Tablet picking, medicine dispensing structure, medicine dispensing machine and medicine dispensing method

Abstract

The present disclosure relates to a picking sheet, a medicine taking structure, a medicine dispensing machine and a medicine taking method. The picking sheet includes a substrate, a medicine picking part and a stopper; the substrate has a first end and a second end opposite to each other in its length direction, the medicine picking part is arranged at the first end of the substrate and is used to contact the medicine in the cargo channel of the medicine dispensing machine; the second end of the substrate is used to be connected to a driving mechanism, the stopper is arranged between the first end and the second end, and is used to stop the medicine when the picking sheet is picking medicine, and the upper end surface of the stopper is a smooth cambered surface. In this way, the stopper can be used to temporarily block the medicine that is the target medicine of the picking sheet and the medicine behind the target medicine, so as to prevent the medicine behind from sliding out of the cargo channel together with the target medicine, thereby avoiding the problem of taking too much. Since the upper end surface of the stopper is a smooth cambered surface, the friction between the bottom surface of the medicine and the stopper during the sliding process can be reduced, so that the medicine can slide smoothly from the top of the stopper, and the situation that the medicine cannot be taken can be avoided.

Description

Technical Field

[0001] The present disclosure relates to the field of medicine dispensing machines, and in particular, to a tablet picking and medicine taking structure, a medicine dispensing machine and a medicine taking method. Background Art

[0002] As digitalization and intelligence gradually penetrate into all walks of life, the drugstore industry has also accelerated its digital and intelligent transformation, and the smart pharmacy industry has huge potential. Thanks to the advantages of convenient pickup and no restrictions on time and location, medicine dispensing machines are becoming more and more popular. As an important part of smart pharmacies, the success rate of dispensing medicines is crucial. In related technologies, medicine dispensing machines often use a medicine picking structure to pick up medicines from the aisle of the medicine dispensing machine, and then use the conveying structure of the medicine picking structure to deliver the medicines to the medicine picking position. However, when picking medicines, the existing picking sheet has the problem of taking too many medicines or the medicines cannot be taken out from the aisle, and the success rate of taking medicines cannot be guaranteed. Summary of the invention

[0003] The purpose of the present invention is to provide a tablet picking and medicine taking structure, a medicine dispensing machine and a medicine taking method, so as to effectively solve the above-mentioned problems existing in the related technology.

[0004] In order to achieve the above-mentioned purpose, the present disclosure provides a picking piece for a medicine picking structure of a medicine dispensing machine, the picking piece includes a base plate, a medicine picking portion and a stop portion; the base plate has a first end and a second end opposite to each other in its own length direction, the medicine picking portion is arranged at the first end of the base plate, and is used to contact the medicines in the cargo lane of the medicine dispensing machine; the second end of the base plate is used to be connected to a driving mechanism, the stop portion is arranged between the first end and the second end, and is used to stop the medicines when the picking piece is picking up the medicines; wherein the upper end surface of the stop portion is a smooth curved surface.

[0005] Optionally, the stopper is configured as a stopper extending along the width direction of the substrate or as a column, and the upper end surface of the column or the stopper is a smooth arc surface.

[0006] Optionally, the position of the base plate is designed so that when the picking sheet is in the pre-drug picking position, the length of the portion of the base plate extending under the cargo channel is 9 mm-11 mm.

[0007] Optionally, the substrate has a first surface, and the medicine picking portion includes a first convex portion protruding from the first surface, wherein the first surface is a surface of the substrate facing the medicine when the picking sheet is picking medicine.

[0008] Optionally, the upper end surface of the first convex portion is a smooth arc surface, or the upper end surface of the first convex portion has a ridgeline extending along the width direction of the substrate.

[0009] Optionally, the substrate has a second surface, and the picking piece also includes a second convex portion protruding from the second surface, and the second convex portion is located at the first end of the substrate; wherein the second surface is the surface of the substrate facing away from the medicine when the picking piece is picking the medicine.

[0010] Optionally, the substrate has a first surface and a second surface relative to each other, the first surface includes a first inclined surface, and the first inclined surface extends obliquely from the end surface of the first end toward a direction away from the second surface; along the length direction of the substrate, a plurality of arc grooves are arranged at intervals on the first inclined surface, and the arc grooves extend along the width direction of the substrate; the pick piece also includes a plurality of columns, each of which is installed in a corresponding arc groove, and the surface of the column that is used to contact the drug is a smooth arc surface.

[0011] Optionally, the part of the medicine picking portion that is in contact with the medicine is provided with a friction structure, and the substrate has a first surface and a second surface relative to each other; the first surface includes a second inclined surface, and the second inclined surface extends obliquely from the end surface of the first end toward a direction away from the second surface; the friction structure includes a plurality of V-grooves arranged on the second inclined surface at intervals along the length direction of the substrate, and the V-grooves extend along the width direction of the substrate.

[0012] Optionally, a plurality of first mounting holes are provided on the substrate, the plurality of first mounting holes including at least two first mounting holes spaced apart along the length direction of the substrate, and the at least two first mounting holes are used to be selectively and detachably connected to the driving mechanism.

[0013] According to another aspect of the present disclosure, a medicine taking structure is provided, comprising a driving mechanism and the above-mentioned picking piece, wherein the driving mechanism is used to drive the picking piece to move so as to take out the medicine in the cargo channel.

