Medicine cabinet medicine taking robot

Abstract

The application discloses a medicine cabinet medicine taking mechanical arm, which comprises a bottom plate, a medicine shelf arranged on the upper end of the bottom plate, box-shaped medicines and jar-shaped medicines arranged on the medicine shelf in sequence, and further comprises a feeding unit arranged on the upper end of the bottom plate and located on one side of the medicine shelf and used for adjusting the feeding of the mechanical arm to take medicines; a medicine taking unit, which comprises a medicine conveying assembly arranged on one side of the feeding unit and used for conveying and pre-storing the taken medicines, a medicine pushing assembly arranged above the medicine conveying assembly and used for pushing the jar-shaped medicines or the box-shaped medicines, and a switching assembly arranged above the medicine pushing assembly and used for switching the storage areas of the box-shaped medicines or the jar-shaped medicines. The medicines are directly pushed from the medicine shelf to the medicine conveying track, so that no certain clamping space needs to be reserved for the medicine taking process when the medicines are placed on the medicine shelf, and the space utilization of the medicine shelf is greatly increased.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medicine cabinet medicine taking, in particular to a medicine cabinet medicine taking mechanical arm. BACKGROUND

[0002] Medicines are stored in the medicine cabinet according to the set order. Due to the large number of patients in the hospital, the number of medicines in the prescription information also increases. In order to improve the efficiency of taking medicine, the hospital generally uses a medicine taking mechanical arm to automatically identify and take medicine from the medicine cabinet according to the medicine information in the prescription. The common medicine packaging in the medicine cabinet is box-shaped or jar-shaped, and the height of the jar-shaped packaging medicine placed on the medicine cabinet is generally higher than that of the box-shaped medicine.

[0003] However, the existing medicine taking mechanical arm usually uses clamping to clamp and take out the medicine, which requires a certain space between adjacent medicine boxes or medicine jars when placing them in the medicine cabinet to provide clamping space for the medicine taking mechanical arm. Since there are many medicines in the medicine cabinet, reserving a certain clamping space for each medicine or medicine jar placement will greatly reduce the utilization rate of the medicine cabinet.

[0004] In addition, when there are box-shaped packaging and jar-shaped packaging medicines in the prescription, the existing mechanical arm needs to clamp the box-shaped packaging medicine and the jar-shaped packaging medicine twice. After the box-shaped medicine is clamped out of the medicine cabinet and delivered to the patient's medicine taking area, the mechanical arm returns to the jar-shaped packaging medicine to take out the jar-shaped medicine and deliver it to the patient's medicine taking area. This requires the mechanical arm to make an extra round trip when taking box-shaped packaging and jar-shaped packaging medicines, which lengthens the entire medicine taking trip and reduces the medicine taking efficiency.

[0005] The above content is only used to assist in understanding the technical solutions of the present application and does not represent the acknowledgement of the above content as the closest prior art. SUMMARY

[0006] The present application aims to provide a medicine cabinet medicine taking mechanical arm to solve the problems of low space utilization of the medicine cabinet and low medicine taking efficiency caused by the need to reserve a moving gap for the mechanical arm to clamp and provide working space when placing medicines in the medicine cabinet, and the inability of the existing mechanical arm to take out box-shaped medicines and jar-shaped medicines in one trip.

[0007] To achieve the above-mentioned purpose, the present application provides the following technical solutions:

[0008] A medicine cabinet medicine taking mechanical arm, comprising a bottom plate, a medicine rack arranged on the upper end of the bottom plate, box-shaped medicines and jar-shaped medicines arranged in sequence on the medicine rack, and further comprising:

[0009] A feeding unit arranged on the upper end of the bottom plate and located on one side of the medicine rack, used to adjust the feeding of the mechanical arm to take medicine.

[0010] The medicine taking unit comprises a medicine conveying assembly arranged on one side of the feeding unit and used for conveying and pre-storing the taken medicine, a medicine pushing assembly arranged above the medicine conveying assembly and used for pushing the can-shaped medicine or the box-shaped medicine, and a switching assembly arranged above the medicine pushing assembly and used for switching the storage area of the can-shaped medicine or the box-shaped medicine.

[0011] The transfer unit is arranged between the feeding unit and the medicine rack and used for transferring the box-shaped medicine or the can-shaped medicine taken synchronously to the patient medicine taking area.

[0012] Further, the medicine conveying assembly comprises:

[0013] The medicine conveying rail is provided with a transition surface at one end corresponding to the medicine rack, and is used for transferring the medicine on the medicine rack to the medicine conveying rail;

[0014] The pre-tightening mechanism is arranged at the lower end of the transition surface and is used for supporting the can-shaped medicine during the transition process on the transition surface;

[0015] The centering mechanism is arranged in two groups and is symmetrically arranged along the two sides of the medicine conveying rail, and is used for guiding and centering the can-shaped medicine on the medicine conveying rail, and a gap for passing the box-shaped medicine is left between the centering mechanism and the bottom of the medicine conveying rail;

[0016] The can-shaped medicine cartridge is connected to the lower end of the medicine conveying rail and is close to the medicine rack, and is used for buffering the centered can-shaped medicine;

[0017] The box-shaped medicine frame is arranged at the lower end of the medicine conveying rail and is away from the medicine rack, and is used for buffering the taken box-shaped medicine.

