Medicine taking and placing device with automatic positioning function

Abstract

A medicine taking and placing device with an automatic positioning function comprises a horizontal rotating assembly, a first positioning assembly and a second positioning assembly, the bottom side of the supporting frame is connected with the output end of the horizontal rotating assembly, and a placing table is arranged on the supporting frame; a push-pull plate is arranged at the output end of the horizontal telescopic assembly, and a second limiting sensor group is arranged on the horizontal telescopic assembly; a pushing rod is arranged at the output end of the pushing assembly, the trend of the pushing rod is parallel to the trend of the push-pull plate, and a third limiting sensor group is arranged on the pushing assembly; two opposite medicine taking clamping plates are arranged at the output end of the clamping assembly, and a fourth limiting sensor set is arranged on the clamping assembly; and the positioning assembly comprises a distance measuring sensor and an optical fiber sensor. Vaccine medicine boxes are recognized and positioned through the optical fiber sensors, the picking and placing device is controlled through the sensor assembly to accurately locate, pick and place the vaccine medicine boxes, the placing uniformity of the vaccine medicine boxes is improved, and then the space utilization rate of the vaccine cabinet is increased.

Description

Technical Field

[0001] The utility model relates to the technical field of medicine storage auxiliary equipment, in particular to a medicine taking and placing device with an automatic positioning function. Background Art

[0002] Vaccines are auto-immune preparations for preventing infectious diseases that are made by artificially attenuating, inactivating or genetically modifying pathogenic microorganisms and their metabolites. Because they are biological products, they have very high requirements for storage and transportation conditions. Most vaccines need to be stored in a constant low temperature environment of 2°C to 8°C to ensure their quality and activity. In order to reduce heat exchange with the outside world during the vaccine removal and placement process, clamps are mainly used to remove and place vaccine boxes during the vaccine removal and placement process.

[0003] In reality, in order to save storage space, vaccine cabinets that store vaccine boxes are mostly placed on both sides or three sides. When operating the existing medicine picking and placing devices, manual confirmation of the picking and placing angles and positions is required by naked eyes, resulting in low picking and placing efficiency. In addition, the errors in manual positioning and picking and placing operations make the vaccine boxes in the vaccine cabinet not stacked neatly, resulting in insufficient space utilization of the vaccine cabinet.

[0004] Therefore, in view of the deficiencies in the prior art, the utility model designs a medicine taking and placing device with an automatic positioning function to solve the above problems.

[0005] It should be noted that the above introduction to the technical background is only for the convenience of providing a clear and complete description of the technical solution of the utility model and facilitating the understanding of those skilled in the art. It cannot be considered that the above contents are well known to those skilled in the art simply because they are explained in the background technology of the utility model. Utility Model Content

[0006] In order to overcome the deficiencies in the above-mentioned prior art, the purpose of the utility model is to provide a medicine picking and placing device with an automatic positioning function, which determines the picking and placing position of the vaccine medicine box through an optical fiber sensor, and uses a limit sensor to control the displacement of the medicine picking and placing device, thereby realizing automatic positioning and placing of the vaccine medicine box.

[0007] In order to achieve the above-mentioned purpose and other related purposes, the technical solution provided by the utility model is: a medicine taking and placing device with automatic positioning function, comprising:

[0008] A horizontal rotation assembly, on which a first limit sensor group for controlling the rotation angle is provided;

[0009] A support frame, the bottom side of which is connected to the upper output end of the horizontal rotating assembly, and the upper end of the support frame is provided with a placement platform;

[0010] A horizontal telescopic assembly is arranged on the side of the support frame, a push-pull plate is arranged at the output end of the horizontal telescopic assembly, and a second limit sensor group for controlling the travel of the push-pull plate is arranged on the horizontal telescopic assembly;

[0011] A push assembly is arranged on the placing table, a push rod is arranged at the output end of the push assembly, the direction of the push rod is parallel to the direction of the push-pull plate, and a third limit sensor group for controlling the stroke of the push rod is arranged on the push assembly;

