Design And Research Of Automatic Medicine – Fetching Manipulator In Pharmacy

With the increasing population in China and the increasingly serious aging ofsociety,the number of patients is increasing gradually,which leads to the rapid increase of the work load of hospital pharmacy.A large number of drugs have been put into storage and distributed beyond the capacity of traditional pharmacies.As the labor intensity of pharmacists increases,their work efficiency decreases.In order to improve the above deficiencies,many hospitals have introduced automatic pharmacy system.In order to shorten the time of taking medicine and improve the efficiency of work,a new type of automatic medicine-fetching manipulator for automatic pharmacy is designed.Based on the daily prescription quantity and single prescription quantity of a hospital pharmacy in Tangshan city,presenting a scheme of the overall structure design of a new automatic medicine-fetching manipulator.Using Solidworks to establish a three-dimensional model,expounding the structure and action of the device.By comparing several common driving modes,and motor driving mode is used for selection.According to the mechanism movement principle of the medicine-fetching manipulator,the improved d-h method is used to establish the dry coordinates,kinematics equation of the end-effector is obtained by using the homogeneous transformation matrix.The posture and range diagram of each action were obtained in MATLAB.The mechanical arm model of medicine-fetching was simplified and imported into ADAMS software to add the constraint and motion.According to the time distribution of medicine-fetching manipulator,step function is written in Motion to obtain the speed curve of each action mechanism and provide theoretical basis for control scheme design.In control system design,OMRON CPIH series PLC and corresponding required extension modules are selected,and the structure diagram and control hardware connection diagram of the hardware control system are drawn.Selecting sequence control instructions to program,aobtain software flow chart,and PLC ladder programming?The significance of it is researching automatic medicine-fetching manipulator in pharmacy.Figure 51;Table 4;Reference 50.