[0014] According to another aspect of the present disclosure, there is provided a medicine dispensing machine, comprising a shell, a cargo channel and the above-mentioned medicine dispensing structure, wherein the cargo channel is arranged in the shell for placing medicines, and the medicine dispensing structure is used to take medicines out of the cargo channel and transfer them to a medicine dispensing position.

[0015] According to another aspect of the present disclosure, a medicine taking method is provided, which is applied to the above-mentioned tablet picking, wherein a notch is provided at the medicine outlet end of the cargo channel, a part of the notch is located on the baffle of the cargo channel, and another part is located at the bottom of the cargo channel, and the method comprises:

[0016] The picking piece is located at a pre-pharmaceutical picking position, wherein the base plate partially extends below the cargo channel, and the medicine picking portion is located below the notch;

[0017] The pick-up plate is moved upwardly in the Z direction by a first preset distance at a first preset speed, so that the bottom surface of the medicine is higher than the upper end of the baffle;

[0018] Move the pick piece in the Y direction away from the cargo aisle by a second preset distance; and

[0019] The pick is made to descend along the Z direction by the first preset distance at a second preset speed, wherein the value of the first preset speed is smaller than the value of the second preset speed.

[0020] Optionally, the value of the first preset speed is 5mm / s-10mm / s.

[0021] Optionally, after the pick is lowered along the Z direction by the first preset distance at a second preset speed;

[0022] The picking piece is moved along the Y direction by a third preset distance so that the picking piece can catch the medicines dropped from the cargo channel, or the medicines whose two ends are respectively resting on the picking piece and the cargo channel are dropped from the picking piece to the medicine receiving mechanism of the medicine taking structure.

[0023] Optionally, after the picking sheet is lowered along the Z direction by the first preset distance at a second preset speed, it is determined whether the medicine is taken out from the aisle; if it is determined that the medicine is not taken out from the aisle, the value of the first preset distance is increased, and the step of placing the picking sheet at the pre-picking position is returned to be executed; or,

[0024] The value of the third preset distance is equal to the value of the second preset distance, so that the pick piece returns to the pre-pick medicine position. After the pick piece returns to the pre-pick medicine position, it is determined whether the medicine is taken out from the aisle; if it is determined that the medicine is not taken out from the aisle, the value of the first preset distance is increased, and the step of moving the pick piece upward in the Z direction by a first preset distance at a first preset speed is returned to be executed.

[0025] In the pick sheet provided by the present disclosure, due to the presence of the stopper, during the process of taking medicine, the stopper can be used to temporarily block the target medicine of the pick sheet and the medicine behind the target medicine, so as to prevent the medicine behind from sliding out of the cargo channel together with the target medicine, thereby avoiding the problem of taking too much. Moreover, since the upper end surface of the stopper is a smooth curved surface, the friction between the bottom surface of the medicine and the stopper during the sliding process can be reduced, so that when the medicine is picked to a certain height, the medicine can slide down smoothly from the top of the stopper. Therefore, in the present disclosure, through the design of the stopper, it is helpful to avoid the situation that the pick sheet takes too much or fails to take medicine during the process of taking medicine, and can improve the success rate of taking medicine.

[0026] Other features and advantages of the present disclosure will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The accompanying drawings are used to provide a further understanding of the present disclosure and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the present disclosure but do not constitute a limitation of the present disclosure. In the accompanying drawings:

[0028] Figure 1 is a three-dimensional schematic diagram of a medicine dispensing machine provided by an exemplary embodiment of the present disclosure;

[0029] Figure 2 is a schematic diagram of the operation of picking tablets and taking medicines provided by an exemplary embodiment of the present disclosure, wherein the tablet picking device has not yet been extended into the aisle;

[0030] Figure 3 It is a schematic diagram of a working method of picking up medicine by extending a tablet into a cargo channel according to an exemplary embodiment of the present disclosure;

[0031] Figure 4 is a schematic diagram of a three-dimensional structure of a pick sheet provided by a first exemplary embodiment of the present disclosure, wherein the stopper is a stop sheet;

[0032] Figure 5 is a schematic diagram of a three-dimensional structure of a pick sheet provided by a second exemplary embodiment of the present disclosure, wherein the stopper is a column;

[0033] Figure 6 is a schematic diagram of a three-dimensional structure of a pick sheet provided by a second exemplary embodiment of the present disclosure, wherein a stopper portion for a column is not shown, and a second mounting hole for mounting the column is shown;

[0034] Figure 7 is a schematic diagram of a three-dimensional structure of a pick-up sheet provided by a third exemplary embodiment of the present disclosure, wherein the upper end surface of the medicine picking portion is a plane with ridges;

[0035] Figure 8 is a schematic diagram of a three-dimensional structure of a pick sheet provided by a fourth exemplary embodiment of the present disclosure, wherein a second convex portion is also shown;

[0036] Fig. 9 is a schematic diagram of a three-dimensional structure of a pick sheet provided by a fifth exemplary embodiment of the present disclosure, wherein the medicine picking portion and the stopper portion are semi-cylindrical structures;

[0037] Fig.10 is a schematic diagram of a three-dimensional structure of a pick sheet provided by a sixth exemplary embodiment of the present disclosure, wherein a column for contacting with a drug is not shown;

[0038] Fig.11is a schematic diagram of a three-dimensional structure of a pick sheet provided by a sixth exemplary embodiment of the present disclosure, wherein a column is shown, and the column is configured as a medicine picking portion;

[0039] Fig.12 is a schematic diagram of a three-dimensional structure of a pick sheet provided by a seventh exemplary embodiment of the present disclosure, wherein a friction structure including a V-shaped groove is shown;

[0040] Fig.13 is a schematic diagram of a three-dimensional structure of a pick sheet provided by an eighth exemplary embodiment of the present disclosure, wherein first mounting holes arranged at intervals in the length direction of the substrate are shown;

[0041] Fig.14 is a flow chart of a method for taking medicine provided by an exemplary embodiment of the present disclosure;

[0042] Fig.15 It is a block diagram of a medication dispensing method provided by an exemplary embodiment of the present disclosure.