[0012] A clamping assembly is arranged at the rear side of the push-pull plate, and two oppositely arranged medicine taking splints are arranged at the output end of the clamping assembly, and a fourth limit sensor group for controlling the travel of the medicine taking splint is arranged on the clamping assembly;

[0013] The positioning component includes a distance measuring sensor and an optical fiber sensor; the distance measuring sensor is arranged at the top of the push-pull plate to measure the distance between the push-pull plate and the medicine box to be clamped; the optical fiber sensor is arranged on the clamping component to identify the position and the picking angle of the medicine box to be clamped.

[0014] The preferred technical solution is: the horizontal rotation component includes a fixed frame, a rotation drive motor is provided on the fixed frame, a turntable is provided at the output end of the rotation drive motor, and the top of the turntable is fixedly connected to the bottom of the support frame.

[0015] The preferred technical solution is: the first limit sensor group includes a first slot-type photoelectric and an angle limit mask, the angle limit mask is arranged below the turntable, the first slot-type photoelectric is arranged on the periphery of the rotating drive motor along the direction of the angle limit mask, the number of the angle limit masks is consistent with the number of the first slot-type photoelectric, and the rotation angle of the turntable is precisely controlled by the cooperation between the angle limit mask and the first slot-type photoelectric.

[0016] The preferred technical solution is: the second limit sensor group includes a second slot-type photoelectric and a push-pull limit mask, the push-pull limit mask is arranged on the push-pull plate, and the second slot-type photoelectric is arranged on the side of the support frame along the direction of the push-pull limit mask, and the moving stroke of the push-pull plate is precisely controlled by the push-pull limit mask and the second slot-type photoelectric.

[0017] The preferred technical solution is: the third limit sensor group includes a third slot-shaped photoelectric and an extension limit shield, the extension limit shield is arranged below the push rod, and the third slot-shaped photoelectric is arranged below the placement table along the direction of the extension limit shield, and the extension limit shield cooperates with the third slot-shaped photoelectric to accurately control the pushing stroke of the push rod.

[0018] The preferred technical solution is: the clamping assembly includes a clamping drive motor arranged on the push-pull plate, and the output end of the clamping drive motor is provided with a first gear. The upper and lower sides of the first gear are respectively meshed and connected with an upper transmission member and a lower transmission member, and the upper transmission member and the lower transmission member are both slidably connected to the push-pull plate. The rear ends of the two medicine taking splints are respectively connected to the front ends of the upper transmission member and the lower transmission member, so that the two medicine taking splints can move inward synchronously.

[0019] The preferred technical solution is: the fourth limit sensor group includes a fourth slot-type photoelectric and a clamping limit mask, the clamping limit mask is arranged on the upper transmission member, and the fourth slot-type photoelectric is arranged on the clamping drive motor along the direction of the clamping limit mask, which can accurately control the distance between the two medicine taking splints to avoid collision with the medicine box or storage rack.

[0020] The preferred technical solution is: a tooth surface is provided on the placement table, the medicine taking splint includes a splint body, a slide groove is provided on the splint body, an extension splint is slidably connected in the slide groove, a front roller and a rear roller are respectively provided at the front and rear ends of the slide groove, the front roller and the rear roller are connected by a transmission belt, the outer side of the transmission belt is connected to the side of the extension splint, the lower shaft end of the rear roller is provided with a first bevel tooth, and the rear end of the splint body is also provided with a transmission gear, the transmission gear is meshingly connected to the tooth surface, and the shaft end of the transmission gear is provided with a second bevel tooth, the second bevel tooth is meshingly connected to the first bevel tooth, when the medicine taking splint moves forward, the extension splint is synchronously driven to move forward, thereby increasing the operating distance of the clamping assembly.

[0021] The preferred technical solution is: a proximity sensor is also provided at the front end of the clamping plate body to prevent the clamping assembly from colliding with the medicine box or the storage rack.

