Automatic medicine dispensing device

Abstract

This invention provides an automatic medicine dispensing device, comprising a gripper device, a gripper moving device, and a medicine box device. The medicine box device is used to store medicine bottles and includes a pushing component. The gripper moving device drives the gripper device to move to the medicine dispensing position of the medicine box device. The gripper device is used to grip the medicine bottles in the medicine box device and, in conjunction with the pushing component, guides the medicine bottles to a correct position during the gripping process. This automatic medicine dispensing device, based on the moving device driving the gripper device to grip, and the pushing component cooperating with the gripper device to guide the medicine bottles to a correct position, ensures a stable gripped state (i.e., even when gripping tilted medicine bottles, the tilted bottles can be guided to a correct position), thus ensuring consistent gripping conditions and facilitating the normal operation of subsequent processes. Furthermore, the combined gripping of multiple gripping arms improves gripping stability and prevents breakage of the medicine bottles when increasing the gripping force to enhance stability with two gripping arms.

Description

Technical Field

[0001] This invention relates to the field of automated medicine dispensing, and more particularly to an automated medicine dispensing device. Background Technology

[0002] Currently, with social development, automated medication dispensing is becoming increasingly widespread. Relying on mechanical equipment to complete the medication dispensing and preparation process not only reduces labor costs but also reduces the possibility of human error and the potential dangers to medical personnel during the medication dispensing process.

[0003] Medication retrieval is an essential step in the preparation of intravenous medications. Currently, most methods employ mechanical grippers to grasp medication bottles (such as ampoules and vials). For example, utility model patent CN209793761U discloses a robotic gripper device that uses grippers to pick up medication bottles. However, this gripping method results in the bottle remaining tilted after gripping if it is tilted during the initial handling. Consequently, during transport to the next step, the tilted bottle can prevent precise positioning of subsequent processing equipment (such as when placing or removing medication), affecting the normal operation of subsequent processes. Furthermore, during transport, excessive speed can cause the bottle to shake and tilt, and increasing the gripping force could break it. Ensuring stable transport and maintaining the bottle's condition is crucial. These problems urgently need to be addressed. Summary of the Invention

[0004] To address the problems existing in the background art, the present invention provides an automatic medicine dispensing device, which includes a gripper device, a gripper moving device, and a medicine box device; the medicine box device is used to store medicine bottles, and the medicine box device includes a pushing component; the gripper moving device is used to drive the gripper device to move so that the gripper device moves to the medicine dispensing position of the medicine box device; the gripper device is used to grip the medicine bottle in the medicine box device, and when gripping the medicine bottle, it cooperates with the pushing component to guide the medicine bottle to the correct position.

[0005] In the automatic medicine dispensing device of the present invention, the gripper device grips and removes the medicine bottle from the side, and when the gripper device grips the medicine bottle, the medicine bottle is located in the gripper device, at which time the pushing component pushes the medicine bottle until the medicine bottle abuts against the gripper device.

[0006] In the automatic medicine dispensing device of the present invention, the gripper device includes a first gripper arm, a second gripper arm, a third gripper arm, and a driving assembly; the first gripper arm and the second gripper arm are spaced apart from each other; the third gripper arm is disposed between the first gripper arm and the second gripper arm; the driving assembly is used to drive the first gripper arm, the second gripper arm, and the third gripper arm to move, so as to guide and clamp the medicine bottle together.

[0007] In the automatic medicine dispensing device of the present invention, when the medicine bottle is picked up, the pushing component presses the medicine bottle against the third clamping arm to clamp and guide the medicine bottle, and by moving the first clamping arm, the second clamping arm and the third clamping arm, the medicine bottle is clamped and guided again.

[0008] In the automatic medicine dispensing device of the present invention, the opposing surfaces of the first clamping arm and the second clamping arm are inclined surfaces to form a constricted structure between the ends of the first clamping arm and the second clamping arm.

[0009] In the automatic medicine dispensing device of the present invention, the surface of the third clamping arm facing the medicine bottle has a receiving recess.

[0010] In the automatic medicine dispensing device of the present invention, the receiving recess is a through groove with a triangular cross-section, and when the medicine bottle is clamped, the groove walls on both sides are in contact with the bottle wall.

[0011] In the automatic medicine dispensing device of the present invention, the driving component includes a first driving member, a first transmission component, a second driving member, and a mounting base; the first driving member, the first transmission component, and the second driving member are respectively mounted on the mounting base; the first driving member drives the third clamping arm to move through the first transmission component; the second driving member is used to drive the first clamping arm and the second clamping arm to move closer to or further away from each other.

