Double-manipulator active grabbing type medicine dispensing conveyor

Abstract

The utility model belongs to the technical field of grasping conveying devices, and particularly relates to a double-manipulator active grasping type medicine dispensing conveyor which comprises main conveyors and two auxiliary conveyors, a portal frame is further arranged on the main conveyors, an identification device is arranged on the portal frame, an installation column is arranged between the main conveyors, and the two auxiliary conveyors are arranged on the two auxiliary conveyors. A protective cover is fixedly mounted on the mounting column, a first motor is arranged in the protective cover, a mounting disc is fixedly connected to the output end of the first motor, a second motor is fixedly connected to the mounting disc, and a first rotating rod is rotatably connected to the output end of the second motor. According to the utility model, the medicine can be quickly and accurately grabbed and dispensed, the manual operation time is reduced, and the accuracy of grabbing and dispensing the medicine is ensured by combining the existing identification technology; manual intervention is reduced, the error rate is reduced, the working intensity of workers can be reduced, and the device can adapt to drugs of different types and positions and is good in flexibility.

Description

Technical Field

[0001] The utility model relates to the technical field of gripping transport devices, in particular to a medicine dispensing transport machine that actively grips with double manipulators. Background Art

[0002] After the patient is diagnosed in the hospital, the doctor will prescribe medicine, which will be prepared by the pharmacy medical staff and distributed by the counter medical staff. Specifically, the pharmacy medical staff will pack the medicine for each patient in the pharmacy, place it in a loading box, and then take the loading box to the external counter. When the patient goes to the counter to pick up the medicine, the counter medical staff will select the medicine for the patient and deliver it to the patient or his family;

[0003] This method of dispensing medicines requires the pharmacy medical staff to first pack the medicines, and then deliver the medicines to the counter. When the patient picks up the medicines, the counter medical staff will select the corresponding medicines and deliver them to the patient or his family. In this process, the pharmacy medical staff needs to undertake the task of packaging the medicines and delivering the loading boxes containing several medicines to the counter. The counter medical staff needs to select the medicines in the loading boxes and deliver them to the patient or his family.

[0004] However, this process will increase the transportation burden on the staff, so we proposed a drug delivery transport machine with active grasping by dual manipulators to solve the above problem. Utility Model Content

[0005] 1. Technical issues to be solved

[0006] In view of the deficiencies in the prior art, the utility model provides a medicine dispensing and transporting machine that actively grasps medicines through dual manipulators, thereby solving the problems raised in the above-mentioned background technology.

[0007] (II) Technical solution

[0008] In order to achieve the above-mentioned purpose, the utility model specifically adopts the following technical solutions:

[0009] A medicine dispensing transport machine with active grasping by dual manipulators comprises a main conveyor and two auxiliary conveyors, the main conveyor is also provided with a gantry, the gantry is provided with an identification device, a mounting column is provided between the main conveyors, a protective cover is fixedly installed on the mounting column, a first motor is provided inside the protective cover, an output end of the first motor is fixedly connected to a mounting disk, a second motor is fixedly connected to the mounting disk, an output end of the second motor is rotatably connected to a first rotating rod, a third motor is fixedly installed on one side of the first rotating rod, an output end of the third motor is fixedly connected to a second rotating rod, one end of the second rotating rod is fixedly connected to a connecting plate, a fourth motor is fixedly installed on the connecting plate, an output end of the fourth motor is fixedly connected to a rotating shaft, the rotating shaft is rotatably connected to a rotating block, and the rotating block is rotatably connected to a clamping claw.

[0010] Furthermore, the other end of the first rotating rod is rotationally connected to one side of the second motor.

[0011] Furthermore, the second rotating rod is simultaneously rotationally connected to the first rotating rod.

[0012] Furthermore, the clamping jaws are slidably connected via a guide rail, and the guide rail is arranged on the connecting plate.

[0013] Furthermore, the main conveyor and the two auxiliary conveyors are conveyor belts, and are designed to have different lengths according to the installation positions of the installation posts.

[0014] (III) Beneficial effects

[0015] Compared with the prior art, the utility model provides a medicine dispensing transport machine that actively grabs medicines through dual manipulators, which has the following beneficial effects:

[0016] The utility model can quickly and accurately grab and dispense medicines, reduce manual operation time, and combine with existing recognition technology to ensure the accuracy of medicine grabbing and dispensing; it reduces manual intervention, lowers the error rate, can reduce the work intensity of staff, can adapt to medicines of different types and locations, and has good flexibility. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the structure of the utility model;

[0018] Figure 2 This is a side view of the installation column structure of the utility model;

[0019] Figure 3 This is a three-dimensional diagram of the installation plate structure of the utility model.

[0020] In the figure: 1. main conveyor; 2. auxiliary conveyor; 3. gantry; 4. identification device; 5. mounting column; 6. protective cover; 7. first motor; 8. mounting plate; 9. second motor; 10. first rotating rod; 11. third motor; 12. second rotating rod; 13. connecting plate; 14. fourth motor; 15. rotating shaft; 16. rotating block; 17. clamping claw. DETAILED DESCRIPTION

