Research On Automatic Pharmacy Sorting Manipulator

As the aging of China’s population gradually intensifies,the pressure on hospitals to seek medical treatment also increases,and traditional pharmacies will face more severe challenges.In order to better meet patients’ medical needs and solve the problem of low drug delivery efficiency in traditional pharmacies,this paper designed an automatic pharmacy sorting manipulator.The three-dimensional drawing software Solidworks is used to draw the threedimensional model of the automatic pharmacy sorting manipulator,to determine the overall structure of the automatic pharmacy sorting manipulator,to introduce its structural functions and working mode,to give the specific size parameters of important parts,and to make the selection of its drive.The D-H(Denavit-Hartenberg)parameter method was used to establish the rod coordinate system,and the sorting manipulator was analyzed in kinematics to obtain the coordinates and parameter equations of each position of the sorting manipulator.The dynamic analysis is carried out to obtain the important parameters of the key parts of the sorting manipulator.Using ADAMS to carry on the simulation,obtains its running path and the basic parameter simulation curve,verifies the theoretical analysis the correctness,proves the sorting manipulator design is reasonable.According to the force of automatic pharmacy sorting manipulator,the statics analysis is carried out.Using ANSYS to carry on the simulation,obtains the weak part’s total deformation and the stress strain and so on parameter,proves its structure is stable.The vibration mode and vibration frequency of the first six modes are obtained to avoid resonance phenomenon.In the aspect of control system,the control hardware is selected,and the control system structure diagram and its connection diagram are given.According to its action sequence,the flow chart of its software system is given,and the ladder diagram of PLC is made using CX-software Programmer.Figure 49;Table 4;Reference 50.