[0012] In the automatic medicine dispensing device of the present invention, the first transmission component includes a gear, a rack, and a guide rod; the gear is installed on the driving end of the first driving member; the rack meshes with the gear for transmission; the guide rod is arranged parallel to the rack and slidably connected to the mounting base, with the sliding direction along the extension direction of the guide rod; the guide rod and / or the rack drive the third clamping arm to extend and retract.

[0013] In the automatic medicine dispensing device of the present invention, the medicine box device further includes a medicine box; the medicine box has a storage trough; the storage trough is used to store the medicine bottle; one end of the storage trough is connected to the side of the medicine box to form a discharge port; the pushing component is used to push the medicine bottle along the extending direction of the storage trough.

[0014] In the automatic medicine dispensing device of the present invention, the top of the medicine bottle protrudes from the storage tank; the gripper device grips the protruding part of the medicine bottle.

[0015] In the automatic medicine dispensing device of the present invention, the gripper device moves toward the medicine bottle from a position directly opposite the discharge port side of the storage tank.

[0016] In the automatic medicine dispensing device of the present invention, the medicine box device further includes a material blocking component; the material blocking component is installed in the medicine box and is movable between a blocking position that blocks the medicine bottle and an avoiding position that avoids the medicine bottle.

[0017] In the automatic medicine dispensing device of the present invention, the pushing component and the blocking component are located on opposite sides of the medicine bottle.

[0018] In the automatic medicine dispensing device of the present invention, the material blocking assembly moves via the gripper device to switch positions between the blocking position and the avoidance position.

[0019] In the automatic medicine dispensing device of the present invention, the end of the gripper device is formed as a tapered tip structure, and when the gripper device moves, the sidewall of the tip of the gripper device abuts against the material blocking assembly.

[0020] In the automatic medicine dispensing device of the present invention, when the first clamping arm and the second clamping arm of the gripper device approach each other to clamp the medicine bottle, the material blocking assembly moves to the blocking position to restrict the medicine bottle adjacent to the medicine bottle from moving out.

[0021] In the automatic medicine dispensing device of the present invention, the gripper device moves to the dispensing position, and the blocking assembly moves to the avoidance position.

[0022] In the automatic medicine dispensing device of the present invention, the material blocking assembly includes a blocking member, a rotating shaft, a return spring, and a first guide member; the blocking member is rotatably mounted in an installation groove opened in the side wall of the storage tank via the rotating shaft, and the blocking member is reset to the blocking position in the avoidance position by the return spring; the medicine box is provided with a second guide groove; the first guide member is installed on the blocking member, and its end protrudes from the medicine box through the second guide groove; the gripper device moves to drive the first guide member to move, so that the blocking member moves.

[0023] In the automatic medicine dispensing device of the present invention, the blocking member is a fan-shaped plate structure with the arc surface facing the medicine bottle and rotating about the included angle as an axis.

[0024] In the automatic medicine dispensing device of the present invention, the second guide groove is an arc-shaped groove, and restricts the movement of the blocking member between the blocking position and the avoidance position.

[0025] In the automatic medicine dispensing device of the present invention, the pushing component includes a pushing component and an elastic telescopic component; the pushing component is slidably installed in the storage tank; one end of the elastic telescopic component is fixed to the discharge port side of the storage tank, and the other end is connected to the pushing component.

[0026] In the automatic medicine dispensing device of the present invention, the elastic telescopic member includes a coil spring; the coil spring is installed on the pusher member and its end is fixed to the discharge port side of the storage tank.

[0027] In the automatic medicine dispensing device of the present invention, the elastic telescopic member further includes a guide wheel; the guide wheel is rotatably mounted on the pusher, and the pull rope is fixed to the discharge port side of the storage tank after being redirected by the guide wheel.

[0028] In the automatic medicine dispensing device of the present invention, the pushing component further includes a hook; the hook is rotatably mounted on the pushing component, and the hook can hook onto the medicine box to fix the position of the pushing component.

[0029] In the automatic medicine dispensing device of the present invention, the medicine box is provided with a hook groove.

[0030] In the automatic medicine dispensing device of the present invention, the hook is installed at the tail of the pusher and the hook portion is located outside the tail of the pusher. The hook is tightly connected to the medicine box through a first elastic element.

