A drug-dispensing robot system and control method

Abstract

This invention relates to a medication replenishment robot system and control method. A turnover medicine rack is provided within a medicine rack storage area, and a manual medication replenishment station is located on one side of the medicine rack storage area. The turnover medicine rack is transferred between the medicine loading station, the medicine rack storage area, and the manual medication replenishment station via a medicine rack transfer robot. The medication replenishment robot includes a frame, a medication replenishment device, a walking mechanism, a lifting mechanism, a translation column, and a rotary drive device. The translation column is located within the frame and is driven to translate by the walking mechanism. The lifting mechanism is located on the translation column and has a liftable lifting seat. The rotary drive device is located on the lifting seat, and the medication replenishment device is located on the rotary drive device. After the turnover medicine rack is delivered to the corresponding medicine loading station, the corresponding medication replenishment device in the medication replenishment robot retrieves the medicine. The target medicine slot on the medicine trough is replenished by the corresponding medication replenishment device. This invention improves medication replenishment efficiency while reducing the intensity and error rate of manual medication replenishment, meeting the requirements of pharmaceutical logistics centers.

Description

Technical Field

[0001] This invention relates to the field of unmanned picking equipment for pharmaceutical logistics, specifically a drug replenishment robot system and control method. Background Technology

[0002] Traditional pharmaceutical logistics centers rely on manual picking for dispensing and restocking medicines. These dispensing medicines are stored on flat warehouse shelves. When there is an outbound task, pickers select each medicine from its storage location according to a printed picking list and place it in the medicine basket linked to the order. When the quantity of medicines on the shelves is low and needs to be replenished, full-case pickers pick the full cases of medicines and send them to the dispensing area. Pickers then dispensing the full cases according to the shelving information shown on the full-case picking label and manually shelving the medicines to the designated locations. Manual picking requires a large number of pickers to participate in the picking and shelving operations, resulting in high labor costs, high labor intensity, and a high error rate. In addition, some hospital pharmacies use dispensing machine systems, which have significant advantages in drug picking and unpacking. For example, the dispensing slots are arranged in a planar matrix, resulting in dense storage and high space utilization. Dispensing can be done in parallel, leading to high efficiency. However, the entire dispensing process still requires manual intervention. Given the large volume of drugs dispensed, this does not actually reduce the workload of manual dispensing, resulting in long working hours, heavy workload, and a high risk of errors. Furthermore, the replenishment operation mode of pharmaceutical logistics centers involves centralized arrival, unpacking, and dispensing. Pharmaceutical logistics centers are characterized by wave dispensing with high frequency and large volume. While traditional dispensing machine systems have significant advantages in storage density and picking efficiency, their inherent disadvantages in replenishment processes and efficiency make them unsuitable for the operational mode of pharmaceutical logistics centers, thus hindering their widespread adoption. Summary of the Invention

[0003] The purpose of this invention is to provide a drug administration robot system and control method that improves drug administration efficiency while reducing the intensity and error rate of manual drug administration, and can meet the requirements of pharmaceutical logistics centers.

[0004] The objective of this invention is achieved through the following technical solution:

[0005] A medication replenishment robot system includes a medication rack storage area, a medication loading station, a medication replenishment robot, and a medication trough arranged in sequence. The medication rack storage area contains a turnover medication rack, and a manual medication replenishment station is located on one side of the storage area. The turnover medication rack is transferred between the medication loading station, the storage area, and the manual replenishment station via a medication rack transfer robot. The medication replenishment robot includes a frame, a medication replenishment device, a walking mechanism, a lifting mechanism, a translation column, and a rotation drive device. The translation column is located within the frame and is driven to translate by the walking mechanism. The lifting mechanism is located on the translation column and has a liftable lifting seat. The rotation drive device is located on the lifting seat, and the medication replenishment device is located on the rotation drive device. After the turnover medication rack is placed into the corresponding medication loading station, the corresponding medication replenishment device in the medication replenishment robot retrieves the medication. Target medication slots in the medication troughs are replenished via the corresponding medication replenishment device.

[0006] The walking mechanism includes a walking drive device, a transmission shaft, an upper synchronous belt assembly, a lower synchronous belt assembly, an upper slide block, and a lower slide block. The frame includes an upper beam and a lower beam. The upper slide block is slidably connected to the upper beam and fixedly connected to the upper synchronous belt in the upper synchronous belt assembly. The lower slide block is slidably connected to the lower beam and fixedly connected to the lower synchronous belt in the lower synchronous belt assembly. The upper end of the translation column is fixedly connected to the upper slide block, and the lower end is fixedly connected to the lower slide block. The walking drive device is located on one side of the frame and has a dual-output shaft structure. One output shaft of the walking drive device is coaxially fixedly connected to the lower drive wheel in the lower synchronous belt assembly, and the other output shaft is coaxially connected to the upper drive wheel in the upper synchronous belt assembly through the transmission shaft.

[0007] The lifting mechanism includes a lifting seat, a lifting drive device, and a lifting timing belt assembly. The lifting timing belt assembly is mounted on the translation column. The lifting seat is slidably connected to the translation column and fixedly connected to the lifting timing belt in the lifting timing belt assembly. The lifting drive device is located at the lower end of the translation column and its output shaft is coaxially fixedly connected to the lifting drive wheel in the lifting timing belt assembly. A width measuring sensor is provided on the lower side of the lifting seat.

[0008] The medication replenishment device includes a medication loading platform, a fork assembly, a pushing assembly, a blocking assembly, and a dispensing assembly. The medication loading platform is connected to a rotary drive device. The fork assembly is located at the end of the medication loading platform away from the rotary drive device. The dispensing assembly is located at the end of the medication loading platform closer to the rotary drive device. The pushing assembly is located on the side of the medication loading platform closer to the medication station. The blocking assembly is located on the side of the medication loading platform closer to the medication trough. The fork assembly has a fork, the pushing assembly has a push plate, the blocking assembly has a baffle, and the dispensing assembly has a dispensing synchronization mechanism with a dispensing block. The medication box is pushed from the turnover medication rack by the fork into the buffer window between the push plate and the dispensing synchronization belt. The medication box closer to the rotary drive device is driven by the dispensing synchronization belt and the dispensing block to be output from the medication passage window between the baffle and the dispensing synchronization belt.