[0021] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0022] Example

[0023] like Figure 1-3 As shown, an embodiment of the utility model proposes a drug delivery conveyor with active grasping by dual manipulators, including a main conveyor 1 and two auxiliary conveyors 2. The main conveyor 1 is also provided with a gantry 3, and the gantry 3 is provided with an identification device 4. This identification device 4 can quickly and accurately identify drug information on the medicine shelf using sensors or image recognition technology. Sensors can sense the characteristics of drugs, such as shape, size, etc.; image recognition technology determines the type and location of drugs by analyzing the image of the drugs. Such an identification method provides an important basis for the precise grasping and dispensing of the medicine dispensing machine, and improves the efficiency and accuracy of medicine dispensing; an industrial processor is connected to perform information processing and feedback control the work of the mechanical arm. This part of the system program is not the focus of protection of this application, and the application of the prior art is directly adopted, and this application will not elaborate on it; a mounting column 5 is provided between the main conveyor 1, and a protective cover 6 is fixedly installed on the mounting column 5. A first motor 7 is provided inside the protective cover 6, and an output end of the first motor 7 is fixedly connected to a mounting disk 8, and a second motor 9 is fixedly connected to the mounting disk 8. The output end of the second motor 9 is rotatably connected to a first rotating rod 10, and a third motor 11 is fixedly installed on one side of the first rotating rod 10. The output end of the third motor 11 is fixedly connected to a second rotating rod 12, and one end of the second rotating rod 12 is fixedly connected to a connecting plate 13, and a fourth motor 14 is fixedly installed on the connecting plate 13. The output end of the fourth motor 14 is fixedly connected to a rotating shaft 15, and the rotating shaft 15 is rotatably connected to a rotating block 16, and the rotating block 16 is rotatably connected to a clamping claw 17;

[0024] The main conveyor 1 and two auxiliary conveyors 2 are responsible for the transmission of medicines, and the identification device 4 on the gantry 3 is used to identify the information of medicines. After the processor processes the feedback to control the mechanical arm, the first motor 7 in the protective cover 6 on the mounting column 5 drives the mounting plate 8 to rotate, the second motor 9 drives the first rotating rod 10, the third motor 11 controls the second rotating rod 12, and the fourth motor 14 drives the rotating block 16 and the clamping claw 17 through the rotating shaft 15 to perform the grasping action; this design realizes the automatic grasping and transportation of medicines, and improves the efficiency and accuracy of dispensing medicines.

[0025] like Figure 2 As shown, in some embodiments, the other end of the first rotating rod 10 is rotatably connected to one side of the second motor 9; the second motor 9 drives the rotation of the first rotating rod 10, thereby driving the second rotating rod 12 and the clamping claw 17 to perform corresponding actions. Such a design can achieve precise control and operation of the robot arm, and improve the accuracy and efficiency of dispensing medicines.

[0026] like Figure 3 As shown, in some embodiments, the second rotating rod 12 is rotationally connected to the first rotating rod 10 at the same time; such a design allows the second rotating rod 12 and the first rotating rod 10 to rotate separately, thereby realizing flexible movement of the robotic arm; when the first rotating rod 10 rotates, the second rotating rod 12 can also rotate together, thereby driving the clamping claw 17 to complete the grasping action, ensuring the accuracy and efficiency of the drug dispensing process.

[0027] like Figure 3 As shown, in some embodiments, the clamping jaws 17 are slidably connected via a guide rail 18, and the guide rail 18 is disposed on the connecting plate 13; this design enables the clamping jaws 17 to slide smoothly on the guide rail 18, thereby achieving accurate grasping and placement of the medicine. The connecting plate 13 serves to fix and support the guide rail 18, ensuring the stability and reliability of the entire grasping process.

[0028] like Figure 1 As shown, in some embodiments, the main conveyor 1 and the two auxiliary conveyors 2 are conveyor belts, and the lengths are designed to be different according to the installation positions of the installation posts 5; such a design is to better meet the working requirements of the robot arm. The conveyor belts of the main conveyor 1 and the two auxiliary conveyors 2 have different lengths, which can meet the transmission and grasping of medicines at different positions, thereby improving the flexibility and efficiency of the medicine dispensing machine.

[0029] Finally, it should be noted that the above description is only a preferred embodiment of the utility model and is not intended to limit the utility model. Although the utility model is described in detail with reference to the above embodiments, those skilled in the art can still modify the technical solutions recorded in the above embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the utility model shall be included in the protection scope of the utility model.

Claims

1. A medicine dispensing conveyor with active grasping by dual manipulators, comprising a main conveyor (1) and two auxiliary conveyors (2), characterized in that: The main conveyor (1) is also provided with a gantry (3), the gantry (3) is provided with an identification device (4), a mounting column (5) is provided between the main conveyor (1), a protective cover (6) is fixedly installed on the mounting column (5), a first motor (7) is provided inside the protective cover (6), an output end of the first motor (7) is fixedly connected to a mounting plate (8), a second motor (9) is fixedly connected to the mounting plate (8), and an output end of the second motor (9) is rotatably connected to the first rotating rod (1 0), a third motor (11) is fixedly mounted on one side of the first rotating rod (10), the output end of the third motor (11) is fixedly connected to the second rotating rod (12), one end of the second rotating rod (12) is fixedly connected to a connecting plate (13), a fourth motor (14) is fixedly mounted on the connecting plate (13), the output end of the fourth motor (14) is fixedly connected to a rotating shaft (15), the rotating shaft (15) is rotatably connected to a rotating block (16), and the rotating block (16) is rotatably connected to a clamping claw (17).

2. The medicine dispensing conveyor according to claim 1, characterized in that: The other end of the first rotating rod (10) is rotationally connected to one side of the second motor (9).

3. The medicine dispensing conveyor according to claim 1, characterized in that: The second rotating rod (12) is simultaneously rotationally connected to the first rotating rod (10).

4. The medicine dispensing conveyor according to claim 1, characterized in that: The clamping jaws (17) are slidably connected via a guide rail (18), and the guide rail (18) is arranged on the connecting plate (13).

5. The medicine dispensing conveyor according to claim 1, characterized in that: The main conveyor (1) and the two auxiliary conveyors (2) are conveyor belts, and are designed to have different lengths according to the installation positions of the installation posts (5).

Images