Dangerous medicament dispensing machine

Abstract

The invention relates to a dangerous medicament dispensing machine which solves the problems existing in the conventional medicament dispensing machine. Comprising a six-shaft anti-explosion robot, a clamping jaw air cylinder, a clamping jaw, an adapter plate, a pneumatic oscillator, a cross-shaped sliding table, a small medicine box bracket, a first table top, a weighing sensor, a jacking air cylinder and a second table top, the six-shaft anti-explosion robot is fixed to the second table top, the pneumatic oscillator and the clamping jaw air cylinder are fixed to the tail end of the six-shaft anti-explosion robot through the adapter plate, and the clamping jaw is connected with the clamping jaw air cylinder; the jacking air cylinder and the cross-shaped sliding table are fixed to the first table top, the weighing sensor is connected with the jacking air cylinder, the small medicine box bracket is connected with the cross-shaped sliding table, and in the non-working state, the weighing sensor is located below the small medicine box bracket. The whole medicine dispensing process is simple, the medicine dispensing precision is high, generated floating medicine is controllable, and the medicine dispensing safety of dangerous medicine is improved.

Description

Technical Field

[0001] The invention belongs to a dangerous agent dispensing device in the field of explosive device manufacturing, and relates to a dangerous agent dispensing machine. The device realizes the quantitative portioning function of the dangerous agent, and meets the requirements of explosive device manufacturing on the amount of the agent and the safe quantitative amount. Background Art

[0002] In the manufacture of pyrotechnics, larger-volume medicine boxes are used to hold the explosives for circulation. However, precise portioning of the explosives is required during the preparation and loading processes to meet the requirements of dosage and safe quantitative loading. Therefore, portioning of explosives is the primary process step in the manufacture of pyrotechnics.

[0003] Since explosives have high impact sensitivity, friction sensitivity and static sensitivity, the process of separating explosives is relatively dangerous. Traditionally, the separation of explosives adopts the method of human-machine isolation. The large explosive box is fixed by an isolation device. The operator rotates and vibrates the large explosive box through the two sides of the isolation guard plate outside, and pours the explosive into the small container through visual and experience judgment to complete the separation.

[0004] With the continuous development of automated drug dispensing technology, some dangerous agent dispensing equipment for pyrotechnics has been developed. The principle is to pour the dangerous agents in the large medicine box into the equipment through circulation. The equipment uses the drum dispensing principle, quantitative volume principle and weighing to achieve quantitative dispensing.

[0005] For manual medicine dispensing machines, although the human-machine separation of dangerous medicine dispensing is achieved, human participation is still required, which poses certain safety risks. At the same time, since the medicine dispensing is done by manually rotating the large medicine box and manually vibrating, the medicine dispensing accuracy is poor and the operator's experience is required to be high.

[0006] For other automatic medicine dispensing machines, it is necessary to transfer the large medicine box and pour the medicine into the device for medicine dispensing. The process is complicated and there are safety risks such as friction and collision in the process. Secondly, the medicine dispensing process will cause dust to be raised, forming floating medicine on the surface of the equipment, and long-term accumulation is prone to explosion accidents. Thirdly, the remaining medicine in the device needs to be re-introduced into the medicine box containing the medicine, and the process will also cause friction, collision and floating medicine, which brings certain safety hazards. Summary of the invention

[0007] The present invention designs a dangerous medicine dispenser, uses a 6-axis industrial robot to grab the medicine box containing the medicine, directly dispenses the medicine through the vibration of the clamp, and realizes accurate weighing and dispensing of the equipment through a weighing sensor.

[0008] The present invention is achieved by the following technical solutions:

[0009] A dangerous medicine dispensing machine comprises a 6-axis explosion-proof robot 1, a gripper cylinder 2, a gripper 3, an adapter plate 5, a pneumatic oscillator 6, a cross slide 7, a small medicine box bracket 8, a table 1 9, a weighing sensor 10, a lifting cylinder 11 and a table 2 12. The 6-axis explosion-proof robot 1 is fixed on the table 2 12, the pneumatic oscillator 6 and the gripper cylinder 2 are both fixed to the end of the 6-axis explosion-proof robot 1 through the adapter plate 5, and the gripper 3 is connected to the gripper cylinder 2; the lifting cylinder 11 and the cross slide 7 are fixed on the table 1 9, the weighing sensor 10 is connected to the lifting cylinder 11, and the small medicine box bracket 8 is connected to the cross slide 7. In a non-working state, the weighing sensor 10 is located below the small medicine box bracket 8.

[0010] The small medicine box bracket 8 is provided with a small hole, and the weighing sensor 10 passes through the small hole and contacts the small medicine box 13 .

