicine frame transfer module, configured to control the robot to transfer a group of the medicine frames to be dried from the cleaning station to the drying station according to the third movement path and the fourth movement path, and sequentially control each group of the medicine frames to be dried to be transferred from the cleaning station to the drying station in the same way;

[0057] a drying control module, configured to control the drying mechanism to dry all the medicine frames to be dried in response to a drying signal sent by the upper computer, so as to complete the automatic cleaning of the medicine frames.

[0058] In addition, the application further provides a medicine frame automatic cleaning system, which comprises:

[0059] a medicine frame cleaning machine, which comprises a storage station, a transfer carrier, a cleaning station and a drying station, the storage station is configured to store a plurality of medicine frames to be cleaned; the cleaning station is provided with a first sensor and a cleaning mechanism, the drying station is provided with a drying mechanism, and the drying station can accommodate a plurality of medicine frames cleaned by the cleaning mechanism; the medicine frame cleaning machine further comprises a robot and an upper computer; and

[0060] The foregoing medicine frame automatic cleaning device is in communication connection with the upper computer, the robot, the first sensor, the cleaning mechanism and the drying mechanism in the medicine frame cleaning machine, and is configured to:

[0061] The first movement path of the robot between the starting position of the robot, the storage station and the carrier position corresponding to the transfer carrier, the second movement path between the carrier position and the cleaning station, the third movement path between the cleaning station and the drying station, and the fourth movement path between the cleaning station and the carrier position are acquired in advance;

[0062] In response to an entering working state signal sent by the upper computer, the robot is controlled to take out a group of the medicine frames to be cleaned from the storage station and put them into the transfer carrier according to the first movement path;

[0063] When the robot moves to the carrier position, the robot is controlled to transfer the transfer carrier carrying a group of the medicine frames to be cleaned to the cleaning station according to the second movement path;

[0064] The first position signal collected by the first sensor is acquired in real time, and when the first position signal indicates that the transfer carrier is placed on the cleaning station, the cleaning mechanism is controlled to clean a group of the medicine frames to be cleaned carried by the transfer carrier, so as to obtain the transfer carrier carrying a group of the medicine frames to be dried.

[0065] Based on the third movement path, the robot is controlled to transfer a group of the to-be-dried medicine frames on the transfer carrier from the cleaning station to the drying station, and according to the fourth movement path, the robot is controlled to transfer the transfer carrier from the cleaning station to the carrier position;

[0066] In the same way, each group of the to-be-cleaned medicine frames on the storage station is sequentially transferred from the storage station, the transfer carrier and the cleaning station to the drying station, so as to obtain a plurality of groups of the to-be-dried medicine frames;

[0067] In response to the drying signal sent by the upper computer, the drying mechanism is controlled to dry all the to-be-dried medicine frames, and the automatic cleaning of the medicine frames is completed.

[0068] The beneficial effects of the present application are as follows: by pre-acquiring the movement paths of the movement between the stations, the movement of the robot is facilitated for subsequent control, so as to realize the transfer of the medicine frames by the movement of the robot; the upper computer can send signals to the entire automatic cleaning system, including an entering working state signal and a drying signal, so as to facilitate the start control and end control of the entire medicine frame automatic cleaning process and the last process (i.e. drying); a plurality of groups of to-be-cleaned medicine frames are stored on the storage station, and each group of to-be-cleaned medicine frames includes at least one medicine frame; when responding to the entering working state signal, a group of to-be-cleaned medicine frames is first controlled to be grabbed from the storage station by the robot and placed in the transfer carrier, on the one hand, facilitating the subsequent cleaning of the group of to-be-cleaned medicine frames, and on the other hand, facilitating the overall control of the group of to-be-cleaned medicine frames, thereby improving the cleaning efficiency; after the group of to-be-cleaned medicine frames is placed in the transfer carrier (i.e. the robot moves from the storage station to the carrier position), the to-be-cleaned medicine frames are controlled to move from the carrier position to the cleaning station according to the second movement path, and by using the real-time first position signal, it can be determined whether the to-be-cleaned medicine frames on the cleaning station are in place, so as to facilitate the start of the cleaning process by controlling the cleaning mechanism; after the cleaning is completed, the to-be-dried medicine frames are obtained; then the robot is controlled to send the to-be-dried medicine frames after the cleaning process to the drying station for drying; in the same way, a plurality of groups of to-be-cleaned medicine frames for automatic cleaning are sequentially cleaned and transported to the drying station; at this time, in response to the drying signal, the drying mechanism is controlled to dry all the to-be-dried medicine frames placed in the drying station, i.e. the batch automatic cleaning of the medicine frames is completed; the drying station provides a working place for the drying of the medicine frames, and also directly serves as a storage place for the medicine frames after the automatic cleaning, which can effectively save space.

[0069] The automatic cleaning method, device and system of the medicine frame can realize automatic transmission and automatic control between the positions of the medicine frame cleaning machine, realize automatic cleaning of a large number of medicine frames in a small cleaning space, effectively improve the cleaning efficiency of the medicine frame, reduce the labor cost, and effectively avoid the secondary infection of bacteria on the medicine frame. BRIEF DESCRIPTION OF DRAWINGS

[0070] The features and advantages of the present application will be more clearly understood from the following detailed description taken in conjunction with the accompanying drawings, which are given by way of illustration and are not to be considered limiting of the present application, in which:

[0071] Figure 1 Fig. 1 shows a structure diagram of a medicine frame cleaning machine in the embodiment one of the present application;

[0072] Figure 2 Fig. 2 shows a flow chart of a medicine frame automatic cleaning method in the embodiment one of the present application;

[0073] Figure 3 Fig. 3 shows a flow chart of controlling the robot to put the medicine frame to be cleaned in the storage position into the transfer carrier in the embodiment one of the present application;

[0074] Figure 4 Fig. 4 shows a flow chart of controlling the robot to transfer the transfer carrier carrying the medicine frame to be cleaned to the cleaning position in the embodiment one of the present application;

[0075] Figure 5 Fig. 5 shows a flow chart of controlling the robot to transfer the medicine frame to be dried from the cleaning position to the drying position and controlling the robot to transfer the transfer carrier from the drying position to the carrier position in the embodiment one of the present application;

[0076] Figure 6 Fig. 6 shows a structure diagram of a medicine frame automatic cleaning device in the embodiment two of the present application;

[0077] Figure 7 Fig. 7 shows a structure diagram of a medicine frame automatic cleaning system in the embodiment three of the present application.

