An intelligent self-service pharmacy

Abstract

An intelligent self-service pharmacy includes a rack, a medicine rack, a medicine loading unit, a medicine dispensing unit, a clamping unit and a moving unit. The medicine loading unit and the medicine dispensing unit are arranged at two sides of the rack, respectively. A medicine loading port and a medicine dispensing port are provided on the adjacent sides of the rack corresponding to the positions of the medicine loading unit and the medicine dispensing unit. A medicine rack for placing medicines is also arranged on both sides of the rack where the medicine loading unit and the medicine dispensing unit are arranged. A moving unit is arranged between the medicine loading unit and the medicine dispensing unit and a clamping unit is arranged thereon. The clamping unit includes a clamping plate that can move toward the medicine rack on one side of the medicine loading unit or the medicine dispensing unit. The intelligent self-service pharmacy provided by the present invention can realize a series of unmanned operations such as autonomous medicine classification and placement, automatic medicine retrieval, and rapid medicine dispensing. It is easy to operate and has a high degree of intelligence.

Description

Technical Field

[0001] The present invention relates to the technical field of medical equipment, and in particular to an intelligent self-service pharmacy. Background Art

[0002] At present, with the progress of social science and technology, the medical industry has also been developing faster and faster, especially in the pharmacy dispensing machines. Various automated equipment has greatly improved the work efficiency of pharmacy staff and provided great help in many aspects such as drug dispensing accuracy and drug management system.

[0003] The existing automated equipment used in the pharmacies of major hospitals and convenience pharmacies is based on pharmacists reviewing and manually dispensing drugs to complete a single prescription. There is no real unmanned review and dispensing of drugs, the degree of automation is low, and there is a problem of high labor costs.

[0004] Therefore, how to provide an intelligent self-service pharmacy that does not require human supervision is a problem that technical personnel in this field urgently need to solve. Summary of the invention

[0005] In view of this, the purpose of the present invention is to provide an intelligent self-service pharmacy, which can realize a series of unmanned operations such as autonomous drug classification and placement, automatic drug retrieval, and rapid drug delivery, and is easy to operate and highly intelligent.

[0006] In order to achieve the above object, the technical solution adopted by the present invention is:

[0007] The medicine dispensing unit is a medicine dispensing unit, and the medicine dispensing unit is a medicine dispensing unit. The medicine dispensing unit is a medicine dispensing unit, and the medicine dispensing unit is a medicine dispensing unit. The medicine dispensing unit is a medicine dispensing unit, and the medicine dispensing unit is a medicine dispensing unit. The medicine dispensing unit is a medicine dispensing unit, and the medicine dispensing unit is a medicine dispensing unit. The medicine dispensing unit is a medicine dispensing unit, and the medicine dispensing unit is a medicine dispensing unit. The medicine dispensing unit is a medicine dispensing unit, and the medicine dispensing unit is a medicine dispensing unit. The medicine dispensing unit is a medicine dispensing unit, and the medicine dispensing unit is a medicine dispensing unit. The medicine dispensing unit is a medicine dispensing unit, and the medicine dispensing unit is a medicine dispensing unit. The dispensing unit comprises a vertical moving part and a horizontal moving part, and the moving direction of the horizontal moving part is consistent with the medicine dispensing direction of the medicine dispensing unit. The vertical moving part is slidably arranged on the horizontal moving part and its moving direction is perpendicular to the direction of the horizontal moving part. The clamping unit comprises a clamping plate that can move toward the medicine shelf on one side of the medicine dispensing unit or the medicine dispensing unit.

[0008] Preferably, the drug applying unit includes a drug applying conveyor belt, a drug applying detection channel, a drug scanner, a channel door and a drug conveying positioning component. The drug applying conveyor belt is horizontally arranged inside the frame and one end of which is connected to the drug applying port. The drug applying detection channel is provided above the end of the drug applying conveyor belt connected to the drug applying port. The drug scanner is also provided at the bottom of the connection between the drug applying conveyor belt and the drug applying port. The channel door is inserted into the drug applying detection channel and a door driving mechanism is connected to the channel door so that the channel door can move up and down perpendicular to the drug applying conveyor belt. The drug conveying positioning component is also provided at the bottom of any side surface of the drug applying detection channel corresponding to the channel door for positioning before drug delivery.

[0009] Preferably, long strip-shaped moving through holes are vertically opened at the positions of the channel door on both sides of the drug feeding detection channel, and a moving guide plate is fixed to each of the two sides of the channel door, and the end of the moving guide plate that is not fixed to the channel door passes through the moving through hole and is drivingly connected to the door body driving mechanism. The drug conveying and positioning component includes a longitudinal positioning plate, a transverse positioning plate, and a spring. The longitudinal positioning plate is arranged on any inner side of the drug feeding detection channel along the conveying direction of the drug feeding conveyor belt and is located at the position from the drug feeding port to the channel door. The longitudinal positioning plate is vertically protruded with a pair of guide rods facing the side of the drug feeding detection channel, one end of the guide rod is arranged outside the drug feeding detection channel and an adjusting nut is arranged on the end thereof. The spring is sleeved on the guide rod and one end is in contact with the adjusting nut, and the other end is in contact with the outer side of the drug feeding detection channel. The transverse positioning plate is fixed to the bottom of the side of the channel door facing the drug feeding port, and the movable guide plate is recessed with an arc-shaped positioning groove at the bottom of the connection with the channel door corresponding to the position of the longitudinal positioning plate.

[0010] When the channel door is closed, the top of the longitudinal positioning plate is embedded in the arc-shaped positioning groove and forces the spring to compress, and the side surfaces of the longitudinal positioning plate and the side surfaces of the transverse positioning plate are perpendicularly abutted against each other to facilitate the abutment of the two side edges of the medicine box for positioning before medicine delivery; when the channel door is opened, the top of the longitudinal positioning plate is disengaged from the arc-shaped positioning groove, and the side surfaces are disengaged from the side surfaces of the transverse positioning plate, and move toward the side direction of the medicine loading detection channel under the action of the spring.