[0018] Further, the centering mechanism comprises:

[0019] The second guide frame is connected to one side of the medicine conveying rail, and the second retreat slot is arranged in the second guide frame;

[0020] The top rod is slidingly inserted into the second retreat slot;

[0021] The thrust spring is connected to one end of the top rod and is located in the second retreat slot, and is used for tightly pressing the top rod;

[0022] The wedge block is connected to the end of the top rod opposite to the thrust spring, and is provided with a wedge surface at one end of the opening of the medicine conveying rail, and is used for guiding and centering the can-shaped medicine moving along the medicine conveying rail.

[0023] Further, the medicine pushing assembly comprises:

[0024] The mounting block is arranged at the upper end of the medicine conveying assembly, and the first driving motor is mounted on one side of the mounting block;

[0025] A driving gear is arranged inside the mounting block and connected with the first driving motor at one end;

[0026] A first toothed rod is inserted inside the mounting block and engaged with the driving gear, for taking out the medicine in the medicine rack;

[0027] A lifting assembly is connected at one end of the first toothed rod located in the medicine rack, for switching the medicine taking state according to the removed box-shaped or can-shaped medicine.

[0028] Further, the lifting assembly comprises;

[0029] A mounting frame is connected at one end of the first toothed rod, and a second driving motor is mounted on the upper end of the mounting frame;

[0030] A screw rod is connected to the driving end of the second driving motor;

[0031] A lifting arm is inserted into the mounting frame at one end and threadedly connected with the screw rod, for adjusting the medicine pushing height for box-shaped medicine and can-shaped medicine.

[0032] Further, a pushing rod for pushing the medicine out of the medicine rack is connected to the lower end of the lifting arm;

[0033] The bottom of the pushing rod is connected with a horizontal block for contacting the side of the box-shaped medicine;

[0034] One side of the pushing rod and above the horizontal block is connected with an arc-shaped block for contacting the side of the can-shaped medicine.

[0035] Further, the switching assembly comprises;

[0036] A guide block is connected to one side of the medicine feeding rail and corresponds to the can-shaped medicine cartridge, and a second guide groove is arranged inside the guide block;

[0037] A lifting rod is inserted into the second guide groove and slides up and down;

[0038] A baffle is connected to one end of the lifting rod, for plugging the medicine inlet of the can-shaped medicine cartridge when the medicine feeding rail is transferring the box-shaped medicine.

[0039] Further, the switching assembly further comprises;

[0040] A second toothed rod is connected to the upper end of the lifting rod;

[0041] A first gear is engaged with the second toothed rod, for driving the second gear to work in lifting;

[0042] A second gear is engaged with the first gear, and the diameter of the second gear is greater than that of the first gear, for driving the first gear to rotate at a higher speed;

[0043] The third tooth rod is engaged with the second gear and is connected to the medicine pushing assembly through a push-pull rod.

[0044] The gear box is arranged outside the first gear, the second gear, the first tooth rod and the second tooth rod, and is used for limiting the first gear, the second gear, the first tooth rod and the second tooth rod.

[0045] Further, the transfer unit comprises:

[0046] The tank-shaped pushing assembly is used for transferring the medicine stored in the tank-shaped medicine cartridge.

[0047] The box-shaped pushing assembly is arranged on one side of the tank-shaped pushing assembly and is used for transferring the medicine in the box-shaped medicine frame, and the distance between the box-shaped pushing assembly and the tank-shaped pushing assembly is equal to the distance between the tank-shaped medicine cartridge and the box-shaped medicine frame.

[0048] Further, the feeding unit comprises:

[0049] The X feeding rail is connected to the upper end of the bottom plate.

[0050] The Y feeding rail is connected to the upper end of the X feeding rail.

[0051] The Z feeding rail is connected to the upper end of the Y feeding rail and is used for adjusting the position of the medicine taking unit in cooperation with the X feeding rail and the Y feeding rail.

[0052] Compared with the prior art, the present application has the following advantages:

[0053] The feeding unit drives the medicine transferring assembly to move to one side of the box-shaped medicine or the tank-shaped medicine which needs to be taken out and contacts the upper end of the medicine rack. At this time, the pushing part of the medicine pushing assembly is located on the side of the box-shaped medicine or the tank-shaped medicine relative to the medicine transferring assembly. When the box-shaped medicine with a high vertical height is taken, the medicine pushing assembly pushes the middle part of the tank-shaped medicine, and the tank-shaped medicine is pushed into the medicine transferring assembly from the medicine rack. When the box-shaped medicine with a low vertical height is taken, the switching assembly drives the medicine pushing assembly to move downward, so that the medicine pushing assembly moves to one side of the box-shaped medicine with a low vertical height, and then the box-shaped medicine is pushed into the medicine transferring assembly. In this way, the medicine is directly pushed from the medicine rack to the medicine feeding rail, so that when the medicine is placed on the medicine rack, a certain clamping space does not need to be reserved for the medicine taking process, which greatly increases the space utilization rate of the medicine rack. At the same time, the switching assembly switches the medicine pushing assembly to different heights, so that two types of packaged medicines can be taken out in one stroke when taking medicine, and the medicine taking efficiency is high. BRIEF DESCRIPTION OF DRAWINGS

[0054] Figure 1 It is a schematic diagram of the overall front structure of the present application.