[0009] The shift fork assembly includes a shift fork, a shift fork timing belt assembly, and a shift fork drive device. The shift fork timing belt assembly is arranged in a direction parallel to the short side of the drug-carrying platform. The shift fork includes a shift fork side arm and a shift fork push arm that are vertically connected. The shift fork side arm is fixedly connected to the shift fork timing belt in the shift fork timing belt assembly. The shift fork push arm is parallel to the long side of the drug-carrying platform. The output shaft of the shift fork drive device is coaxially fixedly connected to the shift fork drive wheel in the shift fork timing belt assembly.

[0010] The drug-pushing assembly includes a pusher plate, a pusher plate timing belt assembly, and a pusher plate drive device. A drive mounting beam is provided on the upper side of the drug-carrying platform. The pusher plate timing belt assembly and the pusher plate drive device are both mounted on the drive mounting beam. The pusher plate is perpendicular to the upper surface of the drug-carrying platform and parallel to the short side of the drug-carrying platform. The upper side of the pusher plate is fixedly connected to the pusher plate timing belt in the pusher plate timing belt assembly. The output shaft of the pusher plate drive device is coaxially fixedly connected to the pusher plate drive wheel in the pusher plate timing belt assembly.

[0011] The medicine-blocking assembly includes a baffle, a baffle timing belt assembly, and a baffle driving device. The baffle is fixedly connected to the baffle timing belt in the baffle timing belt assembly. The output shaft of the baffle driving device is coaxially fixedly connected to the baffle drive wheel in the baffle timing belt assembly. The baffle is L-shaped, with one side of its outer end perpendicular to the push plate plane and the other side parallel to the push plate plane.

[0012] The dispensing assembly includes a dispensing drive device, a drive wheel shaft, a dispensing timing belt, and a driven wheel shaft. The drive wheel shaft is provided with multiple dispensing drive wheels, and the driven wheel shaft is provided with multiple dispensing driven wheels. The dispensing drive wheels are connected to the corresponding dispensing driven wheels through the corresponding dispensing timing belts. The output shaft of the dispensing drive device is fixedly connected to the drive wheel shaft.

[0013] The turnover medicine rack includes a base, a layer frame, and shelves. The layer frames are arranged sequentially on the base from bottom to top. The shelves are inclined on the corresponding sides of the corresponding layer frames. Each shelf has a side partition on either side in the left or right direction and a rear partition on the rear side. Each shelf has a medicine-holding plate, and the medicine-holding plate has a magnet that attracts it to the corresponding shelf. The medicine-holding plate, side partition, and rear partition form an area for placing medicine boxes. There is a gap between the rear partition and the corresponding side of the corresponding layer frame. The base includes a support plate and legs located on the lower side of each corner of the support plate. The upper surface of the support plate is vertically provided with columns, and each corner of the layer frame is respectively located on a corresponding column. The medicine rack transfer robot includes a mobile robot, and the mobile robot is provided with a lifting mechanism. The upper end of the lifting mechanism has a turntable that abuts against the support plate.

[0014] A control method for the aforementioned drug-dispensing robot system, wherein the drug-dispensing robot includes two drug-dispensing devices, and the overlapping area of ​​the working areas of the two drug-dispensing devices is an interference zone I. Each drug-dispensing device is surrounded by a safety space II. A transition point is provided outside the interference zone I, and the height of the transition point is the height of the target drug slot corresponding to the respective drug-dispensing device. The control method for the drug-dispensing devices includes the following steps:

[0015] 1. Determine whether the target drug slot of the drug delivery command of this drug delivery device is within the interference zone I. If not, execute the drug delivery command immediately; otherwise, continue to step 2 for judgment.

[0016] 2. Determine whether the target drug slot of the drug delivery command of the adjacent drug delivery device is within the interference zone I. If not, proceed to step 4; otherwise, continue to step 3.

[0017] 3. Determine whether the safety space II at the height of the target medicine tank overlaps between this medicine replenishment device and the adjacent medicine replenishment device. If they do not overlap, proceed to step 4; otherwise, return to step 1.

[0018] 4. This drug replenishment device first rises to the transition point, then moves horizontally to the target drug trough position to execute the drug delivery command. After the drug delivery command is completed, it moves horizontally back to the transition point.

[0019] The advantages and positive effects of this invention are as follows:

[0020] 1. This invention decouples manual replenishment of medicine racks from replenishment robots from replenishment troughs. Furthermore, manual centralized replenishment and replenishment robot replenishment of medicine troughs in dispensing machines can be performed in parallel without affecting each other. This improves replenishment efficiency while reducing the intensity and error rate of manual replenishment and saving labor costs.

[0021] 2. This invention uses a replenishment robot to automatically replenish the medicine in the medicine tank of the dispensing machine, eliminating the dependence on manual replenishment of the medicine tank. Furthermore, the replenishment robot can achieve 24-hour unattended continuous replenishment, which reduces the downtime of the dispensing machine and significantly improves the replenishment capacity of the equipment.

[0022] 3. This invention is compatible with the operation mode of pharmaceutical logistics centers. After the drugs arrive in a concentrated manner, they can be manually unpacked and shelved at a certain time to replenish the turnover shelves. The turnover shelves are centrally stored in the shelf storage area, which can realize large-scale replenishment and dense storage, and extend the turnover cycle of drugs. The shelf transfer robot can automatically select the corresponding turnover shelf according to the specifications of the replenished drugs, and the replenishment robot can continuously replenish drugs 24 hours a day without human intervention, which also meets the continuous replenishment operation requirements of pharmaceutical logistics centers.

[0023] 4. When this invention is in operation, the number of medicine boxes on the turnover medicine shelf is automatically detected by the refill robot. During the refilling process, the refilling staff does not need to consider the number of boxes, which simplifies the refilling process and improves the efficiency of medicine refilling. In addition, the refill robot of this invention includes two refilling devices, which can realize parallel refilling on the same track, further improving the refilling efficiency. Each refilling device can alternately perform medicine filling operations on the corresponding turnover medicine shelf. The process of changing turnover medicine shelves will not cause the refilling device to wait idly, thereby maximizing the refilling efficiency.

[0024] 5. This invention incorporates an anti-collision control mechanism designed for the parallel drug delivery characteristics of dual-machine drug delivery robots, ensuring safe operation of the equipment. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the structure of the present invention.

[0026] Figure 2 for Figure 1 A schematic diagram of the turnover medicine rack structure.

[0027] Figure 3 for Figure 1 A schematic diagram of the drug replenishment robot in the image.

[0028] Figure 4 for Figure 3 Enlarged diagram of point A in the middle.

