A medicine feeding device

Abstract

The drug loading device in the present application includes: a first conveyor belt having a first end and a second end opposite to each other along a first direction; a second conveyor belt having a third end and a fourth end opposite to each other along a third direction, the third end of the second conveyor belt being adjacent to the second end of the first conveyor belt, and the fourth end being arranged away from the first end, wherein the first direction and the third direction form an angle that is not 0° or 180 degrees; a transfer mechanism capable of transferring drugs between the first conveyor belt and the second conveyor belt; a graphic acquisition mechanism capable of being arranged above the first conveyor belt and taking pictures of the drugs on the first conveyor belt; a first sensor system arranged at the third end of the second conveyor belt; and a second sensor system arranged at the fourth end of the second conveyor belt. The present invention effectively solves the problem of poor loading accuracy during the conveying process. The included standard block can be used for comprehensive calibration of the entire drug loading device.

Description

Technical Field

[0001] The present invention relates to the field of medicine transmission, and in particular to a medicine feeding device. Background Art

[0002] A drug loading device is a device that transfers drugs from a storage system to a storage system. Existing drug loading devices include a first conveyor belt, a second conveyor belt, a transfer mechanism, an image acquisition mechanism, and a robotic arm. The first conveyor belt extends in a first direction, and the second conveyor belt extends in a second direction, with the first and second directions forming an angle that is not 0° or 180°. A discharge section is provided between the first and second conveyor belts. The transfer mechanism is used to transfer drugs placed on the first conveyor belt to the second conveyor belt. The robotic arm is located at the end of the second conveyor belt away from the first conveyor belt and is used to remove drugs from the second conveyor belt, allowing the robotic arm to transfer the drugs from the storage system to the storage system, thus completing the loading process. The image acquisition mechanism identifies and locates the drugs on the first conveyor belt and transmits this information to the transfer mechanism, which then transfers the drugs from the first conveyor belt to the second conveyor belt based on the obtained information. While existing technologies can achieve the technical effect of drug loading, they suffer from poor loading accuracy during the transfer from the first conveyor belt to the second conveyor belt and during the transportation process on the second conveyor belt. Summary of the Invention

[0003] In order to overcome the defects in the prior art, an embodiment of the present invention provides a medicine feeding device, which is used to solve the above-mentioned problem of poor feeding accuracy.

[0004] The embodiments of the present application disclose: a drug loading device, comprising: a first conveyor belt capable of running in a first direction and a second direction opposite to the first direction, the first conveyor belt having a first end and a second end relative to each other; a second conveyor belt capable of running in a third direction and a fourth direction opposite to the third direction, the second conveyor belt having a third end and a fourth end relative to each other, the third end of the second conveyor belt being adjacent to the second end of the first conveyor belt, and the fourth end of the second conveyor belt being arranged away from the first end of the first conveyor belt, wherein the first direction and the third direction form an angle that is not 0° or 180 degrees; a transfer mechanism, the transfer mechanism being capable of transferring drugs between the first conveyor belt and the second conveyor belt; a graphic acquisition mechanism, the graphic acquisition mechanism being capable of being arranged above the first conveyor belt and taking pictures of the drugs on the first conveyor belt; a first sensor system being arranged at the third end of the second conveyor belt; and a second sensor system being arranged at the fourth end of the second conveyor belt.

[0005] Furthermore, the transfer mechanism can transfer the medicines located on the first conveyor belt corresponding to the photographing area of the image acquisition mechanism to the second conveyor belt corresponding to the first sensing system.

[0006] Furthermore, the standard block is included, and the second conveyor belt can transfer the standard block located on the second conveyor belt corresponding to the second sensing system to the second conveyor belt corresponding to the first sensing system.

[0007] Furthermore, the transfer mechanism can transfer the standard block located at the second conveyor belt corresponding to the first sensing system to the first conveyor belt corresponding to the image acquisition device.

[0008] Furthermore, the invention includes a robot arm, which can transfer the standard block located thereon to a second conveyor belt corresponding to the second sensing system.

