Gripping mechanism for gripping a medicine bottle

Abstract

The present disclosure describes a gripping mechanism for gripping a medicine bottle, comprising a base configured to be movable relative to a medicine bottle storage position, a central arm disposed on the base and configured to be movable in a manner close to or away from the medicine bottle storage position, a first side arm linked with the central arm, a second side arm linked with the central arm and configured to be movable toward or away from the first side arm, the central arm, the first side arm and the second side arm cooperating to form a clamping space toward the medicine bottle storage position, the gripping mechanism having a picking mode, when the gripping mechanism is configured in the picking mode, the central arm is configured to be driven in a manner close to the medicine bottle and link the first side arm and the second side arm to move toward each other to grip the medicine bottle in a manner that the central arm, the first side arm and the second side arm respectively abut the medicine bottle from three directions. According to the present disclosure, the gripping mechanism can automatically grip the medicine bottle.

Description

[0001] This application is a divisional application of the patent application with application number 202110739576.X and titled "Pick-up mechanism", filed on June 30, 2021. TECHNICAL FIELD

[0002] The present disclosure relates to a pick-up mechanism for picking up a medicine bottle. BACKGROUND

[0003] Infusion is a common medical method in clinic, by which liquid substances such as medicine liquid and nutrient liquid can be transfused into a patient's body to help the patient recover. When a patient needs to receive infusion, etc., different infusion medicines are often mixed according to the patient's condition to prepare a treatment liquid with better curative effect. In clinic, medical staff, etc. can mix medicines in different containers, such as medicine bottles, into an infusion bag to obtain a treatment liquid required by the patient.

[0004] At present, medical staff, etc. usually use manual operation to prepare a treatment liquid required by a patient for infusion. For example, when pipetting between a medicine bottle and an infusion bag, a required medicine bottle is taken from a storage cabinet storing the medicine bottles by manual operation.

[0005] However, since medical staff in medical institutions are still in short supply at present, when facing a large amount of infusion demand, manual operation is difficult to efficiently prepare a medicine liquid. Therefore, it is necessary to provide a device that can assist medical staff in preparing a liquid, in particular, to provide a pick-up mechanism that can automatically pick up a medicine bottle in a storage cabinet storing the medicine bottles. SUMMARY

[0006] The present disclosure is proposed in view of the above-mentioned prior art, and aims to provide a pick-up mechanism that can automatically pick up a medicine bottle.

[0007] To this end, the present disclosure provides a pickup mechanism for picking up a medicine bottle placed on a placement mechanism, the placement mechanism having an openable and closable blocking member, a propelling member for applying a propelling action, and a medicine bottle pocket formed between the blocking member and the propelling member for placing a medicine bottle, and the propelling member applies an action to the medicine bottle toward the blocking member when the medicine bottle pocket is placed with a medicine bottle, the pickup mechanism being provided on a side close to the blocking member, the pickup mechanism including a base configured to be movable relative to the placement mechanism, a central arm provided on the base and configured to be movable in a manner close to or away from the placement mechanism, a first side arm linked with the central arm, a second side arm linked with the central arm and configured to be movable toward or away from the first side arm, a driving member provided on the base and configured to drive the central arm, and a touch member provided on a side of the base close to the placement mechanism and configured to be linked with the base, the central arm, the first side arm, and the second side arm cooperating to form a clamping space toward the medicine bottle pocket, the pickup mechanism having a pickup mode and a release mode, when the pickup mechanism is configured in the pickup mode, the base is moved toward the placement mechanism to cause the clamping space to be close to the medicine bottle pocket and the blocking member to be opened by the touch member, the propelling member transfers the medicine bottle along the medicine bottle pocket to the clamping space via the opened blocking member, the central arm is driven by the driving member in a manner close to the medicine bottle and links the first side arm and the second side arm to move toward each other to clamp the medicine bottle by the central arm, the first side arm, and the second side arm respectively abutting the medicine bottle from three directions, when the pickup mechanism is configured in the release mode, the central arm is driven by the driving member in a manner away from the medicine bottle and links the first side arm and the second side arm to move away from each other to release the medicine bottle.

[0008] In the pickup mechanism related to the present disclosure, the pickup mechanism includes a base movable relative to a placement mechanism, a touch member provided on the base, and a central arm, a first side arm, and a second side arm provided on the base and cooperating to form a clamping space, and the central arm is movable in a manner close to the placement mechanism and links the first side arm and the second side arm to move toward each other. By moving the base toward the placement mechanism, the clamping space can be close to the placement mechanism where a medicine bottle is placed, and by the touch member, the blocking member of the placement mechanism can be opened, thereby the propelling member can transfer the medicine bottle to the clamping space. In addition, by driving the central arm in a manner close to the placement mechanism, the first side arm and the second side arm can be linked to move toward each other, thereby the central arm, the first side arm, and the second side arm can abut the medicine bottle from three directions respectively to clamp the medicine bottle. In this case, the pickup mechanism can automatically pick up the medicine bottle placed on the placement mechanism.

[0009] In addition, in the pickup mechanism according to the present disclosure, the blocking member can optionally include a movable portion movably disposed at the opening of the medicine bottle storage position, a transmission portion linked with the movable portion and configured to provide a transmission action for moving the movable portion away from the opening of the medicine bottle storage position, and a restoring portion linked with the movable portion and configured to provide a restoring action for restoring the movable portion to the opening of the medicine bottle storage position. In this case, the movable portion can be moved away from the opening of the medicine bottle storage position by the transmission action of the transmission portion, and the movable portion can be restored to the opening of the medicine bottle storage position by the restoring action of the restoring portion, thereby providing a blocking member that can be opened and closed.