[0078] BRIEF DESCRIPTION OF DRAWINGS

[0079] 1, storage position, 2, transfer carrier, 3, cleaning position, 4, drying position, 5, robot, 6, first sliding door mechanism, 7, lifting mechanism, 8, second sliding door mechanism, 11, medicine frame to be cleaned, 12, first slot, 31, cleaning mechanism, 41, second slot. DETAILED DESCRIPTION

[0080] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0081] Example 1

[0082] An automatic cleaning method for medicine boxes, used for such Figure 1 The medicine frame cleaning machine shown includes a storage station 1, a transfer carrier 2, a cleaning station 3, and a drying station 4. The storage station 1 stores multiple sets of medicine frames 11 to be cleaned. The cleaning station 3 is equipped with a first sensor (not shown) and a cleaning mechanism 31. The drying station 4 is equipped with a drying mechanism (not shown) and can accommodate multiple sets of medicine frames cleaned by the cleaning mechanism. The medicine frame cleaning machine also includes a robotic arm 5 and a host computer (not shown). Figure 2 As shown, the method includes:

[0083] S1: The robot arm moves between the robot arm's starting position, the storage station, and the carrier position corresponding to the transfer carrier, a second movement path moves between the carrier position and the cleaning station, a third movement path moves between the cleaning station and the drying station, and a fourth movement path moves between the cleaning station and the carrier position.

[0084] S2: In response to the entry into working state signal sent by the host computer, the robot arm is controlled to take out a set of the medicine frames to be cleaned from the storage station and put them into the transfer carrier according to the first motion path;

[0085] S3: When the robotic arm moves to the position of the carrier, according to the second movement path, control the robotic arm to transfer the transfer carrier carrying a set of the medicine boxes to be cleaned to the cleaning station;

[0086] S4: Real-time acquisition of the first position signal collected by the first sensor; when the first position signal indicates that the transfer carrier is placed on the cleaning station, control the cleaning mechanism to clean a set of medicine frames to be cleaned carried on the transfer carrier, and obtain the transfer carrier carrying a set of medicine frames to be dried.

[0087] S5: based on the third motion path, control the robot to transfer a group of the to-be-dried medicine frames on the transfer carrier from the cleaning station to the drying station, and according to the fourth motion path, control the robot to transfer the transfer carrier from the cleaning station to the carrier position;

[0088] S6: in the same way, each group of the to-be-cleaned medicine frames on the storage station is sequentially transferred from the storage station, the transfer carrier and the cleaning station to the drying station, to obtain a plurality of groups of the to-be-dried medicine frames;

[0089] S7: in response to the drying signal sent by the upper computer, control the drying mechanism to dry all the to-be-dried medicine frames, and complete the automatic cleaning of the medicine frames.

[0090] In the embodiment, by pre-acquiring the motion paths of the mutual motion of each station, the motion of the robot is facilitated for subsequent control, so as to realize the transfer of the medicine frames by the motion of the robot; the upper computer can send signals to the entire automatic cleaning system, including an entering working state signal and a drying signal, so as to facilitate the starting control of the entire medicine frame automatic cleaning process and the last process (i.e. drying), and further facilitate the starting control and ending control of the automatic cleaning of the medicine frames; a plurality of groups of to-be-cleaned medicine frames are stored on the storage station, and each group of to-be-cleaned medicine frames includes at least one medicine frame; when responding to the entering working state signal, a group of to-be-cleaned medicine frames is first controlled to be grabbed from the storage station by the robot and placed in the transfer carrier, on the one hand, facilitating the subsequent cleaning of the group of to-be-cleaned medicine frames, and on the other hand, facilitating the overall control of the group of to-be-cleaned medicine frames, and improving the cleaning efficiency; after the group of to-be-cleaned medicine frames is placed in the transfer carrier (i.e. the robot moves from the storage station to the carrier position), the to-be-cleaned medicine frames are controlled to move from the carrier position to the cleaning station according to the second motion path, and by using the real-time first position signal, it can be determined whether the to-be-cleaned medicine frames on the cleaning station are in place, so as to facilitate the opening of the cleaning process by controlling the cleaning mechanism; after the cleaning is completed, to-be-dried medicine frames are obtained; then the robot is controlled to send the to-be-dried medicine frames after the cleaning process to the drying station for drying; in the same way, a plurality of groups of to-be-cleaned medicine frames for automatic cleaning are sequentially cleaned and transported to the drying station; at this time, in response to the drying signal, the drying mechanism is controlled to dry all the to-be-dried medicine frames placed in the drying station, i.e. to complete the batch automatic cleaning of the medicine frames. The drying station provides a working place for the drying of the medicine frames, and also directly serves as a storage place for the medicine frames after the automatic cleaning, which can effectively save space.

[0091] The automatic cleaning method of the medicine frame in the embodiment can effectively realize the automatic transmission and automatic control between the working positions of the medicine frame cleaning machine, can realize the automatic cleaning of a large number of medicine frames in a small cleaning space, effectively improves the cleaning efficiency of the medicine frame, reduces the labor cost, and truly effectively avoids the secondary infection of bacteria on the medicine frame.

[0092] The automatic cleaning method of the medicine frame in the embodiment will be described in detail below.

[0093] In the S1 of the embodiment, when the medicine frame cleaning machine is designed and set with the storage working position, the transfer carrier, the cleaning working position and the drying working position, the positions of these components are determined, and then the first motion path, the second motion path, the third motion path and the fourth motion path (also including the fifth motion path in the following) of the embodiment can be determined in advance based on the servo control technology. The technology for determining the motion path in the servo control technology is a prior art, which can be understood by those skilled in the art, and the specific details will not be described here.

