MINISTRY OF EDUCATION AND TRAINING HO CHI MINH CITY UNIVERSITY OF TECHNOLOGY AND EDUCATION GRADUATION THESIS MAJOR: AUTOMATION AND CONTROL ENGINEERING TECHNOLOGY PICK AND PLACE MEDICINE BOX WITH GANTRY ROBOT INSTRUCTOR: NGO VAN THUYEN STUDENT: HUYNH PHUOC BAO TRAN TIEN DAT Ho Chi Minh city, June 2024 HO CHI MINH CITY UNIVERSITY OF TECHNOLOGY AND EDUCATION INTERNATIONAL FACULTY AUTOMATION AND CONTROL ENGINEERING TECHNOLOGY -----------------⸙∆⸙----------------- GRADUATION THESIS REPORT PICK AND PLACE MEDICINE BOX WITH GANTRY ROBOT INSTRUCTOR: Associate Professor PhD. NGO VAN THUYEN STUDENT 1: HUYNH PHUOC BAO STUDENT ID: 20151256 CLASS: 20151CLA3 STUDENT 2: TRAN TIEN DAT STUDENT ID: 20151266 CLASS: 20151CLA4 HO CHI MINH CITY, DAY MONTH, YEAR 2024 HO CHI MINH CITY UNIVERSITY OF TECHNOLOGY AND EDUCATION INTERNATIONAL FACULTY AUTOMATION AND CONTROL ENGINEERING TECHNOLOGY -----------------⸙∆⸙----------------- GRADUATION THESIS REPORT PICK AND PLACE MEDICINE BOX WITH GANTRY ROBOT INSTRUCTOR: Associate Professor PhD. NGO VAN THUYEN STUDENT 1: HUYNH PHUOC BAO STUDENT ID: 20151256 CLASS: 20151CLA3 STUDENT 2: TRAN TIEN DAT STUDENT ID: 20151266 CLASS: 20151CLA4 HO CHI MINH CITY, DAY MONTH, YEAR 2024 ACKNOWLEDGMENTS The graduation thesis is a scientific research project of students, a requirement for every student before graduating. Researching a new issue for students is a difficult and daunting task.
It is thanks to the guidance and assistance of the teachers that students can carry out their topics. First of all, we would like to express our gratitude to the esteemed teachers of Ho Chi Minh City University of Technology and Education, especially the dedicated lecturers of the Control and Automation Engineering Department of the High-Quality Training Faculty, who have wholeheartedly conveyed knowledge to us during our 4 years of study at the university. In particular, we would like to extend our sincere thanks to Associate Professor Ngo Van Thuyen for his wholehearted support, creating conditions, and closely supervising us while implementing and completing this thesis. We would like to thank PROSST Co.Luong Cong Trinh, Mr.
Vu Tuan Son, and the engineers at the company for their support during the project implementation. Finally, we would like to express our gratitude to the thesis reviewers and the teachers on the defense committee who have taken the time to provide feedback and assistance to us during the thesis defense process. We wish all the teachers good health and success in their research and teaching activities. i ABSTRACT Our team has designed a specialized gantry robot system for storing, dispensing, and stocking medicines in healthcare facilities.
This system is aimed at optimizing pharmaceutical inventory management, delivering significant benefits to healthcare operations. Firstly, we focused on improving accuracy and reliability in inventory management. The gantry robot is programmed to perform tasks precisely and consistently, reducing the risk of errors in medication storage and distribution. This ensures efficient management and readiness of medications, enhancing patient safety and improving healthcare service quality.
Another key advantage of the system is its ability to optimize warehouse space and organization. With its flexible design and automated movement capabilities, our gantry robot efficiently utilizes storage space, minimizing operational costs and maximizing medication storage capacity to meet increasing healthcare demands. Furthermore, automating medication handling tasks with the gantry robot significantly saves time and labor. Staff can redirect their efforts from repetitive tasks to more critical responsibilities, thereby boosting overall productivity and reducing fatigue and health risks associated with manual handling.