[0031] In the automatic medicine dispensing device of the present invention, the gripper moving device drives the gripper to grip the medicine bottle from one side of the medicine bottle.

[0032] In the automatic medicine dispensing device of the present invention, the gripper moving device includes an X-axis moving device, a Y-axis moving device and a Z-axis moving device; the Z-axis moving device is mounted on the moving end of the Y-axis moving device; the moving end of the Z-axis moving device is connected to the X-axis moving device; and the moving end of the X-axis moving device is connected to the gripper device.

[0033] The beneficial effects of the present invention are as follows: The automatic medicine dispensing device of the present invention is based on the moving device driving the gripper device to grip, and the pushing component cooperates with the gripper device to guide the medicine bottle to be upright, which can ensure the stability of the gripped medicine bottle (that is, even if the medicine bottle is tilted, it can be guided to be upright), thereby ensuring the consistency of the gripping state, which helps the subsequent processes to proceed normally; and the joint gripping of multiple gripping arms improves the gripping stability and avoids the medicine bottle being broken when the gripping force is increased to improve the gripping stability when two gripping arms are used. Attached Figure Description

[0034] Figure 1 This is a schematic diagram of the automatic medicine dispensing device of the present invention;

[0035] Figure 2 This is one of the structural schematic diagrams of the gripper device of the automatic medicine dispensing device of the present invention;

[0036] Figure 3 This is a second schematic diagram of the gripper device of the automatic medicine dispensing device of the present invention (showing the internal structure);

[0037] Figure 4 This is the third schematic diagram of the gripper device of the automatic medicine dispensing device of the present invention (shown). Figure 2 Bottom structure);

[0038] Figure 5 This is the fourth schematic diagram of the gripper device of the automatic medicine dispensing device of the present invention;

[0039] Figure 6 This is a schematic diagram of the medicine box device of the automatic medicine dispensing device of the present invention;

[0040] Figure 7 This is a partial schematic diagram of the medicine dispenser device of the automatic medicine dispensing device of the present invention with medicine bottle A installed;

[0041] Figure 8 This is a partial structural diagram of the gripper device of the automatic medicine dispensing device of the present invention when it grips medicine bottle A;

[0042] Figure 9 This is a schematic diagram of the material blocking assembly of the automatic medicine dispensing device of the present invention;

[0043] Figure 10 This is one of the structural schematic diagrams of the push component of the automatic medicine dispensing device of the present invention;

[0044] Figure 11 This is a second schematic diagram of the push assembly of the automatic medicine dispensing device of the present invention; (showing the internal structure);

[0045] Figure 12 This is a schematic diagram of the structure of the gripper device of the automatic medicine dispensing device of the present invention when it is installed on the gripper moving device.

[0046] Legend: 1. Gripper device; 11. First gripper arm; 12. Second gripper arm; 13. Third gripper arm; 131. Receiving recess; 14. Drive assembly; 141. First drive member; 142. First transmission assembly; 1421. Gear; 1422. Rack; 1423. Guide rod; 143. Second drive member; 144. Mounting base; 15. Narrowing structure; 2. Gripper moving device; 21. X-axis moving device; 22. Y-axis moving device; 23. Z 3. Shaft moving device; 3. Medicine box device; 31. Pushing assembly; 311. Pushing component; 312. Elastic telescopic component; 3121. Coil spring; 3123. Guide wheel; 313. Hook; 314. First elastic component; 32. Medicine box; 321. Storage trough; 3211. Mounting groove; 322. Second guide groove; 323. Hook groove; 33. Material blocking assembly; 331. Blocking component; 332. Rotating shaft; 333. Return spring; 334. First guide component. Detailed Implementation

[0047] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0048] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used herein in the specification of the application is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms “comprising” and “having”, and any variations thereof, in the specification, claims, and foregoing description of the drawings of this application are intended to cover non-exclusive inclusion.

[0049] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0050] An automatic medicine dispensing device according to the present invention will now be described in detail with reference to the accompanying drawings.

[0051] like Figure 1 As shown, an automatic medicine dispensing device includes a gripper device 1, a gripper moving device 2, and a medicine box device 3; the medicine box device 3 is used to store medicine bottle A, and the medicine box device 3 includes a pushing component 31; the gripper moving device 2 is used to drive the gripper device 1 to move so that the gripper device 1 moves to the medicine dispensing position of the medicine box device 3 (such as the position of the gripper device with the medicine bottle A open); the gripper device 1 is used to grip the medicine bottle A in the medicine box device 3, and when gripping the medicine bottle A, it cooperates with the pushing component 31 to guide the medicine bottle A to the correct position.