[0029] Figure 5 for Figure 3 A magnified view of point A from another angle.

[0030] Figure 6 for Figure 3 A magnified diagram of point A from another angle.

[0031] Figure 7 for Figure 3 A schematic diagram of the interference zone and safety space during the operation of a traditional Chinese medicine tonic robot.

[0032] Figure 8 This is a flowchart of the control method of the present invention.

[0033] Among them, 1 is the turnover medicine rack, 101 is the support leg, 102 is the support plate, 103 is the column, 104 is the shelf frame, 105 is the shelf, 106 is the medicine backing plate, 107 is the side partition, 108 is the rear partition, 109 is the mounting plate, 2 is the medicine rack storage area, 3 is the manual medicine replenishment station, 4 is the medicine loading platform, 5 is the medicine trough, 6 is the medicine replenishment robot, 7 is the medicine replenishment device, 701 is the medicine carrying platform, 8 is the walking mechanism, 801 is the walking drive device, 802 is the walking slide rail, 803 is the drive shaft, 804 is the lower synchronous belt, 805 is the upper slide, 806 is the upper synchronous belt, 9 is the lifting mechanism, 901 is the lifting drive device, 902 is the lifting synchronous belt, 903 is the lifting slide rail, 10... 11 is a translation column, 12 is a rotation drive device, 12 is a shift fork assembly, 1201 is a shift fork, 12011 is a shift fork side arm, 12012 is a shift fork push arm, 1202 is a shift fork timing belt, 1203 is a shift fork drive device, 13 is a medicine pushing assembly, 1301 is a push plate, 1302 is a drive mounting beam, 1303 is a push plate drive device, 14 is a medicine blocking assembly, 1401 is a baffle, 1402 is a medicine passing window, 1403 is a baffle drive device, 15 is a medicine dispensing assembly, 1501 is a medicine dispensing timing belt, 1502 is a dispensing block, 1503 is a photoelectric sensor, 1504 is a medicine dispensing drive device, 16 is a width measuring sensor, 17 is a frame, 171 is an upper beam, and 172 is a lower beam. Detailed Implementation

[0034] The invention will now be described in further detail with reference to the accompanying drawings.

[0035] like Figures 1-8 As shown, the present invention includes a medicine rack storage area 2, a medicine loading station 4, a medicine replenishment robot 6, and a medicine trough 5 arranged in sequence. The medicine rack storage area 2 is equipped with a turnover medicine rack 1, and a manual medicine replenishment station 3 is provided on one side of the medicine rack storage area 2. The turnover medicine rack 1 is transferred between the medicine loading station 4, the medicine rack storage area 2, and the manual medicine replenishment station 3 by the medicine rack transfer robot. After the turnover medicine rack 1 is sent into the corresponding medicine loading station 4, the medicine is retrieved by the medicine replenishment robot 6.

[0036] like Figures 3-6As shown, the medication replenishment robot 6 includes a frame 17, a medication replenishment device 7, a walking mechanism 8, a lifting mechanism 9, a translation column 10, and a rotary drive device 11. The translation column 10 is located within the frame 17 and is driven to translate by the walking mechanism 8. The lifting mechanism 9 is located on the translation column 10 and has a liftable lifting seat. The rotary drive device 11 is located on the lifting seat, and the medication replenishment device 7 is located on the rotary drive device 11. During operation, the medication replenishment device 7, the rotary drive device 11, and the lifting mechanism 9 move horizontally with the translation column 10. After reaching their designated positions, the medication replenishment device 7 and the rotary drive device 11 are lifted to a specified height by the lifting mechanism 9. Then, the medication replenishment device 7 is driven to rotate and adjust its angle by the rotary drive device 11 to perform medication loading from the turnover medicine rack 1 or dispensing from the medicine trough 5. The turnover medicine rack 1 is located on a corresponding medication loading platform 4.

[0037] like Figures 4-6As shown, in this embodiment, the walking mechanism 8 includes a walking drive device 801, a transmission shaft 803, an upper synchronous belt assembly, a lower synchronous belt assembly, an upper slide block 805, and a lower slide block. The frame 17 includes an upper beam 171 and a lower beam 172, with the upper slide block 805 slidably connected to the upper beam 171 and the lower slide block slidably connected to the lower beam 172. Walking slide rails 802 are provided on both the upper beam 171 and the lower beam 172, respectively cooperating with the upper slide block 805 and the lower slide block. The upper synchronous belt assembly is located on the upper beam 171 and includes an upper driving pulley, an upper synchronous belt 806, and an upper driven pulley. The upper driving pulley and the upper driven pulley are located at opposite ends of the upper beam 171 and connected by the upper synchronous belt 806. The upper slide block 805... 5 is fixedly connected to the upper synchronous belt 806. The lower synchronous belt assembly is disposed on the lower beam 172. The lower synchronous belt assembly includes a lower driving wheel, a lower synchronous belt 804, and a lower driven wheel. The lower driving wheel and the lower driven wheel are respectively disposed at both ends of the lower beam 172 and connected by the lower synchronous belt 804. The lower sliding seat is fixedly connected to the lower synchronous belt 804. The upper end of the translation column 10 is fixedly connected to the upper sliding seat 805, and the lower end is fixedly connected to the lower sliding seat. The walking drive device 801 is disposed on one side of the frame 17. The walking drive device 801 is a dual-output shaft structure (for example, a dual-output shaft servo motor). One output shaft of the walking drive device 801 is coaxially fixedly connected to the lower driving wheel, and the other output shaft is coaxially connected to the upper driving wheel through the transmission shaft 803. When the walking mechanism 8 is working, the walking drive device 801 drives the upper synchronous belt 806 and the lower synchronous belt 804 to rotate synchronously, which in turn drives the translation column 10 to move horizontally within the frame 17 through the upper slide 805 and the lower slide. Limit sensors are provided at both ends of the lower beam 172 to limit the movement range of the translation column 10. This invention uses the synchronous movement of the upper and lower ends of the translation column 10 to realize the horizontal movement of the medicine dispensing device 7, which can leave sufficient lifting height and rotation space for the medicine dispensing device 7, ensuring the smooth operation of medicine application and dispensing.