[0009] Furthermore, the first sensing system and the second sensing system are both infrared sensing systems.

[0010] Furthermore, the third end of the second conveyor belt is 30 to 100 mm higher than the second end of the first conveyor belt, the second conveyor belt has a first side wall and a second side wall arranged opposite to each other along a third direction perpendicular to the third direction, and the second end of the first conveyor belt is located between the first side wall and the second side wall.

[0011] The beneficial effects of the present invention are as follows:

[0012] 1. The drug loading device described in this embodiment includes a first sensor system and a second sensor system, which increases the detection accuracy of the drugs and effectively solves the problem of poor loading accuracy when the drugs are transferred from the first conveyor belt to the second conveyor belt and transported on the second conveyor belt.

[0013] 2. The medicine feeding device described in this embodiment includes a standard block, which can be used for comprehensive calibration of the entire medicine feeding device and can also be used to calibrate the grasping and placement positions of the manipulator.

[0014] 3. The medicine loading device described in this embodiment can realize the automation of medicine rearrangement, reducing the manpower required to put the returned medicine back on the first conveyor belt, saving manpower while also improving efficiency.

[0015] In order to make the above and other objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0017] Figure 1is a top view of the medicine feeding device according to an embodiment of the present invention;

[0018] Figure 2 2 is a schematic diagram of the three-dimensional structure of the medicine feeding device according to an embodiment of the present invention;

[0019] Figure 3 This is a front view of the structure between the first conveyor belt and the second conveyor belt of the medicine feeding device described in an embodiment of the present invention;

[0020] Figure 4 This is a front view of the structure between the transfer mechanism and the image acquisition mechanism according to a preferred embodiment of the present invention;

[0021] The figure marks of the above drawings are: 11, first conveyor belt; 111, first end; 112, second end; 21, second conveyor belt; 211, third end; 212, fourth end; 22, first side wall; 23, second side wall; 3, transfer mechanism; 4, graphic acquisition mechanism; 5, first sensing system; 6, second sensing system; 7, standard block; 8, manipulator. DETAILED DESCRIPTION

[0022] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0023] like Figures 1 to 4 As shown, the medicine feeding device of this embodiment includes:

[0024] The first conveyor belt 11 extends in a first direction and has first ends 111 ( Figure 1 The left end) and the second end 112 ( Figure 1 The first direction can be Figure 1 The second direction is the opposite direction to the first direction, that is, it can be Figure 1 The first conveyor belt 11 can run in a first direction and a second direction opposite to the first direction. Of course, in other optional embodiments, the first direction and the second direction can be adjusted according to actual needs.

[0025] The second conveyor belt 21 extends along the third direction and has a third end 211 ( Figure 1 the lower end) and the fourth end 212 ( Figure 1 The third direction can be Figure 1 The fourth direction is the direction opposite to the third direction, which can be Figure 1 The length direction of the paper, and from top to bottom. The second conveyor belt 21 can run along a third direction and a fourth direction opposite to the third direction. Of course, in other optional embodiments, the third direction and the fourth direction can be adjusted according to actual needs. The third end 211 of the second conveyor belt 21 is adjacent to the second end 112 of the first conveyor belt 11, and the fourth end 212 of the second conveyor belt 21 is arranged away from the first end 111 of the first conveyor belt 11, so that the medicines can stay on the second conveyor belt 21 for a longer time during the loading process, so that more medicines can be transported at the same time. Wherein, the first direction and the third direction are at an angle that is not 0 degrees or 180 degrees, that is, the first direction and the second direction are neither coincident nor parallel. Preferably, with reference to Figure 1 As shown, the first direction and the third direction are at an angle of 90 degrees, so as to facilitate the position control of the medicine. Of course, in other optional embodiments, the angle between the first direction and the third direction can be adjusted according to actual needs.