Lastly, our gantry robot system excels in enhancing safety and reliability in pharmaceutical management. By minimizing human errors and enhancing traceability, it improves the efficiency of medication storage and distribution processes, enhancing trust and reliability in healthcare services and improving patient experience. ii TABLE OF CONTENTS ACKNOWLEDGMENTS. ii TABLE OF CONTENTS.
iii TABLE OF FIGURE .vi LIST OF TABLES.ix LIST OF ABBREVIATIONS. Statement of the problem. Objectives of the Thesis. Scopes of the Thesis.
Layout of the report .3 CHAPTER 2: THEORETICAL BASIS. Types of pharmaceutical storage facilities. Storage by Dosage Form. Methods of medicine management.
Pharmaceutical Management Software (ERP). Popular communication protocols. The import process. The export process .13 CHAPTER 3: HARDWARE DESIGN.
The design process. Choosing a solution for conveyor belt operation. Criteria for electrical design .33 CHAPTER 4: SOFTWARE DESIGN. Software design process.
PLC program requirements. Programming PLC control. Overview of the program. Designing the HMI interface.
Overview of the main screen. Configuration for PLC. Configuration for driver. Velocity adjustment for XY axis.
64 CHAPTER 5: EXECUTION RESULT. The system operations. Operation of the system via HMI. Video results of the system .72 CHAPTER 6: CONCLUSION & DEVELOPMENT DIRECTIONS .74 v TABLE OF FIGURE Figure 1.
Lax pharmaceutical inventory auditing. Cold Storage for Pharmaceutical Preservation. Regular Storage for Pharmaceuticals. Secure medicine cabinet.
Manual Drug Management. Drug Management Using Software. Robots working in a pharmaceutical storage warehouse. EtherCAT communication works.
Operating system via HMI. The import process for goods. The export process for goods. 2D Drawing of the Pill Container.
Basic layout for the Gantry Robot. Basic layout for the X-axis. Basic layout for the Y-axis. Basic layout for the Z-axis.
Velocity-Time Diagram. Omron power supply. Wiring diagram for the 24VDC power supply. LeadShine Driver EL8-EC400F.
EtherCAT between Drivers. Driver connects to Motor. Roller Limit Switch. Limit Switch connects to Driver.
PLC connects to Driver. HMI connects to PLC. Technical specifications of Photoelectric Sensor. Sensor connects to PLC.
DC mini conveyor. Omron 24VDC relay. Conveyor connects to PLC. Mini vacuum pump 12V-24V.
Vacuum connects to PLC. Mechanical of Lead Screw T8. Module Wifi Mercury. System overview diagram.
Flowchart of the Import function. Flowchart of the Export function. Main screen of system. Establish connection to the system.
MotionStudio software icon. Homing switching input. Setup limit torque parameters. Set acceleration and deceleration parameters.
Scaling configuration of axis. Illustration of Axis limit. Limit velocity of X-axis. Acceleration time and Deceleration time.
Real-World Model of a Gantry Robot System. Three-Axis XYZ System. Connecting Driver via EtherCAT. Loading medicine boxes onto the conveyor belt properly.
How the robot loads goods into the container. Continuous goods export by the Robot. System operation image. Robot's load-bearing capacity.
The QR code for the results .72 viii LIST OF TABLES Table 2. Advantages and disadvantages of manual inventory processes. Advantages and disadvantages of using Pharmaceutical Management Software. Advantages and Disadvantages of using Robots for drug management.
Analyzing the advantages and disadvantages of different types of robots. Analysis of the advantages and disadvantages of drive methods. Annotation of devices in the layout. Motor calculation parameters.
Technical specifications of S8VK-C24024. Technical specifications of EL8-EC400F. Technical specifications of ELM1H-0400MA60E. Technical specifications of MC500.
Frequent alarm list. Experimental results Import. Experimental results Export .71 ix LIST OF ABBREVIATIONS PLC: Programmable Logic Controller HMI: Human-Machine Interface CPU: Central Processing Unit LCD: Logic Control Diagram MQTT: Message Queuing Telemetry Transport SNMP: Simple Network Management Protocol FTP: File Transfer Protocol SCADA: Supervisory Control and Data Acquisition SQL: Structured Query Language CNC: Computer Numerical Control RTU: Remote Terminal Unit TCP/IP: Transmission Control Protocol/Internet Protocol LAN: Local Area Network WAN: Wide Area Network ODVA: Open DeviceNet Vendors Association OSI: Open Systems Interconnection STO: Safe Torque Off SDO: Starting Data Object x Chapter 1. Overview CHAPTER 1: OVERVIEW This chapter provides an overview of the dissertation topic, the needs, and the importance of the system in real-world applications.