[0010] In addition, in the pickup mechanism according to the present disclosure, the movable portion can be configured to move in a manner that intersects with the medicine bottle storage position and moves away from the medicine bottle storage position to actuate the movable portion to move away from the opening of the medicine bottle storage position.

[0011] In addition, in the pickup mechanism according to the present disclosure, when the base moves in a manner that approaches the placement mechanism, the transmission portion can be located on the travel path of the actuating member. In this case, the actuating member can actuate the transmission portion by the movement of the base, thereby simplifying the configuration of the power source.

[0012] In addition, in the pickup mechanism according to the present disclosure, the actuating member can include a guide surface having a predetermined guide path, the predetermined guide path having a first direction substantially along the medicine bottle storage position and a second direction intersecting with the first direction, and when the transmission portion moves along the predetermined guide path compared with the guide surface, the transmission portion moves away from the medicine bottle storage position in the second direction to move the movable portion away from the opening of the medicine bottle storage position. In this case, the transmission portion can be moved away from the medicine bottle storage position by the guide surface of the actuating member, thereby facilitating the movement of the movable portion away from the opening of the medicine bottle storage position.

[0013] In addition, in the pickup mechanism according to the present disclosure, the central arm, the first side arm and the second side arm are movably arranged on the base, and the first side arm and the second side arm are arranged opposite to each other on two sides of the central arm, and the central arm is provided with a first guide slot and a second guide slot on two wings opposite to each other, the first guide slot and the second guide slot gradually move away from each other along the direction close to the loading mechanism, the first side arm has a first sliding shaft movably arranged in the first guide slot, and the second side arm has a second sliding shaft movably arranged in the second guide slot, when the central arm moves close to the loading mechanism, the first sliding shaft is guided by the first guide slot and the second sliding shaft is guided by the second guide slot to move the first side arm and the second side arm towards each other. In this case, through the design of the guide slot and the sliding shaft, the linkage structure of the central arm and the first side arm and the second side arm can be simplified.

[0014] In addition, in the pickup mechanism according to the present disclosure, the central arm, the first side arm and the second side arm are movably arranged on the base, and the first side arm and the second side arm are arranged opposite to each other on two sides of the central arm, and the central arm is provided with a first guide slot and a second guide slot on two wings opposite to each other, the first guide slot and the second guide slot gradually move away from each other along the direction close to the loading mechanism, the first side arm has a first sliding shaft movably arranged in the first guide slot, and the second side arm has a second sliding shaft movably arranged in the second guide slot, when the central arm moves close to the loading mechanism, the first sliding shaft is guided by the first guide slot and the second sliding shaft is guided by the second guide slot to move the first side arm and the second side arm towards each other. In this case, through the design of the guide slot and the sliding shaft, the linkage structure of the central arm and the first side arm and the second side arm can be simplified.

[0015] In addition, in the pickup mechanism according to the present disclosure, the central arm, the first side arm and the second side arm are movably arranged on the base, and the first side arm and the second side arm are arranged opposite to each other on two sides of the central arm, and the central arm is provided with a first guide slot and a second guide slot on two wings opposite to each other, the first guide slot and the second guide slot gradually move away from each other along the direction close to the loading mechanism, the first side arm has a first sliding shaft movably arranged in the first guide slot, and the second side arm has a second sliding shaft movably arranged in the second guide slot, when the central arm moves close to the loading mechanism, the first sliding shaft is guided by the first guide slot and the second sliding shaft is guided by the second guide slot to move the first side arm and the second side arm towards each other. In this case, through the design of the guide slot and the sliding shaft, the linkage structure of the central arm and the first side arm and the second side arm can be simplified.

[0016] In addition, in the pickup mechanism according to the present disclosure, the central arm, the first side arm and the second side arm are movably arranged on the base, and the first side arm and the second side arm are arranged opposite to each other on two sides of the central arm, and the central arm is provided with a first guide slot and a second guide slot on two wings opposite to each other, the first guide slot and the second guide slot gradually move away from each other along the direction close to the loading mechanism, the first side arm has a first sliding shaft movably arranged in the first guide slot, and the second side arm has a second sliding shaft movably arranged in the second guide slot, when the central arm moves close to the loading mechanism, the first sliding shaft is guided by the first guide slot and the second sliding shaft is guided by the second guide slot to move the first side arm and the second side arm towards each other. In this case, through the design of the guide slot and the sliding shaft, the linkage structure of the central arm and the first side arm and the second side arm can be simplified.

[0017] In addition, in the pickup mechanism according to the present disclosure, the central arm, the first side arm and the second side arm are movably arranged on the base, and the first side arm and the second side arm are arranged opposite to each other on two sides of the central arm, and the central arm is provided with a first guide slot and a second guide slot on two wings opposite to each other, the first guide slot and the second guide slot gradually move away from each other along the direction close to the loading mechanism, the first side arm has a first sliding shaft movably arranged in the first guide slot, and the second side arm has a second sliding shaft movably arranged in the second guide slot, when the central arm moves close to the loading mechanism, the first sliding shaft is guided by the first guide slot and the second sliding shaft is guided by the second guide slot to move the first side arm and the second side arm towards each other. In this case, through the design of the guide slot and the sliding shaft, the linkage structure of the central arm and the first side arm and the second side arm can be simplified.

