Design And Research Of Automated Pharmacy Based On Manipulator

With the demand for high automation in today’s society,automated equipment has been popularly used in various fields in China,but compared to developed countries,the prevalence of automated pharmacies in China is low,and there are problems such as slow medication taking,low automation and high error rates.In the case of 2019 novel coronavirus pneumonia with multiple and extensive transmission routes,avoiding non-essential contact,automated pharmacies have become an inevitable trend in the development of hospitals or pharmacies.In this paper,in order to solve the problems of low efficiency of pharmacy drug collection,low volume of single drug collection,poor space utilization and high error rate,the structure design and optimization of robotic automated pharmacy based on Axiomatic Design(AD,Axiomatic Design)and TRIZ(Theory of Inventive Problem Solving),the Simulation and physical verification were carried out,etc.The main research contents are as follows.(1)Based on the TRIZ theory and axiomatic design to optimize the structure for the defects of the automated pharmacy,a robotic automated pharmacy was designed with the advantages of strong adaptability,high word pick-up and high efficiency of dispensing,which is in line with the situation of high prescription volume and drug density in Chinese hospitals.(2)The hydrostatic performance of the robotic automated pharmacy was studied.Through static calibration and finite element simulation of the gripping limit position,the reliability of its structure is verified;by modal and harmonic response analysis,the frequency band that will cause resonance of the robot and the hazards of resonance are derived.(3)The force conditions and performance of the pharmacy in motion are investigated.The kinematic equations of the pharmacy are established according to the improved D-H method,the kinematic forward and inverse solutions are solved,and the kinematic postures and working ranges of its medicine picking and dispensing are obtained through the robot toolbox.Finally,the kinematic and dynamic simulation of the automated pharmacy was completed by ADAMS software,verifying the correctness of the theoretical analysis and the rationality of the structural design.(4)The physical modelling of the robotic automated pharmacy was completed and the gripping was carried out under different experimental conditions.The test results showed that the load and position of the pharmacy frame did not affect the gripping results,and the single dispensing volume and gripping success rate basically met the performance index.The robotic automated pharmacy combined with the pharmacy posing and sorting device to jointly complete the access and sorting tasks can be applied to scenarios with high prescription volumes and intensive dispensing,providing some application value for improving the single dispensing volume,space availability and dispensing rate of the automated pharmacy.