Design And Research Of Drug Taking Robot System In Pharmacy Based On Binocular Vision

With the improvement of modern medical service level and the continuous development of pharmaceutical industry,various automated pharmacy systems are entering various hospitals one after another.It has become a consensus in the pharmaceutical industry to realize scientific,standardized and automated management of drugs.Pharmacy automation system can realize automatic drug dispensing function.Compared with the traditional manual medicine dispensing method,it has the advantages of reducing the work intensity of pharmacists,improving dispensing efficiency,reducing the probability of drug errors,and making full use of pharmacy space.Therefore,the research and design of automated pharmacy system is in line with the development trend of the pharmaceutical industry.Firstly,the product characteristics of the existing automated pharmacy systems at home and abroad are analyzed and compared.In order to meet the development needs of the domestic pharmaceutical industry,a robotic automatic drug taking robot based on binocular stereo vision is proposed to realize pharmacy automation.According to the working characteristics of the pharmacy,the design requirements,technical parameters,structural forms,transmission scheme and vision system scheme of the robot are analyzed and demonstrated,and the overall scheme design of the long-span and long-distance drug taking robot is completed.Secondly,according to the overall scheme,the mechanical structure design of the drug taking robot is carried out,and the power component,transmission component,supporting component and executing component of the robot body and end-effector are optimized and calculated.In the design,the parameter selection of the standard parts and the calculation and verification of the key parts are completed,and the drive motor are selected and calculated,and the virtual prototype design of the drug taking robot was finally completed.Then,the force analysis,load and life calculation of the V-type roller linear guide system and the V-type roller arc guide system in the structure of the drug taking robot are carried out to verify the rationality and reliability of the mechanical structure of the robot.The ANSYS Workbench is used to carry out finite element static analysis of main bearing components such as linear slides,arc guides and arc bearing plate,and the stress and deformation simulations are used to ensure that they meet the strength and stiffness requirements.Finally,the binocular stereo vision measurement system is constructed to complete the recognition and localization of the target pill boxes.The problems of robot kinematics,hand-eye calibration,binocular vision system calibration and target three-dimensional reconstruction in measurement system are analyzed theoretically.The forward and inverse kinematics solution of the 4-DOF drug taking robot and the derivation of the Eye-in-Hand hand-eye relationship matrix are completed,and the general expression of reconstructing the three-dimensional coordinates of the target point based on the converged binocular vision model is deduced.Through the experiment of binocular calibration and three-dimensional reconstruction of the target pill boxes,the three-dimensional localization of the target pill boxes are finally realized.