[0094] The entering working state signal and the drying signal sent by the upper computer correspond to the step sequence of the upper computer. The entering working state signal specifically refers to the step sequence of the upper computer allowing the entire cleaning system to enter the working state, i.e., starting to work. When the upper computer sends the entering working state signal, the entire cleaning system can respond to the signal, i.e., start to work, and perform the work according to the subsequent process. The drying signal specifically refers to the step sequence of the upper computer allowing the drying process to be entered, i.e., starting to dry. When the upper computer sends the drying signal, the entire cleaning system can respond to the signal, i.e., start the drying process. When the drying is completed, the entire cleaning process is completed.

[0095] In the S2 of the embodiment, as shown in Figure 1 The storage working position 1 is provided with a plurality of first slot positions 12, each of which is used for storing a group of the medicine frames 11 to be cleaned, and each of the first slot positions 12 is provided with a second sensor (not shown in the figure).

[0096] In the first optional embodiment, in response to the entering working state signal sent by the upper computer, the following steps are included:

[0097] Real-time acquisition of the second position signal collected by the second sensor;

[0098] When all the second position signals indicate that the medicine frames to be cleaned are placed on the corresponding first slot positions, the entering working state signal sent by the upper computer is responded to.

[0099] Each second sensor can collect a second position signal in real time, which can reflect whether the corresponding first slot is placed with a to-be-cleaned medicine frame; when all the second position signals reflect that the corresponding first slot is placed with a to-be-cleaned medicine frame, it indicates that the storage station is in a full-frame state, and the subsequent cleaning process needs to be immediately performed on the to-be-cleaned medicine frame in the storage station, and then the host computer needs to send an entering working state signal, and the cleaning system responds to the entering working state signal.

[0100] The first optional embodiment of responding to the entering working state signal can realize automatic control of starting the entire cleaning process based on the second sensors on all the first slots of the storage station, has high automation degree, and can realize automatic cleaning of a large number of medicine frames.

[0101] Specifically, the second position signal is a level signal, and when the obtained second position signal changes from a high-level signal to a low-level signal (or from a low-level signal to a high-level signal), it means that the second sensor corresponds to the first slot placed with a to-be-cleaned medicine frame.

[0102] In the embodiment S2, the medicine frame cleaning machine further comprises a switch panel;

[0103] In the second optional embodiment, the entering working state signal is responded to based on the starting working instruction.

[0104] The entering working state signal is responded to when the starting working instruction input by the user through the switch panel is received.

[0105] When the user directly inputs the starting working instruction through the switch panel (such as a starting button), it indicates that the user needs to immediately clean the to-be-cleaned medicine frame stored in the storage station (regardless of whether the storage station is full), and then the host computer needs to send the entering working state signal, and the cleaning system responds to the entering working state signal.

[0106] The second optional embodiment of responding to the entering working state signal is based on the starting working instruction to respond to the entering working state signal, which is more in line with the actual situation of medicine frame cleaning and is more flexible to use.

[0107] In the embodiment, the transfer carrier can accommodate at least one to-be-cleaned medicine frame, and the size, shape and number of the accommodation positions can be set according to actual conditions.

[0108] Preferably, as Figure 1As shown, the medicine frame cleaning machine further comprises a first sliding door mechanism 6 arranged between the carrier position and the storage station 1, and the first sliding door mechanism 6 has a first initial position, when the first sliding door mechanism 6 is located at the first initial position, the carrier position and the storage station 1 are not communicated;

[0109] As shown in the figure, S2 comprises: Figure 3

[0110] S21: in response to the entering working state signal sent by the upper computer, sending a first control instruction to the manipulator and a first door opening instruction to the first sliding door mechanism;

[0111] S22: according to the first door opening instruction, controlling the first sliding door mechanism to move from the first initial position to a first specified position, and then according to the first control instruction, controlling the manipulator to take a group of the medicine frames to be cleaned from the storage station and put them into the transfer carrier according to the first movement path;

[0112] S23: when the manipulator puts a group of the medicine frames to be cleaned into the transfer carrier, sending a first door closing instruction to the first sliding door mechanism; according to the first door closing instruction, controlling the first sliding door mechanism to move from the first specified position to the first initial position.

[0113] When responding to the entering working state signal (i.e. starting work), the first control instruction is sent to the manipulator and the first door opening instruction is sent to the first sliding door mechanism, so that the subsequent first sliding door mechanism is controlled to move according to the first door opening instruction to realize the effect of opening the door, so that the carrier position and the storage station are in a communicated state, which is convenient for the manipulator to operate in the storage station according to the first control instruction to take out the medicine frames to be cleaned and put them into the transfer carrier; when the manipulator puts the medicine frames to be cleaned into the transfer carrier (i.e. the manipulator moves to the carrier position again), it means that the manipulator has completed the taking of the medicine frames to be cleaned, so the first door closing instruction is sent to the first sliding door mechanism at this time, so that it moves to the first initial position according to the first door closing instruction to realize the effect of closing the door, forming a partition between the storage station and other stations.

[0114] Through the control of the above first sliding door mechanism and manipulator, on the one hand, the automatic control of taking the medicine frames to be cleaned can be realized, and on the other hand, the storage station and other stations can form independent spaces, avoiding the mutual interference between processes and ensuring the cleaning effect of the medicine frames.

[0115] ​It should be understood that, in the process that the mechanical arm takes out a set of to-be-cleaned medicine frames from the storage station and puts them into the transfer carrier, it is first moved from the carrier position to the position where the storage station is located according to the first movement path, and then, after taking the to-be-cleaned medicine frames, it is moved from the position where the storage station is located to the carrier position according to the reverse direction of the first movement path, and puts the taken to-be-cleaned medicine frames into the transfer carrier.