[0022] The preferred technical solution is: the proximity sensor, the first limit sensor group, the second limit sensor group, the third limit sensor group, the fourth limit sensor group and the positioning component are all connected to the console, and the console receives signal feedback and centrally controls each component to achieve automatic placement of medicines.

[0023] Due to the application of the above-mentioned technical scheme, the utility model provides a medicine picking and placing device with automatic positioning function, which identifies and locates the vaccine medicine box through the optical fiber sensor, and controls the picking and placing device through the sensor component to accurately position and place the vaccine medicine box, thereby improving the neatness of the placement of the vaccine medicine box and increasing the space utilization rate of the vaccine cabinet. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a schematic diagram of the structure of a medicine taking and placing device with automatic positioning function according to the utility model;

[0025] Figure 2 It is a structural schematic diagram of the horizontal rotating assembly in the utility model;

[0026] Figure 3 It is a structural schematic diagram of the horizontal telescopic component in the utility model;

[0027] Figure 4 It is an exploded view of the push assembly and the placement platform in the utility model;

[0028] Figure 5 It is a structural schematic diagram of the clamping assembly in the utility model;

[0029] Figure 6 It is an exploded view of the medicine taking splint in the utility model.

[0030] In the above drawings, 1, horizontal rotation component; 11, first limit sensor group; 11a, first slot-type photoelectric; 11b, angle limit mask; 12, fixed frame; 13, rotation drive motor; 14, turntable; 2, support frame; 21, placement table; 21a, tooth surface; 3, horizontal telescopic component; 31, push-pull plate; 32, second limit sensor group; 32a, second slot-type photoelectric; 32b, push-pull limit mask; 4, push assembly; 41, push rod; 42, third limit sensor group; 42a, third slot-type photoelectric; 42b, top extension limit mask; 5, clamping group Parts; 51, medicine taking splint; 511, splint body; 511a, slide groove; 512, extension splint; 513, front roller; 514, rear roller; 514a, first bevel gear; 515, transmission belt; 516, transmission gear; 516a, second bevel gear; 517, proximity sensor; 52, fourth limit sensor group; 52a, fourth slot type photoelectric; 52b, clamping limit mask; 53, clamping drive motor; 53a, first gear; 53b, upper transmission member; 53c, lower transmission member; 6, positioning assembly; 61, distance measuring sensor; 62, optical fiber sensor. DETAILED DESCRIPTION

[0031] The following is a description of the implementation of the present invention by means of specific embodiments. People familiar with the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification.

[0032] In the description of the present utility model, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, or the positions or positional relationships in which the utility model product is usually placed when in use. They are only for the convenience of describing the present utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present utility model. In addition, terms such as "horizontal", "vertical", and "overhanging" do not mean that the components are required to be absolutely horizontal or overhanging, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0033] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection, it can be a mechanical connection, it can be an electrical connection, it can be a direct connection, it can be indirectly connected through an intermediate medium, and it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0034] like Figure 1 As shown, the utility model discloses a medicine taking and placing device with automatic positioning function, including a horizontal rotating component 1, a supporting frame 2, a horizontal telescopic component 3, a pushing component 4, a clamping component 5 and a positioning component 6. The main components of the utility model are described in detail below:

[0035] like Figure 1 and Figure 2 As shown, the horizontal rotation assembly 1 includes a fixed frame 12, on which a rotation drive motor 13 is provided, and a turntable 14 is provided at the output end of the rotation drive motor 13. An angle limit mask 11b is provided below the turntable 14, and a first slot-type photoelectric 11a is provided along the outer periphery of the rotation drive motor 13 along the direction of the angle limit mask 11b. The first slot-type photoelectric 11a and the angle limit mask 11b constitute a first limit sensor group 11 for controlling the rotation angle. It should be noted that the above structure is merely exemplary and not restrictive. In this embodiment, the first slot-type photoelectric 11a is provided at the outer periphery of the rotation drive motor 13, but in other embodiments, the first slot-type photoelectric 11a can be provided below the turntable 14, and the angle limit mask 11b is provided at the outer periphery of the rotation drive motor 13.