[0018] The picking mechanism according to the present disclosure enables automated picking of vials stored in a storage cabinet. BRIEF DESCRIPTION OF DRAWINGS

[0019] The present disclosure will now be explained in further detail by way of example only with reference to the drawings in which:

[0020] Figure 1 is a schematic view illustrating a storage cabinet to which an example of the present disclosure relates.

[0021] Figure 2 is a schematic view illustrating a placement mechanism to which an example of the present disclosure relates.

[0022] Figure 3 is a schematic view illustrating a blocking member to which an example of the present disclosure relates.

[0023] Figure 4 is a top view schematic view illustrating picking of a vial by a picking mechanism from a placement mechanism to which an example of the present disclosure relates.

[0024] Figure 5A is a schematic view illustrating a vial before being transferred to a picking mechanism to which an example of the present disclosure relates; Figure 5B is a schematic view illustrating a vial after being transferred to a picking mechanism to which an example of the present disclosure relates.

[0025] Figure 6A is a schematic view illustrating a blocking member closed to which an example of the present disclosure relates; Figure 6B is a schematic view illustrating a blocking member open to which an example of the present disclosure relates.

[0026] Figure 7A is a top view schematic view illustrating a central arm, a first side arm and a second side arm of a picking mechanism in a release mode to which an example of the present disclosure relates; Figure 7B is a top view schematic view illustrating a central arm, a first side arm and a second side arm of a picking mechanism in a picking mode to which an example of the present disclosure relates.

[0027] Figure 8A is a bottom view schematic view illustrating a central arm, a first side arm and a second side arm of a picking mechanism in a release mode to which an example of the present disclosure relates; Figure 8B is a bottom view schematic view illustrating a central arm, a first side arm and a second side arm of a picking mechanism in a picking mode to which an example of the present disclosure relates.

[0028] Figure 9 is a schematic view illustrating a moving member of a picking mechanism to which an example of the present disclosure relates.

[0029] Figure 10 is a flowchart schematic view illustrating picking of a vial by a picking mechanism to which an example of the present disclosure relates. DETAILED DESCRIPTION

[0030] Hereinafter, preferred embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. In the following description, for the sake of explanation, identical configurations are designated with identical reference numerals, and repetitive descriptions are omitted. Furthermore, the drawings are schematic ones, and the ratio of the dimensions of the components to each other or the shape of the components and the like can be different from the actual ones.

[0031] It should be noted that the terms "comprising" and "having" and any variations thereof, such as a process, a method, a system, a product, or an apparatus including or having a series of steps or units, are not necessarily limited to those steps or units clearly listed, but can include or have other steps or units that are not clearly listed or inherent to the process, the method, the product, or the apparatus.

[0032] In addition, the subheadings and the like involved in the following description of the present disclosure are not intended to limit the content or the scope of the present disclosure, but merely serve as a reading aid. Such subheadings should not be understood as dividing the content of the article, nor should the content under the subheadings be limited only within the scope of the subheadings.

[0033] It should be noted that the relative position and relative direction terms "front side", "toward front side", "front", "toward front", "rear side", "toward rear side", "rear", "toward rear", "front-rear direction", "left side", "toward left side", "left", "toward left", "right side", "toward right side", "right", "toward right", "left-right direction", "upper side", "toward upper side", "upper", "toward upper", "lower side", "toward lower side", "lower", "toward lower", "up-down direction" and the like herein are with reference to a usual operation attitude, and should not be considered as limiting.

[0034] The present embodiment relates to a pickup mechanism, which is a pickup mechanism for picking up a medicine bottle placed on a placement mechanism. In the present embodiment, the pickup mechanism can also be referred to as a gripping mechanism, a gripping device, or the like, and by the pickup mechanism of the present embodiment, a medicine bottle placed on a placement mechanism can be picked up automatically. In some examples, the placement mechanism and the pickup mechanism related to the present embodiment can be applied in a cabinet, thereby providing a cabinet capable of storing medicine bottles and automatically picking up the medicine bottles.

[0035] Figure 1 is a schematic view showing a cabinet 100 related to an example of the present disclosure.

[0036] As described above, in this embodiment, the placement mechanism 10 can be used to place the medicine bottle 200 (described later), and the pickup mechanism 20 can pick up the medicine bottle 200 placed on the placement mechanism 10. Additionally, in some examples, the placement mechanism 10 and the pickup mechanism 20 can be applied to the storage cabinet 100.

[0037] In some examples, the storage cabinet 100 may include a cabinet body 30 with a receiving space, and the loading mechanism 10 and the picking mechanism 20 may be disposed within the receiving space of the cabinet body 30 (see [reference]). Figure 1 In some examples, the storage cabinet 100 may also include a support frame 40 (see...). Figure 1 The support frame 40 can be installed in the receiving space of the cabinet 30, and the support frame 40 can be used to support multiple mounting mechanisms 10.

[0038] Additionally, in some examples, the cabinet 100 may also include a handling mechanism 50. The handling mechanism 50 may extend from the receiving space of the cabinet 30 to the outside of the cabinet 30, and the medicine bottle 200 picked up by the picking mechanism 20 may be transported from the inside of the cabinet 30 to the outside of the cabinet 30 via the handling mechanism 50.