[0052] Specifically, the gripper moving device 2 drives the gripper device 1 to grip and remove the medicine bottle A from the side. When the gripper device 1 grips the medicine bottle A (the grippers open), the medicine bottle A is located in the gripper device 1. At this time, the pushing component 31 pushes the medicine bottle A until it abuts against the gripper device 1. The pushing component 31 can be an electric pusher, a pneumatic pusher, or other means capable of pushing the medicine bottle A.

[0053] The automatic medicine dispensing device of this invention uses a moving device to drive a gripper device for grasping, and a pushing component cooperates with the gripper device to guide the medicine bottle into position, ensuring a stable gripped state (i.e., even when gripping a tilted medicine bottle, it can be guided to a correct position). This ensures consistent gripping conditions, facilitating the smooth operation of subsequent processes. Furthermore, the combined gripping of multiple arms improves gripping stability, preventing the medicine bottle from breaking when two arms increase the gripping force to enhance stability.

[0054] In some embodiments, such as Figure 2 As shown, the gripper device 1 includes a first gripper arm 11, a second gripper arm 12, a third gripper arm 13, and a drive assembly 14; the first gripper arm 11 and the second gripper arm 12 are arranged at intervals relative to each other; the third gripper arm 13 is disposed between the first gripper arm 11 and the second gripper arm 12, preferably the first gripper arm 11 and the second gripper arm 12 are symmetrical about the third gripper arm 13, and simultaneously approach or move away from the third gripper arm 13 at the same speed; the ends of the first gripper arm 11, the second gripper arm 12 and the third gripper arm 13 protrude from the drive assembly 14 and are driven to move by the drive assembly 14, together guiding and clamping the medicine bottle A. At this time, when gripping medicine bottle A, the first clamping arm 11 and the second clamping arm 12 open, and the pushing component 31 presses medicine bottle A against the third clamping arm 13 to clamp and guide medicine bottle A (guided to an inclined state along the pushing direction of the pushing component 31). By moving the first clamping arm 11, the second clamping arm 12 and the third clamping arm 13, medicine bottle A is clamped and guided again (at this time, guided to an inclined state towards the first clamping arm 11 or the second clamping arm 12).

[0055] Preferred, such as Figure 2-5As shown, the surface of the third clamping arm 13 facing the medicine bottle A has a receiving recess 131 (the first clamping arm 11 and the second clamping arm 12 are symmetrical about the receiving recess). Specifically, the receiving recess 131 is a through groove with a triangular cross-section. When clamping the medicine bottle A, the groove walls on both sides contact the bottle wall of the medicine bottle A. Based on the receiving recess 131, the contact surface between the third clamping arm 13 and the medicine bottle A is increased, which helps to guide the medicine bottle in alignment with the pushing component 31. At this time, the pushing component 31 presses the medicine bottle A against the receiving recess 131. If the receiving recess 131 is set vertically, the medicine bottle A pressing against the receiving recess 131 is also in a vertical state; and when the medicine bottle A is clamped by the pushing component 31 and the third clamping arm 13, if it is not contained in the receiving recess 131 (such as when the medicine bottle A is tilted towards the first clamping arm 11 or the second clamping arm), it will not be contained in the receiving recess 131. (Slanted), based on the proximity of the first clamping arm 11 and the second clamping arm 12, the medicine bottle A is guided to be upright. At this time, based on the fact that the receiving recess is located in the middle of the first clamping arm 11 and the second clamping arm 12, the upright medicine bottle A is clamped and pushed to the front of the receiving recess 131 by the first clamping arm 11 and the second clamping arm 12, and then pushed into the receiving recess 131 by the pushing component 31; preferably, the apex angle of the triangle of the receiving recess 131 is 140°-160°, within this range it is easier to guide the medicine bottle A to be upright and the clamping is more stable.

[0056] In some embodiments, such as Figure 2-5 As shown, the opposing surfaces of the first clamping arm 11 and the second clamping arm 12 are inclined surfaces, forming a constriction structure 15 between the ends of the first clamping arm 11 and the second clamping arm 12. Based on the constriction structure 15, firstly, it prevents the third clamping arm 13 from pushing the medicine bottle A out of the control of the first clamping arm 11 and the second clamping arm 12; secondly, the inclined surface of the constriction structure 15 cooperates with the third clamping arm 13 to position and clamp the medicine bottle A, and can also guide the medicine bottle A back into the correct position; thirdly, it improves the stability of clamping by having more surfaces in contact with the medicine bottle A. Preferably, the inclination angle of the inclined surface is C, where C is 144°-164°. Within this range, it is easier to guide the medicine bottle A into the correct position and the clamping is more stable. An angle that is too large or too small is not conducive to the clamping arm pushing the medicine bottle A to move and guide the medicine bottle into the correct position.