[0038] like Figures 4-6As shown, in this embodiment, the lifting mechanism 9 includes a lifting seat, a lifting drive device 901, and a lifting timing belt assembly. The lifting seat is slidably connected to the translation column 10. A lifting slide rail 903 is provided on the translation column 10 to cooperate with the lifting seat. The lifting timing belt assembly includes a lifting drive wheel, a lifting timing belt 902, and a lifting driven wheel. The lifting drive wheel is located at the lower end of the translation column 10, and the lifting driven wheel is located at the upper end of the translation column 10. The lifting drive wheel and the lifting driven wheel are connected by the lifting timing belt 902. The lifting seat is fixedly connected to the lifting timing belt 902. The lifting drive device 901 is located at the lower end of the translation column 10, and its output shaft is coaxially fixedly connected to the lifting drive wheel. When the lifting mechanism 9 is working, the lifting drive device 901 drives the lifting timing belt 902 to rotate, thereby driving the lifting seat to move up and down, and driving the medicine replenishment device 7 to move up and down. The lifting drive device can be a servo motor.

[0039] like Figures 4-6 As shown, in this embodiment, the rotary drive device 11 adopts a rotary geared motor, and the drug dispensing device 7 is provided with a drug-carrying platform 701. The output shaft of the rotary geared motor is fixedly connected to the drug-carrying platform 701, thereby driving the drug-carrying platform 701 to rotate to the drug-feeding posture or the drug-dispensing posture, as shown. Figure 2 As shown, the turnover medicine rack 1 is provided with multiple layers of shelves 105, and the shelves 105 are inclined. In this embodiment, the shelves 105 are at a 5° angle to the horizontal plane. In the medicine loading posture, the plane of the medicine loading platform 701 is parallel to the shelf 105 of the corresponding layer, that is, at a 5° angle to the horizontal plane. In the medicine dispensing posture, the plane of the medicine loading platform 701 is parallel to the extension plane of the medicine trough 5, that is, at a -16° angle to the horizontal plane. The rotation drive device 11 is provided with limit sensors at the limits of the forward and reverse strokes of the medicine loading platform 701 to limit the rotation range.

[0040] like Figures 4-6As shown, in this embodiment, the medicine replenishment device 7 includes a fork assembly 12, a medicine pushing assembly 13, a medicine blocking assembly 14, and a medicine dispensing assembly 15. The fork assembly 12 is located at the end of the medicine-carrying platform 701 away from the rotary drive device 11; the medicine dispensing assembly 15 is located at the end of the medicine-carrying platform 701 close to the rotary drive device 11; the medicine pushing assembly 13 is located on the side of the medicine-carrying platform 701 close to the medicine loading station 4; and the medicine blocking assembly 14 is located on the side of the medicine-carrying platform 701 close to the medicine trough 5. The fork assembly 12 has a movable fork 1201, the medicine pushing assembly 13 has a movable push plate 1301, and the medicine blocking assembly 15... The medicine assembly 14 is provided with a movable baffle 1401, and the medicine dispensing assembly 15 is provided with a rotatable medicine dispensing timing belt 1501, and the medicine dispensing timing belt 1501 is provided with a dispensing block 1502. When the medicine replenishment device 7 is working, the medicine box is pushed from the turnover medicine rack 1 into the buffer window formed between the push plate 1301 and the medicine dispensing timing belt 1501 by the dispensing fork 1201. The medicine box near the side of the rotation drive device 11 is driven by the medicine dispensing timing belt 1501 and the dispensing block 1502 to be output through the medicine passage window 1402 formed between the baffle 1401 and the medicine dispensing timing belt 1501.

[0041] like Figures 4-6 As shown, in this embodiment, the shift fork assembly 12 includes a shift fork 1201, a shift fork timing belt assembly, and a shift fork drive device 1203. The shift fork timing belt assembly is arranged parallel to the short side of the drug-carrying platform 701. The shift fork timing belt assembly includes a shift fork drive wheel, a shift fork timing belt 1202, and a shift fork driven wheel. The shift fork drive wheel is connected to the shift fork driven wheel via the shift fork timing belt 1202. The output shaft of the shift fork drive device 1203 is coaxially fixed to the shift fork drive wheel. The shift fork 1201 is L-shaped and includes a vertically connected shift fork side arm 12011 and a shift fork push arm 12012. The shift fork side arm 12011 is slidably connected to the drug-carrying platform 701 and fixed to the shift fork timing belt 1202. The shift fork push arm 12012 is parallel to the long side of the drug-carrying platform 701. Figure 2As shown, the turnover medicine rack 1 includes multiple layers of frames 104, and the shelves 105 are installed on the corresponding sides of the corresponding layers of frames 104. Each shelf 105 has a rear partition 108, and the rear partition 108 and the corresponding side of the corresponding layer of frame 104 form a dropping area for the fork push arm 12012. When the fork assembly 12 is working, the medicine replenishment device 7 is raised to a set height, and then the fork drive device 1203 drives the fork synchronous belt 1202 to rotate, thereby driving the fork 1201 to move. The fork pusher arm 12012 is moved to the falling area between the rear partition 108 and the corresponding side of the corresponding layer frame 104. Then, the lifting mechanism 9 drives the medicine replenishment device 7 to descend a set distance, causing the fork pusher arm 12012 to fall above the gap between the rear partition 108 and the layer frame 104. Then, the fork drive device 1203 rotates in the opposite direction to drive the fork pusher arm 12012 to retract, thereby pushing the medicine box on the layer plate 105 into the medicine loading platform 701 of the medicine replenishment device 7. The fork drive device 1203 can be a servo motor.

[0042] like Figures 4-6 As shown, in this embodiment, the drug-pushing assembly 13 includes a pusher plate 1301, a pusher plate timing belt assembly, and a pusher plate drive device 1303. A drive mounting beam 1302 is provided on the upper side of the drug-carrying platform 701. The pusher plate timing belt assembly and the pusher plate drive device 1303 are both mounted on the drive mounting beam 1302. The pusher plate timing belt assembly includes a pusher plate drive wheel, a pusher plate timing belt, and a pusher plate driven wheel. The pusher plate drive wheel is connected to the pusher plate driven wheel via the pusher plate timing belt. The plane of the pusher plate 1301 is perpendicular to the upper surface of the drug-carrying platform 701 and parallel to the short side of the drug-carrying platform 701. The upper side of the pusher plate 1301 is fixedly connected to the pusher plate timing belt. The output shaft of the pusher plate drive device 1303 is coaxially fixedly connected to the drive wheel in the pusher plate timing belt assembly, thereby driving the pusher plate 1301 to move along the long side of the drug-carrying platform 701. Figure 5 As shown, a buffer window for accommodating multiple medicine boxes is formed between the push plate 1301 and the medicine dispensing synchronous belt 1501 of the medicine dispensing assembly 15. The fork assembly 12 simultaneously pushes multiple medicine boxes on the turnover medicine rack 1 into the buffer window. The push plate driving device 1303 can be a servo motor.