[0116] In the embodiment, the mechanical arm can be set according to actual conditions, which can be understood by those skilled in the art, and the specific structure is not described here.

[0117] Preferably, the medicine frame cleaning machine further comprises a lifting mechanism 7 arranged between the cleaning station 3 and the carrier position, and the lifting mechanism 7 has a second initial position, when the lifting mechanism 7 is located at the second initial position, the cleaning station and the carrier position are not communicated;

[0118] As shown in FIG. 3, S3 comprises: Figure 4

[0119] S31: when the mechanical arm moves to the carrier position, a second control instruction is sent to the mechanical arm, and an ascending instruction is sent to the lifting mechanism;

[0120] S32: according to the ascending instruction, the lifting mechanism is controlled to ascend from the second initial position to a second specified position, and then according to the second control instruction, the mechanical arm is controlled to transfer the transfer carrier carrying a set of to-be-cleaned medicine frames to the cleaning station according to the second movement path.

[0121] When the mechanical arm moves to the carrier position, a second control instruction is sent to the mechanical arm and an ascending instruction is sent to the lifting mechanism, so that the lifting mechanism is subsequently controlled to ascend according to the ascending instruction, so that the carrier position and the cleaning station are in a communicated state, and the mechanical arm is controlled to enter the cleaning station to operate according to the second control instruction, and the transfer carrier carrying the to-be-cleaned medicine frames is transferred to the cleaning station for cleaning.

[0122] In another optional embodiment, S31 can also be:

[0123] When the mechanical arm moves to the carrier position within a first preset time, an ascending instruction is sent to the lifting mechanism; and when the mechanical arm moves to the carrier position, a second control instruction is sent to the mechanical arm.

[0124] ​In the first preset time before the robot puts the to-be-cleaned medicine frame into the transfer carrier, an ascending instruction is sent to the lifting mechanism, the lifting mechanism is controlled to ascend in advance, the robot is waited to enter the cleaning station to operate in advance, collision between the robot and the lifting mechanism during transfer of the robot from the carrier position to the cleaning station is avoided, automatic control is more stable, and safety is higher.

[0125] The first preset time can be determined according to the movement speed of the robot and the distance between the robot and the carrier position, and in an actual process, the first preset time is set in advance according to actual conditions.

[0126] In the S4 of the embodiment, the first sensor is arranged on the cleaning station, whether the transfer carrier is placed on the cleaning station is determined according to the first position signal collected in real time, a cleaning instruction is sent to the cleaning mechanism, and the cleaning mechanism is controlled to clean.

[0127] Similarly, based on the second sensor, automatic control of the cleaning process can be realized, and then automatic cleaning of a large number of medicine frames can be realized, and the cleaning efficiency of the medicine frames is improved.

[0128] Similarly, the first position signal is also a level signal, when the obtained first position signal changes from a high-level signal to a low-level signal (or from a low-level signal to a high-level signal), it means that the to-be-cleaned medicine frame is placed on the cleaning station.

[0129] Preferably, before the first position signal indicates that the transfer carrier is placed on the cleaning station, the method further includes:

[0130] The fifth movement path of the robot between the cleaning station and the starting position of the robot is obtained in advance.

[0131] Through the fifth movement path, the robot can be controlled to exit from the cleaning station after the to-be-cleaned medicine frame is located on the cleaning station, and pollution of the robot caused by dirt generated in the cleaning station is effectively avoided.

[0132] Preferably, after the first position signal indicates that the transfer carrier is placed on the cleaning station, the method further includes:

[0133] After the first position signal indicates that the transfer carrier is placed on the cleaning station, a third control instruction is sent to the robot, and a descending instruction is sent to the lifting mechanism.

[0134] According to the third control command and following the fifth motion path, after controlling the robot arm to exit from the cleaning station to the robot arm's starting position, according to the descent command, the lifting mechanism is controlled to descend from the second designated position to the second initial position.

[0135] When the first position signal indicates that a transfer carrier is placed on the cleaning station, it means that the cleaning process is about to begin. At this time, a third control command is sent to the robot arm and a descent command is sent to the lifting mechanism. This allows the robot arm to first exit from the cleaning station to its starting position according to the third control command, and then control the lifting mechanism to descend according to the descent command, thus isolating the cleaning station and making it an independent space. This effectively avoids the contamination of other stations and the robot arm by dirt and grime generated in the cleaning station.

[0136] The cleaning mechanism in this embodiment includes a rinsing component and an air blowing component. The rinsing component rinses the medicine box to be cleaned, and then the air blowing component blows air onto the surface of the medicine box to remove water stains. The rinsing component and the air blowing component can adopt conventional structures, and specific details will not be elaborated here. The liquid used in the rinsing component can be clean water or water with added cleaning agent or disinfectant.

[0137] In S4, before the cleaning mechanism cleans a set of medicine frames to be cleaned carried on the transfer vehicle, cleaning parameters are obtained in advance, and the cleaning mechanism is controlled to clean the set of medicine frames to be cleaned carried on the transfer vehicle according to the cleaning parameters.

[0138] Cleaning parameters include, but are not limited to, rinsing time and blowing time, which can be set and adjusted according to actual conditions.

[0139] Preferably, such as Figure 1 As shown, the medicine frame washing machine also includes a second sliding door mechanism 8 disposed between the drying station 4 and the washing station 3, and the second sliding door mechanism 8 has a third initial position. When the second sliding door mechanism 8 is in the third initial position, the drying station 4 and the washing station 3 are not connected.

[0140] like Figure 5 As shown, S5 includes:

[0141] S51: After the cleaning of the cleaning medicine box on the cleaning station is completed, a third control command is sent to the robot arm, and the lifting command and the second door opening command are sent to the lifting mechanism and the second sliding door mechanism respectively.