[0057] Preferably, the surfaces of the first clamping arm 11, the second clamping arm 12, and the third clamping arm 13 that come into contact with the medicine bottle A are coated with a non-stick coating, such as a Teflon coating.

[0058] During clamping, the push component 31 presses the medicine bottle A against the third clamping arm 13 to stabilize the position of the medicine bottle A, so that the position of the medicine bottle A relative to the first clamping arm 11, the second clamping arm 12 and the third clamping arm 13 is determined. This ensures that after the first clamping arm 11, the second clamping arm 12 and the third clamping arm 13 jointly clamp the medicine bottle A, the position of the medicine bottle A is consistent with the first clamping arm 11, the second clamping arm 12 and the third clamping arm 13, thus ensuring the guiding and clamping effect of the first clamping arm 11, the second clamping arm 12 and the third clamping arm 13.

[0059] In some embodiments, such as Figure 3 and 5 As shown, the drive assembly 14 includes a first drive member 141, a first transmission assembly 142, a second drive member 143, and a mounting base 144. The first drive member 141, the first transmission assembly 142, and the second drive member 143 are respectively mounted on the mounting base 144. The first drive member 141 drives the third clamping arm 13 to move through the first transmission assembly 142. The second drive member 143 is used to drive the first clamping arm 11 and the second clamping arm 12 to move closer or further apart. The second drive member 143 is an electric cylinder (such as an SMC two-jaw electric cylinder or an IAI electric cylinder).

[0060] RCP6-GRT7A-WA-28P-1-30-P5-R05-CJRB); The first driving component 141 is a servo motor; Since the third clamping arm 13 can move independently, it is convenient to adjust the position of the medicine bottle when clamping the medicine bottle. After the first clamping arm 11 and the second clamping arm 12 clamp the medicine bottle, the movement of the third clamping arm 13 pushes the medicine bottle to move relative to the first clamping arm 11 and the second clamping arm 12. Furthermore, the third clamping arm 13 pushes the medicine bottle to the inclined surface at the end of the first clamping arm 11 and the second clamping arm 12. Then, the action of the first clamping arm 11, the second clamping arm 12 and the third clamping arm 13 guides the medicine bottle to be upright and clamps it tightly.

[0061] In some embodiments, such as Figure 4 As shown, the first transmission assembly 142 includes a gear 1421, a rack 1422, and a guide rod 1423; the gear 1421 is mounted on the driving end of the first driving member 141; the rack 1422 meshes with the gear 1421 for transmission; the guide rod 1423 is arranged parallel to the rack 1422 and is slidably connected to the mounting base 144 (if a sliding sleeve is provided on the mounting base, the guide rod is slidably connected to the sliding sleeve), and the sliding direction is along the extension direction of the guide rod 1423; the guide rod 1423 and / or the rack 1422 drive the third clamping arm 13 to extend and retract.

[0062] In some embodiments, such as Figure 6 As shown, the medicine box device 3 also includes a medicine box 32; the medicine box 32 has a storage trough 321, and the storage trough 321 can be configured as one or more, such as multiple storage troughs 321 arranged in parallel; the storage trough 321 is used to store medicine bottles A (it can store one or more medicine bottles A, and when storing multiple medicine bottles A, the medicine bottles A are arranged in a row); one end of the storage trough 321 is connected to the side of the medicine box 32 to form a discharge port; the pushing component 31 is used to push the medicine bottle A along the extension direction of the storage trough 321 so that the medicine bottle A is output from the discharge port, at which time the gripper device 1 grips the medicine bottle A on the discharge port side, and the gripper device 1 moves towards the medicine bottle A from the position directly opposite the discharge port side of the storage trough 321.

[0063] Specifically, the top of medicine bottle A exposes the storage tank 321; the gripper device 1 grips the exposed part of medicine bottle A.