[0043] Description of Reference Numerals

[0044] 100-medicine taking structure; 10-picking sheet; 11-base plate; 111-first surface; 112-second surface; 113-first inclined plane; 114-second inclined plane; 115-arc groove; 116-first mounting hole; 117-second mounting hole; 101-first section; 102-second section; 103-third section; 12-medicine picking part; 121-edge line; 122-friction structure; 1221-V-shaped groove; 13-stop part; 131-upper end surface of the stop part; 141-first convex part; 1142-second convex part; 15-column; 20-driving mechanism; 21-telescopic plate; 30-temporary storage chamber; 200-medicine; 300-medicine dispenser; 301-housing; 302-cargo channel; 303-baffle; 304-notch. DETAILED DESCRIPTION

[0045] The specific implementation of the present disclosure is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described herein is only used to illustrate and explain the present disclosure, and is not used to limit the present disclosure.

[0046] It should be noted that all actions of acquiring signals, information or data in the present disclosure are carried out in compliance with the relevant data protection laws and policies of the country where the device is located and with the authorization given by the owner of the corresponding device.

[0047] In the present disclosure, unless otherwise specified, directional words such as "upper" and "lower" refer to the upper and lower directions of the drawing, and the X direction, Y direction and Z direction can be referred to in the drawings. Figures 1 to 3 , “inside” and “outside” refer to the inside and outside of the contour of the corresponding component itself.

[0048] In addition, the terms used, such as "first", "second", etc., are only used to distinguish multiple elements, and do not have order or importance. In addition, the directional words used above are only used to simplify the description of the present disclosure, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and cannot be understood as a limitation of the present disclosure.

[0049] The reason why the picker of the medicine dispensing machine in the related art is prone to taking out more medicines during the medicine dispensing process is that the cargo lanes of the medicine dispensing machine are all tilted. When picking medicines, when the packaging box of the medicine has a relatively smooth bottom, there are a large number of medicines on the same cargo lane (the rear medicines squeeze the front medicines), or the weight of the medicines is large, the picker may take out more medicines during the medicine dispensing process, that is, after the target medicine is taken out from the cargo lane, the medicines behind the target medicines also slide out from the cargo lane together with the target medicines. Moreover, sometimes the picker may hinder the medicines from sliding down, causing the medicines to be unable to slide out smoothly from the cargo lane.

[0050] In view of this, if Figures 1 to 13 As shown, the present disclosure provides a pick sheet 10, a medicine dispensing structure 100 including the pick sheet 10, and a medicine dispensing machine 300 including the medicine dispensing structure 100. Figure 1 The medicine dispensing machine 300 may include a shell 301, a shelf disposed in the shell 301, and a medicine dispensing structure 100 disposed in the shell 301. The shelf is provided with at least one cargo aisle 302 for placing medicines 200. The medicine dispensing structure 100 is used to take the goods from the cargo aisle 302 and transfer them to a medicine dispensing position, for example, to a medicine dispensing window on the shell 301.

[0051] In the medicine dispensing machine 300, the cargo channel 302 can be set at an angle, and the height of the exit end of the cargo channel 302 is lower than that of other places in the cargo channel 302. A baffle 303 is set at the front end of the cargo channel 302 to prevent the medicine 200 from sliding down, and a notch 304 is opened on the side of the cargo channel 302 close to the medicine dispensing structure 100. A part of the notch 304 is located on the baffle 303 of the cargo channel 302, and the other part is located at the bottom of the cargo channel 302. The pick piece 10 of the medicine dispensing structure 100 can extend into the cargo channel 302 through the notch 304, and rise along the Z direction to contact the bottom surface of the medicine 200 in the cargo channel 302. As the pick piece 10 continues to rise, the medicine 200 will slide down from the cargo channel 302 to the medicine receiving mechanism (such as the medicine dispensing mechanism 100) of the medicine dispensing structure 100. Figure 1 The temporary storage chamber 30) is provided to complete the collection of the medicine 200 from the cargo channel 302.

[0052] See also Figures 2 to 5The picking piece 10 provided in the present invention is used for the medicine taking structure 100 of the medicine dispensing machine 300, including a base plate 11, a medicine picking part 12 and a stop part 13. The base plate 11 has a first end and a second end opposite to each other in its own length direction. The medicine picking part 12 is arranged at the first end of the base plate 11, and is used to contact the medicine 200 in the cargo channel 302 of the medicine dispensing machine 300. The second end of the base plate 11 is used to be connected to the driving mechanism 20. The stop part 13 is arranged between the first end and the second end, and is used to stop the medicine 200 when the picking piece 10 is picking medicine, wherein the upper end surface 131 of the stop part 13 is a smooth arc surface.

