Automatic medicine dispensing manipulator for smart medicine cabinet and medicine dispensing method thereof

Abstract

The present invention belongs to the technical field of manipulators, and specifically relates to an automatic medicine dispensing manipulator for an intelligent medicine cabinet and a medicine dispensing method thereof, comprising: a base, a driving device and a clamping device; the driving device is arranged on the base; the clamping device is arranged on the driving device, and the clamping device is suitable for adapting to medicine packaging boxes of different shapes; the driving device is suitable for driving the clamping device to clamp the medicine packaging boxes and carry the medicine packaging boxes; stable clamping of medicine packaging boxes of different shapes is achieved, ensuring the efficiency of medicine clamping and transportation.

Description

Technical Field

[0001] The present invention belongs to the technical field of manipulators, and in particular relates to an automatic medicine dispensing manipulator for an intelligent medicine cabinet and a medicine dispensing method thereof. Background Art

[0002] In the related art, the smart medicine cabinet adopts a medicine-taking robot to automatically take out medicines from the medicine cabinet. Referring to the Chinese patent, announcement number: CN105858192A, publication date: 2016.08.17, the patent discloses a box-taking and placing robot that can be used to take and place medicines, but the robot adopts a motor coaxially connected gear and rack meshing, thereby controlling the two clamps to move closer or farther away to achieve the purpose of clamping or loosening the object.

[0003] However, the shapes of medicine packaging boxes include square paper boxes and bottle-shaped packaging. If the above patent uses gear rack meshing to continuously transmit, it is necessary to ensure that the overlap is greater than 1. When in use, due to the number of teeth of the gear, installation accuracy, or wear and tear due to long-term use, the gear may be worn or undercut, causing the robot to drive the gear rack forward one tooth under the original control program, which will damage the medicine packaged in the paper box, and retreat one tooth to correctly clamp the medicine packaged in the bottle. Therefore, for two medicines with different packages, it is not appropriate to use the method of clamping and transporting from two vertical surfaces.

[0004] Therefore, based on the above technical problems, it is necessary to design a new automatic medicine dispensing robot for smart medicine cabinet and a medicine dispensing method thereof. Summary of the invention

[0005] The object of the present invention is to provide an automatic medicine dispensing robot for an intelligent medicine cabinet and a medicine dispensing method thereof.

[0006] In order to solve the above technical problems, the present invention provides an automatic medicine taking manipulator for a smart medicine cabinet, comprising:

[0007] Base, drive device and clamping device;

[0008] The driving device is arranged on the base;

[0009] The clamping device is arranged on the driving device, and the clamping device is suitable for adapting to medicine packaging boxes of different shapes;

[0010] The driving device is suitable for driving the clamping device to clamp the medicine packaging box and carry the medicine packaging box.

[0011] Further, the clamping device includes: a pair of clamping mechanisms;

[0012] The clamping mechanism is connected to the driving device;

[0013] The driving device is suitable for driving a pair of clamping mechanisms to move closer or farther away, and the driving device can drive the clamping mechanisms to extend from the base.

[0014] Further, the clamping mechanism includes: a connecting bar and an arc bar;

[0015] One end of the connecting strip is connected to the driving device;

[0016] The arc strip is arranged at the other end of the connecting strip, and the arc strip is arranged toward another connecting strip.

[0017] Furthermore, the arc strip is rotatably connected to the connecting strip, that is, the arc strip rotates from being in contact with the top surface of the base to being perpendicular to the top surface of the base.

[0018] Furthermore, the arc strip is arranged transversely, and a raised side of the arc strip faces a direction away from the driving device.

[0019] Furthermore, a plurality of clamping columns are rotatably arranged on a side of the arc-shaped bar facing the driving device, and the clamping columns are arranged parallel to the connecting bar.

[0020] Further, the driving device comprises: a first guide rail and a first slider;

[0021] The first guide rail is arranged on the side wall of the base, and the first guide rail is arranged parallel to the connecting bar;

[0022] The first slider is disposed on the first guide rail, and the first slider is disposed above the top surface of the base.