[0064] In some embodiments, such as Figure 6-8 As shown, the medicine container device 3 also includes a baffle assembly 33; the baffle assembly 33 is installed on the medicine container 32 and can move between a blocking position that blocks medicine bottle A and a avoiding position that avoids medicine bottle A. Based on the setting of the baffle assembly 33, the push assembly 31 and the baffle assembly 33 are located on opposite sides of the medicine bottle A. The push assembly 31 presses the medicine bottle A against the baffle assembly 33. When processing multiple medicine bottles A, the medicine bottles A are conveyed one by one by moving the baffle assembly 33 between the blocking position and the avoiding position. The baffle assembly 33 can be an electrically or pneumatically telescopic structure, or other structures that can achieve position switching.

[0065] In some embodiments, the material stop assembly 33 moves via the gripper device 1 to switch positions between a blocking position and an avoidance position.

[0066] Optional, such as Figure 8 As shown, the end of the gripper device 1 is formed as a tapered tip structure (the outer side wall of the end of the gripper device 1 is an inclined surface). When the gripper device 1 moves, the side wall of the tip of the gripper device 1 abuts against the stop assembly 33.

[0067] In another implementation, when the gripper arm of the gripper device 1 opens, it moves the stop assembly 33 to an avoidance position.

[0068] In some embodiments, such as Figure 7-9 As shown, the material blocking assembly 33 includes a blocking member 331, a rotating shaft 332, a return spring 333, and a first guide member 334 (such as a guide wheel or guide rod). The blocking member 331 is rotatably mounted in the mounting groove 3211 opened in the side wall of the storage tank 321 via the rotating shaft 332, and the blocking member 331 is reset to the blocking position from the avoidance position by the return spring 333. Specifically, the blocking member 331 is a fan-shaped plate structure with the arc surface facing the medicine bottle A, and rotates about the included angle as the axis. The medicine box 32 has a second guide groove 322; the first guide member 334 is installed on the blocking member 331, and its end protrudes from the medicine box 32 through the second guide groove 322; the gripper device 1 moves to drive the first guide member 334 to move, so that the blocking member 331 moves. The second guide groove 322 is an arc-shaped groove, and restricts the movement of the blocking member 331 between the blocking position and the avoidance position. Preferably, the second guide grooves 322 are arranged in pairs and are respectively located on the top and bottom surfaces of the mounting groove 3211. The first guide member 334 can be selected as a guide rod, with one end extending into the second guide groove 322 at the bottom of the mounting groove 3211 and the other end extending out of the second guide groove 322 at the top of the mounting groove 3211. A guide wheel is sleeved on the part of the first guide member 334 located in the second guide groove 322, and a guide wheel is also sleeved on the extended end. The corresponding mounting groove 3211 has a guide groove to accommodate the guide wheel.

[0069] The gripper device 1 includes a first gripper arm 11, a second gripper arm 12, and a third gripper arm 13. During gripping, the blocking member 331 is in the blocking position, and the gripper device 1 moves toward the medicine bottle A. When the side wall of the first gripper arm 11 or the second gripper arm 12 contacts the first guide member 334, the third gripper arm 13 moves to contact the medicine bottle A. The gripper device 1 moves further, driving the first guide member 334 to move so that the blocking member 331 moves to the avoidance position (material picking position). During this process, the third gripper arm 13 remains in contact with the medicine bottle A, preferably the third gripper arm 13 is in contact with the medicine bottle A. However, it does not push the medicine bottle A to move, thereby avoiding the medicine bottle A being squeezed and broken due to the third clamping arm 13 pushing the medicine bottle A when the medicine box device 3 is full. The pushing component 31 pushes the medicine bottle A against the third clamping arm 13, the gripper device 1 moves in the opposite direction, and the pushing component 31 continues to push the medicine bottle A to move. When the blocking member 331 moves to the blocking position, the medicine bottle A moves out, and the medicine bottle adjacent to the medicine bottle A abuts against the blocking member 331, restricting the medicine bottle adjacent to the medicine bottle A from moving out. Then the first clamping arm 11 and the second clamping arm 12 move closer to each other to clamp the medicine bottle A, and the gripper device 1 drives the medicine bottle A back. When the ends of the first clamping arm 11 and the second clamping arm 12 are set as inclined surfaces, the third clamping arm 13 pushes the medicine bottle A to contact the inclined surfaces at the ends of the first clamping arm 11 and the second clamping arm 12 to guide and clamp the medicine bottle A to a correct position. Preferably, when the first clamping arm 11 and the second clamping arm 12 move closer to each other, the inclined surfaces at the ends of the two clamps hold the medicine bottle A, so that the clamping is faster and more stable.

