Medicine taking mechanical arm for automatic medicine dispensing machine and medicine taking method thereof

Abstract

This invention relates to the field of robotic arm technology, specifically to a robotic arm for an automatic medicine dispensing machine and its dispensing method. The invention provides a robotic arm for an automatic medicine dispensing machine, comprising: a base adapted to support a workpiece; a clamping device slidably disposed on the base and adapted to clamp the workpiece from both sides; a receiving groove extending along the length of the base; and a feeding device slidably disposed within the receiving groove. The two clamping devices are adapted to limit the columnar workpiece from both sides, and the adjusting components of the two clamping devices are offset to guide the columnar workpiece to tilt and be placed into the receiving groove. Through the cooperation of the clamping devices and the receiving groove, after the columnar workpiece moves onto the base, the clamping devices can flip the columnar workpiece over, causing the arc surface of the columnar workpiece to fall into the receiving groove, thus improving the stability of the workpiece on the base and increasing work efficiency.

Description

Technical Field

[0001] This invention relates to the field of robotic arm technology, specifically to a robotic arm for automatic medicine dispensing machines and a method for dispensing medicine. Background Technology

[0002] In related technologies, robotic arms can be used to automatically retrieve medicines from medicine cabinets. However, medicine packaging boxes come in various shapes, mainly divided into rectangular packaging and cylindrical packaging.

[0003] In related technologies, when robotic arms are used to grip and transport cylindrical packages, the packages may tip over due to excessive speed, which is not conducive to the quick handling of cylindrical packages.

[0004] Therefore, solving the stability problem of robotic arms handling cylindrical packaging is a technical challenge that urgently needs to be addressed in this field. Summary of the Invention

[0005] The purpose of this invention is to provide a drug-dispensing robotic arm for an automatic drug dispensing machine and a drug-dispensing method thereof.

[0006] To solve the above-mentioned technical problems, the present invention provides a drug-dispensing robotic arm for an automatic drug dispensing machine, comprising: A base, the base being adapted to support a workpiece; A clamping device, which is slidably disposed on the base and is adapted to clamp the workpiece from both sides; A receiving groove is provided along the length of the base; A feeding device, which is slidably disposed within the receiving groove; The two clamping devices are adapted to limit the columnar workpiece from both sides, and the adjusting parts of the two clamping devices are staggered to guide the columnar workpiece to tilt and be placed into the receiving groove.

[0007] Preferably, the clamping device includes a length sliding joint, which is fixed to one side of the base; A width sliding joint is fixed to the movable end of the length sliding joint, and the width sliding joint is disposed above the base; Two connecting rods are provided, which are arranged along the length of the base. The two connecting rods are respectively arranged on both sides of the receiving groove, and the connecting rods are fixed to the movable end of the width sliding pair.

[0008] Preferably, a driving member is fixed to the inner sidewall of the connecting rod, and the adjusting member is fixed to the movable end of the driving member. The driving member is adapted to drive the adjusting member to rotate circumferentially relative to the connecting rod.

[0009] Preferably, the adjusting member is triangular, and one corner of the adjusting member is fixed to the movable end of the driving member.

[0010] Preferably, one of the adjusting members has a beveled sidewall adapted to abut against the workpiece.

[0011] Preferably, the length movement pair includes two rotating rollers, which are respectively rotatably disposed at both ends of the base in the length direction; A drive belt is sleeved on the outer wall of the two rotating rollers, and the rotating rollers are adapted to drive the drive belt to rotate cyclically. An adjusting block is fixed on the drive belt, and the width moving pair is fixed on the adjusting block.

[0012] Preferably, the width moving pair includes: a support frame, which is slidably disposed on the side wall of the base; An adjustment motor is fixed to one end of the support frame; Driven roller, which is rotatably mounted at the other end of the support frame; An adjusting belt is fitted onto the outer wall of the driven roller and the shaft of the adjusting motor; A connecting slider is fixed to a connecting rod, and the connecting slider is fixed to the adjusting belt; When the adjusting belt moves, it is suitable for driving the two connecting sliders to move towards or away from each other.