[0039] For ease of description, the direction of the pickup mechanism 20 toward the mounting mechanism 10 will be understood as "facing forward". Figure 1 In the embodiment, the direction indicated by D1 is used to refer to the direction in which the picking mechanism 20 is away from the placing mechanism 10, which is understood as "towards the rear". Figure 1 In the embodiment, D2 indicates the direction. And referring to the typical operating posture (e.g., the placement mechanism 10 is placed horizontally, and the pickup mechanism 20 moves horizontally closer to or further away from the placement mechanism 10), the horizontal leftward direction is understood as "facing left" (…). Figure 1 In the embodiment, the direction indicated by D3 is used to interpret the horizontal direction to the right as "facing to the right". Figure 1 The direction indicated by D4 in the embodiment); the vertically upward direction is understood as "facing upward" ( Figure 1 In the embodiment, the direction indicated by D5 is used to interpret the vertically downward direction as "facing downwards". Figure 1 (The direction indicated by D6 in the embodiment). It should be noted that the above terms of relative position and relative direction are used with reference to the usual operating posture and usual operating method, and should not be construed as restrictive.

[0040] The following describes in detail, with reference to the accompanying drawings, the placement mechanism 10, the picking mechanism 20, and the picking mechanism 20 picking up the medicine bottle 200 placed on the placement mechanism 10.

[0041] Figure 2 This is a schematic diagram illustrating the mounting mechanism 10 involved in the example of this disclosure.Figure 3 is a schematic view showing a blocking member 12 of a placement mechanism 10 according to an example of the present disclosure. Note that, in order to more clearly show the blocking member 12, a portion that visually obstructs the blocking member 12 is hidden in the drawing.

[0042] In some examples, the placement mechanism 10 can include a carrying member 11 (see Figure 2 ). In some examples, the carrying member 11 can include a substrate 110 in the shape of a long strip, and a first side plate 111 and a second side plate 112 respectively provided on opposite sides of the substrate 110. In some examples, the substrate 110, the first side plate 111, and the second side plate 112 combine to form the carrying member 11 in the shape of a furrow.

[0043] In the present embodiment, a medicine bottle 200 can be carried between the first side plate 111 and the second side plate 112. In some examples, the distance between the first side plate 111 and the second side plate 112 can be adjustable. In this case, it is possible to adapt to carry medicine bottles 200 of different sizes.

[0044] In some examples, the placement mechanism 10 can include a blocking member 12 that can be opened and closed, and a pushing member 13 that can apply a pushing action (see Figure 2 ). In some examples, the blocking member 12 and the pushing member 13 can be provided on the carrying member 11, and a medicine bottle position for placing the medicine bottle 200 can be formed between the blocking member 12 and the pushing member 13. In some examples, when the medicine bottle position is placed with the medicine bottle 200, the pushing member 13 can apply an action to the medicine bottle 200 toward the blocking member 12. In some examples, the direction of the medicine bottle position can be along the front-back direction. In this context, the "front-back direction" can be understood as the direction of the line connecting the blocking member 12 and the pushing member 13 of the placement mechanism 10, specifically, the direction from the blocking member 12 to the pushing member 13 can be understood as "toward the front" (i.e., Figure 2 the direction indicated by D1 in the example), and the direction from the pushing member 13 to the blocking member 12 can be understood as "toward the back" (i.e., Figure 2 the direction indicated by D2 in the example).

[0045] In some examples, the blocking member 12 can be provided at one end of the first side plate 111 or the second side plate 112. In some examples, the blocking member 12 can be configured to be openable and closable to form a removable blocking effect on the medicine bottle 200 carried between the first side plate 111 and the second side plate 112. For example, when the medicine bottle 200 carried between the first side plate 111 and the second side plate 112 does not need to be picked up, the blocking member 12 can be closed to block the medicine bottle 200 from sliding out; when the medicine bottle 200 carried between the first side plate 111 and the second side plate 112 needs to be picked up, the blocking member 12 can be opened to facilitate the removal of the medicine bottle 200.

[0046] In some examples, the blocking member 12 can include a movable portion 121 movably provided at the opening of the medicine bottle storage position, a transmission portion 122 linked with the movable portion 121 and configured to provide a service effect that can make the movable portion 121 leave the opening of the medicine bottle storage position, and a restoring portion 123 linked with the movable portion 121 and configured to provide a restoring effect that can make the movable portion 121 return to the opening of the medicine bottle storage position (see Figure 3 ). In this case, the movable portion 121 can be made to leave the opening of the medicine bottle storage position by touching the transmission portion 122, and the movable portion 121 can be made to return to the opening of the medicine bottle storage position by the restoring portion 123, thereby providing a blocking member 12 that can be opened and closed.

[0047] In addition, in some examples, the transmission portion 122 can be configured to move in a manner that can intersect with the medicine bottle storage position and move away from the medicine bottle storage position to actuate the movable portion 121 to leave the opening of the medicine bottle storage position. For example, the transmission portion 122 can be configured to move in the left-right direction to move away from the medicine bottle storage position, thereby actuating the movable portion 121 to leave the opening of the medicine bottle storage position. For example, in the embodiment shown in Figure 3 , the transmission portion 122 can be moved to the right to actuate the movable portion 121 to leave the opening of the medicine bottle storage position.

[0048] It should be noted that, in the embodiments shown in Figure 2 and Figure 3 , the blocking member 12 is provided at one end of the second side plate 112, and in this case, the movable portion 121 is made to leave the opening of the medicine bottle storage position by applying an effect to the transmission portion 122 towards the right. It should be understood that this is only one way of arrangement, and should not be understood as limiting, for example, in some examples, the blocking member 12 can also be provided at one end of the first side plate 111, and in this case, the movable portion 121 can be made to leave the opening of the medicine bottle storage position by applying an effect to the transmission portion 122 towards the left. In the following content herein, the blocking member 12 is provided at one end of the second side plate 112 to illustrate the embodiment.