[0070] In some embodiments, such as Figure 10 As shown, the pushing component 31 includes a pushing member 311 and an elastic telescopic member 312 (such as a spring, elastic rope or other structure); the pushing member 311 is slidably installed in the storage tank 321 (preferably the pushing member 311 has a guide groove and the storage tank 321 has a guide rail to limit the pushing direction of the pushing member 311); one end of the elastic telescopic member 312 is fixed to the outlet side of the storage tank 321, and the other end is connected to the pushing member 311; the elastic telescopic member 312 drives the pushing member 311 to push the medicine bottle A, which has a simple structure, avoids mechanical failures that are prone to occur in moving equipment, and makes the operation stable.

[0071] Specifically, the elastic telescopic component 312 includes a coil spring 3121; the coil spring 3121 is installed on the pusher component 311 and its end is fixed to the discharge port side of the storage tank 321.

[0072] In some embodiments, such as Figure 11 As shown, the elastic telescopic member 312 also includes a guide wheel 3123; the guide wheel 3123 is rotatably mounted on the pusher member 311, and the coil spring 3121 is fixed to the discharge port side of the storage tank 321 after being redirected by the guide wheel 3123.

[0073] In some embodiments, such as Figure 6 , 10As shown in Figure 11, the pushing assembly 31 also includes a hook 313; the hook 313 is rotatably mounted on the pusher 311, and the hook 313 can hook onto the medicine box 32 to fix the position of the pusher 311, which facilitates the placement of the medicine bottle A into the storage trough 321. The medicine box 32 has a hook groove 323; the hook 313 is installed at the tail of the pusher 311, and the hook part is located on the outside of the tail of the pusher 311. The hook 313 is tightly connected to the medicine box 32 through a first elastic element 314 (such as a return spring), specifically, the first elastic element 314 abuts the hook 313 against the hook groove 323.

[0074] In some embodiments, such as Figure 12 As shown, the gripper moving device 2 includes an X-axis moving device 21, a Y-axis moving device 22, and a Z-axis moving device 23; the X-axis moving device 21 is an SMC (electric cylinder LEY16RA_100CM_RBCE17); both the Y-axis moving device 22 and the Z-axis moving device 23 can be driven by a motor-driven conveyor belt, with the conveyor belt serving as the drive end. Specific details can be found in existing designs and will not be elaborated here. The motor can be a Panasonic servo motor MSMF042L1V2+MBDLN25BE; the Z-axis moving device 23 is mounted on the moving end of the Y-axis moving device 22; the moving end of the Z-axis moving device 23 is connected to the X-axis moving device 21; the moving end of the X-axis moving device 21 is connected to the gripper device 1; based on the multi-directional movement of the gripper moving device 2, it can correspond to multiple medicine box devices 3 (which can be installed on a medicine box tray and can be multi-layered to reduce space occupation) to grip different medicine bottles A for dispensing.

[0075] The automatic material handling device of the present invention operates as follows:

[0076] Before clamping, multiple medicine bottles A are placed in the storage tank 321 and named medicine bottle A1, medicine bottle A2... medicine bottle An respectively. The pusher assembly 31 presses medicine bottle A1 against the blocking member 331 (at this time it is in the blocking position);

[0077] The gripping begins. According to the medication requirements, the Y-axis moving device 22 and Z-axis moving device 23 in the gripper moving device 2 drive the gripper device 1 to move to the corresponding medicine box device 3.

[0078] The first clamping arm 11 and the second clamping arm 12 open, and the gripper device 1 moves toward the medicine bottle A under the drive of the X-axis moving device 21. The side wall of the first clamping arm 11 or the second clamping arm 12 contacts the first guide member 334. The third clamping arm 13 moves to contact the medicine bottle A. The gripper device 1 moves further, driving the first guide member 334 to move so that the blocking member 331 moves to the avoidance position (material picking position). During this process, the third clamping arm 13 remains in contact with the medicine bottle A and does not push the medicine bottle A to move.

[0079] The pusher assembly 31 pushes the medicine bottle A between the first clamping arm 11 and the second clamping arm 12, and abuts against the third clamping arm 13. Then, the X-axis moving device 21 drives the gripper device 1 to return, and the pusher assembly 31 pushes the medicine bottle A to move. When the blocking member 331 returns to the blocking position, the medicine bottle A moves out of the blocking range of the blocking member 331 and blocks the medicine bottle A2. The drive assembly 14 drives the first clamping arm 11, the second clamping arm 12 and the third clamping arm 13 to move closer to each other to clamp the medicine bottle A and clamp the medicine bottle A1 together.