[0043] like Figures 4-6As shown, in this embodiment, the medicine-blocking assembly 14 includes a baffle 1401, a baffle timing belt assembly, and a baffle driving device 1403. The baffle 1401 is an angle iron component with a mounting surface. The mounting surface of the baffle 1401 is attached to the upper surface of the medicine-carrying platform 701 and fixedly connected to the baffle timing belt assembly. The angle iron is L-shaped, with one side perpendicular to the push plate 1301 to block the medicine box on the medicine trough, and the other side parallel to the plane of the push plate 1301 for guiding the medicine dispensing. The baffle timing belt assembly and the baffle driving device 1403 are both located on the side of the medicine-carrying platform 701 near the medicine trough 5. The baffle timing belt assembly includes a baffle driving wheel, a baffle timing belt, and a baffle driven wheel. The baffle driving wheel is connected to the baffle driven wheel through the baffle timing belt, and the output shaft of the baffle driving device 1403 is coaxially fixedly connected to the baffle driving wheel. The mounting surface of the baffle 1401 is fixedly connected to the baffle timing belt. When the medicine-blocking assembly 14 is working, the baffle driving device 1403 drives the baffle synchronous belt to rotate, thereby driving the baffle 1401 to move. The movement of the baffle 1401 can change the distance between it and the medicine-dispensing assembly 15 through the medicine window 1402, so that it can be adjusted according to the actual width of a single medicine box to ensure the output of a single medicine box. The baffle driving device 1403 can be a servo motor.

[0044] like Figures 4-6 As shown, the medicine dispensing assembly 15 includes a medicine dispensing drive device 1504, a drive wheel shaft, a medicine dispensing timing belt 1501, and a driven wheel shaft. The drive wheel shaft has multiple medicine dispensing drive wheels, and the driven wheel shaft has multiple medicine dispensing driven wheels. Each medicine dispensing drive wheel is connected to its corresponding medicine dispensing driven wheel via a corresponding medicine dispensing timing belt 1501. The output shaft of the medicine dispensing drive device 1504 is fixedly connected to the drive wheel shaft. In this embodiment, two sets of medicine dispensing timing belts 1501 are provided, and dispensing blocks 1502 are provided at both ends of each medicine dispensing timing belt 1501. The two sets of medicine dispensing timing belts 1501 are driven to rotate synchronously by the medicine dispensing drive device 1504. The medicine dispensing timing belt 1501 utilizes the friction between itself and the medicine box, as well as the thrust of the dispensing blocks 1502, to dispense a single medicine. The medicine box is pushed into the medicine trough 5 through the medicine delivery window 1402. Simultaneously, the pusher plate 1301 in the medicine pushing assembly 13 moves quantitatively. After one medicine box is pushed out, the pusher plate 1301 moves a distance equal to the width of the single medicine box, causing the next medicine box to move to the position of the corresponding medicine delivery window 1402 and be in close contact with the medicine dispensing timing belt 1501. This achieves the purpose of dispensing individual medicine boxes one by one. The two dispensing blocks 1502 are initially located at opposite ends of the medicine dispensing assembly 15, and photoelectric sensors 1503 are provided below their initial positions for position detection and zeroing. Because the two dispensing blocks 1502 are symmetrically arranged, each half-turn of the medicine dispensing timing belt 1501 pushes one medicine box into the medicine trough 5, while the other dispensing block 1502 returns to its initial position to continue pushing the next medicine box. The medicine dispensing drive device 1504 can be a servo motor.

[0045] like Figure 4 As shown, a width measuring sensor 16 is provided on the lower side of the lifting seat. In this embodiment, the width measuring sensor 16 is a diffuse reflection laser sensor that shines downwards. It is used to detect the edge of the medicine box on the shelf 105 to determine the total width of all medicine boxes on the shelf 105. The total width of the medicine boxes can be used to determine the number of medicine boxes, thereby realizing the subsequent control of actions such as dispensing medicine and moving the push plate 1301. The diffuse reflection laser sensor is a technology known in the art and is a commercially available product.

[0046] like Figure 2 As shown, in this embodiment, the turnover medicine rack 1 includes a base, a layer frame 104, and a shelf 105. The layer frame 104 is arranged sequentially on the base from bottom to top. The shelf 105 is inclinedly arranged on the corresponding side of the corresponding layer frame 104. The shelf 105 has a side partition 107 on either side in the left or right direction and a rear partition 108 on the rear side. The shelf 105 has a movable and adjustable medicine support plate 106. A medicine support plate 106, a medicine box placement area is formed between the medicine support plate 106, the side partition 107, and the rear partition 108. A gap is left between the rear partition 108 and the corresponding side of the corresponding layer frame 104. An area is formed above the gap for the fork push arm 12012 in the fork assembly 12 to fall down. In this embodiment, the shelf 105 is inclined at 5° to the horizontal plane. The medicine boxes that are put on the shelf in batches are clamped on both sides by the side partition 107 and the medicine backing plate 106. At the same time, due to the inclined setting of the shelf 105, the back of the medicine box tends to slide downward under the action of gravity and sticks tightly to the rear partition 108, which can effectively prevent the medicine boxes from tipping over and falling off due to the shaking of the turnover medicine shelf 1 during the transfer of the medicine shelf.

[0047] In this embodiment, the medicine-adhesive plate 106 is provided with a magnet that is adsorbed onto the corresponding layer plate 105, thereby realizing movement adjustment and adsorption fixation.

[0048] like Figure 2 As shown, the shelf 105 has a mounting plate 109 on its rear side that is fixedly connected to the corresponding side of the corresponding shelf frame 104. In addition, the shelf 105 has a location barcode for binding drug information with the location of the medicine shelf.

[0049] like Figure 2 As shown, the upper surface of the base is vertically provided with multiple columns 103, and the corner ends of the layer frame 104 are fixed to the corresponding columns 103. Sliding sleeves can be provided at the corner ends of the layer frame 104 and fitted onto the corresponding columns 103. This allows the height of the layer frame 104 to be adjusted according to actual needs. Once the height is determined, the sliding sleeves are then fixed to the columns 103 with screws to secure the layer frame 104.

