医药智能制造生产线关键技术研究进展  

Key technologies and progress of pharmaceutical intelligent manufacturing production line

作　　者：易俊飞 张辉[2] 赵晨阳 车爱博 王耀南[2] YI Junfei;ZHANG Hui;ZHAO Chenyang;CHE Aibo;WANG Yaonan(School of Electrical and Information Engineering,Changsha University of Science and Technology,Changsha 410114,China;National Engineering Laboratory for Robot Visual Perception and Control Technology,Hunan University,Changsha 410082,China)

机构地区：[1]长沙理工大学电气与信息工程学院,湖南长沙410114 [2]湖南大学机器人视觉感知与控制技术国家工程实验室,湖南长沙410082

出　　处：《中南大学学报（自然科学版）》2021年第2期421-433,共13页Journal of Central South University:Science and Technology

基　　金：国家自然科学基金资助项目(61971071);国家重点研发计划项目(2018YFB1308200);湖南省自然科学基金资助项目(2018JJ3079);湖南省重点研发计划项目(2018GK2022);长沙市科技计划项目(KQ1907087);2020年度创新型省份建设专项项目(2020SK3007);湖南省研究生科研创新项目(CX20200864)。

摘　　要：医药工业是维系国民健康、关系到国计民生的重要产业,先进的制药装备是提高医药产品生产效率和质量的重要保障。医药智能制造生产线是由无菌化柔性配药机器人、无菌化灌装—转运—封口机器人、医药质量视觉检测机器人、无菌化分拣包装机器人、智能搬运机器人等多智能机器人组成的智能制药系统。本文对医药智能制造生产线的进展进行分析,分别从无菌配药到分拣包装工艺流程中的无菌化智能生产、医药质量检测、柔性抓取与智能搬运以及智能协同优化控制等关键技术进行论述,最后对其发展方向进行展望。Pharmaceutical industry is essential to national health and concerns national economy and people's livelihood.Advanced pharmaceutical equipment is an important guarantee of improving the production efficiency and quality of pharmaceutical products.The pharmaceutical intelligent manufacturing production line is a pharmaceutical intelligent system including aseptic flexible dispensing robots,aseptic filling−transporting−sealing robots,pharmaceutical quality visual inspection robots,aseptic picking and packaging robots,intelligent handling robots,etc.Based on the progress of the pharmaceutical intelligent manufacturing production line in the process,the key technologies such as aseptic intelligent production,pharmaceutical quality testing,flexible grasp fetching and intelligent handling and intelligent coordinated optimization control were analyzed from aseptic dispensing to sorting and packaging.Its prospect as well as the development direction were summarized.

关 键 词：医药智能制造生产线 无菌化智能生产 质量检测 柔性抓取 智能搬运 智能协调优化控制 

分 类 号：TH788[机械工程—精密仪器及机械]