[0053] See also Figure 1 Zhihe Figure 3 When taking medicine, the driving mechanism 20 can be used to move the picking sheet 10 along the Y direction, so that a part of the base plate 11 is located below the avoidance opening of the cargo channel 302, and the picking sheet 10 is located at the pre-pharmaceutical picking position. Optionally, at this time, the base plate 11 can be roughly parallel to the cargo channel 302. Then, the driving mechanism 20 can be used to move the picking sheet 10 upward along the Z direction (i.e., the height direction of the medicine dispensing machine 300), so that the front end of the medicine 200 (the end close to the medicine dispensing end of the cargo channel 302) is lifted to a height higher than the baffle 303 of the cargo channel 302, so that the medicine 200 passes over the baffle 303 and slides out of the cargo channel 302 from above the stopper 13.

[0054] In the pick sheet 10 provided in the present disclosure, due to the existence of the stopper 13, during the process of taking medicine, the stopper 13 can be used to temporarily block the pick sheet 10 as the target medicine and the medicine 200 located behind the target medicine, so as to prevent the medicine 200 behind from sliding out of the cargo channel 302 together with the target medicine, thereby avoiding the problem of taking too much. Moreover, since the upper end surface of the stopper 13 is a smooth curved surface, the friction between the bottom surface of the medicine 200 and the stopper 13 during the sliding process can be reduced, so that when the medicine 200 is picked to a certain height, the medicine 200 can slide down smoothly from the top of the stopper 13, for example, smoothly slide down to the temporary storage cavity 30 of the medicine taking structure 100. Therefore, in the present disclosure, through the design of the stopper 13, it is helpful to avoid the situation that the pick sheet 10 takes too much or fails to take medicine during the process of taking medicine, and can improve the success rate of taking medicine.

[0055] It can be understood that the medicine 200 mentioned above and below may include a medicine box (ie, an outer packaging) and the medicine itself located in the medicine box (ie, an internal filling).

[0056] The present disclosure does not limit the specific structure of the stopper 13. Figure 4As shown, in the first embodiment of the present disclosure, the stopper 13 can be configured as a stopper extending along the width direction of the substrate 11, and the upper end surface of the stopper is a smooth arc surface, so as to facilitate the smooth sliding of the medicine 200. The size of the stopper in the width direction of the substrate 11 can be the same as the width of the substrate 11, or slightly smaller than the width of the substrate 11.

[0057] The blocking piece may be disposed on the substrate 11 by, for example, bonding or integral molding, which is not limited in the present disclosure.

[0058] Alternatively, if Figure 5 and Figure 6 As shown, in the second embodiment of the present disclosure, the stopper 13 can be constructed as a column, and the upper end surface of the column is a smooth arc surface to facilitate the smooth sliding of the medicine 200.

[0059] The pillar may be single or multiple. When the number of pillars is multiple, the multiple pillars may be arranged at intervals along the width direction of the substrate 11. Figure 5 In the illustrated embodiment, there are three pillars, which are arranged at intervals along the width direction of the substrate 11 .

[0060] The pillars can be connected to the base plate 11 in any suitable manner, for example, Figure 6 As shown, the base plate 11 may be provided with a second mounting hole 117, which may be a screw hole, and the column is provided with an external thread section, and the column is screwed into the second mounting hole 117 through the external thread section. Alternatively, the column may be integrally formed on the base plate 11 to simplify the mounting process and simplify the structure of the pick 10.

[0061] The height of the stopper 13 is not limited in the present disclosure and can be determined according to factors such as the thickness of the medicine 200. For example, in one embodiment of the present disclosure, the height of the stopper 13 can be 7 mm to 12 mm. Within this range, medicines 200 of common sizes can be effectively stopped.

[0062] By reducing the size of the picking piece 10 extending into the cargo channel 302 when in the pre-pharmaceutical picking position, the position where the medicine 200 contacts the picking piece 10 can be moved outward. When the picking piece 10 rises to the same height in the Z direction, the outward movement of the contact position can increase the height of the drug outlet end of the drug 200. Based on this, when the height of the baffle 303 of the cargo channel 302 is constant, reducing the size of the picking piece 10 extending into the cargo channel 302 or directly reducing the length of the picking piece 10 can help reduce the distance that the picking piece 10 moves upward in the Z direction when taking medicine, thereby helping to improve the efficiency of taking medicine. Moreover, since one end where the medicine picking part 12 is located is moved outward, the height of the medicine picking part 12 of the picking piece 10 at the highest position during the medicine picking process can be increased, so that the blocking effect on the medicine 200 behind the target medicine can be improved.

[0063] Based on this, optionally, in one embodiment of the present disclosure, the size of the substrate 11 extending below the cargo channel 302 in the pre-pick-up position can be reasonably designed to improve the efficiency of drug removal and the blocking effect on the rear drugs 200. Specifically, the position of the substrate 11 is designed so that when it is in the pre-pick-up position, the length of the extension section of the substrate 11 extending below the cargo channel 302 can be 7mm-20mm, 9mm-18mm or 9mm-11mm. Within the above range, the reliability of the drug picking unit 12 in lifting the drugs 200 can be guaranteed, and the blocking effect on the rear drugs 200 can be improved. In particular, for drugs 200 with shorter dimensions in the extension direction of the cargo channel 302, the blocking effect is particularly obvious. This is because the spacing difference between short-sized drugs 200 in the Z direction is small, and the rear drugs 200 are easy to slide out of the cargo channel together with the target drugs.

[0064] When in the pre-medicine picking position, the base plate 11 partially extends under the cargo channel 302 , and the medicine picking portion 12 is located under the notch 304 .