[0049] In some examples, the transmission portion 122 can be a protrusion extending upward from the movable portion 121. In some examples, the transmission portion 122 can be in a columnar shape, and an action is applied to the transmission portion 122 toward the right to move the transmission portion 122 toward the right to move away from the bottle storage position, so as to move the movable portion 121 away from the opening of the bottle storage position (see Figure 3 ).

[0050] In some examples, the return portion 123 can be a torsion spring, and when the movable portion 121 moves away from the opening of the bottle storage position, the torsion spring can provide a return action to return the movable portion 121 to the opening of the bottle storage position (see Figure 3 ).

[0051] In some examples, the advancing member 13 can be disposed on the base plate 110 and configured to be movable along the base plate 110. In some examples, the advancing member 13 can include an abutting portion 131 for abutting against the bottle 200 placed in the bottle storage position, a power portion (not shown) connected to the abutting portion 131 and configured to apply an action to the abutting portion 131 toward the blocking member 12, and a braking portion (not shown) configured to brake the abutting portion 131.

[0052] In the present embodiment, the bottle 200 can be placed in the bottle storage position formed between the blocking member 12 and the advancing member 13, and the advancing member 13 can apply an action to the bottle 200 toward the blocking member 12. When the movable portion 121 of the blocking member 12 moves away from the opening of the bottle storage position, the bottle 200 can be transferred out of the bottle storage position along the bottle storage position via the opened blocking member 12 under the action of the advancing member 13.

[0053] Figure 4 is a top view showing the picking mechanism 20 picking up the bottle 200 from the placing mechanism 10 according to an example of the present disclosure.

[0054] In the present embodiment, the picking mechanism 20 can pick up the bottle 200 placed on the placing mechanism 10. In some examples, the picking mechanism 20 can be disposed on the side close to the blocking member 12 (see Figure 4 ). Thus, the bottle 200 placed in the bottle storage position can be transferred to the picking mechanism 20 via the opened blocking member 12.

[0055] In Figure 4In the illustrated embodiment, the picking mechanism 20 is adjacent to the opening of the vial storage position, and when the movable part 121 of the blocking member 12 is away from the opening of the vial storage position (i.e., the blocking member 12 is opened), the vial 200 can be transferred to the picking mechanism 20 along the vial storage position and through the opened blocking member 12 under the action of the pushing member 13. In some examples, one or more vials 200 can be placed in the vial storage position. When the picking mechanism 20 picks up multiple vials 200, the multiple vials 200 can be transferred to the picking mechanism 20 one by one through the opened blocking member 12.

[0056] Figure 5A is a schematic view showing the vial 200 before being transferred to the picking mechanism 20 according to an example of the present disclosure; Figure 5B is a schematic view showing the vial 200 after being transferred to the picking mechanism 20 according to an example of the present disclosure.

[0057] In some examples, the picking mechanism 20 can include a base 21 configured to be movable relative to the placement mechanism 10, a central arm 22 disposed on the base 21 and configured to be movable, a first side arm 23 linked with the central arm 22, and a second side arm 24 linked with the central arm 22 and configured to be movable toward or away from the first side arm 23. In some examples, the central arm 22, the first side arm 23, and the second side arm 24 cooperate to form a clamping space facing the vial storage position (see Figure 5A and Figure 5B ).

[0058] In some examples, the central arm 22 can move in a manner of approaching or moving away from the placement mechanism 10. In some examples, the central arm 22 can move in a front-rear direction (i.e., the direction indicated by D1 and D2 in the illustrated embodiment). Figure 5A and Figure 5B In some examples, the first side arm 23 and the second side arm 24 can move in a left-right direction (i.e., the direction indicated by D3 and D4 in the illustrated embodiment). Figure 5A and Figure 5B

[0059] In some examples, when the central arm 22 moves in a manner of approaching the placement mechanism 10, the first side arm 23 and the second side arm 24 can be linked to move toward each other. In addition, in some examples, when the central arm 22 moves in a manner of moving away from the placement mechanism 10, the first side arm 23 and the second side arm 24 can be linked to move away from each other.

[0060] In some examples, the picking mechanism 20 can further include a driving member 25 disposed on the base 21 and configured to drive the central arm 22 (see Figure 5A and Figure 5B ​). In some examples, the driving member 25 can drive the central arm 22 to move along the front-back direction. In some examples, the driving member 25 can drive the central arm 22 by a transmission shaft manner, for example, the driving member 25 can be connected to the central arm 22 by a telescopic lead screw (not shown) to drive the central arm 22. In other examples, the driving member 25 can drive the central arm 22 by a gear manner.

[0061] In some examples, the picking mechanism 20 can further include a touching member 26 (see Figure 5A and Figure 5B ). In some examples, the touching member 26 can be disposed on the base 21 near the side of the placing mechanism 10. In some examples, the touching member 26 can be configured to be linked with the base 21. In some examples, the touching member 26 is configured to be able to touch the transmission part 122 of the blocking member 12 to move the transmission part 122 away from the medicine bottle position, so as to make the movable part 121 leave the opening of the medicine bottle position. In some examples, when the picking mechanism 20 moves close to the medicine bottle position, the transmission part 122 can be located on the travel path of the touching member 26 (see Figure 5A and Figure 5B ).