[0026] The transfer mechanism 3 can transfer the medicines between the first conveyor belt 11 and the second conveyor belt 21. The transfer mechanism 3 can be located on one side of the first conveyor belt 11 and close to the first conveyor belt 11, so that the transfer mechanism 3 can cover a larger range when transferring the medicines on the first conveyor belt 11 and save the internal space of the medicine control system. In a preferred embodiment, referring to Figure 1 and Figure 2 As shown, the transfer mechanism 3 can adjust the position of the medicine. The transfer mechanism 3 can include an oil cylinder or an air cylinder controlled by a circuit or other devices that can move the transfer mechanism 3 up and down.

[0027] The image acquisition mechanism 4 can be arranged above the first conveyor belt 11 and take pictures of the medicines on the first conveyor belt 11. When the medicines are on the first conveyor belt 11, the image acquisition mechanism 4 can determine the current state of the medicines by identifying the state of the medicines in the pictures taken, and transmit the information to the transfer mechanism 3. The transfer mechanism 3 can locate and transfer the medicines according to the information transmitted by the image acquisition mechanism 4. Preferably, referring to Figure 4 As shown, the pattern acquisition mechanism 4 can be located on the transfer mechanism 3 and at an end of the transfer mechanism 3 away from the first conveyor belt 11, so as to save the internal space of the loading device.

[0028] The first sensing system 5 is provided at the third end 211 of the second conveyor belt 21, and is used for identifying and sensing the medicines on the third end 211. The second sensing system 6 is provided at the fourth end 212 of the second conveyor belt 21, and is used for identifying and sensing the medicines on the fourth end 212. The first sensing system 5 and the second sensing system 6 both include an output end and an input end, the output end is used to emit a signal, and the input end is used to receive the signal emitted by the output end. When the medicine is located between the output end and the input end in the first sensing system 5 or the second sensing system 6, the medicine blocks the signal, and the input end cannot receive the signal emitted by the output end. When the medicine moves out of the space between the output end and the input end in the first sensing system 5 or the second sensing system 6, the medicine cannot block the signal, and the input end receives the signal emitted by the output end.

[0029] With the above structure, when the standard block 7 enters the first conveyor belt 11, if the pattern acquisition mechanism 4 obtains that the standard block 7 meets the conditions, the transfer mechanism 3 grabs the standard block 7 and transfers it from the first conveyor belt 11 to the second conveyor belt 21, and performs the first calibration on the first conveyor belt 11. The second conveyor belt 21 is first calibrated based on the standard block 7 through the first sensing system 5 and the second sensing system 6.

[0030] After the first calibration, the standard block 7 enters the second conveyor belt 21, and the second conveyor belt 21 is calibrated for the second time in sequence through the second sensing system 6 and the first sensing system 5. During the process of the standard block 7 being transferred from the second conveyor belt 21 to the first conveyor belt 11, the first conveyor belt 11 is calibrated for the second time.

[0031] It should be noted that the standard block 7 is a test object with high dimensional accuracy and known dimensions.

[0032] Specifically, refer to Figures 1 to 2 As shown, the transfer mechanism 3 can transfer the medicines located in the photographing area of the first conveyor belt 11 corresponding to the pattern acquisition mechanism 4 to the second conveyor belt 21 corresponding to the first sensor system 5. The photographing area is located at the fourth end 212 of the second conveyor belt 21.

[0033] In this embodiment, when a drug moves along the first conveyor belt 11 in a first direction or a second direction opposite the first direction to the photographing area, the image acquisition mechanism 4 can photograph and identify the drug and determine its status and position. The image acquisition mechanism 4 then transmits the drug information to the transfer mechanism 3. Based on the information transmitted by the image acquisition mechanism 4, the transfer mechanism 3 can transfer the drug to the designated location, specifically transferring the drug from the first conveyor belt 11 to the location on the second conveyor belt 21 corresponding to the first sensor system 5. Using this embodiment, the drug loading device achieves drug transfer between different conveyor belts. By integrating the image acquisition mechanism 4 with the sensor system, the drug loading device can improve its transfer accuracy.