[0036] like Figure 1 , Figure 2 and Figure 4As shown, the bottom side of the support frame 2 is fixedly connected to the top of the turntable 14, and a placement platform 21 is provided at the upper end of the support frame 2, and a tooth surface 21a is provided on the placement platform 21.

[0037] like Figure 1 and Figure 3 As shown, the horizontal telescopic component 3 is arranged on the side of the support frame 2, and a push-pull plate 31 is provided at the output end of the horizontal telescopic component 3. A second limit sensor group 32 for controlling the travel of the push-pull plate 31 is provided on the horizontal telescopic component 3. The second limit sensor group 32 includes a second slot-shaped photoelectric 32a and a push-pull limit shield 32b. The push-pull limit shield 32b is arranged on the push-pull plate 31, and the second slot-shaped photoelectric 32a is arranged on the side of the support frame 2 along the direction of the push-pull limit shield 32b.

[0038] like Figure 1 and Figure 4 As shown, the pushing component 4 is arranged on the placement table 21, and a pushing rod 41 is provided at the output end of the pushing component 4. The direction of the pushing rod 41 is parallel to the direction of the push-pull plate 31. The pushing component 4 is provided with a third limit sensor group 42 for controlling the stroke of the pushing rod 41. The third limit sensor group 42 includes a third slot-type photoelectric 42a and a top-extending limit shield 42b. The top-extending limit shield 42b is arranged below the pushing rod 41, and the third slot-type photoelectric 42a is arranged below the placement table 21 along the direction of the top-extending limit shield 42b. This design enables the pushing component 4 to accurately push the medicine box to be clamped to the specified position depth.

[0039] like Figure 1 and Figure 5 As shown, the clamping assembly 5 includes a clamping drive motor 53 arranged on the push-pull plate 31, and the output end of the clamping drive motor 53 is provided with a first gear 53a, and the upper and lower sides of the first gear 53a are respectively meshed and connected with an upper transmission member 53b and a lower transmission member 53c, and the upper transmission member 53b and the lower transmission member 53c are both slidably connected to the push-pull plate 31, and the front ends of the upper transmission member 53b and the lower transmission member 53c are connected with a medicine taking splint 51, so that the upper transmission member 53b and the lower transmission member 53c and the medicine taking splint 51 thereon can move synchronously towards or away from each other.

[0040] like Figure 1 and Figure 5 As shown, the clamping assembly 5 is provided with a fourth limit sensor group 52 for controlling the travel of the medicine taking splint 51. The fourth limit sensor group 52 includes a fourth slot-shaped photoelectric 52a and a clamping limit shield 52b. The clamping limit shield 52b is arranged on the upper transmission member 53b. The fourth slot-shaped photoelectric 52a is arranged on the clamping drive motor 53 along the direction of the clamping limit shield 52b, so as to accurately control the spacing of the medicine taking splint 51.

[0041] like Figure 1 , Figure 5and Figure 6 As shown, the medicine taking splint 51 includes a splint body 511, a slide groove 511a is provided on the splint body 511, an extension splint 512 is slidably connected in the slide groove 511a, a front roller 513 and a rear roller 514 are respectively provided at the front and rear ends of the slide groove 511a, the front roller 513 and the rear roller 514 are connected through a transmission belt 515, the outer side of the transmission belt 515 is connected to the side of the extension splint 512, the lower shaft end of the rear roller 514 is provided with a first bevel tooth 514a, and the splint body 51 1 is also provided with a transmission gear 516 at the rear end, the transmission gear 516 is meshed with the tooth surface 21a, and the shaft end of the transmission gear 516 is provided with a second bevel tooth 516a, and the second bevel tooth 516a is meshed with the first bevel tooth 513a, so that the final clamping distance of the medicine taking splint 51 is doubled, and the telescopic design makes it difficult for the medicine taking splint 51 to interfere with the surrounding during the angle adjustment process. A proximity sensor 517 is also provided at the front end of the splint body 511 to avoid collision during the taking and placing process.