[0080] The gripper device 1 drives the medicine bottle A back, while the pusher assembly 31 continues to push other medicine bottles A to the stop 331, restricting the movement of medicine bottle A2.

Claims

1. An automatic medicine dispensing device, characterized in that, It includes a gripper device (1), a gripper moving device (2), and a medicine box device (3); The medicine box device (3) is used to store medicine bottles (A), and the medicine box device (3) includes a pusher component (31). The gripper moving device (2) is used to drive the gripper device (1) to move so that the gripper device (1) moves to the medicine box device (3) to the medicine taking position. The gripper moving device (2) drives the gripper device (1) to be gripped and pulled away from the side of the medicine bottle (A). The gripper device (1) is used to grip the medicine bottle (A) in the medicine box device (3). When the gripper device (1) grips the medicine bottle (A), the medicine bottle (A) is located in the gripper device (1). The push component (31) pushes the medicine bottle (A) until the medicine bottle (A) abuts against the gripper device (1), so as to achieve the alignment of the medicine bottle (A) in cooperation with the push component (31) when gripping the medicine bottle (A). The gripper device (1) includes a first gripper arm (11), a second gripper arm (12), a third gripper arm (13), and a drive assembly (14). The first clamping arm (11) and the second clamping arm (12) are spaced apart relative to each other; The third clamping arm (13) is disposed between the first clamping arm (11) and the second clamping arm (12); The drive assembly (14) is used to drive the first clamping arm (11), the second clamping arm (12) and the third clamping arm (13) to move together to guide and clamp the medicine bottle (A). The opposing surfaces of the first clamping arm (11) and the second clamping arm (12) are inclined surfaces to form a constriction structure (15) between the ends of the first clamping arm (11) and the second clamping arm (12). The third clamping arm (13) has a receiving recess (131) on the side facing the medicine bottle (A). The drive assembly (14) includes a first drive member (141), a first transmission assembly (142), a second drive member (143), and a mounting base (144). The first drive unit (141), the first transmission assembly (142), and the second drive unit (143) are respectively mounted on the mounting base (144); The first driving member (141) drives the third clamping arm (13) to move through the first transmission assembly (142); The second drive member (143) is used to drive the first clamping arm (11) and the second clamping arm (12) to move closer or further apart from each other.

2. The automatic medicine dispensing device according to claim 1, characterized in that, The first transmission assembly (142) includes a gear (1421), a rack (1422), and a guide rod (1423). The gear (1421) is mounted on the drive end of the first drive member (141); The rack (1422) meshes with the gear (1421) for transmission; The guide rod (1423) is arranged parallel to the rack (1422) and is slidably connected to the mounting base (144), with the sliding direction along the extension direction of the guide rod (1423); The guide rod (1423) and / or the rack (1422) drive the third clamping arm (13) to extend and retract.

3. The automatic medicine dispensing device according to claim 1, characterized in that, The medicine box device (3) also includes a medicine box (32); The medicine box (32) has a storage tank (321); the storage tank (321) is used to store the medicine bottle (A); One end of the storage tank (321) is connected to the side of the medicine box (32) to form a discharge port; The pushing component (31) is used to push the medicine bottle (A) along the extension direction of the storage tank (321).

4. The automatic medicine dispensing device according to claim 3, characterized in that, The medicine box device (3) also includes a baffle assembly (33). The baffle assembly (33) is installed on the medicine box (32) and is movable between a blocking position that blocks the medicine bottle (A) and a avoiding position that avoids the medicine bottle (A).

5. The automatic medicine dispensing device according to claim 3, characterized in that, The pushing component (31) includes a pushing component (311) and an elastic telescopic component (312). The pusher (311) is slidably installed in the storage tank (321); One end of the elastic telescopic member (312) is fixed to the discharge port side of the storage tank (321), and the other end is connected to the pusher member (311).

6. The automatic medicine dispensing device according to claim 1, characterized in that, The gripper moving device (2) includes an X-axis moving device (21), a Y-axis moving device (22) and a Z-axis moving device (23). The Z-axis moving device (23) is mounted on the moving end of the Y-axis moving device (22); The Z-axis moving device (23) is connected to the X-axis moving device (21) at its moving end. The moving end of the X-axis moving device (21) is connected to the gripper device (1).

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