By addressing the issues and applications that the topic can solve, the objectives of the study are outlined, along with the limitations, research methods, scope of application, and the content implemented in the study. Introduction Advancing modern healthcare, human-managed pharmaceutical inventory faces significant challenges. Healthcare personnel often handle tasks like classification, storage, and inventory management under immense pressure, leading to medication errors and inaccurate records. Key drawbacks include human errors, substantial time and effort demands, and increased complexity as facilities grow.
This complexity can result in resource wastage and inefficiencies, complicating accurate and efficient management.1 illustrates the management of bulk liquid pharmaceutical inventory. Lax pharmaceutical inventory auditing In 2023, the Ministry of Health reported that 15% of pharmacy medications expire annually, causing significant financial losses. Some pharmacies face shortages due to storage constraints or unreliable supply sources. Bach Mai Hospital discards 10% of its medications yearly due to spoilage or expiration, leading to substantial financial losses.
Shortages of specialized medications at hospitals like Cho Ray in 2023 caused 1 Chapter 1. Overview treatment delays for about 8% of patients, impacting their health. According to WHO research, 50% of medication errors stem from human factors, and about 30% of stored medications in healthcare facilities are underutilized due to inefficiencies. To tackle these challenges, implementing an Intelligent Management System (IMS), barcode systems, and Automated Storage and Retrieval Systems (AS/RS) can optimize inventory control, minimize errors, and enhance efficiency.
Notably, employing robots in medication management automates the process, significantly reducing human errors and ensuring precise and safe storage and handling of medications. This approach not only conserves time and costs but also elevates the quality of healthcare services, delivering substantial benefits to both patients and healthcare professionals. Statement of the problem Research and design a flexible mobile robot system capable of dispensing medications as needed. The system should accommodate various sizes of medications based on user requirements, aiming to enhance productivity for users.
Objectives of the Thesis The objective of the thesis is to research, design, and successfully assemble a robotic model capable of handling goods with the following key functionalities: - Continuous loading, Continuous unloading - Barcode-based item recognition, - Control and monitoring via an HMI screen. Scopes of the Thesis In this project, our team focuses on designing a scaled-down model compared to real- life industrial systems. Our model will have a significantly reduced capacity to hold medications compared to real systems, and the payload that the robot can carry will also be scaled down significantly. This approach allows us to concentrate on developing a cost-effective solution for small to medium applications while ensuring 2 Chapter 1.
Overview accuracy and reliability of the system. By doing so, we aim to contribute to the advancement of robotic technology in this field. Research methods We are researching robotic storage systems through the following methods: - Collect and review research papers, reports, and books from institutions and scientific databases like IEEE Xplore, ScienceDirect, SpringerLink. - Study instructional materials from top manufacturers to understand robot features, operations, and programming.
- Survey operational robotic storage models in industrial settings to observe control methods and applications. - Use controllers to enhance system performance and flexibility based on research and surveys, designing new control programs as needed. Layout of the report The topic content includes the following sections: Chapter 1: Introduction Chapter 2: Theoretical Basic Chapter 2 offers comprehensive insights into the system, detailing the advantages and disadvantages of each storage solution available. It also delves into the communication protocols that facilitate seamless interaction between various system components.
Finally, the chapter outlines the technological process involved in the system's implementation and operation. Chapter 3: Hardware Design This chapter provides a detailed account of the design process for a scaled-down model of the robotic storage system, emphasizing the strategic selection of appropriate hardware components. It explores the rationale behind the design choices and the criteria used to identify components that ensure optimal performance, reliability, and cost-efficiency for the system. Chapter 4: Software Design 3 Chapter 1.
Overview This chapter focuses on designing software to program PLC control and develop an HMI interface for the system, ensuring seamless communication between the software and the devices. Chapter 5: Execution result In this chapter, we will present the results achieved by the system, the HMI control interface, simulation outcomes, and real-world operations.