[0042] like Figure 1 and Figure 3 As shown, the positioning component 6 includes a distance measuring sensor 61 and an optical fiber sensor 62; the distance measuring sensor 61 is arranged at the top of the push-pull plate 31, and is used to measure the distance between the push-pull plate 31 and the medicine box to be clamped; the optical fiber sensor 62 is arranged on the clamping component 5, and is used to identify the position and the picking angle of the medicine box to be clamped.

[0043] like Figures 1 to 6 As shown, the proximity sensor 517, the first limit sensor group 11, the second limit sensor group 32, the third limit sensor group 42, the fourth limit sensor group 52 and the positioning component 6 are all connected to the console, and the positioning feedback signal is collected through the console and the limit movement is performed.

[0044] refer to Figures 1 to 6 As shown, the principle of the utility model is to utilize the distance measuring sensor 61 and the optical fiber sensor 62 in the positioning component 6 to identify the position and distance of the medicine box to be clamped, and control the clamping component 5 to clamp the medicine box to be clamped according to the identified signal feedback. In this process, the first limit sensor group 11, the second limit sensor group 32, the third limit sensor group 42 and the fourth limit sensor group 52 cooperate to improve the positioning accuracy of the clamping component 5, so as to realize the positioning and placement of the medicine box to be clamped.

[0045] In summary, the utility model discloses a medicine picking and placing device with automatic positioning function, which controls the operating angle and stroke of the picking and placing device by setting multiple groups of limit sensors, and cooperates with the positioning sensors to pick and place vaccine boxes, so that the placement of vaccine boxes is more regular and the picking and placing efficiency is improved.

[0046] The above embodiment provided by the utility model is only an example of the principle and effect of the utility model, and is not used to limit the utility model. Anyone familiar with this technology can modify or change the above embodiment without violating the spirit and scope of the utility model. Therefore, all equivalent modifications or changes made by those with ordinary knowledge in the relevant technical field without departing from the spirit and technical ideas disclosed by the utility model should still be covered by the claims of the utility model.

Claims

1. A medicine taking and placing device with automatic positioning function, characterized in that: include: A horizontal rotation component (1) is provided with a first limit sensor group (11) for controlling the rotation angle; A support frame (2), the bottom side of which is connected to the upper output end of the horizontal rotating assembly (1), and a placement platform (21) is provided at the upper end of the support frame (2); A horizontal telescopic component (3) is arranged on the side of the support frame (2), the output end of the horizontal telescopic component (3) is provided with a push-pull plate (31), and the horizontal telescopic component (3) is provided with a second limit sensor group (32) for controlling the travel of the push-pull plate (31); A push assembly (4) is arranged on the placement table (21), the output end of the push assembly (4) is provided with a push rod (41), the direction of the push rod (41) is parallel to the direction of the push-pull plate (31), and the push assembly (4) is provided with a third limit sensor group (42) for controlling the travel of the push rod (41); A gripping assembly (5) arranged at the rear side of the push-pull plate (31), the output end of the gripping assembly (5) being provided with two medicine taking splints (51) arranged opposite to each other, and the gripping assembly (5) being provided with a fourth limit sensor group (52) for controlling the travel of the medicine taking splints (51); A positioning assembly (6) comprising a distance measuring sensor (61) and an optical fiber sensor (62); the distance measuring sensor (61) is arranged at the top end of the push-pull plate (31) and is used to measure the distance between the push-pull plate (31) and the medicine box to be clamped; the optical fiber sensor (62) is arranged on the clamping assembly (5) and is used to identify the position and the pick-up angle of the medicine box to be clamped.

2. The drug taking and placing device with automatic positioning function according to claim 1, characterized in that: The horizontal rotation assembly (1) comprises a fixed frame (12), a rotation drive motor (13) is provided on the fixed frame (12), a turntable (14) is provided at the output end of the rotation drive motor (13), and the top of the turntable (14) is fixedly connected to the bottom of the support frame (2).