[0055] Figure 2 It is a schematic diagram of the overall rear structure of the present application.

[0056] Figure 3 The cooperation relationship diagram of the medicine transmission assembly and the medicine pushing assembly of the present application;

[0057] Figure 4 The cooperation relationship diagram of the medicine transmission track and the centering mechanism of the present application;

[0058] Figure 5 The cooperation relationship diagram of the medicine transmission assembly and the switching assembly of the present application;

[0059] Figure 6 The structure diagram of the pre-tightening mechanism of the present application;

[0060] Figure 7 The structure diagram of the medicine pushing assembly of the present application;

[0061] Figure 8 The structure diagram of the switching assembly of the present application;

[0062] Figure 9 The enlarged view of A in the present application; Figure 8

[0063] Figure 10 The cooperation relationship diagram of the can-shaped pushing assembly and the box-shaped pushing assembly of the present application;

[0064] Figure 11 The internal structure diagram of the can-shaped medicine cartridge and the box-shaped medicine frame of the present application;

[0065] Figure 12 The connection relationship diagram of the first lifting rod and the containing disc of the present application;

[0066] Figure 13 The working state diagram of the can-shaped medicine taking out of the present application;

[0067] Figure 14 The working state diagram of the box-shaped medicine taking out of the present application.

[0068] ​Label: 1, feeding unit; 2, medicine taking unit; 3, transfer unit; 100, bottom plate; 101, medicine shelf; 102, jar medicine; 103, box medicine; 11, X feeding rail; 12, Y feeding rail; 13, Z feeding rail; 21, medicine conveying assembly; 211, medicine feeding rail; 2111, transition surface; 2112, first guide groove; 212, pre-tightening mechanism; 2120, connecting rod; 2121, first guide frame; 2122, first displacement groove; 2123, sliding block; 2124, pre-tightening spring; 2125, telescopic rod; 2126, supporting rod; 213, centering mechanism; 2131, second guide frame; 2132, second displacement groove; 2133, thrust spring; 2134, jacking rod; 2135, wedge; 214, jar medicine cartridge; 2140, containing groove; 2141, first reserved groove; 2142, first medicine outlet; 215, box medicine frame; 2151, second reserved groove; 2152, second medicine outlet; 22, medicine pushing assembly; 221, mounting block; 222, drive gear; 223, first toothed rod; 220, first drive motor; 224, lifting assembly; 2241, mounting frame; 2242, second drive motor; 2243, screw rod; 2244, lifting arm; 2245, push rod; 2246, arc block; 2247, horizontal block; 23, switching assembly; 231, guide block; 2311, second guide groove; 232, lifting rod; 233, baffle; 234, second toothed rod; 235, first gear; 236, second gear; 237, gear box; 238, third toothed rod; 239, push-pull rod; 31, jar pushing assembly; 32, box pushing assembly; 311, support; 312, first conveying belt; 313, containing disc; 314, enclosure; 315, first lifting rod; 316, inclined rod; 317, first medicine taking frame; 321, second conveying belt; 322, second lifting rod; 323, second medicine taking frame. DETAILED DESCRIPTION

[0069] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0070] Embodiment one

[0071] Please refer to Figures 1-14 The present application provides a technical solution:

[0072] A medicine cabinet medicine taking mechanical hand, comprising a bottom plate 100, a medicine shelf 101 arranged on the upper end of the bottom plate 100, a box medicine 103 and a jar medicine 102 arranged on the medicine shelf 101 in sequence, further comprising:

[0073] The feeding unit 1 is arranged at the upper end of the bottom plate 100 and located at one side of the medicine rack 101, and is used for adjusting the feeding of the mechanical hand to take medicine;

[0074] The medicine taking unit 2 comprises a medicine conveying assembly 21 arranged at one side of the feeding unit 1 and used for conveying and pre-storing the taken medicine, a medicine pushing assembly 22 arranged above the medicine conveying assembly 21 and used for pushing the jar-shaped medicine 102 or the box-shaped medicine 103, and a switching assembly 23 arranged above the medicine pushing assembly 22 and used for switching the storage area of the box-shaped medicine 103 or the jar-shaped medicine 102;

[0075] The transfer unit 3 is arranged between the feeding unit 1 and the medicine rack 101, and is used for transferring the box-shaped medicine 103 or the jar-shaped medicine 102 taken synchronously to the patient medicine taking area.