[0023] Further, a pair of second guide rails are provided on the first sliding block, the second guide rails are perpendicular to the first guide rails, and the second guide rails correspond to the connecting bars;

[0024] The second guide rail is provided with a second slider, the second slider is provided with a connecting piece, and the connecting piece extends toward the top surface of the base;

[0025] The connecting strips are arranged on corresponding connecting pieces.

[0026] Furthermore, the base is hollow, and a strip hole is opened on the top surface of the base, and the strip hole is parallel to the connecting bar.

[0027] Furthermore, a push block is arranged in the base, and the push block extends out of the top surface of the base from the strip hole.

[0028] Furthermore, a receiving box is provided on the base.

[0029] On the other hand, the present invention also provides a medicine dispensing method using the above-mentioned automatic medicine dispensing manipulator for the smart medicine cabinet, comprising:

[0030] The driving device drives the clamping device to clamp medicine packaging boxes of different shapes.

[0031] The beneficial effects of the present invention are that the present invention comprises a base, a driving device and a clamping device; the driving device is arranged on the base; the clamping device is arranged on the driving device, and the clamping device is suitable for adapting to medicine packaging boxes of different shapes; the driving device is suitable for driving the clamping device to clamp the medicine packaging boxes and carry the medicine packaging boxes; stable clamping of medicine packaging boxes of different shapes is achieved, ensuring the efficiency of medicine clamping and transportation.

[0032] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention are realized and obtained by the structures particularly pointed out in the description and the drawings.

[0033] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0035] Figure 1 It is a structural schematic diagram of an automatic medicine taking manipulator for an intelligent medicine cabinet of the present invention;

[0036] Figure 2 It is a structural schematic diagram of the connecting strip of the present invention;

[0037] Figure 3 It is a schematic structural diagram of the driving device of the present invention;

[0038] Figure 4 It is a structural schematic diagram of the base of the present invention;

[0039] Figure 5 It is a schematic diagram of clamping a cylindrical medicine packaging box according to the present invention;

[0040] Figure 6 It is a schematic diagram of clamping a rectangular medicine packaging box according to the present invention.

[0041] In the figure:

[0042] 1 base, 11 push block, 12 receiving box, 13 strip hole;

[0043] 2 driving device, 21 first guide rail, 22 first slider, 23 second guide rail, 24 second slider, 25 connecting member;

[0044] 3 clamping device, 31 connecting strip, 32 arc strip, 33 clamping column. DETAILED DESCRIPTION

[0045] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0046] like Figures 1 to 6 As shown, in at least one embodiment, an automatic medicine dispensing robot for an intelligent medicine cabinet is provided, comprising: a base 1, a driving device 2 and a clamping device 3; the driving device 2 is arranged on the base 1; the clamping device 3 is arranged on the driving device 2, and the clamping device 3 is suitable for adapting to medicine packaging boxes of different shapes; the driving device 2 is suitable for driving the clamping device 3 to clamp the medicine packaging boxes and carry the medicine packaging boxes; stable clamping of medicine packaging boxes of different shapes is achieved, ensuring the efficiency of clamping and transportation of medicine packaging boxes.

[0047] A moving device can be provided on the bottom surface of the base 1, and the moving device can drive the entire base 1 to move, so that the base 1 moves to the position of the medicine cabinet where the medicines that need to be taken out are stored; the moving device can be set in the pharmacy, so that the base 1 can be moved to any grid of the medicine cabinet to meet the needs of taking out medicines; in the medicine cabinet, the medicine packaging boxes can be divided into areas according to their shapes and sizes, and similar or identical medicine packaging boxes can be placed in the same area to facilitate the taking out of the medicine packaging boxes.

[0048] The clamping device 3 includes: a pair of clamping mechanisms; the clamping mechanisms are connected to the driving device 2; the driving device 2 is suitable for driving a pair of clamping mechanisms to move closer or farther away, and the driving device 2 can drive the clamping mechanisms to extend from the base 1; the two clamping mechanisms can clamp and carry the medicine packaging boxes that need to be clamped from at least two directions, and can stably take out the medicine packaging boxes.