[0062] In some examples, the picking mechanism 20 can have a picking mode and a releasing mode. When the picking mechanism 20 is configured in the picking mode, the base 21 can move towards the placing mechanism 10 to make the clamping space close to the medicine bottle position and the blocking member 12 is opened by the touching member 26, the pushing member 13 can transfer the medicine bottle 200 along the medicine bottle position to the clamping space through the opened blocking member 12, and the central arm 22 can be driven by the driving member 25 to move close to the medicine bottle 200 and link the first side arm 23 and the second side arm 24 to move towards each other to clamp the medicine bottle 200 by the central arm 22, the first side arm 23 and the second side arm 24 respectively abutting the medicine bottle 200 from three directions (see Figure 5A and Figure 5B ).

[0063] When the picking mechanism 20 is configured in the releasing mode, the central arm 22 can be driven by the driving member 25 to move away from the medicine bottle 200 and link the first side arm 23 and the second side arm 24 to move away from each other to release the medicine bottle 200.

[0064] In the picking mechanism 20 according to the present disclosure, the picking mechanism 20 includes a base 21 movable relative to the placing mechanism 10, a central arm 22 disposed on the base 21 and cooperatively forming a clamping space with the first side arm 23 and the second side arm 24, and the central arm 22 is movable in a manner close to the placing mechanism 10 and is linked to move the first side arm 23 and the second side arm 24 toward each other. In addition, the picking mechanism 20 further includes a touch member 26 disposed on the base 21 and configured to open the blocking member 12. By moving the base 21 toward the placing mechanism 10, the clamping space can be close to the placing mechanism 10 on which the medicine bottle 200 is placed, and by the touch member 26, the blocking member 12 of the placing mechanism 10 can be opened, so that the pushing member 13 can transfer the medicine bottle 200 to the clamping space. In addition, by driving the central arm 22 in a manner close to the placing mechanism 10, the first side arm 23 and the second side arm 24 can be linked to move toward each other, so that the central arm 22, the first side arm 23 and the second side arm 24 can abut the medicine bottle 200 from three directions respectively to clamp the medicine bottle 200. In this case, the picking mechanism 20 can automatically pick the medicine bottle 200 placed on the placing mechanism 10.

[0065] Figure 6A is a schematic view showing the blocking member 12 closed according to an example of the present disclosure; Figure 6B is a schematic view showing the blocking member 12 opened according to an example of the present disclosure. It should be noted that, in the embodiment shown in Figure 6A and Figure 6B , in order to more clearly show that the touch member 26 opens the blocking member 12, the part of the touch member 26 that causes visual obstruction is hidden in the drawings.

[0066] In the present embodiment, when the base 21 moves toward the front (i.e., the direction close to the placing mechanism 10), the transmission part 122 of the blocking member 12 can be located on the travel path of the touch member 26, and the transmission part 122 can be actuated by the touch member 26 to make the movable part 121 leave the bottle opening of the medicine bottle position (see Figure 6A and Figure 6B ). In this case, the touch member 26 can be linked by the movement of the base 21 to actuate the transmission part 122 of the touch member 26 to make the movable part 121 leave the bottle opening of the medicine bottle position, so that the configuration of the power source can be simplified.

[0067] In some examples, the touch member 26 can include a guide surface 261 having a predetermined guide path (see Figure 6A and Figure 6B ). In some examples, the predetermined guide path has a first direction substantially along the front-back direction and a second direction intersecting the first direction. In some examples, the first direction can be along the front-back direction, and the second direction can be along the left-right direction. In Figure 6A andFigure 6B In the illustrated embodiment, the second direction can be toward the right.

[0068] When the base 21 moves toward the front (i.e., the direction indicated by D1 in the illustrated embodiment), the actuating member 26 can contact the transmission portion 122 and guide the transmission portion 122 via the guide surface 261 so as to move the transmission portion 122 away from the pill bottle position toward the right (i.e., the direction indicated by D4 in the illustrated embodiment). That is, when the actuating member 26 actuates the transmission portion 122, the transmission portion 122 can move along a predetermined guide path compared to the guide surface 261, and the transmission portion 122 can move away from the pill bottle position toward the right so as to move the movable portion 121 away from the opening of the pill bottle position (see Figure 6A Figure 6B In the illustrated embodiment, the second direction can be toward the right. Figure 6A Figure 6B In the illustrated embodiment, the second direction can be toward the right. Figure 6A Figure 6B In the illustrated embodiment, the second direction can be toward the right.

[0069] Referring to Figure 6A Figure 6B In the illustrated embodiment, the second direction can be toward the right.

[0070] In some examples, the actuating member 26 can be provided on the first side arm 23 or the second side arm 24. In some examples, the actuating member 26 can be provided on one end of the first side arm 23 or the second side arm 24 close to the placement mechanism 10. In some examples, the actuating member 26 can be a guide surface with a predetermined guide path formed on the first side arm 23 or the second side arm 24. In this way, the structure can be simplified. In this document, the actuating member 26 provided on the first side arm 23 is illustratively described.

[0071] Figure 7A is a top view showing the central arm 22, the first side arm 23 and the second side arm 24 of the pickup mechanism 20 according to an example of the present disclosure in a release mode; Figure 7B ​​​​is a top view schematic diagram showing the central arm 22, the first side arm 23 and the second side arm 24 of the pickup mechanism 20 in the pickup mode according to an example of the present disclosure.

[0072] In some examples, the central arm 22, the first side arm 23 and the second side arm 24 can be in the shape of a long strip. In addition, in some examples, the first side arm 23 and the second side arm 24 can be closer to the placement mechanism 10 than the central arm 22. In this case, the touch member 26 provided on the first side arm 23 or the second side arm 24 can be facilitated to touch the transmission portion 122.