[0011] Preferably, a movable guide rail is vertically arranged on the outer side surface of the drug application detection channel on one side of the movable through hole and a movable block is slidably arranged on the rail, the part of the movable guide plate located outside the drug application detection channel is also fixedly connected to the movable block, and a position sensor for sensing the abutment of the drug is arranged at the center position of the longitudinal positioning plate.

[0012] Preferably, the horizontal moving component includes a pair of horizontal moving guide rails and a horizontal slider, and the pair of horizontal moving guide rails are respectively arranged at the top and bottom of the frame located in the middle position between the medicine feeding unit and the medicine discharging unit, and the horizontal slider is slidably arranged on each of the horizontal moving guide rails. A horizontal driving motor is fixed at any end of the horizontal moving guide rail and is drivingly connected to the horizontal slider. The vertical moving component includes a vertical moving guide rail and a vertical slider, and the two ends of the vertical moving guide rail are respectively fixedly connected to the horizontal slider, and the vertical slider is slidably arranged on the vertical moving guide rail, and a vertical driving motor is arranged at the bottom of the vertical moving guide rail and is drivingly connected to the vertical slider, and the clamping unit is fixedly connected to the vertical slider.

[0013] Preferably, the clamping unit includes a clamping frame, a first clamping plate, a second clamping plate, and a clamping conveyor belt. The clamping conveyor belt is rotatably arranged on the clamping frame, and the conveying direction of the clamping conveyor belt is perpendicular to the projection of the drug feeding direction of the drug feeding unit on the horizontal plane. The first clamping plates are respectively arranged on both sides of the top surface of the clamping conveyor belt along the conveying direction of the clamping conveyor belt. A pair of first clamping plates are respectively driven and connected with a transverse moving member at both ends to make the pair of first clamping plates relatively close to or away from each other. A second clamping plate is respectively slidably arranged on the opposite sides of a pair of first clamping plates, and the top of each second clamping plate is driven and connected with a longitudinal moving member to move the second clamping plate toward the direction of the medicine rack located on one side of the drug feeding unit or the drug discharging unit.

[0014] Preferably, the transverse moving member includes a driving fixed rod and a driving elastic sheet, the driving fixed plate and the driving elastic sheet in each of the transverse moving members are respectively arranged on both sides of the clamping conveyor belt, and the driving fixed plate is rotatably connected to the side of the first clamping plate through a rotating pin, and the driving elastic sheet is fixedly connected to the side of the first clamping plate, that is, the two ends of the side of each of the first clamping plates are respectively rotatably connected to the driving fixed rod in one of the transverse moving members and fixedly connected to the driving elastic sheet in another transverse moving member, so that the extension lines of the two first clamping plates have an angle.

[0015] Preferably, the medicine dispensing unit includes a medicine dispensing box and a guide plate, the medicine dispensing box being fixed on the side of the frame opposite to the medicine feeding unit and having a patient medicine taking frame horizontally extending therefrom corresponding to the position of the medicine outlet, a medicine inlet being provided on the medicine dispensing box at a position facing the side of the clamping unit and higher than the medicine outlet, the guide plate being obliquely arranged inside the medicine dispensing box and connected to the medicine inlet, the medicine dispensing box also having a return gate plate slidably arranged from the end of the guide plate not connected to the medicine inlet to the medicine outlet, the return gate plate and the guide plate dividing the internal space of the medicine dispensing box into a medicine buffer area and a medicine return area from top to bottom, the medicine buffer area being connected to the medicine outlet, and the medicine dispensing box having a medicine dispensing door plate inserted therein at the connection between the two, a medicine dispensing door plate driving component being arranged on the top of the medicine dispensing box and being drivingly connected to the medicine dispensing door plate to drive the medicine dispensing door plate to move up and down, so that the medicine buffer area and the medicine outlet are connected or blocked.

[0016] Preferably, a reflux door plate driving component is provided on the side of the medicine outlet box body corresponding to the position of the reflux door plate and is drivingly connected to the reflux door plate to drive the reflux door plate to move back and forth, so that the medicine buffer area and the medicine reflux area are connected or blocked, and the top of the reflux medicine box is connected to the medicine reflux area of ​​the medicine outlet box body, and the reflux medicine box also has a reflux port on the side facing the clamping unit.

[0017] Preferably, a patient operation table is provided on the side of the frame above the medicine outlet, and a doctor operation table is provided on the side of the frame above the medicine inlet.

[0018] Compared with the prior art, the present invention provides an intelligent self-service pharmacy, in which the medicine loading unit can scan and compound the loaded medicines. Only after confirmation that they are correct can the channel door of the medicine loading detection channel be opened to facilitate the medicines to be conveyed from the medicine loading conveyor belt into the interior of the frame. At the same time, in order to facilitate the clamping unit to quickly place the medicines on the medicine loading conveyor belt to the specified position, horizontal moving parts and vertical moving parts are integrated inside the frame, so that the clamping unit can classify and place the medicines on the medicine loading conveyor belt and quickly clamp the medicines on the medicine shelf into the medicine output box. By opening the medicine output door plate or the return door plate in the medicine output box, a series of unmanned operations such as rapid medicine dispensing and return of erroneous medicines can be realized, without the need for manpower investment, and with a high degree of intelligence. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. 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 creative work.