[0065] In addition, reducing the size of the base plate 11 extending below the cargo channel 302 is also beneficial to reducing the length of the pick 10 and reducing material costs. The present disclosure does not limit the length and width of the base plate 11. Optionally, in an embodiment of the present disclosure, the length of the pick 10 can be between 48 mm and 56 mm. The width can be 18 mm, which can be determined according to the width of the notch 304 on the cargo channel 302.

[0066] In the present disclosure, the medicine picking unit 12 may have any appropriate structure to accommodate different types of medicines 200. Figures 1 to 9 As shown, in some embodiments of the present disclosure, the substrate 11 has a first surface 111, and the medicine picking portion 12 includes a first protrusion 141 protruding from the first surface 111, wherein the first surface 111 is configured to be a surface of the substrate 11 facing the medicine 200 when the picking sheet 10 is picking medicine.

[0067] Since the medicine picking portion 12 protrudes from the first surface 111 of the substrate 11, it is equivalent to raising the position of the front end of the substrate 11 in contact with the medicine 200. This arrangement is conducive to raising the front end of the medicine 200 to be higher than the baffle 303 while moving the picking sheet 10 upward along the Z direction by a small distance, thereby improving the medicine picking efficiency. In addition, the first protrusion 141 is provided, and the first protrusion 141 can be used to block the medicine 200 behind the target medicine, further improving the blocking effect on the medicine 200 behind.

[0068] The first protrusion 141 may be connected to the substrate 11 in any appropriate manner. Optionally, in an embodiment of the present disclosure, the first protrusion 141 may be integrally formed on the substrate 11 to simplify the installation process and structure.

[0069] The present disclosure does not limit the height of the first protrusion 141 protruding from the first surface 111 of the substrate 11. Optionally, in one embodiment of the present disclosure, the height of the first protrusion 141 protruding from the first surface 111 of the substrate 11 is 1-5 mm. Within this range, it can effectively block the drug 200 behind the target drug.

[0070] Alternatively, if Figures 4 to 6 As shown, the upper end surface of the first protrusion 141 is a smooth cambered surface, that is, the portion of the first protrusion 141 that is used to contact the medicine 200 is a smooth cambered surface. The advantage of such a configuration is that the medicine 200 can smoothly contact the picking sheet 10 during the process of picking the medicine upward along the Z direction, so that the medicine 200 can slide out of the delivery channel smoothly.

[0071] It is found through observation that there may be a slight adhesion problem between adjacent medicines 200 (medicine boxes). In order to solve this problem, Figure 7 As shown, in the third embodiment of the present disclosure, the upper end surface of the first convex portion 141 has a ridgeline 121 along the width direction of the substrate 11. For example, the upper end surface of the first convex portion 141 is a plane, and the ridgeline 121 can be a ridgeline 121 between the upper end surface of the first convex portion 141 and the side wall. Since the upper end surface of the first convex portion 141 has the ridgeline 121, when there is slight adhesion between adjacent drugs 200 (drug boxes), the provision of the ridgeline 121 is conducive to separating the connected drugs 200 during the process of the first convex portion stirring the drugs 200.

[0072] In this disclosure, Figure 8 As shown, in the fourth embodiment of the present disclosure, the substrate 11 may further include a second surface 112, and the pick sheet 10 may further include a second convex portion 14 protruding from the second surface 112, and the second convex portion 14 is located at the first end of the substrate 11, wherein the second surface 112 is the surface of the substrate 11 facing away from the medicine 200 when the pick sheet 10 picks the medicine, that is, the second surface 112 is opposite to the first surface 111. The second convex portion 14 can block the medicine 200 behind the target medicine.

[0073] like Fig. 9 As shown, in the fifth embodiment of the present disclosure, the medicine picking portion 12 and the stopping portion 13 can both form a semi-cylindrical structure with the arc surface facing upward.

[0074] It is understood that, in the present disclosure, in addition to providing the first protrusion 141 to raise the position where the pick-up sheet 10 contacts the medicine 200, in other embodiments of the present disclosure, the position of the medicine pick-up portion 12 may not be raised. Fig.10 and Fig.11 As shown, in the sixth embodiment of the present disclosure, the first surface 111 of the substrate 11 includes a first inclined surface 113, which extends obliquely from the end surface of the first end toward a direction away from the second surface 112. Along the length direction of the substrate 11, a plurality of arc grooves 115 are arranged on the first inclined surface 113 at intervals, and the arc grooves 115 extend along the width direction of the substrate 11. The pick 10 also includes a plurality of columns 15, each of which is installed in a corresponding arc groove 115, and the surface of the column 15 for contacting the drug 200 is a smooth arc surface, that is, the side surface of the column 15 is a smooth arc surface.

[0075] The first inclined surface 113 is provided to facilitate the contact between the column 15 on the pick sheet 10 and the medicine 200. As the height of the medicine 200 changes, the position of the part where the medicine picking part 12 of the pick sheet 10 contacts the medicine 200 will change. By providing a plurality of columns 15, it is helpful to ensure that during the process of raising the medicine 200, the medicine picking part 12 can contact the medicine 200 through the columns 15 at different positions. Since the surface of each column 15 for contacting the medicine 200 is a smooth arc surface, the smoothness of the contact part between the pick sheet 10 and the medicine 200 is ensured. In this way, it is helpful to make the medicine 200 contact the pick sheet 10 smoothly during the process of the pick sheet 10 lifting the medicine 200 in the Z direction, which is conducive to the smooth removal of the medicine 200.