[0049] The clamping mechanism comprises: a connecting strip 31 and an arc strip 32; one end of the connecting strip 31 is connected to the driving device 2; the arc strip 32 is arranged at the other end of the connecting strip 31, and the arc strip 32 is arranged toward another connecting strip 31; the arc strip 32 is rotatably connected to the connecting strip 31, that is, the arc strip 32 rotates from being in contact with the top surface of the base 1 to being perpendicular to the top surface of the base 1; the arc strip 32 is arranged horizontally, and the arched side of the arc strip 32 faces the direction away from the driving device 2; a plurality of clamping columns 33 are rotatably arranged on the side of the arc strip 32 facing the driving device 2, and the clamping columns 33 are arranged parallel to the connecting strip 31; the shape of the connecting strip 31 can be L-shaped, one end of the long side of the L-shaped is connected to the connecting piece 25, and one end of the short side of the L-shaped is rotatably connected to the arc strip 32, and the rotation direction of the arc strip 32 is the vertical direction, and the arc strip 32 can rotate from being in contact with the base 1 The top surface is rotated to a vertical state, that is, the arc-shaped member is perpendicular to the top surface of the base 1, so that the connecting line of the two ends of the arc-shaped member can be perpendicular to the top surface of the base 1; the connecting strip 31 can be fitted on the top surface of the base 1, so that the driving device 2 can be limited by the base 1 when pushing the connecting strip 31 out of the top surface of the base 1; a plurality of grooves can be opened horizontally and equidistantly on the side of the arc-shaped member 32 facing the driving device 2, and a ball can be rotatably arranged in the groove, and the ball and the groove can be connected by a torsion spring, and the clamping column 33 is connected to the ball. In the initial state (the connecting strip 31 is completely located on the top surface of the base 1), the clamping column 33 is parallel to the long side of the connecting strip 31, and the clamping column 33 can be rotated in all directions through the ball; the rotation method of the arc-shaped member 32 can be to connect a rotating shaft to the arc-shaped member 32, and the rotating shaft can be passed through the inside of the connecting strip 31, and the rotating shaft can be connected to the driving motor to drive the arc-shaped member 32 to rotate;When it is necessary to clamp the cylindrical medicine packaging box, the base 1 is moved to the corresponding position of the medicine rack. The base 1 can be tightly attached to the medicine rack so that the medicine packaging box can be moved to the top surface of the base 1. At this time, the push block 11 is close to the end of the base 1 away from the medicine rack, and the arcuate bar 32 can be rotated to a certain angle, such as 45 degrees. Then the two connecting bars 31 are moved away from each other, driving the connecting bar 31 to extend from the top surface of the base 1 toward the medicine cabinet and extend into the medicine cabinet, so that the arcuate bar 32 and the clamping column 33 are located in the space behind the medicine packaging box that needs to be clamped. The two connecting bars 31 are close to each other so that the arcuate bar 32 is located behind the medicine packaging box, so that the clamping column 33 can contact the medicine packaging box when the arcuate bar 32 moves outward from the medicine rack. The arcuate bar 32 moves outward to clamp the medicine packaging box and move the medicine packaging box to the base 1. The clamping column 33 contacts the outer wall of the medicine packaging box, which causes the clamping column 33 to rotate. When the medicine box is moved, the direction of the force applied by the clamping column 33 to the medicine box is toward the axis of the medicine box. Since the positions of the clamping column 33 on the arc-shaped member are different, the positions at which each clamping column 33 contacts the outer wall of the medicine box are different, so the medicine box can be stably clamped to prevent the medicine box from tipping over when the medicine box is moved to the base 1. When the medicine box is moved to the base 1, the push block 11 can limit the position of the medicine box to prevent the medicine box from falling out of the base 1 directly from another direction. Before clamping the medicine box, the two connecting strips 31 are moved away to ensure that the arc strip 32 can be moved to the space behind the medicine box after extending into the medicine shelf. After the medicine box is moved to the base 1, the two connecting strips 31 are moved away to disengage the clamping column 33 from the medicine box. At this time, the clamping column 33 can be reset by the torsion spring to facilitate clamping the next medicine box. On the other hand, refer to; Figure 6When clamping a rectangular or other shaped medicine packaging box, the two connecting strips 31 on the base 1 are moved away (the arc strip 32 does not rotate and remains in contact with the top surface of the base 1), ensuring that the arc strip 32 can extend into the medicine rack, driving the clamping strip to extend into the medicine rack so that the clamping column 33 is located on one side of the medicine packaging box. At this time, the two connecting strips 31 are close to each other, and the clamping column 33 contacts the side wall of the medicine packaging box and rotates. When the rotating clamping column 33 contacts other clamping columns 33, it drives the other clamping columns 33 to rotate. At this time, if there are plates of medicines in the medicine packaging box, the medicine packaging box cannot be squeezed as the two clamping strips approach, and the medicine packaging box will move toward the base 1 along the inclined clamping column 33. If there are no medicines in the medicine packaging box, the empty medicine packaging box will be squeezed and deformed as the two clamping strips approach. It should be noted that, since the rectangular box is generally a paper box, and the medicines packaged inside are capsules, the aluminum foil plate used to package a single capsule inside can support the shape of the paper box from the inside, and the overall weight of the medicines in the paper box is relatively light. Therefore, when there are no medicines stacked one on top of another in the paper box, the clamping column 33 can squeeze and deform the paper box. For a paper box with medicines stacked one on top of another, when the clamping column 33 approaches the medicine box from both sides, the innermost clamping column 33 contacts the medicine and tilts, and can apply a thrust to the medicine through the inclined surface, thereby easily pushing the medicine out. When the connecting strip 31 stops approaching, the medicine packaging box containing medicines can be completely separated from the inclined clamping column 33, or it can still be in contact with the inclined clamping column 33. At this time, the arc strip 32 moves toward the base 1, and the medicine packaging box can be moved to the top surface of the base 1. After the medicine packaging box moves to the top surface of the base 1, the connecting strip 31 moves away from the clamping column 33 and separates from the medicine packaging box, which is convenient for clamping and carrying the next medicine packaging box; after the rectangular medicine packaging box is clamped and carried, the arc strip 32 can be rotated to be perpendicular to the base 1, and the two connecting strips 31 move away from each other to drive the arc strip 32 to move toward the medicine shelf. After entering the medicine shelf, the two connecting strips 31 are brought close to each other, so that the medicines in the medicine shelf can be sorted, which is convenient for the next clamping and carrying; a camera can be set on the driving device 2 to capture the image of the medicine packaging box to determine whether the medicine packaging box moved to the base 1 is deformed. If it is deformed, the medicine packaging box is pushed into the receiving box 12 by the pushing block 11.