[0020] Figure 1 A structural schematic diagram of an intelligent self-service pharmacy provided by the present invention;

[0021] Figure 2 An axonometric diagram of an intelligent self-service pharmacy provided by the present invention;

[0022] Figure 3 A schematic diagram of the internal structure of an intelligent self-service pharmacy provided by the present invention;

[0023] Figure 4 A schematic diagram of the structure of a medicine loading unit, a medicine dispensing unit, a clamping unit and a moving unit in an intelligent self-service pharmacy provided by the present invention;

[0024] Figure 5 A schematic diagram of the structure of the drug feeding unit without the drug feeding conveyor belt;

[0025] Figure 6 It is a structural schematic diagram of the drug loading detection channel, channel door, door body drive mechanism, and drug conveying and positioning components;

[0026] Figure 7 It is a schematic diagram of the structure of the drug delivery and positioning component;

[0027] Figure 8 It is a structural schematic diagram of a clamping unit;

[0028] Fig. 9 for Figure 8 The structural diagram at the bottom;

[0029] Fig.10 It is a structural schematic diagram of the lateral moving part;

[0030] Fig.11 It is a structural schematic diagram of the first clamping plate, the second clamping plate, and the longitudinal moving member;

[0031] Fig.12 for Fig.11 A schematic diagram of the structure in which the first clamping plate is removed;

[0032] Fig.13 It is a structural schematic diagram of the medicine dispensing unit;

[0033] Fig.14 for Fig.13 Schematic diagram of the structure after removing the external plate;

[0034] Fig.15 for Fig.14 Schematic diagram of the internal structure.

[0035] Reference numerals and component descriptions in the drawings:

[0036] 1. Rack; 2. Patient operation table; 3. Monitoring camera; 4. Patient barcode scanner; 5. Doctor operation table; 6. Medicine feeding conveyor belt; 7. Medicine feeding detection channel; 8. Medicine barcode scanner; 9. Channel door; 10. Moving through hole; 11. Moving guide plate; 12. Moving guide rail; 13. Moving block; 14. Channel door driving motor; 15. Driving wheel; 16. Driven wheel; 17. Rotating wheel group; 18. Rotating belt; 19. Synchronous rod; 20. Longitudinal 1. Horizontal positioning plate; 21. Horizontal positioning plate; 22. Spring; 23. Position sensor; 24. Arc positioning groove; 25. Inspection door; 26. Horizontal moving guide rail; 27. Horizontal slider; 28. Horizontal drive motor; 29. ​​Vertical moving guide rail; 30. Vertical slider; 31. Vertical drive motor; 32. Clamping rack; 33. First clamping plate; 34. Second clamping plate; 35. Clamping conveyor belt; 36. L-shaped moving rod; 37. Horizontal moving guide rail Rail; 38, concave slider; 39, horizontal drive motor; 40, horizontal driving gear; 41, horizontal driven gear; 42, toothed belt; 43, first clamping block; 44, second clamping block; 45, driving fixed rod; 46, driving elastic sheet; 47, teeth; 48, pressure wheel; 49, longitudinal drive motor; 50, transmission belt; 51, longitudinal driving gear; 52, longitudinal driven gear; 53, medicine dispensing box; 54, guide plate; 55, patient taking medicine Frame; 56, medicine inlet; 57, reflux door plate; 58, medicine buffer area; 59, medicine reflux area; 60, medicine outlet door plate; 61, medicine outlet door plate drive motor; 62, transmission wheel set; 63, transmission belt; 64, fixed block; 65, reflux medicine box; 66, reflux port; 67, reflux door plate drive member; 68, reflux door plate moving guide rail; 69, reflux door plate slider; 70, reflux medicine recovery door; 71, I-shaped wheel; 72, rotating pin shaft. DETAILED DESCRIPTION

[0037] The technical solution of the present invention will be clearly and completely described below through specific implementation methods. 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 creative work are within the scope of protection of the present invention.

[0038] See also Figure 1 to Figure 4As shown, an intelligent self-service pharmacy includes a frame 1, a medicine rack (not shown in the figure), a medicine feeding unit, a medicine dispensing unit, a clamping unit and a moving unit. The medicine feeding unit and the medicine dispensing unit are respectively arranged at two sides of the frame 1, and a medicine feeding port and a medicine dispensing port are provided at the positions corresponding to the medicine feeding unit and the medicine dispensing unit on the adjacent sides of the frame 1. Medicine racks for placing medicines are also arranged on both sides of the frame 1 where the medicine feeding unit and the medicine dispensing unit are arranged. A moving unit is arranged at a position between the medicine feeding unit and the medicine dispensing unit in the frame 1, and a clamping unit is movably arranged thereon.

[0039] In order to facilitate patient operation, a patient operation table 2 and a monitoring camera 3 are provided on the side of the frame 1 above the medicine outlet. A patient barcode scanner 4 is also provided on one side of the patient operation table 2, which can be used to scan the patient's prescription to obtain the required medicine information. At the same time, in order to facilitate the pharmacy to replenish medicines and the doctor to retrieve the medicine information in the pharmacy, a doctor's operation table 5 is provided on the side of the frame 1 above the medicine supply port.

[0040] The following is a detailed description of each structural component:

[0041] See also Figures 4 to 7 As shown, the medicine feeding unit includes a medicine feeding conveyor belt 6, a medicine feeding detection channel 7, a medicine code scanner 8, a channel door 9 and a medicine feeding positioning component. Among them, the medicine feeding conveyor belt 6 is arranged inside the frame 1 and one end of it is connected to the medicine feeding port, and a medicine feeding detection channel 7 is provided above the end where the medicine feeding conveyor belt 6 is connected to the medicine feeding port, so as to install the channel door 9 and the medicine feeding positioning component. A medicine code scanner 8 is also provided at the bottom of the connection between the medicine feeding conveyor belt 6 and the medicine feeding port. Before entering the medicine feeding conveyor belt 6, the medicine must be scanned by the medicine code scanner 8 to determine the placement position of the medicine on the medicine shelf, so that the clamping unit can transfer it to the correct position.