[0050] like Figure 2As shown, in this embodiment, the base includes a support plate 102 and legs 101. The support plate 102 is vertically provided with a column 103 on its upper side, and each corner of the support plate 102 is provided with a leg 101 on its lower side. The base structure facilitates the lifting and moving of the turnover medicine rack 1 by the medicine rack transfer robot.

[0051] In this embodiment, the medicine rack transfer robot includes a mobile robot, a lifting mechanism, and a turntable. The mobile robot can be a lurking AMR (Autonomous Mobile Robot) used to transfer turnover medicine racks 1 between the medicine rack storage area 2, the manual medicine replenishment station 3, and the medicine loading station 4. The AMR has a scissor-lifting mechanism in the middle, and the upper end of the lifting mechanism has a turntable driven by a motor. When the system is working, the medicine rack transfer robot moves to below the support plate 102 of the base, and then the lifting mechanism is activated to make the turntable abut against the lower side of the support plate 102 of the base. The turntable supports the turnover medicine rack 1 and can adjust the direction of the turnover medicine rack 1 by rotating it with the motor. Then the lifting mechanism continues to move to drive the turnover medicine rack 1 to rise and fall, thereby realizing the loading or unloading of the turnover medicine rack 1. A camera can be installed in the middle of the lifting mechanism for identifying and verifying medicine rack information. The AMR navigation direction can be selected by magnetic strip navigation, laser navigation, etc. The lurking AMR and the scissor-lifting mechanism are both technologies known in the art and are commercially available products.

[0052] The working principle of this invention is as follows:

[0053] When this invention is in operation, the pharmaceutical logistics center carries out batch centralized drug replenishment operations according to the replenishment plan. The drug rack transfer robot (lurking AMR) moves the empty turnover drug rack 1 from the drug rack storage area 2 to the manual drug replenishment station 3. The manuals put the drugs on the rack, use a barcode scanner to scan the drug barcode to enter the drug information, and then scan the location barcode on the drug rack shelf 105 to realize the binding of drug information and drug rack location. After the turnover drug rack 1 is replenished, the AMR moves the turnover drug rack from the manual drug replenishment station 3 to the drug rack storage area 2 for storage. The above process is repeated until all drugs are replenished.

[0054] When the medicine storage in the medicine tank 5 of the dispensing machine is insufficient, a replenishment operation is performed. The AMR selects the turnover medicine rack 1 storing the corresponding type of medicine from the medicine rack storage area 2 and moves it from the medicine rack storage area 2 to the corresponding medicine loading station 4. The corresponding replenishment device 7 in the replenishment robot 6 moves to the medicine loading station 4 and takes out medicines in batches from the turnover medicine rack 1 on the medicine loading station 4 and puts them into the target medicine tank. When the medicines on the turnover medicine rack 1 facing the replenishment robot 6 are emptied, the orientation of the turnover medicine rack 1 is changed by rotating the turntable on the AMR. That is, the AMR moves the turnover medicine rack 1 out of the medicine loading station 4, rotates 90 degrees each time, and then moves it back to the medicine loading station 4. When the medicine loading is completed, the AMR removes the turnover medicine rack 1 from the medicine loading station 4.

[0055] The specific working process of the medicine-replenishing robot 6 of the present invention is as follows:

[0056] 1. The replenishing device 7 is driven by the lifting mechanism 9 to rise to the target shelf 105 of the turnover medicine rack 1 at the medicine loading height. Then, the medicine loading platform 701 of the replenishing device 7 moves horizontally and collects the position of the medicine support plate 106 on the target shelf 105 through the side width sensor 16, thereby obtaining the total width of the medicine boxes and calculating the number of medicine boxes, and reporting it to the equipment electrical control system.

[0057] 2. The equipment's electrical control system controls the baffle 1401 in the medicine blocking assembly 14 to move and adhere to the medicine dispensing timing belt 1501 of the medicine dispensing assembly 15, thereby closing the medicine passing window 1402. Then, the equipment's electrical control system controls the pusher 1301 in the medicine pushing assembly 13 to move and adjust the width of the buffer window between it and the medicine dispensing timing belt 1501, so that the buffer window is slightly larger than the measured total width of the medicine boxes, ensuring that all medicine boxes can be input. At the same time, the rotation drive device 11 controls the medicine loading platform 701 to rotate to a medicine loading posture parallel to the target shelf. Then, the medicine loading platform 701 moves horizontally to align the buffer window with the medicine boxes on the target shelf 105.

[0058] 3. The lifting mechanism 9 of the equipment's electrical control system drives the drug-carrying platform 701 to a set extension height, and then controls the fork 1201 in the fork assembly 12 to extend to the falling area behind the rear partition 108 of the target shelf 105. Then the lifting mechanism 9 descends, causing the fork push arm 12012 of the fork 1201 to fall to a set retraction height, which is slightly higher than the height of the side partition 107 and the drug-supporting plate 106 of the target shelf 105. After the descent and positioning are completed, the fork 1201 retracts, and the fork push arm 12012 first contacts the medicine box at a low speed, and then drives the medicine box to move at a medium speed to reduce the impact on the medicine box during the retraction process. The retraction action of the fork 1201 pushes the medicine box into the buffer window between the push plate 1301 and the medicine dispensing component 15. After the fork push arm 12012 retracts, it can limit the displacement of the medicine box. At the same time, the fork push arm 12012 can play a moving guide role when the push plate 1301 pushes the medicine box to move.

[0059] 4. The equipment's electrical control system controls the drug-carrying platform 701 to rotate to the drug dispensing posture, and the medicine box is pressed tightly against the baffle 1401 under the action of gravity.

[0060] 5. The equipment's electrical control system controls the movement of the push plate 1301, causing the push plate 1301 to press the medicine box tightly to prevent the medicine box from tipping over during the medicine dispensing and positioning process. Then, the position of the medicine loading platform 701 is adjusted by lifting and horizontal movement to align with the target medicine slot opening on the medicine trough 5. The plane of the medicine dispensing timing belt 1501 that abuts against the medicine box is aligned with one side partition of the target medicine slot opening, and the medicine loading plane on the upper side of the medicine loading platform 701 is slightly higher than the bottom surface of the target medicine slot opening.

[0061] 6. The equipment's electrical control system controls the baffle 1401 to move away from the medicine dispensing timing belt 1501, thereby forming a medicine passing window 1402 between the baffle 1401 and the medicine dispensing timing belt 1501. The width of the medicine passing window 1402 is slightly larger than the width of a single medicine box, so that only one medicine box is output when the medicine dispensing component 15 dispenses medicine at a time.