[0073] In some examples, the central arm 22, the first side arm 23 and the second side arm 24 can be movably provided on the base 21. In some examples, the central arm 22 can be movably provided on the base 21 in the front-rear direction. In some examples, the first side arm 23 and the second side arm 24 can be movably provided on the base 21 in the left-right direction. In some examples, the first side arm 23 and the second side arm 24 can be oppositely provided on both sides of the central arm 22 (see Figure 7A and Figure 7B ). In some examples, when the central arm 22 moves in a direction away from the placement mechanism 10 (i.e., toward the rear), the first side arm 23 and the second side arm 24 can move away from each other to expand the clamping space (see Figure 7A ), so as to release the vial 200 or adapt to a larger size of the vial 200. When the central arm 22 moves in a direction close to the placement mechanism 10 (i.e., toward the front), the first side arm 23 and the second side arm 24 can move toward each other to narrow the clamping space (see Figure 7B ), so as to clamp the vial 200 or adapt to a smaller size of the vial 200.

[0074] Figure 8A is a bottom view schematic diagram showing the central arm 22, the first side arm 23 and the second side arm 24 of the pickup mechanism 20 in the release mode according to an example of the present disclosure; Figure 8B is a bottom view schematic diagram showing the central arm 22, the first side arm 23 and the second side arm 24 of the pickup mechanism 20 in the pickup mode according to an example of the present disclosure.

[0075] In some examples, the opposite wings of the central arm 22 can be respectively provided with a first guide slot 221 and a second guide slot 222 (see Figure 8A and Figure 8B ). In some examples, the first guide slot 221 and the second guide slot 222 can gradually move away from each other in a direction close to the placement mechanism 10 (i.e., toward the front).

[0076] In some examples, the first side arm 23 can have a first sliding shaft 231, and the first sliding shaft 231 can be movably embedded in the first guide slot 221. The second side arm 24 can have a second sliding shaft 241, and the second sliding shaft 241 can be movably embedded in the second guide slot 222 (see Figure 8A and Figure 8B ). In this case, when the central arm 22 moves in a manner close to the placement mechanism 10 (i.e., toward the front), the first sliding shaft 231 can be guided by the first guide slot 221 and the second sliding shaft 241 can be guided by the second guide slot 22 to move the first side arm 23 and the second side arm 24 toward each other. In this case, by the design of the guide slots (the first guide slot 221 and the second guide slot 222) and the sliding shafts (the first sliding shaft 231 and the second sliding shaft 241), the linkage structure of the central arm 22 and the first side arm 23 and the second side arm 24 can be simplified.

[0077] In addition, in some examples, a central sliding rail (not shown) along the front-back direction can be provided on the base 21, and a first sliding rail (not shown) and a second sliding rail (not shown) along the left-right direction can be respectively provided on opposite sides of the central sliding rail. The central arm 22 can be provided on the central sliding rail and configured to be movable along the central sliding rail, the first side arm 23 can be provided on the first sliding rail and configured to be movable along the first sliding rail, and the second side arm 24 can be provided on the second sliding rail and configured to be movable along the second sliding rail. In this case, when the central arm 22 moves toward the front along the central sliding rail, the first side arm 23 and the second side arm 24 can move toward each other along the first sliding rail and the second sliding rail, respectively, under the guidance of the first guide slot 221 and the second guide slot 222, and when the central arm 22 moves toward the back along the central sliding rail, the first side arm 23 and the second side arm 24 can move away from each other along the first sliding rail and the second sliding rail, respectively, under the guidance of the first guide slot 221 and the second guide slot 222, thereby providing a linkage mechanism that facilitates expanding or reducing the clamping space.

[0078] Figure 9 is a schematic view showing the moving member 28 of the pickup mechanism 20 involved in the examples of the present disclosure.

[0079] In some examples, the pickup mechanism 20 can further include a moving member 28. The moving member 28 is configured to be movable with the base 21.

[0080] In some examples, the moving member 28 can include a first rail 281 laid along the left-right direction, a second rail 282 laid on the first rail 281 along the up-down direction and configured to be movable along the first rail 281, a third rail 283 laid on the second rail 282 along the front-rear direction and configured to be movable along the second rail 282, and a motor 284 configured to be able to apply a force along the front-rear direction. In some examples, the base 21 can be movably provided on the third rail 283 and drivable by the motor 284. In this way, the base 21 can be facilitated to move along three dimensions, so that the clamping space can be facilitated to approach the placement mechanism 10 on which the medicine bottle 200 is placed.

[0081] In some examples, the motor 284 can drive the base 21 to move along the third rail 283, so that the base 21 can be moved along the front-rear direction. The third rail 283 can be moved along the second rail 282, so that the base 21 can be moved along the up-down direction. The second rail 282 can be moved along the first rail 281, so that the base 21 can be moved along the left-right direction. In this case, the moving member 28 formed by the cooperation of the first rail 281, the second rail 282, the third rail 283, and the motor 284 moves the base 21, so that the central arm 22, the first side arm 23, and the second side arm 24 can be moved along three dimensions to approach the placement mechanism 10 and pick up the medicine bottle 200 placed on the placement mechanism 10.