[0042] A channel door 9 is inserted into the medicine feeding detection channel 7 and a door body driving mechanism is connected thereto so that the channel door 9 can move up and down perpendicularly to the medicine feeding conveyor belt 6. Long strip-shaped moving through holes 10 are vertically opened at the positions of the channel door 9 on both sides of the medicine feeding detection channel 7. A moving guide plate 11 is fixed to both sides of the channel door 9. The end of the moving guide plate 11 that is not fixed to the channel door 9 passes through the moving through hole 10 and is connected to the door body driving mechanism. In order to ensure the stability of the channel door 9 during the up and down movement, a moving guide rail 12 is vertically arranged on the outer side of the medicine feeding detection channel 7 on one side of the moving through hole 10, and a moving block 13 is arranged on the moving guide rail 12. The part of the moving guide plate 11 located outside the medicine feeding detection channel 7 is also fixedly connected to the moving block 13.

[0043] In this embodiment, the door body driving mechanism includes a channel door driving motor 14, a driving wheel 15, a driven wheel 16, a rotating wheel group 17, a rotating belt 18 and a synchronous rod 19, wherein the two sides of the drug loading detection channel 7 are respectively vertically provided with rotating wheel groups 17 at the positions corresponding to the channel door 9, that is, a rotating wheel is provided at the top and bottom of the side and connected by a rotating belt 18, and the synchronous rod body 19 is provided at the top of the drug loading detection channel 7 and its two ends are respectively fixedly connected with the rotating wheel groups 17 on both sides to realize the synchronous rotation of the two groups of rotating wheel groups 17. At the same time, the above-mentioned driven wheel 16 is coaxially penetrated on the rotating wheel in any group of rotating wheel groups 17, the channel door driving motor 14 is provided at the top of the drug loading detection channel 7 and the driving wheel 15 is fixedly penetrated on its output shaft, and the driving wheel 15 and the driven wheel 16 are connected by a transmission belt.

[0044] The end of the movable guide plate 11 that is not fixed to the channel door 9 is passed through the movable through hole 10 and is fixedly connected to the rotating belt 18. The channel door driving motor 14 is started, and the driving wheel 15 is driven to rotate forward or reversely, and the driven wheel 16 transmits the rotating wheel group 17 to drive the rotating belt 18 to move forward or reversely, so as to drive the movable guide plate 11 in the movable through hole 10 and the movable block 13 in the movable guide rail 12 to move upward or downward, thereby realizing the closing or opening of the channel door 9.

[0045] At the bottom of any side of the drug feeding detection channel 7, corresponding to the position of the channel door 9, a drug conveying positioning component is also provided for positioning before drug feeding. The drug conveying positioning component includes a longitudinal positioning plate 20, a transverse positioning plate 21, a spring 22 and a position sensor 23. The longitudinal positioning plate 20 is provided on any inner side of the drug feeding detection channel 7 along the conveying direction of the drug feeding conveyor belt 6, and is located at the position from the drug feeding port to the channel door 9. The longitudinal positioning plate is provided with a pair of guide rods 73 vertically protruding toward the side of the drug feeding detection channel. One end of the guide rod 73 is provided outside the drug feeding detection channel 7 and an adjusting nut (not shown in the figure) is provided on the end thereof. The spring 22 is sleeved on the guide rod 73 and one end is in contact with the adjusting nut, and the other end is in contact with the outer side of the drug feeding detection channel 7. The position of the spring 22 on the guide rod 73 is adjusted by rotating the adjusting nut, so as to adjust the compression degree of the spring 22. A position sensor 23 for sensing the drug abutment is provided at the center of the longitudinal positioning plate 20. The transverse positioning plate 21 is fixed to the bottom of the side of the passage door 9 facing the medicine feeding port, and the movable guide plate 11 is provided with an arc-shaped positioning groove 24 at the bottom of the connection with the passage door 9 corresponding to the position of the longitudinal positioning plate 20 .

[0046] When the channel door 9 is closed, the top of the longitudinal positioning plate 20 is embedded in the arc-shaped positioning groove 24 and forces the spring 22 to compress. The side of the longitudinal positioning plate 20 and the side of the transverse positioning plate 21 are perpendicularly pressed against each other to facilitate the two sides of the medicine box to press against each other for positioning before the medicine is conveyed. Afterwards, the medicine after the code scanning is placed at the position where the transverse positioning plate 21 and the longitudinal positioning plate 20 are perpendicularly pressed against each other, so that the side of the medicine box is pressed against them respectively to determine the conveying position of the medicine on the medicine conveyor belt 6. After the position sensor 23 on the longitudinal positioning plate 20 senses that the medicine is placed in place, the door body driving mechanism drives the channel door 9 to open. At this time, the top of the longitudinal positioning plate 20 is separated from the arc-shaped positioning groove 24, and the side is separated from the side of the transverse positioning plate 21. The longitudinal positioning plate 20 moves toward the side direction of the medicine detection channel 7 under the action of the spring 22, that is, the side of the medicine is separated from the transverse positioning plate 21 and the longitudinal positioning plate 20, and the medicine conveyor belt 6 can convey it to the inside of the frame 1.

[0047] See also Figure 4 As shown, the moving unit includes a vertical moving part and a horizontal moving part. The moving direction of the horizontal moving part is consistent with the medicine feeding direction of the medicine feeding unit. The vertical moving part is slidably arranged on the horizontal moving part and its moving direction is perpendicular to the direction of the horizontal moving part. An inspection door 25 is provided on the side of the frame 1 at the position corresponding to the moving unit, so that the staff can enter the interior of the frame 1 for maintenance and other operations.

[0048] The horizontal moving part includes a pair of horizontal moving guide rails 26 and a horizontal slider 27. The pair of horizontal moving guide rails 26 are respectively arranged at the top and bottom of the frame 1 in the middle of the medicine feeding unit and the medicine discharging unit. A horizontal slider 27 is slidably arranged on each horizontal moving guide rail 26. At the same time, a horizontal driving motor 28 is fixed at any end of the horizontal moving guide rail 26 and is drivingly connected to the horizontal slider 27. The vertical moving part includes a vertical moving guide rail 29 and a vertical slider 30. The two ends of the vertical moving guide rail 29 are respectively fixedly connected to the horizontal slider 27. The vertical moving guide rail 29 is slidably arranged with a vertical slider 30. A vertical driving motor 31 is arranged at the bottom of the vertical moving guide rail 29 and is drivingly connected to the vertical slider 30. The clamping unit is fixedly connected to the vertical slider 30.

