中药自动化立体存储系统及其搬运机械手的设计

Design of the Automated Three-Dimensional Storage System and Its Manipulate for Traditional Chinese Medicine

通过设计一套中药自动化立体存储系统及其搬运机械手装置应用在中药库房中以实现中药的自动化立体存储和搬运,提高中药房的信息化管理水平;其控制系统主要以工业用PLC为控制核心,通过PLC编程控制精确定位药箱位置,并借助称重传感器精确控制药量;利用气动方式控制电磁阀动作来完成药箱的开合和搬运机械手手爪的抓取动作;根据中药药房相关工作特点开发出人机操作界面,操作人员可以远程操作界面即可完成中药的抓取工作;结构上采用密集式库架及坡底型药箱的新型结构,节省空间,最终实现对中药房的自动化管理。

An automated three-dimensional storage system and its manipulate for Traditional Chinese Medicine（TCM）based on the PLC is designed to improve the information management level of the TCM dispensary;the PLC control equipment is used as the core of the storage control system,the accuracy position of the medicine storage cell is realized by PLC controlling,and the gripping dosage of TCM is controlled by help of the weight sensor,which has the 0.1g tolerance to insure accuracy of the TCM dosage.The gas-drive method is used to make the storage cell and special manipulate griper open or close by control of the PLC to complete the gripping any shape of the TCM.A human computer interaction interface（HCII）is also designed to realize the remote control based on the working characters of the TCM dispensary.The operator is able to complete the remote-operation of griping the TCM exactly by using the HCII.The structure of the three-dimensional storage intensive type storehouse and steep bottom type are used as the primary structure of the three-dimensional storage to save the space of the storage and increase the efficiency of the TCM management,and the automotive operation is realized to reduce labor intensity.