[0062] 7. The equipment's electrical control system controls the start of the dispensing assembly 15, causing the dispensing timing belt 1501 to rotate continuously, driving the dispensing block 1502 to drive a single medicine box out of the medicine passing window 1402. At the same time, the equipment's electrical control system controls the push plate 1301 to feed intermittently. Each time a medicine box is dispensed, the push plate 1301 moves a distance equal to the width of a medicine box towards the dispensing assembly 15, thereby ensuring that the next medicine box enters the position corresponding to the medicine passing window 1402 and is in close contact with the dispensing timing belt 1501. The dispensing timing belt 1501 rotates half a turn to dispense one medicine box, until all medicine boxes are pushed into the target medicine slot.

[0063] like Figures 7-8 As shown, the drug delivery robot 6 of the present invention includes two drug delivery devices 7, and the working areas of the two drug delivery devices 7 overlap at the boundary. This overlapping area is defined as interference zone I. If the drug-carrying platforms 701 in the two drug delivery devices 7 are at the same height, spatial interference will occur, resulting in a collision. Sufficient space is defined around the drug delivery devices 7 to form a safety space II. To avoid collisions between the two drug delivery devices 7 in interference zone I and to maximize the efficiency of drug delivery command execution, the two drug delivery devices 7 entering interference zone I must meet the following constraints:

[0064] 1. The two drug-carrying devices 7 entering the interference zone I must ensure that their drug-carrying platforms 701 have sufficient safety space II in the lifting direction and cannot overlap with the safety space II of the other drug-carrying platform 701;

[0065] 2. Before the two replenishment devices 7 enter interference zone I, they need to be raised to the height of the target drug tank opening, then walk horizontally into interference zone I, and then the two replenishment devices 7 leave interference zone I by walking horizontally.

[0066] 3. The two replenishment devices 7 that complete the drug delivery command in Interference Zone I must leave Interference Zone I.

[0067] in:

[0068] Constraint 1 restricts command interlocking to prevent interference in safety space II that might occur if two commands with overlapping trajectories are executed simultaneously.

[0069] Constraint 2 restricts the two replenishment devices 7 to move in and out of the interference zone I based on horizontal movement. That is, a transition point is added to the command path. The transition point is outside the interference zone I and its height is the height of the target drug tank. The two replenishment devices 7 first move to the transition point and then move from the transition point to the target drug tank to avoid interference in the safety space II that may be caused by the lifting of the drug delivery platform 701 in the interference zone I.

[0070] Constraint 3 stipulates that interference zone I must not be occupied except when executing the drug delivery command. That is, after the command is completed, the system should return to the transition point to avoid continuous occupation of interference zone I and locking out subsequent commands.

[0071] Before executing the medication dispensing command, based on the above constraints, this invention designs a safety anti-collision control method to restrict the medication dispensing command and actions. The specific control process is as follows:

[0072] Step 1: Determine whether the target drug slot of the drug delivery command of this drug delivery device 7 is within the interference zone I. If not, execute the drug delivery command immediately; otherwise, continue to step 2 for judgment.

[0073] Step 2: Determine whether the target drug slot of the drug delivery command of the adjacent drug delivery device 7 is within the interference zone I. If not, proceed to step 4; otherwise, continue to step 3 for judgment.

[0074] Step 3: Determine whether the safety space II at the height of the target medicine tank overlaps between this medicine replenishment device 7 and the adjacent medicine replenishment device 7. If they do not overlap, proceed to step 4; otherwise, return to step 1.

[0075] Step 4: The medicine replenishment device 7 first rises to the transition point, then moves horizontally to the target medicine tank position to execute the medicine delivery command. After the medicine delivery command is completed, it moves horizontally back to the transition point.

Claims

1. A drug-infusion robot system, characterized in that: The system includes a medicine rack storage area (2), a medicine loading platform (4), a medicine replenishment robot (6), and a medicine trough (5) arranged in sequence. The medicine rack storage area (2) is equipped with a turnover medicine rack (1), and a manual medicine replenishment station (3) is provided on one side of the medicine rack storage area (2). The turnover medicine rack (1) is transferred between the medicine loading platform (4), the medicine rack storage area (2), and the manual medicine replenishment station (3) by the medicine rack transfer robot. The medicine replenishment robot (6) includes a frame (17), a medicine replenishment device (7), a walking mechanism (8), a lifting mechanism (9), a translation column (10), and a rotating mechanism. The rotary drive device (11) is located in the frame (17) and is driven to move by the walking mechanism (8). The lifting mechanism (9) is located on the translation column (10) and is provided with a liftable lifting seat. The rotary drive device (11) is located on the lifting seat. The medicine replenishing device (7) is located on the rotary drive device (11). After the turnover medicine rack (1) is sent into the corresponding medicine loading station (4), the medicine is taken by the corresponding medicine replenishing device (7) in the medicine replenishing robot (6). The target medicine slot on the medicine slot (5) is replenished by the corresponding medicine replenishing device (7). The medicine replenishment device (7) includes a medicine-carrying platform (701), a fork assembly (12), a medicine-pushing assembly (13), a medicine-blocking assembly (14), and a medicine-dispensing assembly (15). The medicine-carrying platform (701) is connected to the rotary drive device (11). The fork assembly (12) is located at the end of the medicine-carrying platform (701) away from the rotary drive device (11). The medicine-dispensing assembly (15) is located at the end of the medicine-carrying platform (701) close to the rotary drive device (11). The medicine-pushing assembly (13) is located on the side of the medicine-carrying platform (701) close to the medicine-feeding station (4). The medicine-blocking assembly (14) is located on the side of the medicine-carrying platform (701) close to the medicine trough (5). The fork assembly (12)... The unit is equipped with a fork (1201), the pusher assembly (13) is equipped with a pusher plate (1301), the blocker assembly (14) is equipped with a baffle (1401), and the dispensing assembly (15) is equipped with a dispensing timing belt (1501) with a dispensing block (1502). The medicine box is pushed from the turnover medicine rack (1) by the fork (1201) into the buffer window between the pusher plate (1301) and the dispensing timing belt (1501). The medicine box near the rotating drive device (11) is driven by the dispensing timing belt (1501) and the dispensing block (1502) and output through the medicine window (1402) between the baffle (1401) and the dispensing timing belt (1501).