[0049] The two horizontal drive motors 28 are started at the same time, and the horizontal sliders 27 on the pair of horizontal moving guide rails 26 drive the two ends of the vertical moving guide rails 29 to move on the horizontal moving guide rails 26. At the same time, the vertical drive motor 31 is started, and the vertical slider 30 drives the gripping unit to move on the vertical moving guide rails 29. In order to speed up the movement speed of the gripping unit, the horizontal drive motor 28 and the vertical drive motor 31 can be started at the same time.

[0050] See also Figure 8 to Figure 12As shown, the clamping unit includes a clamping frame 32, a first clamping plate 33, a second clamping plate 34, and a clamping conveyor belt 35. The clamping frame 32 is rotatably provided with the clamping conveyor belt 35, and a conveyor belt motor is provided at the bottom of the clamping frame 32 to realize the rotation of the clamping conveyor belt 35, and the conveying direction of the clamping conveyor belt 35 is perpendicular to the projection of the medicine feeding direction of the medicine feeding unit on the horizontal plane.

[0051] The first clamping plates 33 are respectively arranged at both sides of the top surface of the clamping conveyor belt 35 along the conveying direction of the clamping conveyor belt 35, and a lateral moving member is respectively driven and connected at both ends of a pair of first clamping plates 33 to make the pair of first clamping plates 33 relatively close to or away from each other.

[0052] The above-mentioned transverse moving member includes a pair of L-shaped moving rods 36, a transverse moving guide rail 37, and a transverse driving component, wherein the pair of L-shaped moving rods 36 are arranged at the bottom of the clamping frame 32 in a manner that the short sides are arranged one above the other, and a transverse driving component is arranged between the short sides of the two L-shaped moving rods 36, and a transverse moving guide rail 37 is arranged on the same side of the short sides of the two L-shaped moving rods 36, and a concave slider 38 is arranged on the side of the short sides of the two L-shaped moving rods 36 corresponding to the position of the transverse moving guide rail 37, and the two L-shaped moving rods 36 are embedded in the concave slider 38 through the transverse moving guide rail 37 to achieve sliding on the transverse moving guide rail 37. The transverse driving component includes a transverse driving motor 39, a transverse driving gear 40, a transverse driven gear 41, and a toothed belt 42, wherein the transverse driving gear 40 and the transverse driven gear 41 are arranged between the short sides of the two L-shaped moving rods 36 along the direction of the transverse moving guide rail 37, and a toothed belt 42 is also meshed and wound thereon, and the transverse driving gear 40 is transmission-connected to the transverse driving motor 39. A first clamping block 43 is provided at the top of the short side of one of the L-shaped moving rods 36 near the transverse driven gear 41, and a second clamping block 44 is provided at the bottom of the short side of the other L-shaped moving rod 36 near the transverse driving gear 40. The first clamping block 43 and the second clamping block 44 clamp the toothed belt 42 respectively.

[0053] The lateral driving gear 40 is driven to rotate forward or reversely by the lateral driving motor 39 to realize the clockwise or counterclockwise rotation of the toothed belt 42 and the two L-shaped moving rods 36 are relatively close to or away from each other on the lateral moving guide rail 37 through the first clamping block 43 and the second clamping block 44. The long sides of a pair of L-shaped moving rods 36 are relatively arranged on both sides of the clamping conveyor belt 35, and a driving fixed rod 45 and a driving elastic sheet 46 are respectively arranged on the top of the long sides, wherein the driving fixed rod 45 is rotatably connected to the side of the first clamping plate 33 through a rotating pin 72, and the driving elastic sheet 46 is fixedly connected to the side of the first clamping plate 33. It is easy to understand that the two ends of the side of each first clamping plate 33 are respectively rotatably connected to the driving fixed rod 45 in one lateral moving member and fixedly connected to the driving elastic sheet 46 in another lateral moving member.

[0054] If the lateral drive motors 39 in the two lateral moving members are set to operate synchronously, the pair of first clamping plates 33 can move relatively far away from or close to each other while maintaining parallelism. If the lateral drive motors 39 in the two lateral moving members are set to operate asynchronously, the extension lines of the two first clamping plates 33 can have an angle, that is, the angle between the two ends of the pair of first clamping plates 33 is variable, and the above-mentioned drive elastic sheet 46 and the rotation pin 72 are arranged to cooperate to achieve the variable angle between the two ends of the pair of first clamping plates 33.

[0055] See also Figure 11-12 As shown, a second clamping plate 34 is slidably provided on the opposite sides of a pair of first clamping plates 33, and position sensors 23 are provided at both ends of the side of the first clamping plate 33 where the second clamping plate 34 is provided, so as to sense the moving position of the second clamping plate 34. The top of each second clamping plate 34 is driven and connected with a longitudinal moving member to move the second clamping plate 34 toward the medicine shelf located on one side of the medicine feeding unit or the medicine discharging unit. Among them, the second clamping plate 34 is arranged with a plurality of teeth 47 in an array facing the side of the first clamping plate 33, and a sliding groove (not shown in the figure) is recessed at the center of the bottom surface of the second clamping plate 34 along the conveying direction of the clamping conveyor belt 35. A pair of pressing wheels 48 are respectively provided at both ends of the top of the first clamping plate 33, and the rotation direction of the pressing wheels 48 is consistent with the conveying direction of the clamping conveyor belt 35. At the same time, a pair of I-shaped rotating wheels 71 are also provided at both ends of the first clamping plate 33, and a recessed position is provided in the middle of the I-shaped rotating wheel 71 for the second clamping plate 34 to be embedded. The pressure wheel 48 is embedded in the sliding groove and the second clamping plate 34 is embedded in the I-shaped rotating wheel 71 to limit the reciprocating movement of the second clamping plate 34 relative to the first clamping plate 33 along the conveying direction of the clamping conveyor belt 35.

