Research On Transport Robot For Automatic Pharmacy

Nowadays,the development of science and technology is pushing the Fourth Industrial Revolution to all kinds of industries around the world,which will further improve the efficiency of production and life.In hospitals,increasing hospitals have applied automatic pharmacy system to the problem of long queues for taking medicines,which not only saves the time of pharmacists,but also improves the accuracy of obtaining medicines.So pharmacists could put more attention into explaining detailed medication instructions for patients and studying medicines use.In order to further shorten the time of drugs collection,instead of manual collection,a new type of transport robot for automatic pharmacy is proposed.According to relevant literature,an overall design scheme was proposed.A threedimensional mechanical model was established to analyze its designed structure and operational principle.Combined with actual design requirements,its parameters such as velocity and acceleration of every actuator that met actual operating conditions were calculated,and servo motors for the overall design scheme were selected.Relevant knowledge was applied to calculate the motion trajectory coordinates of end effector.The model of the actuators was simplified and then imported into ADAMS to simulate its motion process.The simulation results of displacement,velocity and acceleration of every actuator were obtained,which verified the motion rationality of the robot and provided a simulation basis for the designed control system scheme.In order to verify the stability of mechanical structure,statics analysis was carried out to analyze parameters such as deflection,stress and strain of each actuator under extreme conditions.And then modal analysis was carried out to obtain natural frequency and vibration mode of the designed structure,so that the transport robot could avoid resonance.For the design of control system,S7-1500 PLC of Siemens was selected as control unit.Working flow chart of running process and the compositions of the control system were given.Combined with relevant functions,appropriate sensors were selected to cooperate with the control of the PLC.It had been completed for all work of the research topic.Figure 44;Table 7;Reference 53.