[0011] The whole medicine dispensing process of the present invention is simple, the medicine dispensing precision is high, the generation of floating medicine is controllable, and the safety of medicine dispensing of dangerous medicines is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a schematic diagram of the structure of the present invention. DETAILED DESCRIPTION

[0013] The principle of the present invention is to design a pneumatic clamp at the end of an industrial 6-axis robot, so that the large medicine box containing medicines can be reliably clamped. The pneumatic clamp is equipped with a pneumatic oscillator. By adjusting the robot's posture, the angle of the large medicine box at the medicine dispensing position can be tilted. By controlling the frequency of the oscillator, the medicine vibration is introduced into the small medicine box for medicine dispensing. A weighing sensor is arranged below the small medicine box for medicine dispensing, which can realize closed-loop control with the 6-axis industrial robot. After the medicine dispensing is completed, the pneumatic oscillator is immediately stopped and the large medicine box is returned to the normal position. The medicine dispensing function of several small boxes of medicines can be completed at one time through parameter setting. After completion, the medicine box of the remaining medicine is transferred back to the temporary storage position by the original route. By adjusting the robot's posture, the height difference of the falling material in the medicine dispensing can be minimized to reduce the generation of floating medicine. After the medicine dispensing is completed, the medicine box of the remaining medicine directly returns to the original route. The process is simple and reliable, which reduces the safety risk of dangerous medicines and improves the accuracy of medicine dispensing.

[0014] Example:

[0015] like Figure 1 As shown, a dangerous medicine dispensing machine of the present invention is composed of a 6-axis explosion-proof robot 1, a gripper cylinder 2, a gripper 3, a large medicine box 4, an adapter plate 5, a pneumatic oscillator 6, a cross slide 7, a small medicine box bracket 8, a table 1 9, a weighing sensor 10, a lifting cylinder 11, a table 2 12, a small medicine box 13 and other components.

[0016] The 6-axis explosion-proof robot 1 is fixed on the table 12 , the pneumatic oscillator 6 and the gripper cylinder 2 are fixed to the end of the 6-axis explosion-proof robot 1 through the adapter plate 5 , and the gripper 3 is connected to the gripper cylinder 2 .

[0017] The lifting cylinder 11 and the cross slide 7 are fixed to the table 9, the weighing sensor 10 is connected to the lifting cylinder 11, and the small medicine box bracket 8 is connected to the cross slide 7. In the non-working state, the weighing sensor 10 is located below the small medicine box bracket 8.

[0018] The clamping claw cylinder 2 can clamp a large medicine box 4, and the small medicine box bracket 8 can hold eight small medicine boxes 13.

[0019] Before dispensing hazardous drugs, the operator places the empty small medicine box 13 on the small medicine box bracket 8, and the 6-axis explosion-proof robot 1 adjusts its posture to the position of taking the large medicine box 4. The clamping cylinder 2 moves, driving the clamping claw 3 to clamp the large medicine box 4. The 6-axis explosion-proof robot 1 moves to the position of the small medicine box 13 directly above the weighing sensor 10 through posture adjustment, and the lifting cylinder 11 moves to drive the weighing sensor 10 to lift the small medicine box 13 at this position. The 6-axis explosion-proof robot 1 tilts the large medicine box 4 through posture adjustment, and the pneumatic oscillator 6 moves at the same time. The hazardous drugs fall into the small medicine box 13 with the tilt of the large medicine box 4 and the vibration of the pneumatic oscillator 6. When the amount of drugs reaches the set value, the pneumatic oscillator 6 stops, and the hazardous drugs stop falling. The lifting cylinder 11 returns to its position, driving the weighing sensor 10 to put the small medicine box 13 at this position back on the small medicine box bracket 8, thereby completing the dispensing of a box of hazardous drugs. The cross slide 7 moves to move another empty small medicine box 13 to the position just above the weighing sensor 10, and the medicine dispensing action is performed again. After all the small medicine boxes on the small medicine box holder 8 are dispensed in sequence, the 6-axis explosion-proof robot 1 adjusts the posture to return the large medicine box 4 to the normal position and transfers it to the temporary storage position of the medicine box, thereby completing the dispensing of the dangerous medicine.

[0020] The present invention realizes the fully automatic dispensing of dangerous explosives, and the process does not require human involvement, and is inherently safe. The present invention has a simple structure, less equipment movement in the dispensing of dangerous agents, and a stable and reliable process, which greatly reduces the safety risk of the dispensing process. The present invention can be used to achieve high-precision dispensing of different dangerous agents, with a dispensing accuracy of ±0.5g and a dispensing efficiency of 15 seconds / box, with high precision and high efficiency.

Claims

1. A dangerous medicine dispensing machine, characterized by: It includes a 6-axis explosion-proof robot, a gripper cylinder, a gripper, an adapter plate, a pneumatic oscillator, a cross slide, a small medicine box holder, table one, a weighing sensor, a lifting cylinder and table two. The 6-axis explosion-proof robot is fixed on table two, the pneumatic oscillator and the gripper cylinder are fixed to the end of the 6-axis explosion-proof robot through the adapter plate, and the gripper is connected to the gripper cylinder; the lifting cylinder and the cross slide are fixed on table one, the weighing sensor is connected to the lifting cylinder, and the small medicine box holder is connected to the cross slide. In the non-working state, the weighing sensor is located below the small medicine box holder.

2. A dangerous medicine dispensing machine according to claim 1, characterized in that: The small medicine box bracket is provided with a small hole, and the weighing sensor passes through the small hole and contacts the small medicine box.

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