CN-122010028-A - Penicillin bottle uncovering method and system for automatic dispensing machine

CN122010028ACN 122010028 ACN122010028 ACN 122010028ACN-122010028-A

Abstract

The application relates to the field of automatic operation of dispensing equipment, in particular to a penicillin bottle uncapping method and a penicillin bottle uncapping system for an automatic dispensing machine, wherein a mechanical arm movement XYZ three-dimensional space coordinate system is firstly set, reference coordinates are calibrated, slope and intercept calculation target values are set in sections according to the diameter of a bottle body, the diameter of the bottle body and the total height of the bottle body of the penicillin bottle are obtained through visual recognition, compensation values are calculated, an actual in-place coordinate point of the center position of a front clamping jaw is corrected, and pose parameters and actual in-place coordinates of the mechanical arm are input into a mechanical arm control system to control the mechanical arm to execute uncapping operation; the method also comprises a cover opening system suitable for the method, and the cover opening system comprises a visual identification module, a cover opening mechanism, a mechanical arm control system, a front-end clamping jaw and the like. The application achieves the technical effect of accurately correcting the position of the mechanical arm according to different diameters of the bottle body and realizing the operation of accurately uncovering the penicillin bottle.

Inventors

FU XIAOYANG
ZHANG SHENG
LIAO WEN
LIN DAOBIN

Assignees

美蓝(杭州)医药科技有限公司

Dates

Publication Date: 20260512
Application Date: 20260330

Claims (9)

1. The penicillin bottle uncovering method for the automatic dispensing machine is suitable for a front clamping jaw of a mechanical arm to grab a penicillin bottle to a uncovering mechanism and is characterized by comprising the following steps of: s1, setting a mechanical arm movement XYZ three-dimensional space coordinate system, grabbing a minimum size penicillin bottle by a front end clamping jaw to a working position of a cover opening mechanism, and calibrating a coordinate point of the center position of the front end clamping jaw at the moment as a reference coordinate (X0, Y0, Z0); S2, setting a sectional interval according to the diameter of the bottle body, setting a slope and an intercept corresponding to each sectional interval, and calculating a target value according to a linear function; S3, acquiring the diameter of the bottle body and the total height H of the bottle body of the penicillin bottle through visual identification; s4, calculating a compensation value for correcting the actual position of the mechanical arm in place: compensation value= (target value-body diameter/2) -calibration offset; s5, correcting an actual coordinate point in place of the center position of the front clamping jaw according to the compensation value and the total height H of the bottle body; s6, inputting preset pose parameters of the mechanical arm and calculated actual in-place coordinates into a mechanical arm control system, controlling the mechanical arm to move to a target pose and executing uncapping operation.
2. The method for opening the cover of the penicillin bottle for the automatic dispensing machine according to claim 1, wherein the construction process of the XYZ three-dimensional space coordinate system of the movement of the mechanical arm is characterized in that a reference origin is set, the horizontal advancing direction of the mechanical arm is taken as an X axis, the horizontal right traversing direction of the mechanical arm is taken as a Y axis, and the vertical upward movement direction of the mechanical arm is taken as a Z axis.
3. A method for opening a penicillin bottle cap for an automatic dispensing machine according to claim 1, wherein the step S2 specifically comprises the following steps: The set sectional interval according to the diameter of the bottle body is divided into 3 intervals: The first interval is (11, 15.77] mm, setting slope=0.1333, intercept= 6.1467, where target value=0.1333×body diameter+ 6.1467; The second interval is (15.77, 18.3] mm, set slope=0.085, intercept=6.73, at which point target value=0.085×body diameter+6.73; the third interval is (18.3, 26] mm, and the slope=0.09, intercept=6.5, at which point the target value=0.09×body diameter+6.5 is set.
4. The method for opening a penicillin bottle cap for an automatic dispensing machine according to claim 1, wherein S5 specifically comprises calculating an actual in-place coordinate point (X1, Y1, Z1) of a center position of a front end gripping jaw, wherein: X1=x0-compensation value, y1=y0, z1=z0- (H-cap height correction term) +Δz, which is Z-axis direction offset, is a preset calibration parameter.
5. A penicillin bottle cap removal method for an apas as claimed in claim 1, wherein S4 further comprises the following steps before calculating the compensation value: and judging whether the diameter of the bottle body is in a sectional interval, if so, calculating a compensation value, and if not, directly throwing out the penicillin bottle by the mechanical arm, wherein the feedback information is that the diameter is not in an effective sectional interval.
6. A penicillin bottle cap opening method for an apas as claimed in claim 1, wherein the robot pose parameters include a roll angle, a pitch angle and a yaw angle of the robot in a space.
7. A penicillin bottle cap opening method for an automatic dispensing machine according to claim 1, wherein the cap opening operation comprises rotational unscrewing or vertical pulling out or rotational unscrewing followed by vertical pulling out.
8. A penicillin bottle cap opening system for an automatic dispensing machine, which is applicable to a penicillin bottle cap opening method for an automatic dispensing machine as claimed in any one of claims 1 to 7, and is characterized by comprising: the visual identification module is used for acquiring the diameter of the bottle body and the total height H of the bottle body of the penicillin bottle; the cover opening mechanism is provided with a cover clamping jaw for clamping a cover of the penicillin bottle; the mechanical arm control system is provided with a data storage module, a data processing module and an execution control module, wherein the data processing module is provided with an actual in-place coordinate calculation program, the data storage module stores all preset calculation parameters and calculation result information, and the execution control module controls the front-end clamping jaw to perform uncovering operation according to the actual in-place coordinate; the front clamping jaw is used for clamping penicillin bottles.
9. A penicillin bottle cap opening system for an automatic dispensing machine as claimed in claim 8, wherein the front end clamping jaw comprises a first clamping member and a second clamping member which are symmetrically arranged left and right, and a limiting member arranged between the first clamping member and the second clamping member, and the first clamping member and the second clamping member are driven by an air cylinder or an electric cylinder and simultaneously move close to or far from the limiting member.

