Design And Research Of Automatic Pharmacy Transport Robot

At present,China's major hospital outpatient pharmacy every day facing a huge number of people taking medicine,traditional medicine and pharmacy mode have been unable to meet the demand.In order to compensate for the labor intensity of the traditional outpatient pharmacy,lack of low efficiency of the automated pharmacy system has been gradually adopted by the major hospitals.In order to further to improve the level and design an automated pharmacy robot for handling the medicine basket.First of all,according to the actual needs of automated pharmacy,combined with the performance parameters,the overall design scheme of mechanical structure of Automatic Pharmacy robot,and draw the model by Solidworks2016,analyzes the overall structure and work flow.Based on the comparison with several common drive transmission way and the outpatient pharmacy on environmental requirements,select the appropriate drive and drive control system,and the preliminary design of robot.The characteristics of the overall mechanical structure are simplified to a link mechanism connected by a connecting rod.,using D-H method and matrix method to establish coordinate system and kinematics equation,and in the MATLAB software using Robotics Toolbox simulation.The 3D model into ADAMS software,add constraint and drive can be simplified.After completion of the robot action time required in accordance with the set driving function to the work flow,time arrangement optimization,the velocity curve of each driving device,which lays the foundation for the control scheme set.Design the robot control system,draw the schematic structure.The models of each module are selected in OMRON CJ1 series.The points are taken on the speed curve of the ADAMS software simulation.Each curve function is fitted with MATLAB software,the control program is designed,the normal operation of the whole mechanism is controlled by using the speed control,the flow chart of the program is drawn.It provides a certain reference for the research of automatic pharmacy handling robot.