[0013] Preferably, the support frame is fixed with two guide rails, which are respectively arranged on both sides of the adjusting belt, and a connecting slider is slidably arranged on one guide rail.

[0014] Preferably, the feeding device includes a connecting block, which is slidably disposed within the receiving groove; A feeding rod is vertically fixed to the end of the connecting block, and the feeding rod is adapted to abut against the workpiece.

[0015] Preferably, a feeding drive is fixed to the bottom of the base, and the connecting block is fixed to the movable end of the feeding drive. The feeding drive is adapted to drive the connecting block to move horizontally within the receiving groove.

[0016] Preferably, the length of the feeding rod is greater than the slot width of the receiving groove.

[0017] On the other hand, the present invention also provides a method for retrieving medicine using a robotic arm in an automatic medicine dispensing machine, comprising the following steps: After the base is moved to be flush with the medicine cabinet, the clamping device is adapted to move into the medicine cabinet; The two clamping devices are adapted to limit the workpiece from both sides, and then move towards the base to transport the workpiece onto the base. When the workpiece is cylindrical, the driving member drives the two adjusting members to flip relative to the connecting rod, and the two adjusting members are adapted to clamp the workpiece from both sides; when the inclined surface abuts the workpiece, as the two adjusting members continue to clamp the workpiece, the two adjusting members are adapted to flip the cylindrical workpiece so that the arc surface of the workpiece contacts the base. At the same time, the connecting rod drives the adjusting members to move, and the adjusting members are adapted to push the workpiece so that it falls into the receiving groove. After the workpieces fall into the receiving groove in sequence, the workpieces are adapted to push the unloading rod, causing it to move towards the support frame.

[0018] The beneficial effects of the present invention are that the automatic medicine dispensing machine of the present invention uses a medicine dispensing robot arm. Through the cooperation of the gripping device and the receiving groove, after the cylindrical workpiece is moved to the base, the gripping device can flip the cylindrical workpiece over, so that the arc surface of the cylindrical workpiece falls into the receiving groove, which improves the stability of the workpiece on the base and improves the work efficiency.

[0019] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention.

[0020] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0021] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0022] Figure 1 This is a perspective view of a preferred embodiment of the automatic medicine dispensing machine using the present invention; Figure 2 This is a perspective view of the clamping device of the present invention; Figure 3 This is a perspective view of the length sliding joint of the present invention; Figure 4 This is a schematic diagram of the adjusting component of the present invention clamping the workpiece.

[0023] In the picture: 1. Base; 2. Clamping device; 21. Length sliding pair; 211. Rotating roller; 212. Drive belt; 213. Adjusting block; 22. Width sliding pair; 221. Support frame; 222. Adjusting motor; 223. Driven roller; 224. Adjusting belt; 225. Connecting slider; 226. Guide rail; 23. Connecting rod; 230. Driving component; 24. Adjusting component; 240. Inclined surface; 3. Receiving tank; 4. Feeding device; 41. Connecting block; 42. Feeding rod. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0025] Example 1, as Figures 1 to 4 As shown, this invention provides a drug-dispensing robot for an automatic drug dispensing machine, comprising: a base 1, adapted to support a workpiece; the base 1 is fixed to the movable end of the drug dispensing machine, which is adapted to drive the base 1 to move vertically up and down; a clamping device 2, slidably disposed on the base 1, and adapted to clamp the workpiece from both sides; a receiving groove 3, opened along the length direction of the base 1; and a feeding device 4, slidably disposed within the receiving groove 3; wherein, the two clamping devices 2 are adapted to limit the columnar workpiece from both sides, and the adjusting members 24 of the two clamping devices 2 are offset from each other to guide the columnar workpiece to tilt and be placed into the receiving groove 3. Through the cooperation of the clamping devices 2 and the receiving groove 3, after the columnar workpiece moves onto the base 1, the clamping devices 2 can flip the columnar workpiece over, so that the arc surface of the columnar workpiece falls into the receiving groove 3, improving the stability of the workpiece on the base 1 and improving work efficiency.