Description

Penicillin bottle uncovering method and system for automatic dispensing machine Technical Field The invention relates to the field of automatic operation of dispensing equipment, in particular to a penicillin bottle uncovering method and system for an automatic dispensing machine. Background In the medical field, the application of the automatic dispensing machine brings great value for improving the dispensing efficiency and accuracy. With the continuous development of medical technology, the requirements on the functions and the performances of the automatic dispensing machine are also increasing. The automatic dispensing machine can reduce errors and pollution risks in the manual dispensing process, and ensure the safety and effectiveness of the medication of patients. In the dispensing process, the cover opening operation of the penicillin bottle is a key link, and the efficiency and the accuracy of the cover opening operation directly influence the smooth operation of the whole dispensing process. In the penicillin bottle uncovering operation of an automatic dispensing machine, various means are conventionally adopted. One common way is to manually open the cap, and the operator uses simple tools such as tweezers, pliers, etc. to perform the cap opening operation on the penicillin bottle by experience and skill. Although the mode can finish the uncovering task to a certain extent, the efficiency is lower, and the uncovering effect is unstable due to the influence of individual differences of operators. Another way is to use a mechanical cover opening device with fixed parameters, which can open the cover of the penicillin bottles according to preset parameters, and does not consider the difference of the sizes of the penicillin bottles. The mode has certain efficiency when processing the penicillin bottles with uniform sizes, but the penicillin bottles with different sizes cannot be accurately uncapped. The defects of the prior art are that the manual uncovering efficiency is low, the requirement of large-scale dispensing is difficult to meet, human errors are easy to occur, and the risk in the dispensing process is increased. The mechanical cover opening device with fixed parameters cannot be suitable for penicillin bottles with different sizes, and when the penicillin bottles with larger size differences are encountered, the problems of inaccurate clamping, cover opening failure and the like can occur, so that the overall performance of the automatic dispensing machine and the dispensing accuracy are affected. Disclosure of Invention The invention solves the problem that a mechanical cover opening device with fixed parameters cannot be suitable for penicillin bottles with different sizes, and provides a penicillin bottle cover opening method and system for an automatic dispensing machine. In order to achieve the above purpose, the following technical scheme is provided: The penicillin bottle uncovering method for the automatic dispensing machine is suitable for a front clamping jaw of a mechanical arm to grab a penicillin bottle to a uncovering mechanism and comprises the following steps of: s1, setting a mechanical arm movement XYZ three-dimensional space coordinate system, grabbing a minimum size penicillin bottle by a front end clamping jaw to a working position of a cover opening mechanism, and calibrating a coordinate point of the center position of the front end clamping jaw at the moment as a reference coordinate (X0, Y0, Z0); S2, setting a sectional interval according to the diameter of the bottle body, setting a slope and an intercept corresponding to each sectional interval, and calculating a target value according to a linear function; S3, acquiring the diameter of the bottle body and the total height H of the bottle body of the penicillin bottle through visual identification; s4, calculating a compensation value for correcting the actual position of the mechanical arm in place: compensation value= (target value-body diameter/2) -calibration offset; s5, correcting an actual coordinate point in place of the center position of the front clamping jaw according to the compensation value and the total height H of the bottle body; s6, inputting preset pose parameters of the mechanical arm and calculated actual in-place coordinates into a mechanical arm control system, controlling the mechanical arm to move to a target pose and executing uncapping operation. According to the invention, through the steps of setting a coordinate system, calculating a target value in a segmented manner, obtaining the size of the penicillin bottle, calculating the compensation value, correcting the coordinate point and the like, the mechanical arm can accurately grasp and uncover the penicillin bottles with different sizes, the defects that the manual uncovering efficiency is low and the fixed parameter mechanical uncovering device cannot adapt to the penicillin bottles with different sizes in the prior art are overc