[0076] It should be noted that, in use, the feeding unit 1 drives the medicine conveying assembly 21 to move to one side of the box-shaped medicine 103 or the jar-shaped medicine 102 to be taken and to be in contact with the upper end of the medicine rack 101, at this time, the pushing part of the medicine pushing assembly 22 is located at one side of the box-shaped medicine 103 or the jar-shaped medicine 102 relative to the medicine conveying assembly 21, when the box-shaped medicine 103 with high vertical height is taken, the medicine pushing assembly 22 pushes the middle part of the jar-shaped medicine 102, and the jar-shaped medicine 102 is pushed from the medicine rack 101 to the medicine conveying assembly 21, when the box-shaped medicine 103 with low vertical height is taken, the switching assembly 23 drives the medicine pushing assembly 22 to move downward, so that the medicine pushing assembly 22 moves to one side of the box-shaped medicine 103 with low vertical height, and then the box-shaped medicine 103 is pushed into the medicine conveying assembly 21, in this way, the medicine is directly pushed from the medicine rack 101 to the medicine conveying rail 211, so that when the medicine is placed on the medicine rack 101, a certain clamping space does not need to be reserved for the medicine taking process, which greatly increases the space utilization rate of the medicine rack 101, and meanwhile, through the switching of the switching assembly 23, the medicine pushing assembly 22 is switched to different heights, so that two types of packaged medicines can be taken through one stroke during the medicine taking process, and the taken medicines are taken out by the transfer unit 3, so that the medicine taking efficiency is high.

[0077] As an improvement, as shown in Figure 3 , Figures 5-6 The medicine conveying assembly 21 comprises:

[0078] The medicine conveying rail 211 is provided with a transition surface 2111 at one end corresponding to the medicine rack 101, and is used for transitioning the medicine on the medicine rack 101 to the medicine conveying rail 211;

[0079] The medicine conveying rail 211 is provided with a containing groove 2140 at the upper end and below the lifting rod 232, and is used for containing the lifting rod 232 after the lifting rod 232 is lowered;

[0080] The pre-tightening mechanism 212 is arranged at the lower end of the transition surface 2111 and is used to support the can-shaped medicine 102 during the transfer of the can-shaped medicine 102 on the transition surface 2111;

[0081] The centering mechanism 213 is arranged symmetrically along the two sides of the medicine delivery rail 211 and is used to guide and center the can-shaped medicine on the medicine delivery rail 211, and a gap is left at the bottom of the medicine delivery rail 211 for the passage of the box-shaped medicine 103;

[0082] The can-shaped cartridge 214 is connected to the lower end of the medicine delivery rail 211 and is close to the medicine rack 101, and is used to buffer the centered can-shaped medicine 102;

[0083] The box-shaped medicine frame 215 is arranged at the lower end of the medicine delivery rail 211 and is away from the medicine rack 101, and is used to buffer the extracted box-shaped medicine 103.

[0084] It should be noted that, as shown in Figures 5-6 The pre-tightening mechanism 212 includes:

[0085] The first guide frame 2121 is connected to one side of the lifting rod 232 through the connecting rod 2120, and is used to lift the first guide frame 2121 synchronously under the action of the lifting rod 232 when the lifting rod 232 moves up and down along the second guide groove 2311;

[0086] The first guide frame 2121 is internally provided with a first back-off groove 2122, and the first back-off groove 2122 is internally slidably connected with a sliding block 2123, and one end of the sliding block 2123 is connected with a pre-tightening spring 2124 inside the first back-off groove 2122;

[0087] The sliding block 2123 is connected with a supporting rod 2126 for supporting the can-shaped medicine 102 when moving on the transition surface 2111 through the telescopic rod 2125 at one end of the pre-tightening spring 2124;

[0088] The transition surface 2111 is internally provided with a first guide groove 2112 at the outer side of the supporting rod 2126;

[0089] The supporting rod 2126 is in the shape of U, and the top of the supporting rod 2126 is at the same height as the top of the transition surface 2111, and is used to support the can-shaped medicine 102 when the can-shaped medicine 102 is about to move into the medicine delivery rail 211, and the top of the supporting rod 2126 is located inside the first guide groove 2112 and is separated from the side surface of the can-shaped medicine 102.

[0090] Further, as shown in Figures 3-4 The centering mechanism 213 includes:

[0091] Second guide frame 2131, connected in the side of the medicine sending rail 211, its inside is equipped with second position return slot 2132;

[0092] Top rod 2134, slidingly inserted in the inside of the second position return slot 2132;

[0093] Push spring 2133, connected in one end of the top rod 2134 and located in the inside of the second position return slot 2132, used for tightening the top rod 2134;

[0094] Wedge block 2135, connected in one end of the top rod 2134 opposite to the push spring 2133, its located in one end of the medicine sending rail 211 opening is equipped with wedge surface, used for guiding and centering the can-shaped medicine 102 moving along the medicine sending rail 211.

[0095] As an improvement, as shown in Figures 7-8 , Figures 13-14 The medicine pushing assembly 22 includes:

[0096] Mounting block 221, provided on the upper end of the medicine sending assembly 21, one side of which is mounted with a first driving motor 220;

[0097] Drive gear 222, provided in the inside of the mounting block 221, one end of which is connected with the first driving motor 220;

[0098] First toothed rod 223, inserted in the inside of the mounting block 221 and engaged with the drive gear 222, used for taking out the medicine in the medicine rack 101;

[0099] Lifting assembly 224, connected in one end of the first toothed rod 223 located in the medicine rack 101, used for switching the medicine taking state according to the taken box-shaped or can-shaped medicine 102.