[0076] Optionally, in order to ensure that each column can contact the medicine 200, each column 15 can have a different diameter, for example, Fig.11 In the illustrated embodiment, there are three columns, and the diameter of the column in the middle position may be larger than the diameter of the column on its right, so as to ensure that the column in the middle position can contact the medicine 200 when the medicine 200 is lifted.

[0077] The present disclosure does not limit the diameter of the column 15 . For example, the diameter of the column 15 may be 2 mm to 4 mm.

[0078] Research has found that in order to smoothly remove the medicine 200 from the cargo channel 302, in addition to setting the part of the medicine picking part 12 that contacts the medicine 200 as a smooth arc surface so that the medicine 200 can slide smoothly, a friction structure 122 can also be set at the part of the medicine picking part 12 that contacts the medicine 200. In this way, when the medicine picking part retracts along the Y direction, the medicine 200 can be smoothly taken out of the cargo channel 302 through the friction structure 122. This is especially suitable for light-weight medicines 200 or when there is only a single box of medicines 200 on the cargo channel 302 (because at this time the medicine 200 is no longer under the pressure of the medicine 200 behind it, and it is not easy to slide out of the cargo channel 302).

[0079] The present disclosure does not limit the specific structure of the friction structure 122. Optionally, as Fig.12 As shown, optionally, in one embodiment of the present disclosure, the first surface 111 of the substrate 11 includes a second inclined surface 114, and the second inclined surface 114 extends obliquely from the end surface of the first end toward a direction away from the second surface 112, and the friction structure 122 includes a plurality of V-shaped grooves arranged on the second inclined surface 114 at intervals along the length direction of the substrate 11, and the width direction of the V-shaped grooves 1221 extends. In this embodiment, by arranging the V-shaped grooves 1221 on the second inclined surface 114, the roughness of the second inclined surface 114 is increased, thereby forming the friction structure 122. Here, the arrangement of the second inclined surface 114 facilitates the friction structure 122 on the pick sheet 10 to contact the medicine 200.

[0080] In other embodiments of the present disclosure, the friction structure 122 may be convex columns arranged in an array and disposed on an inclined surface.

[0081] The present disclosure does not limit the shape of the substrate 11. Optionally, Figure 1 As shown, in the present disclosure, the substrate 11 may include a first section 101, a second section 102 and a third section 103 connected in sequence, the medicine picking portion 12 and the stopper 13 are arranged in the first section 101, the third section 103 is used to be connected to the driving mechanism 20, and the second section 102 is arranged at an angle to the first section 101 and the third section 103, for example, see Figure 1 The first section 101 and the second section 102 are arranged at an obtuse angle, and the second section 102 and the third section 103 are arranged at an obtuse angle. This arrangement facilitates the connection of the driving mechanism 20 of the picking sheet 10 and the medicine taking structure 100, while helping the medicine picking part 12 and the stop part 13 arranged on the first section 101 to act on the medicine 200.

[0082] like Fig.13As shown, the substrate 11 has a plurality of first mounting holes 116, wherein the plurality of first mounting holes 116 include at least two first mounting holes 116 spaced apart along the length direction of the substrate 11, and the at least two first mounting holes 116 are used to selectively connect with the drive mechanism 20 (for example, Figure 1 The telescopic plate 21 of the driving mechanism shown is detachably connected. In this way, different mounting holes are selected to connect with the driving mechanism 20, and the length of the base plate 11 extending into the cargo channel 302 can be adjusted, so as to facilitate the adaptation of medicines 200 of different sizes, and the versatility of the strip picking sheet 10 and the medicine taking structure 100 can be improved.

[0083] In the present disclosure, the driving mechanism 20 is used to drive the pick 10 to move so as to take out the medicine 200 in the cargo channel 302. The driving mechanism 20 can be used to drive the pick 10 to move in X, Y or Z so as to take out the medicine 200 from the cargo channel 302.

[0084] The present disclosure does not limit the specific structure of the driving mechanism 20. Figure 1 The driving mechanism 20 may include a fixed plate (not shown) and a telescopic plate 21 both of which are arranged obliquely. The pick-up sheet 10 is connected to one end of the telescopic plate 21 facing the cargo channel 302. The telescopic plate 21 is movably arranged on the fixed plate so that the pick-up sheet 10 can approach or move away from the cargo channel 302 in the Y direction. The fixed plate may be connected to the temporary storage chamber 30 so that the medicine 200 sliding down from the cargo channel 302 can enter the temporary storage chamber 30 via the telescopic plate 21 and the fixed plate. The fixed plate and the temporary storage chamber 30 can move along the X and Z directions in the track inside the medicine dispensing machine 300.

[0085] like Fig.14 As shown, the present disclosure provides a medicine taking method, which is applied to the above-mentioned sheet picking 10, and the method may include the following steps:

[0086] S100: The picking plate 10 is located at the pre-pharmaceutical picking position, where the base plate 11 partially extends into the cargo channel 302, and the drug picking portion 12 is located below the notch 304. At this time, the drug picking portion 12 and the bottom of the cargo channel 302 may be separated by a distance, such as 3 mm;

[0087] S200: Move the pick 10 upward along the Z direction by a first preset distance at a first preset speed, so that the bottom surface of the medicine 200 (i.e., the target medicine) is higher than the upper end of the baffle 303;

[0088] S300: moving the pick 10 in the Y direction away from the cargo channel 302 by a second preset distance;

[0089] S400: and causing the pick 10 to descend in the Z direction by a first preset distance at a second preset speed, wherein the first preset speed is less than the second preset speed.