2. The drug delivery robot system according to claim 1, characterized in that: The walking mechanism (8) includes a walking drive device (801), a transmission shaft (803), an upper synchronous belt assembly, a lower synchronous belt assembly, an upper slide (805), and a lower slide. The frame (17) includes an upper beam (171) and a lower beam (172). The upper slide (805) is slidably connected to the upper beam (171) and fixedly connected to the upper synchronous belt in the upper synchronous belt assembly. The lower slide is slidably connected to the lower beam (172) and fixedly connected to the lower synchronous belt in the lower synchronous belt assembly. The upper end of the translation column (10) is fixedly connected to the upper slide (805), and the lower end is fixedly connected to the lower slide. The walking drive device (801) is located on one side of the frame (17) and has a dual-output shaft structure. One output shaft of the walking drive device (801) is coaxially fixedly connected to the lower drive wheel in the lower synchronous belt assembly, and the other output shaft is coaxially connected to the upper drive wheel in the upper synchronous belt assembly through the transmission shaft (803).

3. The drug delivery robot system according to claim 1, characterized in that: The lifting mechanism (9) includes a lifting seat, a lifting drive device (901), and a lifting timing belt assembly. The lifting timing belt assembly is mounted on the translation column (10). The lifting seat is slidably connected to the translation column (10) and fixedly connected to the lifting timing belt in the lifting timing belt assembly. The lifting drive device (901) is located at the lower end of the translation column (10), and its output shaft is coaxially fixedly connected to the lifting drive wheel in the lifting timing belt assembly. A width measuring sensor (16) is provided on the lower side of the lifting seat.

4. The drug delivery robot system according to claim 1, characterized in that: The shift fork assembly (12) includes a shift fork (1201), a shift fork timing belt assembly, and a shift fork drive device (1203). The shift fork timing belt assembly is arranged in a direction parallel to the short side of the drug-carrying platform (701). The shift fork (1201) includes a vertically connected shift fork side arm (12011) and a shift fork push arm (12012). The shift fork side arm (12011) is fixedly connected to the shift fork timing belt (1202) in the shift fork timing belt assembly. The shift fork push arm (12012) is parallel to the long side of the drug-carrying platform (701). The output shaft of the shift fork drive device (1203) is coaxially fixedly connected to the shift fork drive wheel in the shift fork timing belt assembly.

5. The drug delivery robot system according to claim 1, characterized in that: The drug pushing assembly (13) includes a push plate (1301), a push plate timing belt assembly, and a push plate drive device (1303). A drive mounting beam (1302) is provided on the upper side of the drug loading platform (701). The push plate timing belt assembly and the push plate drive device (1303) are both located on the drive mounting beam (1302). The push plate (1301) is perpendicular to the upper surface of the drug loading platform (701) and parallel to the short side of the drug loading platform (701). The upper side of the push plate (1301) is fixedly connected to the push plate timing belt in the push plate timing belt assembly. The output shaft of the push plate drive device (1303) is coaxially fixedly connected to the push plate drive wheel in the push plate timing belt assembly.

6. The drug delivery robot system according to claim 1, characterized in that: The drug-blocking assembly (14) includes a baffle (1401), a baffle timing belt assembly, and a baffle driving device (1403). The baffle (1401) is fixedly connected to the baffle timing belt in the baffle timing belt assembly. The output shaft of the baffle driving device (1403) is coaxially fixedly connected to the baffle drive wheel in the baffle timing belt assembly. The baffle (1401) is L-shaped, with one side of its outer end perpendicular to the plane of the push plate (1301) and the other side parallel to the plane of the push plate (1301).

7. The drug delivery robot system according to claim 1, characterized in that: The dispensing assembly (15) includes a dispensing drive device (1504), a drive wheel shaft, a dispensing timing belt (1501), and a driven wheel shaft. The drive wheel shaft is provided with a plurality of dispensing drive wheels, and the driven wheel shaft is provided with a plurality of dispensing driven wheels. The dispensing drive wheels are connected to the corresponding dispensing driven wheels through the corresponding dispensing timing belt (1501). The output shaft of the dispensing drive device (1504) is fixedly connected to the drive wheel shaft.

8. The drug delivery robot system according to claim 1, characterized in that: The turnover medicine rack (1) includes a base, a layer frame (104), and shelves (105). The layer frames (104) are arranged sequentially on the base from bottom to top. The shelves (105) are inclinedly arranged on the corresponding side of the corresponding layer frame (104). The shelf (105) has a side partition (107) on either side in the left or right direction and a rear partition (108) on the rear side. The shelf (105) has a medicine support plate (106), and the medicine support plate (106) has a magnet that is attracted to the corresponding shelf (105). The medicine support plate (106), the side partition (107), and the rear partition (108) are all part of the structure. An area for placing medicine boxes is formed between the partitions. A gap is provided between the rear partition (108) and the corresponding side of the corresponding layer frame (104). The base includes a support plate (102) and support legs (101) located on the lower side of each corner of the support plate (102). A column (103) is vertically provided on the upper surface of the support plate (102), and each corner of the layer frame (104) is respectively located on the corresponding column (103). The medicine rack transfer robot includes a mobile robot, and the mobile robot is provided with a lifting mechanism. The upper end of the lifting mechanism is provided with a turntable that abuts against the support plate (102).

9. A control method for a drug delivery robot system according to claim 1, characterized in that: The drug replenishment robot (6) includes two drug replenishment devices (7), and the overlapping area of ​​the working areas of the two drug replenishment devices (7) is an interference zone I. Each drug replenishment device (7) is surrounded by a safety space II. A transition point is provided outside the interference zone I, and the height of the transition point is the height of the target drug slot corresponding to the drug replenishment device (7). The control method of the drug replenishment device (7) includes the following steps:

1. Determine whether the target drug slot of the drug delivery command of this drug delivery device (7) is within the interference zone I. If not, execute the drug delivery command immediately; otherwise, continue to step 2 for judgment.

2. Determine whether the target drug slot of the drug delivery command of the adjacent drug delivery device (7) is within the interference zone I. If not, jump to step 4; otherwise, continue to step 3 for judgment.

3. Determine whether the medicine replenishing device (7) and the adjacent medicine replenishing device (7) overlap in the safe space II at the height of the target medicine slot. If they do not overlap, jump to step 4; otherwise, return to step 1.

4. The medicine replenishment device (7) first rises to the transition point, then moves horizontally to the target medicine slot position to execute the medicine delivery command. After the medicine delivery command is completed, it moves horizontally back to the transition point.

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