[0100] Further, as shown in Figures 7-8 The lifting assembly 224 includes:

[0101] Mounting frame 2241, connected in one end of the first toothed rod 223, the upper end of which is mounted with a second driving motor 2242;

[0102] Screw rod 2243, connected in the driving end of the second driving motor 2242;

[0103] Lifting arm 2244, one end of which is inserted in the inside of the mounting frame 2241 and threadedly connected with the screw rod 2243, used for adjusting the medicine pushing height for taking the box-shaped medicine 103 and the can-shaped medicine 102.

[0104] Further, the lifting arm 2244 is connected with a push rod 2245 at the lower end thereof, used for pushing the medicine out of the medicine rack 101;

[0105] The push rod 2245 is connected with a horizontal block 2247 at the bottom for contacting the side of the box-shaped medicine 103;

[0106] The push rod 2245 is connected with an arc-shaped block 2246 at one side and above the horizontal block 2247 for contacting the side of the jar-shaped medicine 102.

[0107] As an improvement, as Figures 8-9 The switching assembly 23 comprises:

[0108] A guide block 231 is connected at one side of the medicine feeding rail 211 and corresponds to the jar-shaped cartridge 214, and a second guide groove 2311 is arranged in the guide block 231;

[0109] A lifting rod 232 is slidingly inserted into the second guide groove 2311;

[0110] A baffle 233 is connected at one end of the lifting rod 232 for plugging the medicine inlet of the jar-shaped cartridge 214 when the medicine feeding rail 211 is transferring the box-shaped medicine 103.

[0111] Further, the switching assembly 23 further comprises:

[0112] A second toothed rod 234 is connected to the upper end of the lifting rod 232;

[0113] A first gear 235 is engaged with the second toothed rod 234 for driving the second gear 236 to lift and lower;

[0114] The second gear 236 is engaged with the first gear 235, and the diameter of the second gear 236 is larger than that of the first gear 235 for driving the first gear 235 to rotate at a high speed;

[0115] A third toothed rod 238 is engaged with the second gear 236 and connected above the medicine pushing assembly 22 through a push-pull rod 239;

[0116] A gear box 237 is arranged outside the first gear 235, the second gear 236, the first toothed rod 223 and the second toothed rod 234 for limiting the first gear 235, the second gear 236, the first toothed rod 223 and the second toothed rod 234.

[0117] Further, as Figures 1-2 The feeding unit 1 comprises:

[0118] An X feeding rail 11 is connected to the upper end of the bottom plate 100;

[0119] A Y feeding rail 12 is connected to the upper end of the X feeding rail 11;

[0120] Z feeding rail 13, connected in the upper end of the Y feeding rail 12, is used to cooperate X feeding rail 11 and the Y feeding rail 12 to carry out position adjustment to medicine taking unit 2;

[0121] The X feeding rail 11 is internally provided with a driving mechanism for driving Y feeding rail 12 to move, the Y feeding rail 12 is internally provided with a driving mechanism for driving Z feeding rail 13 to move, and the Z feeding rail 13 is internally provided with a driving mechanism for driving the medicine feeding rail 211 to move up and down, which can refer to the tool feeding adjustment process in the existing numerical control lathe.

[0122] It should be noted that, in the specific operation process of taking medicine, initially, the lifting arm 2244 is located in the upper position inside the mounting frame 2241, the X feeding rail 11, the Y feeding rail 12 and the Z feeding rail 13 are adjusted, so that the transition surface 2111 located at the front end of the medicine feeding rail 211 is moved to one side of the box-shaped medicine 103 or the can-shaped medicine 102 to be taken out, and the lower end of the transition surface 2111 is in contact with the upper end of the medicine rack 101, and at this time the push rod 2245 is located at one side of the medicine to be taken out;

[0123] When the medicine to be taken out is the can-shaped medicine 102, as shown in Figure 3 、 Figure 5 , Figure 7 , Figure 13 The second driving motor 2242 is started, the second driving motor 2242 drives the lifting arm 2244 to move downward under the action of the screw thread of the screw rod 2243, the lifting arm 2244 drives the arc block 2246 to move to the middle position on one side of the can-shaped medicine 102 through the push rod 2245, the first driving motor 220 is started, the first driving motor 220 drives the first toothed rod 223 to move through the driving gear 222, the first toothed rod 223 drives the lifting arm 2244 to move horizontally under the action of the screw rod 2243 through the mounting frame 2241, the lifting arm 2244 drives the arc block 2246 to move through the push rod 2245, the arc block 2246 drives the can-shaped medicine 102 to move along the transition surface 2111 into the medicine feeding rail 211 and continue to push to the can-shaped medicine cartridge 214 along the medicine feeding rail 211, so that the can-shaped medicine 102 falls into the can-shaped medicine cartridge 214, thereby completing the taking out of the can-shaped medicine 102, and the medicine is taken out in this way, so that when the medicine is placed on the medicine rack 101, a certain clamping space does not need to be reserved for the medicine taking process, and the space utilization rate of the medicine rack 101 is greatly increased;