[0090] The value of the first preset speed is relatively small, which is equivalent to slowly lifting the medicine 200, which is helpful to prevent the medicine 200 from tipping over. This is because the medicine 200 usually includes a medicine box and an inner package arranged in the medicine box. When the filling rate of the inner package in the medicine box is relatively small, and the lifting speed of the lifting sheet 10 is too fast, if the position where the lifting sheet 10 contacts the medicine box is offset from the center of the medicine 200, it is easy to tip over, which is not conducive to taking the medicine. In particular, when the same medicine 200 exists in the same cargo channel 302, the side of the target medicine located at the delivery port is subjected to a greater extrusion force, which causes the side of the medicine box to receive a greater friction force, which may cause tipping over. When the lifting speed of the lifting sheet 10 is slow, the lifting sheet 10 is equivalent to being formed as one with the medicine box. In this case, the medicine box is not easy to tip over, even for medicines 200 with lighter inner packages.

[0091] The present disclosure does not limit the speeds of the first preset speed and the second preset speed. For example, the first preset speed may be 5 mm / s-10 mm / s. Within the range, the medicine 200 is not likely to tip over, which is beneficial to improving the success rate of taking the medicine.

[0092] The present disclosure does not limit the specific meanings of the first preset distance and the second preset distance. For example, the first preset distance may be 20 mm or 25 mm, and the second preset distance may be 10 mm.

[0093] Alternatively, if Fig.15 As shown, the medicine taking method may also include: after the picking piece 10 is lowered in the Z direction by a first preset distance at a second preset speed, the picking piece 10 is moved in the Y direction by a third preset distance, so that the picking piece 10 can catch the medicine 200 dropped from the cargo channel 302 or the medicine 200 with its two ends respectively resting on the picking piece 10 and the cargo channel 302 falls from the picking piece 10 to the medicine receiving structure of the medicine taking structure 100100 (such as the temporary storage cavity 30 mentioned above).

[0094] During the process of picking up medicine, the medicine 200 may be in a critical state of not falling from the aisle 302 or falling. During a single medicine picking process, by returning the pick sheet 10 to the pre-pick position, the medicine 200 in a critical state that may fall can be caught, thereby preventing the medicine 200 from accidentally falling, especially preventing the medicine 200 with a smaller size in the extension direction of the aisle 302 from accidentally falling from the gap between the aisle 302 and the pick sheet 10. Moreover, for the medicine 200 whose two ends are respectively resting on the pick sheet 10 and the aisle 302, there is a forward pushing action during the process of the medicine picking moving along the Y direction for a third preset distance, so that the medicine 200 whose front end is blocked by the limit structure and whose rear end is on the shelf is pushed forward, so that the medicine 200 is easily flipped into the temporary storage cavity 30.

[0095] Optionally, the value of the third preset distance can be equal to the value of the second preset distance, so that the picking sheet 10 returns to the pre-picking position. In this way, in addition to conveniently catching the fallen medicine 200 or pushing the medicine 200 to flip and fall, it is also convenient for taking the medicine next time.

[0096] In addition, in this disclosure, in order to understand the situation of taking medicine, see Fig.15 The medicine picking method may further include the following steps: after the pick sheet 10 is lowered along the Z direction by a first preset distance at a second preset speed, that is, after the above S400, it is determined whether the medicine 200 is taken out from the cargo channel 302; if it is determined that the medicine 200 is not taken out from the cargo channel 302, the value of the first preset distance is increased, and the step of placing the pick sheet 10 at the pre-pharmaceutical picking position is returned to perform a second medicine picking, that is, repeating steps S100, S200, S300, and S400. Afterwards, the pick sheet 10 may be moved along the Y direction by a third preset distance.

[0097] Alternatively, after returning the pick sheet 10 to the pre-pick medicine position 302, it is possible to determine whether the medicine 200 has been taken out from the aisle 302. When it is determined that the medicine 200 has not been taken out from the aisle 302, the value of the first preset distance is increased, and the process returns to the step of moving the pick sheet 10 upward along the Z direction by the first preset distance at the first preset speed to perform a second medicine picking, that is, repeating steps S200, S300, and S400. After that, the step of moving the pick sheet 10 along the Y direction by a third preset distance may also be performed.

[0098] That is, in the present disclosure, the detection step may be after step 400 or after the medicine picker moves the third preset distance along the Y direction, and the present disclosure does not limit this. During the detection, a laser sensor may be used to determine whether the medicine 200 is taken out of the aisle 302.

[0099] See also Figure 1 When it is determined that the medicine 200 is successfully taken out from the cargo channel 302, the driving mechanism 20 (such as the telescopic plate 21 of the driving mechanism 20) can be moved along the Y direction away from the cargo channel 302 to allow the medicine 200 to enter the pre-medicine receiving mechanism (such as the temporary storage chamber 30).

[0100] If the drug cannot be successfully retrieved after a second or even multiple cycles of drug retrieval, the abnormal situation can be reported and the failed cargo lane 302 can be cleared.

[0101] The preferred embodiments of the present disclosure are described in detail above in conjunction with the accompanying drawings; however, the present disclosure is not limited to the specific details in the above embodiments. Within the technical concept of the present disclosure, a variety of simple modifications can be made to the technical solution of the present disclosure, and these simple modifications all fall within the protection scope of the present disclosure.

[0102] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, the present disclosure will not further describe various possible combinations.

[0103] In addition, various embodiments of the present disclosure may be arbitrarily combined, and as long as they do not violate the concept of the present disclosure, they should also be regarded as the contents disclosed by the present disclosure.