[0056] The longitudinal moving member is arranged inside the first clamping plate 33, and specifically includes a longitudinal driving motor 49, a transmission wheel, a transmission belt 50, a longitudinal driving gear 51, and a longitudinal driven gear 52. The longitudinal driving gear 51 and the longitudinal driven gear 52 are respectively arranged at the position between the two pressing wheels 48 of the first clamping plate 33 and mesh with the plurality of teeth 47 on the second clamping plate 34. At the same time, the longitudinal driving gear 51 and the longitudinal driven gear 52 are coaxially penetrated with a transmission wheel, and the transmission wheels penetrated by the two are linked by the transmission belt 50. The longitudinal driving motor 49 is arranged at the top of the first clamping plate 33 and is fixedly connected to the longitudinal driving gear 51. The longitudinal driving motor 49 drives the longitudinal driving gear 51 to rotate forward or reverse, and drives the longitudinal driven gear 52 to rotate through the transmission wheel and the transmission belt 50, so as to realize that the second clamping plate 34 meshed with the longitudinal driving gear 51 and the longitudinal driven gear 52 moves toward the medicine rack located at one side of the medicine feeding unit or the medicine discharging unit.

[0057] The clamping unit drives a pair of second clamping plates 34 to move toward the medicine rack located on one side of the medicine feeding unit or the medicine discharging unit through the longitudinal moving part, and then drives a pair of first clamping plates 33 through the transverse moving part to drive the second clamping plates 34 to move relatively closer or farther away, thereby realizing the operation of clamping and recovering the medicine and releasing it to the clamping conveyor belt 35.

[0058] See also Figure 13 to Figure 15 As shown, the medicine discharging unit includes a medicine discharging box 53 and a guide plate 54. The medicine discharging box 53 is fixed on the side of the frame 1 opposite to the medicine feeding unit and a patient medicine taking frame 55 is horizontally extended at the position corresponding to the medicine outlet. At the same time, the medicine discharging box 53 is provided with a medicine inlet 56 at the side facing the clamping unit and above the medicine outlet, so that the clamping conveyor belt 35 in the clamping unit can convey the medicine to the medicine discharging box 53. In order to prevent the medicine from falling directly into the medicine discharging box 53 and causing damage to the medicine box body, a guide plate 54 is obliquely arranged at the position of the medicine inlet 56 inside the medicine discharging box 53 to provide a buffer ramp for the medicine.

[0059] Furthermore, a return gate plate 57 is provided in the space from the end of the guide plate 54 to the medicine outlet in the medicine outlet box 53, extending along the slope of the guide plate 54, so that the return gate plate 57 and the guide plate 54 divide the internal space of the medicine outlet box 53 into a medicine buffer area 58 and a medicine return area 59, wherein the medicine buffer area 58 is connected with the medicine outlet, and a medicine outlet gate plate 60 is inserted at the connection between the two, and a medicine outlet gate plate driving member is provided at the top of the medicine outlet box 53 and is drivingly connected to the medicine outlet gate plate 60 to drive the medicine outlet gate plate 60 to move up and down, so that the medicine buffer area 58 is connected with the medicine outlet or blocked. Fig.15 As shown, the medicine dispensing door plate driving member includes a medicine dispensing door plate driving motor 61, two sets of transmission wheel groups 62, and a transmission belt 63, wherein the medicine dispensing door plate driving motor 61 is arranged at the top of the medicine dispensing box body 53 and is drivingly connected to one set of transmission wheel groups 62, and the two sets of transmission wheel groups 62 are respectively arranged at both sides of the medicine dispensing box body 53 near the positions of the medicine dispensing door plate 60, and the two are synchronously driven by the synchronization rod 19. The transmission belt 63 is wound around the transmission wheel groups 62, and the side of the medicine dispensing door plate 60 facing the inside of the medicine dispensing box body 53 is fixedly connected to the transmission belt 63 through a fixing block 64, and then the medicine dispensing door plate driving motor 61 drives the transmission wheel group 62 to rotate in the positive or negative direction to realize the up and down movement of the medicine dispensing door plate 60.

[0060] The frame 1 is provided with a return medicine box 65 at the bottom of the medicine outlet box 53. The top of the return medicine box 65 is connected to the medicine return area 59 of the medicine outlet box 53. At the same time, the return medicine box 65 is provided with a return port 66 on the side facing the clamping unit. A return door plate driving member 67 is provided on the side of the medicine outlet box 53 corresponding to the position of the return door plate 57 and is connected to the return door plate 57 to drive the return door plate 57 to reciprocate, so that the medicine buffer area 58 and the medicine return area 59 are connected or blocked. Fig.15 As shown, the structural composition of the return gate plate driving member 67 is the same as that of the drug discharging door plate driving member, and will not be repeated here. The difference is that a return gate plate moving guide rail 68 is provided at the position on both sides of the drug discharging box body 53 corresponding to the return gate plate 57, and a return gate plate slider 69 is also slidably provided thereon. The return gate plate slider 69 is fixedly connected to the bottom surface of the return gate plate 57 on the one hand, and is drivingly connected to the return gate plate driving member 67 on the other hand, so as to realize the reciprocating movement of the return gate plate 57 on the return gate plate moving guide rail 68, thereby connecting or blocking the drug buffer area 58 and the drug reflux area 59.

[0061] A reflux medicine recovery door 70 is provided on the side of the frame 1 at a position corresponding to the reflux medicine box 65 , and the medicine in the reflux medicine box 65 can be taken out by opening the door.