3. The drug taking and placing device with automatic positioning function according to claim 2, characterized in that: The first limit sensor group (11) comprises a first slot-shaped photoelectric sensor (11a) and an angle limit shield (11b), wherein the angle limit shield (11b) is arranged below the turntable (14), and the first slot-shaped photoelectric sensor (11a) is arranged on the periphery of the rotary drive motor (13) along the direction of the angle limit shield (11b), and the number of the angle limit shield (11b) is consistent with the number of the first slot-shaped photoelectric sensor (11a).

4. The drug taking and placing device with automatic positioning function according to claim 1, characterized in that: The second limit sensor group (32) comprises a second slot-shaped photoelectric sensor (32a) and a push-pull limit shield (32b), wherein the push-pull limit shield (32b) is arranged on the push-pull plate (31), and the second slot-shaped photoelectric sensor (32a) is arranged on the side of the support frame (2) along the push-pull limit shield (32b).

5. The drug taking and placing device with automatic positioning function according to claim 1, characterized in that: The third position limiting sensor group (42) comprises a third slot-shaped photoelectric sensor (42a) and a top-extending position limiting shield (42b), wherein the top-extending position limiting shield (42b) is arranged below the push rod (41), and the third slot-shaped photoelectric sensor (42a) is arranged below the placement platform (21) along the direction of the top-extending position limiting shield (42b).

6. The drug taking and placing device with automatic positioning function according to claim 1, characterized in that: The clamping assembly (5) comprises a clamping drive motor (53) arranged on the push-pull plate (31), and the output end of the clamping drive motor (53) is provided with a first gear (53a), and the upper and lower sides of the first gear (53a) are respectively meshed and connected with an upper transmission member (53b) and a lower transmission member (53c), and the upper transmission member (53b) and the lower transmission member (53c) are both slidably connected to the push-pull plate (31), and the rear ends of the two medicine taking splints (51) are respectively connected to the front ends of the upper transmission member (53b) and the lower transmission member (53c).

7. The drug taking and placing device with automatic positioning function according to claim 6, characterized in that: The fourth position limiting sensor group (52) comprises a fourth slot-shaped photoelectric sensor (52a) and a clamping position limiting mask (52b), wherein the clamping position limiting mask (52b) is arranged on the upper transmission member (53b), and the fourth slot-shaped photoelectric sensor (52a) is arranged on the clamping drive motor (53) along the direction of the clamping position limiting mask (52b).

8. The drug taking and placing device with automatic positioning function according to claim 6, characterized in that: The placing table (21) is provided with a tooth surface (21a), the medicine taking splint (51) comprises a splint body (511), the splint body (511) is provided with a slide groove (511a), an extension splint (512) is slidably connected in the slide groove (511a), a front roller (513) and a rear roller (514) are respectively provided at the front and rear ends of the slide groove (511a), the front roller (513) and the rear roller (514) are connected by a transmission belt (515), The outer side of the transmission belt (515) is connected to the side of the extension clamp (512); the lower shaft end of the rear roller (514) is provided with a first bevel tooth (514a); the rear end of the clamp body (511) is also provided with a transmission gear (516); the transmission gear (516) is meshingly connected with the tooth surface (21a); ​​the shaft end of the transmission gear (516) is provided with a second bevel tooth (516a); the second bevel tooth (516a) is meshingly connected with the first bevel tooth (514a).

9. The drug taking and placing device with automatic positioning function according to claim 8, characterized in that: A proximity sensor (517) is also provided at the front end of the clamping plate body (511).

10. The drug taking and placing device with automatic positioning function according to claim 9, characterized in that: The proximity sensor (517), the first limit sensor group (11), the second limit sensor group (32), the third limit sensor group (42), the fourth limit sensor group (52) and the positioning assembly (6) are all connected to the console.

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