Claims

1. A pick-up sheet, used for the medicine dispensing structure of a medicine dispensing machine, characterized in that: The picking piece includes a base plate, a medicine picking portion and a stopper portion; The base plate has a first end and a second end opposite to each other in its length direction, and the medicine picking portion is arranged at the first end of the base plate and is used to contact the medicines in the cargo channel of the medicine dispensing machine; The second end of the base plate is used to be connected to the driving mechanism, and the stopper is arranged between the first end and the second end, and is used to stop the medicine when the picking sheet is picking the medicine; Wherein, the upper end surface of the stopper is a smooth arc surface; The substrate has a first surface, and the medicine picking portion includes a first convex portion protruding from the first surface, wherein the first surface is a surface of the substrate facing the medicine when the picking sheet is picking medicine; The upper end surface of the first protrusion has a ridgeline extending along the width direction of the substrate, and the setting of the ridgeline is conducive to separating the connected medicines when the first protrusion stirs the medicines; The substrate has a first surface and a second surface opposite to each other; The first surface includes a first inclined surface, and the first inclined surface extends obliquely from the end surface of the first end toward a direction away from the second surface; Along the length direction of the substrate, a plurality of arc-shaped grooves are arranged at intervals on the first inclined surface, and the arc-shaped grooves extend along the width direction of the substrate; The pick sheet further comprises a plurality of columns, each of which is installed in a corresponding arc-shaped groove, and the surface of the column that is used for contacting the medicine is a smooth arc surface.

2. The pick sheet according to claim 1, characterized in that: The stopper is configured as a stopper extending along the width direction of the substrate or as a column, and the upper end surface of the column or the stopper is a smooth arc surface.

3. The pick sheet according to claim 1, characterized in that: The position of the base plate is designed so that when the pick-up sheet is in the pre-pharmaceutical picking position, the length of the portion of the base plate extending under the cargo channel is 9 mm to 11 mm.

4. The pick sheet according to any one of claims 1 to 3, characterized in that: The substrate has a second surface, and the pick piece further includes a second convex portion protruding from the second surface, and the second convex portion is located at the first end of the substrate; Wherein, the second surface is the surface of the substrate facing away from the medicine when the picking sheet is picking medicine.

5. The pick sheet according to any one of claims 1 to 3, characterized in that: The part of the medicine picking part that is in contact with the medicine is provided with a friction structure; The substrate has a first surface and a second surface opposite to each other; The first surface includes a second inclined surface, and the second inclined surface extends obliquely from the end surface of the first end toward a direction away from the second surface; The friction structure includes a plurality of V-shaped grooves arranged on the second inclined surface at intervals along the length direction of the substrate, and the V-shaped grooves extend along the width direction of the substrate.

6. The pick sheet according to any one of claims 1 to 3, characterized in that: The substrate is provided with a plurality of first mounting holes, including at least two first mounting holes spaced apart along the length direction of the substrate, and the at least two first mounting holes are used to be selectively and detachably connected to the driving mechanism.

7. A drug dispensing structure, characterized in that: It comprises a driving mechanism and a picking piece according to any one of claims 1 to 6, wherein the driving mechanism is used to drive the picking piece to move so as to take out the medicines in the cargo channel.

8. A medicine dispensing machine, characterized in that: It comprises a shell, a cargo channel and a medicine taking structure according to claim 7, wherein the cargo channel is arranged in the shell for placing medicines, and the medicine taking structure is used for taking medicines out of the cargo channel and conveying them to a medicine taking position.

9. A method for taking medicine, characterized in that: Applied to the tablet picking method according to any one of claims 1 to 6, a notch is provided at the medicine outlet end of the cargo channel, a part of the notch is located on the baffle of the cargo channel, and another part is located at the bottom of the cargo channel, and the method comprises: The picking sheet is located at a pre-pharmaceutical picking position, where the base plate partially extends below the cargo channel. The medicine picking portion is located below the notch; The pick-up plate is moved upwardly in the Z direction by a first preset distance at a first preset speed, so that the bottom surface of the medicine is higher than the upper end of the baffle; Move the pick piece in the Y direction away from the cargo aisle by a second preset distance; and The pick is made to descend along the Z direction by the first preset distance at a second preset speed, wherein the value of the first preset speed is smaller than the value of the second preset speed.

10. The method according to claim 9, characterized in that The value of the first preset speed is 5mm / s-10mm / s.

11. The method according to claim 9, characterized in that After the pick is lowered along the Z direction by the first preset distance at a second preset speed; The picking piece is moved along the Y direction by a third preset distance so that the picking piece can catch the medicines dropped from the cargo channel, or the medicines whose two ends are respectively resting on the picking piece and the cargo channel are dropped from the picking piece to the medicine receiving mechanism of the medicine taking structure.

12. The method according to claim 11, characterized in that After the picking sheet is lowered along the Z direction by the first preset distance at a second preset speed, determining whether the medicine is taken out from the aisle; if it is determined that the medicine is not taken out from the aisle, increasing the value of the first preset distance, and returning to the step of placing the picking sheet at the pre-picking position; or The value of the third preset distance is equal to the value of the second preset distance, so that the pick piece returns to the pre-pick medicine position; after the pick piece returns to the pre-pick medicine position, determine whether the medicine is taken out from the aisle; if it is determined that the medicine is not taken out from the aisle, increase the value of the first preset distance, and return to execute the step of moving the pick piece upward in the Z direction by a first preset distance at a first preset speed.

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