[0062] The working process of an intelligent self-service pharmacy provided in this embodiment is as follows:

[0063] The doctor scans the drug barcode at the drug scanner 8 at the drug application port, and automatically identifies the drug name, batch number, etc. and the appearance size of the drug according to the barcode system. After scanning the barcode, the drug is placed close to the side of the horizontal positioning plate 21 and the longitudinal positioning plate 20 and placed on the drug application conveyor belt 6. The position sensor 23 on the longitudinal positioning plate 20 senses that the drug is in place, and the system obtains the spatial position and appearance size of the added drug. The door body drive mechanism drives the channel door 9 to rise upward, and at the same time, the longitudinal positioning plate 20 and the horizontal positioning plate 21 release the abutment with the drug. The longitudinal positioning plate 20 moves toward the side of the drug application detection channel 7 under the action of the spring 22, and the drug application conveyor belt 6 conveys a drug station to the inside of the frame 1, and then the channel door 9 is closed and the drug transmission positioning component returns to its position, and the code scanning and drug application are continued, and the cycle is repeated.

[0064] After the medicine conveyor belt 6 conveys the medicine to a certain position, the clamping unit moves to the corresponding position through the linkage of the vertical moving part and the horizontal moving part. The first clamping plate 33 and the second clamping plate 34 in the clamping unit extend and clamp the medicine under the driving action of the lateral moving part and the longitudinal moving part respectively, and then return to the original position to place the medicine on the clamping conveyor belt 35 (according to the system, multiple boxes can be clamped at one time). Thereafter, the clamping unit moves to the verification position for visual verification of the medicine. After the verification is successful, the clamping unit moves to the relevant medicine rack slot automatically allocated by the system, and then the medicine is sent to the designated medicine rack slot under the cooperation of the first clamping plate 33 and the second clamping plate 34. If the verification is unsuccessful, the clamping unit runs to the reflux port 66 of the reflux medicine box 65, and the medicine is sent into the reflux medicine box 65 by the clamping conveyor belt 35. The side of the frame 1 is provided with a reflux medicine recovery door 70, which can be opened manually to recover the medicine at a fixed time.

[0065] When the patient needs to take medicine, the barcode on the prescription is scanned on the patient barcode scanner 4, and the system reads the data and determines the medicine required by the patient. Then the system automatically regulates the order of taking medicine, and sends the medicine position data to the clamping unit and the moving unit. The clamping unit runs to the position specified by the system, and the first clamping plate 33 and the second clamping plate 34 of the clamping unit cooperate to extend and take out the corresponding medicine, and return the medicine to place it on the clamping conveyor 35. Then the clamping unit runs to the verification position and visually checks the taken medicine. After the verification is successful, the clamping unit runs to the medicine inlet 56 position of the medicine dispensing unit, and the clamping conveyor 35 sends the medicine to the medicine buffer area 58 in the medicine dispensing box 53. The clamping unit again takes out other medicines, verifies, and stores them in the medicine buffer area 58 in the above manner until the entire prescription is taken. After the entire prescription is taken, the patient presses the medicine taking button on the patient operation console 2 interface according to the system prompt, the medicine dispensing door panel 60 opens, and the medicine flows into the patient medicine taking frame 55, and the patient takes the medicine, thus completing the entire medicine taking process of a prescription. If the patient does not press the medicine dispensing button on the operation interface within a certain period of time as prompted by the system after the entire prescription is taken, the system will open the return door 57, and all the medicines will flow into the return medicine box 65. If the clamping unit fails to check successfully during the medicine dispensing process, it will run to the return port 66 of the return medicine box 65, and the medicine will be sent into the return medicine box 65 by the clamping conveyor belt 35. After that, the clamping unit will re-take the medicine according to the relevant data of the above medicines and check again until the check is successful.