[0142] S52: According to the lifting instruction, control the lifting mechanism to rise from the second initial position to the second specified position, and according to the second door opening instruction, control the second sliding door mechanism to move from the third initial position to the third specified position, and then according to the third control instruction, control the robot arm to transfer a group of the to-be-dried medicine boxes on the transfer carrier from the cleaning station to the drying station along the fifth movement path and the third movement path;

[0143] S53: When the robot arm moves to the position where the drying station is located, send a fourth control instruction to the robot arm;

[0144] S54: According to the fourth control instruction, control the robot arm to transfer the transfer carrier from the cleaning station to the carrier position along the third movement path and the second movement path;

[0145] S55: When the robot arm transfers the transfer carrier from the cleaning station to the carrier position, send a second door closing instruction to the second sliding door mechanism and send a lowering instruction to the lifting mechanism;

[0146] S56: According to the second door closing instruction, control the second sliding door mechanism to move from the third specified position to the third initial position, and then according to the lowering instruction, control the lifting mechanism to descend from the second specified position to the second initial position.

[0147] When the cleaning station completes cleaning (specifically, after the required washing time and air blowing time are reached), send a third control instruction to the robot arm, a lifting instruction to the lifting mechanism, and a second door opening instruction to the second sliding door mechanism, so that subsequently the lifting mechanism is controlled to rise according to the lifting instruction and the second sliding door mechanism is controlled to open according to the second door opening instruction, so that the carrier position, the cleaning station and the drying station are in a communication state, facilitating the robot arm to sequentially enter the cleaning station and the drying station according to the third control instruction to perform operations, and transfer the to-be-dried medicine boxes on the transfer carrier in the cleaning station to the drying station. When the robot arm moves to the position where the drying station is located, send a fourth control instruction to the robot arm, and then control the robot arm to put the transfer carrier left in the cleaning station back to the carrier position along the third movement path and the second movement path, complete the transfer of the current group of to-be-dried medicine boxes, and wait for the transfer of the next group of to-be-cleaned medicine boxes. In addition, when the transfer carrier returns to the carrier position, send a lowering instruction to the lifting mechanism and a second door closing instruction to the second sliding door mechanism, so as to again isolate the carrier position from the cleaning station and the drying station, and avoid mutual influence between the stations.

[0148] In the embodiment S6, each group of the medicine frames to be cleaned on the storage station is sequentially transferred from the storage station to the transfer carrier, and then from the transfer carrier to the cleaning station, cleaned by the cleaning mechanism of the cleaning station, and then transferred from the cleaning station to the drying station. Finally, all the medicine frames to be cleaned are cleaned and uniformly transferred to the drying station for drying and storage.

[0149] Preferably, as shown in the drawings, the drying station 4 is provided with a plurality of second slots 41, and each of the second slots 41 is provided with a third sensor (not shown in the drawings); Figure 1

[0150] In the first optional embodiment S7, in response to the drying signal sent by the upper computer, the method comprises the following steps:

[0151] acquiring the third position signal collected by the third sensor in real time;

[0152] when all the third position signals indicate that the medicine frames to be dried are placed in the corresponding second slots, responding to the drying signal sent by the upper computer.

[0153] Similar to the first slots and the second sensors arranged on the storage station, when all the third position signals indicate that the medicine frames to be dried are placed in the second slots, it means that the drying station is in a full-frame state, and the unified drying process can be carried out to complete the final cleaning of the medicine frames.

[0154] The above-mentioned first optional embodiment of responding to the drying signal can realize the automatic control of the last process (i.e. the drying process) based on the third sensors on all the second slots of the drying station, and has a high degree of automation and can realize the automatic cleaning of a large number of medicine frames.

[0155] Similar to the first position signal, the third position signal is a level signal. When the acquired third position signal changes from a high level signal to a low level signal (or from a low level signal to a high level signal), it means that the third sensor corresponds to the second slot where the medicine frame to be dried is placed.

[0156] In the second optional embodiment S7, in response to the drying signal sent by the upper computer, the method comprises the following steps:

[0157] when the drying work instruction input by the user is received, responding to the drying signal sent by the upper computer.

[0158] When the user inputs the drying work instruction (such as through the drying button of the switch panel), it means that the user needs to immediately dry the medicine frames to be dried in the drying station (regardless of whether the drying station is full or not). At this time, the upper computer needs to send a drying process signal, and the cleaning system responds to it, i.e. enters the drying process.​

[0159] The second optional embodiment of the response drying signal is based on the drying work instruction to respond to the drying signal, which is more in line with the actual situation of the medicine frame cleaning and more flexible to use.

[0160] The second groove position on the drying station can be the same as or different from the first groove position, and each second groove position can accommodate a group of medicine frames to be dried. The drying mechanism can be a conventional heating device.

[0161] In S7, the drying parameters are obtained in advance before the drying mechanism dries all the medicine frames to be dried, and then the drying mechanism dries all the medicine frames to be dried according to the drying parameters.

[0162] The drying parameters include but are not limited to drying time, drying temperature, etc., which are pre-set and adjusted according to actual conditions.

[0163] Embodiment two

[0164] An automatic medicine frame cleaning device for a medicine frame cleaning machine as shown in Figure 1 The medicine frame cleaning machine includes a storage station 1, a transfer carrier 2, a cleaning station 3 and a drying station 4. The storage station 1 is used to store a plurality of groups of medicine frames 11 to be cleaned. The cleaning station 3 is provided with a first sensor (not shown in the figure) and a cleaning mechanism 31. The drying station 4 is provided with a drying mechanism (not shown in the figure), and the drying station 4 can accommodate a plurality of groups of medicine frames cleaned by the cleaning mechanism. The medicine frame cleaning machine further includes a mechanical hand 5 and an upper computer (not shown in the figure). As shown in Figure 6 The device includes:

[0165] A path planning module is used to obtain in advance a first movement path of the mechanical hand between the starting position of the mechanical hand, the storage station and the corresponding carrier position of the transfer carrier, a second movement path between the carrier position and the cleaning station, a third movement path between the cleaning station and the drying station, and a fourth movement path between the cleaning station and the carrier position.