[0124] Among them, as shown in Figure 6 , Figure 14As shown, due to the smooth curved surface outside the tank-shaped medicine 102, the resistance of the bottom of the tank-shaped medicine 102 increases during the upward moving process of being pushed by the arc-shaped block 2246 to the transition surface 2111, and the tank-shaped medicine 102 is easy to be separated from the arc-shaped block 2246, and the tank-shaped medicine 102 falls from the transition surface 2111 to the ground, causing the tank to be broken. To this end, when the tank-shaped medicine 102 enters the transition surface 2111, one end of the tank-shaped medicine 102 relative to the arc-shaped block 2246 abuts against the supporting rod 2126, so that the supporting rod 2126 and the arc-shaped block 2246 clamp the tank body, and during the upward transition process of the tank-shaped medicine 102 along the transition surface 2111, the supporting rod 2126 drives the sliding block 2123 to gradually compress the pre-tightening spring 2124 through the telescopic rod 2125, until the supporting rod 2126 moves to the top of the transition surface 2111, the supporting rod 2126 moves from being partially located in the first guide groove 2112 to being completely located in the first guide groove 2112, at this time, the tank-shaped medicine 102 is separated from the supporting rod 2126 and enters the medicine feeding rail 211 from the transition surface 2111, and the supporting rod 2126 is reset under the action of the pre-tightening spring 2124, so as to achieve the effect of avoiding the tank-shaped medicine 102 from falling in the transition surface 2111 during the pushing process of the tank-shaped medicine 102;

[0125] As shown in the drawings, Figures 3-4 In order to accurately align the opening of the tank-shaped cartridge 214, the tank-shaped medicine 102 enters the medicine feeding rail 211 and moves to the wedge block 2135, the tank-shaped medicine 102 moves along the wedge surface in the wedge block 2135, the wedge block 2135 gradually compresses the thrust spring 2133 through the top rod 2134, so that the box-shaped medicine 103 which is not in the middle of the medicine feeding rail 211 is centered by the two groups of wedge blocks 2135, avoiding the box-shaped medicine 103 from being turned over due to the bottom not corresponding to the tank-shaped cartridge 214 when moving to the tank-shaped cartridge 214;

[0126] When the taken medicine is the box-shaped medicine 103, as shown in the drawings, Figure 5 , Figures 7-9 , Figure 11 , Figure 14As shown, the second drive motor 2242 is started, and the second drive motor 2242 drives the lifting arm 2244 to move downward through the screw rod 2243 under the action of the screw, the lifting arm 2244 drives the horizontal block 2247 to move downward through the push rod 2245, so that the horizontal block 2247 moves to the middle position of the side of the box-shaped medicine 103 with lower height, at the same time, the lifting arm 2244 drives the third rack 238 to move downward along the gear box 237 through the push-pull rod 239, the third rack 238 drives the first gear 235 to rotate through the second gear 236, the first gear 235 drives the lifting rod 232 to move downward into the containing groove 2140 through the second rack 234, the lifting rod 232 drives the baffle 233 to block the upper end opening of the jar-shaped medicine cartridge 214, so as to avoid the box-shaped medicine 103 from falling into the jar-shaped medicine cartridge 214 when moving along the medicine feeding rail 211;

[0127] At the same time of moving downward, the lifting rod 232 also drives the first guide frame 2121 to move downward through the connecting rod 2120, the first guide frame 2121 drives the supporting rod 2126 to move downward through the telescopic rod 2125, so that the top of the supporting rod 2126 is moved below the first guide groove 2112, ensuring that the supporting rod 2126 does not cause extrusion to the box body when the box-shaped medicine 103 moves upward along the transition surface 2111;

[0128] Subsequently, as shown in Figure 7 , Figure 14 the first drive motor 220 is started, the first drive motor 220 drives the first rack 223 to rotate through the drive gear 222, the first rack 223 drives the lifting arm 2244 to move through the mounting frame 2241, the lifting arm 2244 drives the horizontal block 2247 to move through the push rod 2245, and the horizontal block 2247 drives the box-shaped medicine 103 to move into the box-shaped medicine frame 215 along the transition surface 2111 and the medicine feeding rail 211 in turn, so as to achieve one-time taking out of the box-shaped medicine 103 and the jar-shaped medicine 102 in one stroke, without the need to send the jar-shaped medicine 102 to the patient for taking medicine after each time of taking out, and then return to take the box-shaped medicine 103, the whole medicine taking stroke is short, and the medicine taking efficiency is high.

[0129] Embodiment Two

[0130] As shown in Figures 1-2 , Figures 10-12 the same or corresponding parts as in Embodiment One are denoted by the same reference numerals as in Embodiment One, and for the sake of simplicity, only the differences from Embodiment One will be described below. The difference between this embodiment and Embodiment One is that:

[0131] As an improvement, the transfer unit 3 comprises:

[0132] A tank-shaped pushing assembly 31 is arranged for transferring the medicine stored in the tank-shaped medicine cartridge 214 out of the tank-shaped pushing assembly 31;

[0133] A box-shaped pushing assembly 32 is arranged on one side of the tank-shaped pushing assembly 31 and is arranged for transferring the medicine in the box-shaped medicine frame 215 out of the box-shaped pushing assembly 32, and the distance between the tank-shaped pushing assembly 31 and the box-shaped pushing assembly 32 is equal to the distance between the tank-shaped medicine cartridge 214 and the box-shaped medicine frame 215;