[0066] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An intelligent self-service pharmacy, characterized by: The invention comprises a frame, a medicine rack, a medicine feeding unit, a medicine discharging unit, a clamping unit and a moving unit, wherein the medicine feeding unit and the medicine discharging unit are respectively arranged at two sides of the frame, and a medicine feeding port and a medicine discharging port are provided on adjacent sides of the frame corresponding to the positions of the medicine feeding unit and the medicine discharging unit. Medicine racks for placing medicines are also arranged on both sides of the frame where the medicine feeding unit and the medicine discharging unit are arranged. The moving unit is arranged at a position between the medicine feeding unit and the medicine discharging unit in the frame, and the clamping unit is movably arranged thereon. The moving unit comprises a vertical moving part and a horizontal moving part, and the moving direction of the horizontal moving part is consistent with the medicine feeding direction of the medicine feeding unit. The vertical moving part is slidably arranged on the horizontal moving part and its moving direction is perpendicular to the direction of the horizontal moving part. The clamping unit comprises a clamping plate that can move toward the medicine rack on one side of the medicine feeding unit or the medicine discharging unit. The medicine feeding unit comprises a medicine feeding conveyor belt, a medicine feeding detection channel, a medicine code scanner, a channel door and a medicine feeding positioning component, the medicine feeding conveyor belt is horizontally arranged inside the frame and one end of which is connected to the medicine feeding port, the medicine feeding detection channel is provided above the end of the medicine feeding conveyor belt connected to the medicine feeding port, the medicine code scanner is also provided at the bottom of the connection between the medicine feeding conveyor belt and the medicine feeding port, the channel door is inserted into the medicine feeding detection channel and a door body driving mechanism is connected thereto so that the channel door can move up and down perpendicular to the medicine feeding conveyor belt, and the medicine feeding positioning component is also provided at the position of the channel door at the bottom of any side of the medicine feeding detection channel for positioning before medicine feeding; Long strip-shaped moving through holes are vertically opened at the positions of the channel door on both sides of the drug feeding detection channel, and a moving guide plate is fixed on both sides of the channel door respectively. The end of the moving guide plate that is not fixed to the channel door passes through the moving through hole and is drivingly connected to the door body driving mechanism. The drug conveying and positioning component includes a longitudinal positioning plate, a transverse positioning plate, and a spring. The longitudinal positioning plate is arranged at any inner side of the drug feeding detection channel along the conveying direction of the drug feeding conveyor belt and is located at the position from the drug feeding port to the channel door. The longitudinal positioning plate is vertically protruded with a pair of guide rods facing the side of the drug feeding detection channel. One end of the guide rod is arranged outside the drug feeding detection channel and an adjusting nut is arranged on the end thereof. The spring is sleeved on the guide rod and one end is in contact with the adjusting nut, and the other end is in contact with the outer side of the drug feeding detection channel. The transverse positioning plate is fixed to the bottom of the side of the channel door facing the drug feeding port. The movable guide plate is concavely provided with an arc-shaped positioning groove at the bottom of the connection with the channel door corresponding to the position of the longitudinal positioning plate. When the channel door is closed, the top of the longitudinal positioning plate is embedded in the arc-shaped positioning groove and forces the spring to compress, and the side of the longitudinal positioning plate and the side of the transverse positioning plate are perpendicularly abutted against each other to facilitate the abutment of the two side edges of the medicine box for positioning before medicine delivery. When the channel door is opened, the top of the longitudinal positioning plate is separated from the arc-shaped positioning groove, and the side is separated from the side of the transverse positioning plate, and moves toward the side direction of the medicine feeding detection channel under the action of the spring; The horizontal movable component comprises a pair of horizontal movable guide rails and a horizontal slider, the pair of horizontal movable guide rails are respectively arranged at the top and bottom of the frame at the middle position between the medicine feeding unit and the medicine discharging unit, the horizontal slider is slidably arranged on each of the horizontal movable guide rails, a horizontal driving motor is fixed to any one end of the horizontal movable guide rail and is drivingly connected to the horizontal slider, the vertical movable component comprises a vertical movable guide rail and a vertical slider, the two ends of the vertical movable guide rail are respectively fixedly connected to the horizontal slider, the vertical slider is slidably arranged on the vertical movable guide rail, a vertical driving motor is arranged at the bottom of the vertical movable guide rail and is drivingly connected to the vertical slider, and the clamping unit is fixedly connected to the vertical slider; The clamping unit comprises a clamping frame, a first clamping plate, a second clamping plate, and a clamping conveyor belt, the clamping conveyor belt is rotatably arranged on the clamping frame, the conveying direction of the clamping conveyor belt is perpendicular to the projection of the medicine feeding direction of the medicine feeding unit on the horizontal plane, the first clamping plates are respectively arranged at both sides of the top surface of the clamping conveyor belt along the conveying direction of the clamping conveyor belt, a pair of first clamping plates are respectively driven and connected with a lateral moving member at both ends to make the pair of first clamping plates relatively close to or away from each other, a pair of second clamping plates are respectively slidably arranged on the opposite sides of the first clamping plates, and the top of each second clamping plate is driven and connected with a longitudinal moving member to make the second clamping plate Move toward the direction of the medicine shelf located at one side of the medicine feeding unit or the medicine discharging unit; the transverse moving member includes a driving fixed rod and a driving elastic sheet, the driving fixed rod and the driving elastic sheet in each of the transverse moving members are respectively arranged on both sides of the clamping conveyor belt, and the driving fixed rod is rotatably connected to the side of the first clamping plate through a rotating pin, and the driving elastic sheet is fixedly connected to the side of the first clamping plate, that is, the two ends of the side of each of the first clamping plates are respectively rotatably connected to the driving fixed rod in one of the transverse moving members and fixedly connected to the driving elastic sheet in another transverse moving member, so that the extension lines of the two first clamping plates have an angle.

2. The intelligent self-service pharmacy according to claim 1, characterized in that: The outer side surface of the drug application detection channel is also vertically provided with a movable guide rail on one side of the movable through hole and a movable block is slidably arranged on the guide rail. The part of the movable guide plate located outside the drug application detection channel is also fixedly connected to the movable block. A position sensor for sensing the abutment of the drug is arranged at the center position of the longitudinal positioning plate.

3. The intelligent self-service pharmacy according to claim 1, characterized in that: The medicine dispensing unit includes a medicine dispensing box and a guide plate, wherein the medicine dispensing box is fixed on the side of the frame opposite to the medicine feeding unit and a patient medicine taking frame is horizontally extended corresponding to the position of the medicine outlet, and a medicine inlet is provided on the medicine dispensing box at a position facing the side of the clamping unit and higher than the medicine outlet, and the guide plate is obliquely arranged inside the medicine dispensing box and connected to the medicine inlet, and a return gate plate is slidably arranged on the medicine dispensing box from the end of the guide plate not connected to the medicine inlet to the medicine outlet, and the return gate plate and the guide plate divide the internal space of the medicine dispensing box into a medicine buffer area and a medicine return area from top to bottom, the medicine buffer area is connected to the medicine outlet, and the medicine dispensing box is plugged with a medicine dispensing door plate at the connection between the two, and a medicine dispensing door plate driving component is arranged on the top of the medicine dispensing box and is drivingly connected to the medicine dispensing door plate to drive the medicine dispensing door plate to move up and down, so that the medicine buffer area and the medicine outlet are connected or blocked.

4. The intelligent self-service pharmacy according to claim 3, characterized in that: A return door plate driving component is provided on the side of the medicine outlet box body corresponding to the position of the return door plate and is drivingly connected to the return door plate to drive the return door plate to move back and forth, so that the medicine buffer area and the medicine return area are connected or blocked. The frame is also provided with a return medicine box at the bottom of the medicine outlet box body, and the top of the return medicine box is connected to the medicine return area of ​​the medicine outlet box body. The return medicine box is also provided with a return port on the side facing the clamping unit.

5. The intelligent self-service pharmacy according to claim 1, characterized in that: A patient operation table is arranged on the side of the frame above the medicine outlet, and a doctor operation table is arranged on the side of the frame above the medicine supply port.

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