[0166] A medicine frame taking-out module is used to respond to the entering working state signal sent by the upper computer, control the mechanical hand to take out a group of medicine frames to be cleaned from the storage station into the transfer carrier according to the first movement path, and also used to transfer each group of medicine frames to be cleaned from the storage station to the transfer carrier in the same way.

[0167] The first medicine box transferring module is configured to control the robot to transfer the transfer carrier carrying a group of the medicine boxes to be cleaned to the cleaning station according to the second movement path after the robot moves to the carrier position, and sequentially transfer the transfer carrier carrying the medicine boxes to be cleaned to the cleaning station according to the same method.

[0168] The cleaning control module is configured to acquire the first position signal collected by the first sensor in real time, and control the cleaning mechanism to clean a group of the medicine boxes to be cleaned carried by the transfer carrier when the first position signal indicates that the transfer carrier is placed on the cleaning station, to obtain the transfer carrier carrying a group of the medicine boxes to be dried.

[0169] The second medicine box transferring module is configured to control the robot to transfer a group of the medicine boxes to be dried from the cleaning station to the drying station based on the third movement path, and control the robot to transfer the transfer carrier from the cleaning station to the carrier position according to the fourth movement path, and sequentially control each group of the medicine boxes to be dried to be transferred from the cleaning station to the drying station according to the same method.

[0170] The drying control module is configured to control the drying mechanism to dry all the medicine boxes to be dried in response to the drying signal sent by the upper computer, to complete the automatic cleaning of the medicine boxes.

[0171] The medicine box automatic cleaning device of the embodiment can effectively realize the automatic transmission and automatic control between the stations of the medicine box cleaning machine, can realize the automatic cleaning of a large number of medicine boxes in a small cleaning space, effectively improves the cleaning efficiency of the medicine boxes, reduces the labor cost, and truly and effectively avoids the secondary infection of bacteria on the medicine boxes.

[0172] The functions of the medicine box automatic cleaning device and the steps of the medicine box automatic cleaning method of the embodiment one correspond to each other, and the details not described in the embodiment one are described in detail in the embodiment one and the specific description of the embodiment two, which will not be described here. Figures 1 to 5

[0173] Embodiment Three

[0174] A medicine box automatic cleaning system, as shown in Figure 7 , the system comprises:

[0175] ​The medicine frame cleaning machine comprises a storage station, a transfer carrier, a cleaning station and a drying station, the storage station is used for storing a plurality of groups of medicine frames to be cleaned; the cleaning station is provided with a first sensor and a cleaning mechanism, the drying station is provided with a drying mechanism, and the drying station can accommodate a plurality of groups of medicine frames cleaned by the cleaning mechanism; the medicine frame cleaning machine further comprises a mechanical hand and an upper computer; and

[0176] The medicine frame automatic cleaning device of embodiment two is in communication connection with the upper computer, the mechanical hand, the first sensor, the cleaning mechanism and the drying mechanism in the medicine frame cleaning machine, and is used for:

[0177] The first motion path of the mechanical hand between the mechanical hand starting position, the storage station and the corresponding carrier position of the transfer carrier, the second motion path between the carrier position and the cleaning station, the third motion path between the cleaning station and the drying station, and the fourth motion path between the cleaning station and the carrier position are obtained in advance;

[0178] In response to the entering working state signal sent by the upper computer, the mechanical hand is controlled to take out a group of the medicine frames to be cleaned from the storage station and put them into the transfer carrier according to the first motion path;

[0179] When the mechanical hand moves to the carrier position, the transfer carrier carrying a group of the medicine frames to be cleaned is transmitted to the cleaning station by the mechanical hand according to the second motion path;

[0180] The first position signal collected by the first sensor is obtained in real time, and when the first position signal indicates that the transfer carrier is placed on the cleaning station, the cleaning mechanism is controlled to clean a group of the medicine frames to be cleaned carried on the transfer carrier, and the transfer carrier carrying a group of medicine frames to be dried is obtained;

[0181] Based on the third motion path, the mechanical hand is controlled to transmit a group of the medicine frames to be dried on the transfer carrier from the cleaning station to the drying station, and according to the fourth motion path, the mechanical hand is controlled to transmit the transfer carrier from the cleaning station to the carrier position;

[0182] In the same way, each group of the medicine frames to be cleaned on the storage station is sequentially transmitted from the storage station, the transfer carrier and the cleaning station to the drying station, and a plurality of groups of the medicine frames to be dried are obtained;

[0183] In response to the drying signal sent by the upper computer, the drying mechanism is controlled to dry all the medicine frames to be dried, and the medicine frame automatic cleaning is completed.

[0184] The medicine frame automatic cleaning system of the embodiment can effectively realize the automatic transmission and automatic control between the various stations of the medicine frame cleaning machine by controlling the manipulator, the cleaning mechanism and the drying mechanism based on the setting of the various stations, can realize the automatic cleaning of a large number of medicine frames in a small cleaning space, effectively improves the medicine frame cleaning efficiency, reduces the labor cost, and truly effectively avoids the secondary infection of bacteria on the medicine frame.

[0185] The structure of the medicine frame automatic cleaning device in the medicine frame automatic cleaning system of the embodiment is the same as that of the medicine frame automatic cleaning device of the second embodiment, and therefore the details of the embodiment are described in detail in the specific description of the first embodiment, the second embodiment and the third embodiment, and will not be described here. Figures 1 to 6

[0186] Although the embodiments of the present application are described in conjunction with the drawings, various modifications and changes can be made by those skilled in the art without departing from the spirit and scope of the present application, and such modifications and changes fall within the scope defined by the appended claims.​