[0050] The driving device 2 includes: a first guide rail 21 and a first slider 22; the first guide rail 21 is arranged on the side wall of the base 1, and the first guide rail 21 is arranged parallel to the connecting strip 31; the first slider 22 is arranged on the first guide rail 21, and the first slider 22 is arranged above the top surface of the base 1; the first slider 22 can move along the first guide rail 21, and the first guide rails 21 are arranged on both side walls of the base 1, so that the first slider 22 can be erected above the top surface of the base 1, and the movement of the first slider 22 can make the connecting strip 31 extend outward from the base 1, so that part of the connecting strip 31 and the arc strip 32 can extend into the medicine shelf; the movement of the first slider 22 can be driven by a transmission method such as a belt.

[0051] A pair of second guide rails 23 are arranged on the first slider 22, the second guide rails 23 are perpendicular to the first guide rails 21, and the second guide rails 23 correspond to the connecting strip 31; a second slider 24 is arranged on the second guide rail 23, a connecting member 25 is arranged on the second slider 24, and the connecting member 25 extends toward the top surface of the base 1; the connecting strip 31 is arranged on the corresponding connecting member 25; two pairs of second guide rails 23 and second sliders 24 are arranged so that the two connecting strips 31 can move independently, thereby meeting the requirement of the two connecting strips 31 being close to or away from each other.

[0052] The base 1 is hollow, and a strip hole 13 is opened on the top surface of the base 1 , and the strip hole 13 is parallel to the connecting bar 31 ; a push block 11 is arranged in the base 1 , and the push block 11 extends out of the top surface of the base 1 from the strip hole 13 .

[0053] The base 1 is provided with a receiving box 12, which can be drawn out from the base 1, for example, by pushing the receiving box 12 out by a cylinder or the like, and after the receiving box 12 is pushed out, the empty medicine packaging boxes can be pushed into the receiving box 12 for collection.