[0082] Figure 10 FIG. 5 is a flowchart illustrating a process in which the picking mechanism 20 picks up the medicine bottle 200 placed on the placement mechanism 10 according to an example of the present embodiment. Hereinafter, the picking mechanism 20 will be described in detail with reference to FIG. 5. Figure 10

[0083] In some examples, as shown in FIG. 6, the process in which the picking mechanism 20 picks up the medicine bottle 200 placed on the placement mechanism 10 can include the following steps: moving the clamping space to the vicinity of the magazine opening of the medicine bottle magazine (step S100); opening the blocking member 12 (step S200); transferring the medicine bottle 200 to the clamping space (step S300); and narrowing the clamping space to clamp the medicine bottle 200 (step S400). Figure 10

[0084] In some examples, in step S100, the moving member 28 can move the base 21 along three dimensions of the front-rear direction, the left-right direction, and the up-down direction to move the clamping space formed by the central arm 22, the first side arm 23, and the second side arm 24 to the vicinity of the magazine opening of the medicine bottle magazine.

[0085] ​​In some examples, in step S200, the motor 284 can drive the base 21 towards the front, so as to move the triggering member 26 towards the transmission part 122 and contact the transmission part 122, the transmission part 122 can be guided by the guide surface 261 of the triggering member 26 to move away from the opening of the medicine bottle position towards the right, so as to make the movable part 121 move away from the opening of the medicine bottle position, i.e. open the blocking member 12.

[0086] In some examples, in step S300, after the blocking member 12 is opened, the medicine bottle 200 can be transferred along the medicine bottle position to the clamping space located at the opening of the medicine bottle position via the opened blocking member 12 under the action of the pushing member 13.

[0087] In some examples, in step S400, the driving part 25 can drive the central arm 22 towards the front, and the central arm 22 can drive the first side arm 23 and the second side arm 24 to move towards each other to reduce the clamping space, so as to make the central arm 22, the first side arm 23 and the second side arm 24 abut the outer wall of the medicine bottle 200 from three directions respectively, thereby clamping the medicine bottle 200.

[0088] Although the disclosure is specifically described above in combination with the drawings and examples, it can be understood that the above description does not limit the disclosure in any form. Those skilled in the art can deform and change the disclosure according to needs without deviating from the essential spirit and scope of the disclosure, and these deformations and changes all fall within the scope of the disclosure.

Claims

1. A gripping mechanism for gripping a medicine bottle, comprising: a base configured to be movable relative to a medicine bottle storage position; a central arm disposed on the base and configured to be movable toward and away from the medicine bottle storage position; a first side arm linked to the central arm; a second side arm linked to the central arm and configured to be movable toward and away from the first side arm; and a triggering member disposed on a side of the base close to the medicine bottle storage position and configured to be linked to the base, the central arm, the first side arm and the second side arm cooperating to form a gripping space toward the medicine bottle storage position, the gripping mechanism having a picking mode, when the gripping mechanism is configured in the picking mode, the base is moved toward the medicine bottle storage position to cause the gripping space to be close to the medicine bottle storage position and the triggering member to open a blocking member configured to form a removable blocking effect on the medicine bottle, the medicine bottle is transferred along the medicine bottle storage position to the gripping space via the opened blocking member, the central arm is configured to be driven to move close to the medicine bottle and to link the first side arm and the second side arm to move toward each other to grip the medicine bottle by abutting the medicine bottle from three directions respectively by the central arm, the first side arm and the second side arm.

2. The gripping mechanism according to claim 1, comprising: a driving member disposed on the base and configured to drive the central arm.

3. The gripping mechanism according to claim 2, wherein: the driving member drives the central arm to move toward and away from the medicine bottle storage position by a transmission shaft.

4. The gripping mechanism according to claim 3, wherein: the driving member is connected to the central arm by a telescopic lead screw to drive the central arm.

5. The gripping mechanism according to claim 1, wherein: the gripping mechanism further has a releasing mode, when the gripping mechanism is configured in the releasing mode, the central arm is configured to be driven to move away from the medicine bottle and to link the first side arm and the second side arm to move away from each other to release the medicine bottle.

6. The gripping mechanism according to claim 4, wherein: opposite wings of the central arm are respectively provided with a first guide slot and a second guide slot, the first guide slot and the second guide slot gradually move away from each other along a direction close to the medicine bottle storage position.

7. The gripping mechanism according to claim 6, wherein: the first side arm has a first sliding shaft and the first sliding shaft is movably embedded in the first guide slot, the second side arm has a second sliding shaft and the second sliding shaft is movably embedded in the second guide slot, when the central arm moves close to the medicine bottle storage position, the first sliding shaft is guided by the first guide slot and the second sliding shaft is guided by the second guide slot to cause the first side arm and the second side arm to move toward each other.

8. The gripping mechanism according to claim 7, wherein: ​ ​ ​ ​ ​ ​ ​ The base is provided with a central slide rail along the front-rear direction, and first and second slide rails respectively provided on opposite sides of the central slide rail and along the left-right direction, the central arm is provided on the central slide rail and configured to be movable along the central slide rail, the first side arm is provided on the first slide rail and configured to be movable along the first slide rail, and the second side arm is provided on the second slide rail and configured to be movable along the second slide rail.

9. The gripping mechanism according to claim 1, wherein The moving member includes a first guide rail laid along the left-right direction, a second guide rail laid on the first guide rail along the up-down direction and configured to be movable along the first guide rail, a third guide rail laid on the second guide rail along the front-rear direction and configured to be movable along the second guide rail, and a motor configured to apply a force along the front-rear direction, and the base is movably provided on the third guide rail and drivable by the motor.

10. The gripping mechanism according to claim 1, wherein The central arm, the first side arm, and the second side arm are in a long strip shape.

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