[0134] It is to be noted that, as shown in Figure 11 the tank-shaped medicine cartridge 214 is provided with a first reserved slot 2141 at the lower end thereof, and the tank-shaped medicine cartridge 214 is provided with a first medicine outlet 2142 at one side thereof;

[0135] the box-shaped medicine frame 215 is provided with a second reserved slot 2151 at the lower end thereof, and the box-shaped medicine frame 215 is provided with a second medicine outlet 2152 at one side thereof;

[0136] The tank-shaped pushing assembly 31 comprises:

[0137] Two groups of supports 311 are connected to the upper end of the bottom plate 100, and one group of supports 311 is provided with a first conveying belt 312 rotatably arranged inside the support 311;

[0138] A plurality of containing discs 313 are arranged at the upper end of the first conveying belt 312 at equal intervals along the conveying direction of the first conveying belt 312;

[0139] A surrounding fence 314 is connected to the containing disc 313, and one side of the surrounding fence 314 is provided with an opening for limiting the tank-shaped medicine 102 on the containing disc 313;

[0140] A first lifting rod 315 is connected to the upper end of the containing disc 313 and is arranged for pushing the medicine stored in the tank-shaped medicine cartridge 214 through the first reserved slot 2141 to the containing disc 313;

[0141] An inclined rod 316 is arranged at the discharging end of the support 311 corresponding to the first conveying belt 312, and one side of the inclined rod 316 is provided with a first medicine taking frame 317 for collecting the tank-shaped medicine 102 discharged from the inclined rod 316;

[0142] The box-shaped pushing assembly 32 comprises:

[0143] A second conveying belt 321 is rotatably arranged inside the two groups of supports 311;

[0144] A second lifting rod 322 is arranged at equal intervals at the upper end of the second conveying belt 321 and is arranged for pushing the medicine in the box-shaped medicine frame 215 through the second reserved slot 2151 to the second conveying belt 321;

[0145] The second medicine taking frame 323 is arranged at the discharging end of the second conveying belt 321, and is used for collecting the box-shaped medicine 103 discharged by the second conveying belt 321.

[0146] The second conveying belt 321 is coaxially arranged with the driving shaft of the first conveying belt 312, and is driven by the same motor, which is not shown in the figure, to ensure that the second conveying belt 321 is transmitted together with the first conveying belt 312.

[0147] It should be noted that after the box-shaped medicine 103 and the can-shaped medicine 102 are taken out and respectively fall into the box-shaped medicine frame 215 and the can-shaped medicine cylinder 214, the X feeding rail 11, the Y feeding rail 12 and the Z feeding rail 13 are adjusted, so that the box-shaped medicine frame 215 moves to the position corresponding to the first reserved groove 2141 and the first lifting rod 315, and the second reserved groove 2151 and the second lifting rod 322, the second conveying belt 321 pushes the medicine in the box-shaped medicine frame 215 through the second medicine outlet 2152 to the second conveying belt 321 through the second reserved groove 2151, and the second conveying belt 321 sends the box-shaped medicine 103 into the second medicine taking frame 323 for the patient to take medicine;

[0148] At the same time, the first lifting rod 315 pushes the can-shaped medicine 102 in the can-shaped medicine cylinder 214 through the first medicine outlet 2142 to the containing disc 313, and the first conveying belt 312 carries the can-shaped medicine 102 to the inclined rod 316 through the containing disc 313, and the inclined rod 316 pushes the can-shaped medicine 102 in the containing disc 313 horizontally from the opening on the side to the first medicine taking frame 317 for the patient to take, so as to realize soft landing of the can-shaped medicine 102 in the release process, and effectively avoid damage to the can body of the can-shaped medicine 102.

[0149] It should be noted that in this document, the terms such as first and second are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "contain" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or equipment including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or equipment.

[0150] Although the embodiments of the present application have been shown and described, it can be understood by those skilled in the art that various changes, modifications, replacements and variations can be made to the embodiments without departing from the principles and spirits of the present application, and the scope of the present application is defined by the appended claims and their equivalents.