[0034] Specifically, refer to Figure 1 As shown, the drug loading device includes a standard block 7. Standard block 7 can be made of wood, paper, or other materials that can simulate the outer packaging of drugs. Preferably, standard block 7 is rectangular in shape to simulate the appearance of most drugs. Of course, in other optional embodiments, the shape and size of standard block 7 can be adjusted according to actual needs.

[0035] In an optional embodiment, the standard block 7 is first placed at the first end 111 of the first conveyor belt 11 and moves along the first direction to the second end 112 on the first conveyor belt 11. The transfer mechanism 3 then transfers the standard block 7 from the second end 112 to the third end 211 of the second conveyor belt 21, where it is sensed by the first sensing system 5. Subsequently, the standard block 7 moves along the third direction to the fourth end 212 on the second conveyor belt 21, where it is sensed by the second sensing system 6.

[0036] In another optional embodiment, the standard block 7 is first placed at the fourth end 212 where it can be sensed by the second sensing system 6. The second conveyor belt 21 can transfer the standard block 7 on the second conveyor belt 21 corresponding to the second sensing system 6 along the fourth direction to the second conveyor belt 21 corresponding to the first sensing system 5. Then, the standard block 7 falls from the fourth end 212 of the second conveyor belt 21 to the third end 211 of the first conveyor belt 11 and moves in a direction opposite to the first direction to the photographing area of the image acquisition mechanism 4.

[0037] The standard block 7 is used for comprehensive calibration of the entire drug loading device, including but not limited to calibration of the transmission distance of the first conveyor belt 11 and the second conveyor belt 21, calibration of the drug positioning of the graphic acquisition mechanism 4, calibration of the sensing of the first sensor and the second sensor, and calibration of the grabbing position and placement position of the transfer mechanism 3.

[0038] In a preferred embodiment, referring to Figure 1 and Figure 2As shown, the transfer mechanism 3 is capable of transferring the standard block 7 located at the second conveyor belt 21 corresponding to the first sensing system 5 to the first conveyor belt 11 corresponding to the pattern acquisition mechanism 4. In this embodiment, when the standard block 7 moves along a fourth direction, opposite to the third direction, to the third end 211 of the second conveyor belt 21, the first sensing system 5 senses the state of the standard block 7 and transmits the sensed information about the standard block 7 to the transfer mechanism 3. The transfer mechanism 3 then positions the standard block 7 based on the information obtained and transfers the standard block 7 from the second conveyor belt 21 corresponding to the first sensing system 5 to the first conveyor belt 11 corresponding to the pattern acquisition mechanism 4. Of course, in other optional embodiments, the position of the pattern acquisition mechanism 4 can be adjusted according to actual needs. In a preferred embodiment, there are two graphic acquisition mechanisms 4 and there is a height difference between them when they are set up. The "binocular effect" can be used to detect and locate the target, thereby improving the recognition accuracy of the graphic acquisition mechanism 4 for the medicine. The located medicine position information is then transmitted to the transfer mechanism 3, so that the transfer mechanism 3 can accurately transfer the medicine, which can improve the transfer accuracy of the medicine and enable the graphic acquisition mechanism 4 to take into account both clarity and range when acquiring images.

[0039] In a preferred embodiment, referring to Figure 1 As shown, the robot 8 includes a suction device, a gripping device, or other mechanism capable of picking up the standard block 7 and placing the standard block 7 on the second conveyor belt 21. The robot 8 can transfer the standard block 7 located thereon to the second conveyor belt 21 corresponding to the second sensing system 6. Using the above embodiment, since the standard block 7 can simulate the transportation state of the drug on the conveyor belt, the drug loading device can calibrate the gripping position and placement position of the robot 8 based on the standard block 7.

[0040] Specifically, refer to Figure 1 and Figure 2 As shown, the first sensing system 5 and the second sensing system 6 are both infrared sensing systems. The first sensing system 5 and the second sensing system 6 can determine whether there are drugs within the sensing range of the sensing system by transmitting and receiving infrared signals, thereby completing the detection of the running position of the drugs.