Claims

1. A method for automatically cleaning a medicine frame in a medicine frame cleaning machine, characterized by, The medicine box cleaning machine comprises a storage station, a transfer carrier, a cleaning station and a drying station, the storage station is used for storing a plurality of groups of medicine boxes to be cleaned; the cleaning station is provided with a first sensor and a cleaning mechanism, the drying station is provided with a drying mechanism, and the drying station can accommodate a plurality of groups of medicine boxes cleaned by the cleaning mechanism; the medicine box cleaning machine further comprises a mechanical hand and an upper computer; the method comprises: obtaining in advance a first motion path of the mechanical hand moving between a mechanical hand starting position, the storage station and a carrier position corresponding to the storage station and the transfer carrier, a second motion path of moving between the carrier position and the cleaning station, a third motion path of moving between the cleaning station and the drying station, and a fourth motion path of moving between the cleaning station and the carrier position; in response to an entering working state signal sent by the upper computer, controlling the mechanical hand to take out a group of the medicine boxes to be cleaned from the storage station and place them into the transfer carrier according to the first motion path; when the mechanical hand moves to the carrier position, controlling the mechanical hand to transfer the transfer carrier carrying a group of the medicine boxes to be cleaned to the cleaning station according to the second motion path; real-time acquisition of a first position signal collected by the first sensor, when the first position signal indicates that the transfer carrier is placed on the cleaning station, controlling the cleaning mechanism to clean a group of the medicine boxes to be cleaned carried on the transfer carrier, obtaining the transfer carrier carrying a group of medicine boxes to be dried; based on the third motion path, controlling the mechanical hand to transfer a group of the medicine boxes to be dried on the transfer carrier from the cleaning station to the drying station, and controlling the mechanical hand to transfer the transfer carrier from the cleaning station to the carrier position according to the fourth motion path; according to the same method, each group of the medicine boxes to be cleaned on the storage station is sequentially transferred from the storage station, the transfer carrier and the cleaning station to the drying station, and a plurality of groups of the medicine boxes to be dried are obtained; in response to a drying signal sent by the upper computer, controlling the drying mechanism to dry all the medicine boxes to be dried, and completing automatic cleaning of the medicine boxes.

2. The method of claim 1, wherein, The storage station is provided with a plurality of first slot positions, each of the first slot positions is used for storing a group of the medicine boxes to be cleaned, and each of the first slot positions is provided with a second sensor; in response to the entering working state signal sent by the upper computer, comprising: real-time acquisition of a second position signal collected by the second sensor; when all the second position signals indicate that the corresponding first slot positions are placed with the medicine boxes to be cleaned, in response to the entering working state signal sent by the upper computer.

3. The method of claim 1, wherein, The medicine box cleaning machine is further provided with a switch panel; in response to the entering working state signal sent by the upper computer, comprising: when receiving a start working instruction input by a user through the switch panel, in response to the entering working state signal sent by the upper computer.

4. The method of claim 1, wherein, The medicine frame cleaning machine further comprises a first sliding door mechanism arranged between the carrier position and the storage station, and the first sliding door mechanism has a first initial position, when the first sliding door mechanism is in the first initial position, the carrier position and the storage station are not communicated; The method further comprises the following steps: In response to the entering working state signal sent by the upper computer, a first control instruction is sent to the mechanical arm, and a first door opening instruction is sent to the first sliding door mechanism; According to the first door opening instruction, the first sliding door mechanism is controlled to move from the first initial position to a first specified position, and then according to the first control instruction, the mechanical arm is controlled to take a group of the medicine frames to be cleaned from the storage station and put them into the transfer carrier according to the first movement path; When the mechanical arm puts a group of the medicine frames to be cleaned into the transfer carrier, a first door closing instruction is sent to the first sliding door mechanism, and according to the first door closing instruction, the first sliding door mechanism is controlled to move from the first specified position to the first initial position.

5. The method of claim 1, wherein, The medicine frame cleaning machine further comprises a lifting mechanism arranged between the cleaning station and the carrier position, and the lifting mechanism has a second initial position, when the lifting mechanism is in the second initial position, the cleaning station and the carrier position are not communicated; The method further comprises the following steps: When the mechanical arm moves to the carrier position, a second control instruction is sent to the mechanical arm, and an upward instruction is sent to the lifting mechanism; According to the upward instruction, the lifting mechanism is controlled to rise from the second initial position to a second specified position, and then according to the second control instruction, the mechanical arm is controlled to transfer the transfer carrier carrying a group of the medicine frames to be cleaned to the cleaning station according to the second movement path; The method further comprises the following steps: A fifth movement path of the mechanical arm between the cleaning station and the starting position of the mechanical arm is obtained in advance; The method further comprises the following steps: When the first position signal indicates that the transfer carrier is placed on the cleaning station, a third control instruction is sent to the mechanical arm, and a downward instruction is sent to the lifting mechanism; According to the third control instruction, the mechanical arm is controlled to exit from the cleaning station to the starting position of the mechanical arm according to the fifth movement path, and then according to the downward instruction, the lifting mechanism is controlled to descend from the second specified position to the second initial position.

6. The method of claim 5, wherein, The medicine frame cleaning machine further comprises a second sliding door mechanism arranged between the drying station and the cleaning station, and the second sliding door mechanism has a third initial position, when the second sliding door mechanism is located at the third initial position, the drying station and the cleaning station are not communicated; The third motion path is based on the control of the mechanical arm to transfer a group of the medicine frames to be dried on the transfer carrier from the cleaning station to the drying station, and the fourth motion path is based on the control of the mechanical arm to transfer the transfer carrier from the cleaning station to the carrier position. When the medicine frame to be cleaned on the cleaning station is cleaned, a third control instruction is sent to the mechanical arm, and the lifting mechanism and the second sliding door mechanism are respectively sent the lifting instruction and the second door opening instruction; According to the lifting instruction, the lifting mechanism is controlled to rise from the second initial position to the second specified position, and according to the second door opening instruction, the second sliding door mechanism is controlled to move from the third initial position to a third specified position, and according to the third control instruction, the mechanical arm is controlled to transfer a group of the medicine frames to be dried on the transfer carrier from the cleaning station to the drying station according to the fifth motion path and the third motion path. When the mechanical arm moves to the position where the drying station is located, a fourth control instruction is sent to the mechanical arm. According to the fourth control instruction, the mechanical arm is controlled to transfer the transfer carrier from the cleaning station to the carrier position according to the third motion path and the second motion path. When the mechanical arm transfers the transfer carrier from the cleaning station to the carrier position, a second door closing instruction is sent to the second sliding door mechanism, and the lifting instruction is sent to the lifting mechanism. According to the lowering instruction, the second sliding door mechanism is controlled to move from the third specified position to the third initial position, and according to the lowering instruction, the lifting mechanism is controlled to descend from the second specified position to the second initial position.