Claims

1. A medicine dispensing robot for a medicine cabinet, comprising a base plate (100), a rack (101) provided on the upper end of the base plate (100), box-shaped medicine (103) and jar-shaped medicine (102) placed in sequence on the rack (101), characterized in that, Also include: The feeding unit (1) is arranged at the upper end of the bottom plate (100) and located at one side of the medicine shelf (101), which is used for adjusting the feeding of the mechanical hand to take medicine; The medicine taking unit (2) comprises a medicine conveying assembly (21) arranged at one side of the feeding unit (1) for conveying and pre-storing the taken medicine, a medicine pushing assembly (22) arranged above the medicine conveying assembly (21) for pushing the can-shaped medicine (102) or box-shaped medicine (103), and a switching assembly (23) arranged above the medicine pushing assembly (22) for switching the storage area of the box-shaped medicine (103) or can-shaped medicine (102); The transfer unit (3) is arranged between the feeding unit (1) and the medicine shelf (101), which is used for transferring the box-shaped medicine (103) or can-shaped medicine (102) taken synchronously to the patient medicine taking area; The medicine conveying assembly (21) comprises: The medicine conveying rail (211) is provided with a transition surface (2111) at one end corresponding to the medicine shelf (101), which is used for transferring the medicine on the medicine shelf (101) to the medicine conveying rail (211); The pre-tightening mechanism (212) is arranged at the lower end of the transition surface (2111), which is used for supporting the can-shaped medicine (102) during the transfer process on the transition surface (2111); The centering mechanism (213) is arranged in two groups and symmetrically arranged along the two sides of the medicine conveying rail (211), which is used for guiding and centering the can-shaped medicine (102) on the medicine conveying rail (211), and a gap is left at the bottom of the medicine conveying rail (211) for passing through the box-shaped medicine (103); The can-shaped medicine cartridge (214) is connected at the lower end of the medicine conveying rail (211) and close to the medicine shelf (101), which is used for buffering the centered can-shaped medicine (102); The box-shaped medicine frame (215) is arranged at the lower end of the medicine conveying rail (211) and away from the medicine shelf (101), which is used for buffering the taken box-shaped medicine (103); The medicine pushing assembly (22) comprises: The mounting block (221) is arranged at the upper end of the medicine conveying assembly (21), and a first driving motor (220) is mounted on one side of the mounting block (221); The drive gear (222) is arranged inside the mounting block (221), and one end of the drive gear (222) is connected with the first driving motor (220); The first toothed rod (223) is inserted into the mounting block (221) and engaged with the drive gear (222), which is used for taking out the medicine in the medicine shelf (101); The lifting assembly (224) is connected at one end of the first toothed rod (223) located in the medicine shelf (101), which is used for switching the medicine taking state according to the taken box-shaped medicine (103) or can-shaped medicine (102); The lifting assembly (224) comprises: The mounting frame (2241) is connected at one end of the first toothed rod (223), and a second driving motor (2242) is mounted on the upper end of the mounting frame (2241); The screw rod (2243) is connected to the driving end of the second driving motor (2242); A lifting arm (2244) is inserted into the mounting frame (2241) and is screwed with the screw rod (2243) to adjust the pushing height according to the box-shaped medicine (103) and the can-shaped medicine (102); A pushing rod (2245) is connected to the lower end of the lifting arm (2244) to push the medicine out of the medicine rack (101); A horizontal block (2247) is connected to the bottom of the pushing rod (2245) to contact the side of the box-shaped medicine (103); An arc-shaped block (2246) is connected to the side of the pushing rod (2245) above the horizontal block (2247) to contact the side of the can-shaped medicine (102); The switching assembly (23) comprises: A guide block (231) is connected to one side of the medicine feeding rail (211) and corresponds to the can-shaped cartridge (214), and a second guide groove (2311) is arranged in the guide block (231); A lifting rod (232) is slidably inserted into the second guide groove (2311); A baffle (233) is connected to one end of the lifting rod (232) to block the medicine inlet of the can-shaped cartridge (214) when the medicine feeding rail (211) transfers the box-shaped medicine (103); The switching assembly (23) further comprises: A second toothed rod (234) is connected to the upper end of the lifting rod (232); A first gear (235) is engaged with the second toothed rod (234) to drive the second gear (236) to work; A second gear (236) is engaged with the first gear (235) and has a larger diameter than the first gear (235) to drive the first gear (235) to rotate; A third toothed rod (238) is engaged with the second gear (236) and is connected above the medicine pushing assembly (22) through a push-pull rod (239); A gear box (237) is arranged outside the first gear (235), the second gear (236), the first toothed rod (223), and the second toothed rod (234) to limit the first gear (235), the second gear (236), the first toothed rod (223), and the second toothed rod (234).

2. The medicine cabinet medicine taking mechanical hand according to claim 1, wherein: The centering mechanism (213) comprises: A second guide frame (2131) is connected to one side of the medicine feeding rail (211), and a second retreat groove (2132) is arranged in the second guide frame (2131); A top rod (2134) is slidably inserted into the second retreat groove (2132); A thrust spring (2133) is connected to one end of the top rod (2134) and is located in the second retreat groove (2132) to tightly press the top rod (2134); A wedge block (2135) is connected to the other end of the top rod (2134) opposite to the thrust spring (2133), and a wedge surface is arranged at one end of the wedge block (2135) located at the opening of the medicine feeding rail (211) to guide and center the can-shaped medicine (102) moving along the medicine feeding rail (211).

3. The medicine cabinet medicine taking mechanical hand according to claim 1, wherein: The transfer unit (3) comprises: A canister pushing assembly (31) is arranged for transferring the medicine stored in the canister (214) out of the canister; A box pushing assembly (32) is arranged on one side of the canister pushing assembly (31) for transferring the medicine in the box (215) out of the box, and the distance between the box pushing assembly (31) and the box pushing assembly (32) is equal to the distance between the canister (214) and the box (215).

4. The medicine cabinet medicine taking mechanical arm according to claim 1, wherein: The feeding unit (1) comprises: An X feeding rail (11) connected to the upper end of the bottom plate (100); A Y feeding rail (12) connected to the upper end of the X feeding rail (11); A Z feeding rail (13) connected to the upper end of the Y feeding rail (12) for adjusting the position of the medicine taking unit (2) in cooperation with the X feeding rail (11) and the Y feeding rail (12).

Images