[0041] Specifically, refer to Figure 2 and Figure 3As shown, the first conveyor belt 11 and the second conveyor belt 21 are arranged horizontally to prevent medicines from falling from the first conveyor belt 11 and the second conveyor belt 21. Of course, in other optional embodiments, the inclination angles of the first conveyor belt 11 and the second conveyor belt 21 can be adjusted according to actual needs. The second conveyor belt 21 is 30 to 100 mm higher than the first conveyor belt 11, which prevents medicines from being damaged when they fall from the second conveyor belt 21 onto the first conveyor belt 11 and prevents the accumulation of medicines at the second end 112 of the first conveyor belt 11 and the third end 211 of the second conveyor belt 21. This embodiment automates the repositioning of medicines, reducing the manpower required to re-place returned medicines on the first conveyor belt 11, saving manpower and improving efficiency. The second conveyor belt 21 has a first side wall 22 and a second side wall 23 arranged opposite each other perpendicular to the third direction. The second end 112 of the first conveyor belt 11 is located between the first side wall 22 and the second side wall 23. The first side wall 22 and the second side wall 23 extend along the third direction. The first side walls 22 and the second side walls 23 are arranged at intervals along the first direction.

[0042] Specific embodiments are used in the present invention to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core ideas. At the same time, for those skilled in the art, according to the ideas of the present invention, there may be changes in the specific implementation methods and application scopes. In summary, the contents of this specification should not be understood as limiting the present invention.

Claims

1. A medicine feeding device, characterized in that: include: a first conveyor belt operable in a first direction and in a second direction opposite the first direction, the first conveyor belt having opposing first and second ends; a second conveyor belt capable of running in a third direction and a fourth direction opposite to the third direction, the second conveyor belt having a third end and a fourth end opposite to each other, the third end of the second conveyor belt being adjacent to the second end of the first conveyor belt, and the fourth end of the second conveyor belt being disposed away from the first end of the first conveyor belt, wherein the first direction and the third direction form an angle that is not 0 degrees or 180 degrees; a transfer mechanism capable of transferring medicines between the first conveyor belt and the second conveyor belt; an image acquisition mechanism, the image acquisition mechanism being disposed above the first conveyor belt and taking a picture of the medicines on the first conveyor belt; a first sensing system disposed at a third end of the second conveyor belt; A second sensing system, provided at the fourth end of the second conveyor belt; Standard block, the second conveyor belt can be located on the second conveyor belt corresponding to the second sensing system at the standard block transfer corresponding to the first sensing system at the second conveyor belt; The transfer mechanism can transfer the standard block located at the second conveyor belt corresponding to the first sensing system to the first conveyor belt corresponding to the graphic acquisition mechanism; A manipulator capable of transferring a standard block located thereon corresponding to the second conveyor belt of the second sensing system; The second conveyor belt is calibrated for the first time using the first and second sensing systems according to the standard block; the first conveyor belt is calibrated for the second time during the process of transferring the standard block from the second conveyor belt to the first conveyor belt; the standard block is used for comprehensive calibration of the entire drug loading device, including calibration of the transmission distance between the first and second conveyor belts, calibration of drug positioning of the pattern acquisition mechanism, calibration of the sensing of the first and second sensing systems, and calibration of the grabbing position and placement position of the transfer mechanism; The third end of the second conveyor belt is 30 to 100 mm higher than the second end of the first conveyor belt. The second conveyor belt has a first side wall and a second side wall oppositely arranged along a third direction perpendicular to the third direction. The second end of the first conveyor belt is located between the first side wall and the second side wall.

2. The medicine feeding device according to claim 1, characterized in that: The transfer mechanism can transfer the medicines located at the photographing area of the first conveyor belt corresponding to the image acquisition mechanism to the second conveyor belt corresponding to the first sensing system.

3. The medicine feeding device according to claim 1, characterized in that: The first sensing system and the second sensing system are both infrared sensing systems.

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