[0054] In at least one other embodiment, a medicine dispensing method using the automatic medicine dispensing robot for the above-mentioned smart medicine cabinet is also provided, comprising: driving the clamping device 3 by the driving device 2 to clamp medicine packaging boxes of different shapes.

[0055] In summary, the present invention comprises a base 1, a driving device 2 and a clamping device 3; the driving device 2 is arranged on the base 1; the clamping device 3 is arranged on the driving device 2, and the clamping device 3 is suitable for adapting to medicine packaging boxes of different shapes; the driving device 2 is suitable for driving the clamping device 3 to clamp the medicine packaging boxes and carry the medicine packaging boxes; stable clamping of medicine packaging boxes of different shapes is achieved, ensuring the efficiency of medicine clamping and transportation.

[0056] The various devices selected in this application (components whose specific structures are not described) are all universal standard parts or components known to those skilled in the art, and their structures and principles can be known to those skilled in the art through technical manuals or conventional experimental methods.

[0057] In the description of the embodiments of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0058] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0059] Based on the above ideal embodiments of the present invention, the relevant staff can make various changes and modifications without departing from the technical concept of the present invention through the above description. The technical scope of the present invention is not limited to the contents of the specification, and its technical scope must be determined according to the scope of the claims.

Claims

1. An automatic medicine dispensing robot for a smart medicine cabinet, characterized in that: include: Base, drive device and clamping device; The driving device is arranged on the base; The clamping device is arranged on the driving device, and the clamping device is suitable for adapting to medicine packaging boxes of different shapes; The driving device is suitable for driving the clamping device to clamp the medicine packaging box and carry the medicine packaging box; The clamping device comprises: a pair of clamping mechanisms; The clamping mechanism is connected to the driving device; The driving device is suitable for driving a pair of clamping mechanisms to move closer or farther away, and the driving device drives the clamping mechanisms to extend from the base; The clamping mechanism comprises: a connecting strip and an arc strip; One end of the connecting strip is connected to the driving device; The arc strip is arranged at the other end of the connecting strip, and the end of the arc strip that is not connected to the connecting strip faces the other connecting strip; A rotating shaft is connected to the arc strip, the rotating shaft is arranged inside the connecting strip, and the rotating shaft is connected to a driving motor to drive the arc strip to rotate; The arc strip is rotatably connected to the connecting strip, that is, the arc strip rotates from being in contact with the top surface of the base to being perpendicular to the top surface of the base. When the arc strip is perpendicular to the top surface of the base, the line connecting the two ends of the arc strip is perpendicular to the top surface of the base; The arc strip is arranged transversely, and the arched side of the arc strip faces away from the driving device; A plurality of grooves are equidistantly arranged laterally on one side of the arc-shaped bar facing the driving device, a ball is rotatably arranged in the groove, the ball is connected to the groove by a torsion spring, a clamping column is connected to the ball, and in the initial state, the clamping column is parallel to the long side of the connecting bar; The base is hollow, and a strip hole is opened on the top surface of the base, and the strip hole is parallel to the connecting bar; A push block is arranged in the base, and the push block extends out of the top surface of the base from the strip hole.

2. The automatic medicine dispensing robot for the smart medicine cabinet according to claim 1, characterized in that: The driving device comprises: a first guide rail and a first slider; The first guide rail is arranged on the side wall of the base, and the first guide rail is arranged parallel to the connecting bar; The first slider is disposed on the first guide rail, and the first slider is disposed above the top surface of the base.

3. The automatic medicine dispensing robot for the smart medicine cabinet as claimed in claim 2, characterized in that: A pair of second guide rails are provided on the first sliding block, the second guide rails are perpendicular to the first guide rails, and the second guide rails correspond to the connecting bars; The second guide rail is provided with a second slider, the second slider is provided with a connecting piece, and the connecting piece extends toward the top surface of the base; The connecting strips are arranged on corresponding connecting pieces.

4. The automatic medicine dispensing robot for the smart medicine cabinet as claimed in claim 3, characterized in that: A receiving box is arranged on the base.

5. A medicine dispensing method using the automatic medicine dispensing robot for the smart medicine cabinet as claimed in claim 1, characterized in that: include: The driving device drives the clamping device to clamp medicine packaging boxes of different shapes.

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