7. The method of claim 1, wherein, The drying station is provided with a plurality of second slot positions, and each of the second slot positions is provided with a third sensor; The response to the drying signal sent by the upper computer comprises: Real-time acquisition of the third position signal collected by the third sensor; When all the third position signals indicate that the medicine frames to be dried are placed in the corresponding second slot positions, the drying signal sent by the upper computer is responded to.

8. The method of claim 1, wherein, The response to the drying signal sent by the upper computer comprises: When the drying work instruction input by the user is received, the drying signal sent by the upper computer is responded to.

9. A medicine frame automatic cleaning device for a medicine frame cleaning machine, characterized in that, The drug frame cleaning machine comprises a storage station, a transfer carrier, a cleaning station and a drying station, the storage station is used for storing a plurality of groups of drug frames to be cleaned, the cleaning station is provided with a first sensor and a cleaning mechanism, the drying station is provided with a drying mechanism, and the drying station can accommodate a plurality of groups of drug frames cleaned by the cleaning mechanism, the drug frame cleaning machine further comprises a mechanical hand and an upper computer, and the device comprises: a path planning module, which is used for pre-acquiring a first movement path of the mechanical hand between a starting position of the mechanical hand, the storage station and a carrier position corresponding to the storage station, a second movement path between the carrier position and the cleaning station, a third movement path between the cleaning station and the drying station, and a fourth movement path between the cleaning station and the carrier position; a drug frame taking-out module, which is used for, in response to an entering working state signal sent by the upper computer, controlling the mechanical hand to take out a group of the drug frames to be cleaned from the storage station and place them into the transfer carrier according to the first movement path, and is also used for, in the same way, transferring each group of the drug frames to be cleaned from the storage station to the transfer carrier; a first drug frame transfer module, which is used for, when the mechanical hand moves to the carrier position, controlling the mechanical hand to transfer the transfer carrier carrying a group of the drug frames to be cleaned to the cleaning station according to the second movement path, and is also used for, in the same way, sequentially transferring the transfer carriers carrying the drug frames to be cleaned to the cleaning station; a cleaning control module, which is used for acquiring a first position signal collected by the first sensor in real time, and when the first position signal indicates that the transfer carrier is placed on the cleaning station, controlling the cleaning mechanism to clean a group of the drug frames to be cleaned carried on the transfer carrier, to obtain the transfer carrier carrying a group of drug frames to be dried, and is also used for, in the same way, sequentially controlling the cleaning mechanism to clean the drug frames to be cleaned carried on the transfer carrier, to obtain the corresponding transfer carriers carrying the drug frames to be dried; a second drug frame transfer module, which is used for, based on the third movement path, controlling the mechanical hand to transfer a group of the drug frames to be dried on the transfer carrier from the cleaning station to the drying station, and controlling the mechanical hand to transfer the transfer carrier from the cleaning station to the carrier position according to the fourth movement path, and is also used for, in the same way, sequentially controlling each group of the drug frames to be dried to be transferred from the cleaning station to the drying station; a drying control module, which is used for, in response to a drying signal sent by the upper computer, controlling the drying mechanism to dry all the drug frames to be dried, to complete automatic cleaning of the drug frames.

10. An automatic cleaning system for medicine boxes, characterized in that, The system comprises: The medicine frame cleaning machine comprises a storage station, a transfer carrier, a cleaning station and a drying station, the storage station is used for storing a plurality of groups of medicine frames to be cleaned; the cleaning station is provided with a first sensor and a cleaning mechanism, the drying station is provided with a drying mechanism, and the drying station can accommodate a plurality of groups of medicine frames cleaned by the cleaning mechanism; the medicine frame cleaning machine further comprises a mechanical hand and an upper computer; and The medicine frame automatic cleaning device as claimed in claim 9 is in communication connection with the upper computer, the mechanical hand, the first sensor, the cleaning mechanism and the drying mechanism in the medicine frame cleaning machine, and is used for: obtaining in advance a first motion path of the mechanical hand between a mechanical hand starting position, the storage station and a carrier position corresponding to the storage station, a second motion path between the carrier position and the cleaning station, a third motion path between the cleaning station and the drying station and a fourth motion path between the cleaning station and the carrier position; in response to an entering working state signal sent by the upper computer, controlling the mechanical hand to take out a group of the medicine frames to be cleaned from the storage station and place them into the transfer carrier according to the first motion path; when the mechanical hand moves to the carrier position, controlling the mechanical hand to transmit the transfer carrier carrying a group of the medicine frames to be cleaned to the cleaning station according to the second motion path; obtaining in real time a first position signal collected by the first sensor, and when the first position signal indicates that the transfer carrier is placed on the cleaning station, controlling the cleaning mechanism to clean a group of the medicine frames to be cleaned carried on the transfer carrier, so as to obtain the transfer carrier carrying a group of medicine frames to be dried; controlling the mechanical hand to transmit a group of the medicine frames to be dried on the transfer carrier from the cleaning station to the drying station based on the third motion path, and controlling the mechanical hand to transmit the transfer carrier from the cleaning station to the carrier position according to the fourth motion path; according to the same method, sequentially transmitting each group of the medicine frames to be cleaned on the storage station from the storage station, the transfer carrier and the cleaning station to the drying station, so as to obtain a plurality of groups of the medicine frames to be dried; in response to a drying signal sent by the upper computer, controlling the drying mechanism to dry all the medicine frames to be dried, and completing the medicine frame automatic cleaning.

Images