[0026] Reference Appendix Figure 1The clamping device 2 includes: a length sliding joint 21, which is fixed to one side of the base 1; the length sliding joint 21 is adapted to drive the width sliding joint 22 to move horizontally along the length direction of the base 1, and the connecting rod 23 is adapted to extend into the medicine cabinet to transport the workpiece in the medicine cabinet to the base 1. The workpiece in this invention is a medicine, and the medicine can be packaged in a rectangular or cylindrical shape. The width sliding joint 22 is fixed to the movable end of the length sliding joint 21 and is positioned above the base 1; the width sliding joint 22 is adapted to drive the two connecting rods 23 to move horizontally along the width direction of the base 1, and the two connecting rods 23 are adapted to clamp and limit the workpiece from both sides. The two connecting rods 23 are arranged along the length direction of the base 1, and are respectively positioned on both sides of the receiving groove 3, and are fixed to the movable end of the width sliding joint 22.

[0027] Reference Appendix Figure 2 A driving member 230 is fixed to the inner side wall of the connecting rod 23, and the adjusting member 24 is fixed to the movable end of the driving member 230. The driving member 230 is adapted to drive the adjusting member 24 to rotate circumferentially relative to the connecting rod 23.

[0028] When transporting a rectangular workpiece, the driving member 230 drives the adjusting member 24 so that the two adjusting members 24 are arranged opposite each other. At this time, when the two connecting rods 23 move towards each other, the two adjusting members 24 are adapted to limit the workpiece from the same side. The driving belt 212 drives the connecting rods 23 to move horizontally, and the adjusting member 24 is adapted to push the workpiece to move onto the base 1. At this time, the workpiece is adapted to press the unloading rod 42 so that the unloading rod 42 can move towards the support frame 221.

[0029] When transporting a cylindrical workpiece, the driving member 230 drives the adjusting member 24 to flip the adjusting member 24 relative to the connecting rod 23. At this time, the two adjusting members 24 are staggered and are adapted to limit the workpiece from both sides. After the adjusting member 24 transports the workpiece to the base 1, the two adjusting members 24 continue to move towards each other. The workpiece is abutted by the inclined surface 240. The adjusting member 24 is adapted to flip and tilt the workpiece so that the arc surface of the cylindrical workpiece abuts against the base 1. The adjusting member 24 is adapted to push the workpiece so that it falls into the receiving groove 3.

[0030] Reference Appendix Figure 2The adjusting member 24 is triangular, with one corner fixed to the movable end of the driving member 230. One adjusting member 24 has a slope 240 on its side wall, which is adapted to abut against the workpiece. When the two adjusting members 24 limit the columnar workpiece from both sides, the connecting rod 23 moves towards the support frame 221 to transport the workpiece from the medicine cabinet to the base 1. After the workpiece is moved onto the base 1, the two adjusting members 24 continue to move towards each other. The slope 240 is adapted to insert into the bottom of the workpiece and to push the workpiece, causing it to flip and tilt so that the arc surface of the workpiece contacts the base 1. At this time, the two adjusting members 24 are adapted to push the workpiece, causing it to fall into the receiving groove 3. The two side walls of the receiving groove 3 are adapted to limit the workpiece, allowing it to roll on the base 1.

[0031] Reference Appendix Figure 3 The length sliding pair 21 includes: two rotating rollers 211, which are rotatably disposed at both ends of the base 1 along its length; a drive motor is fixed to one end of the base 1 away from the feeding rod 42, and one rotating roller 211 is fitted onto the outer wall of the drive motor's shaft. The drive motor is adapted to drive the drive belt 212 to move cyclically back and forth. The drive belt 212 is fitted onto the outer wall of the two rotating rollers 211, and the rotating rollers 211 are adapted to drive the drive belt 212 to rotate cyclically back and forth; an adjusting block 213 is fixed on the drive belt 212, and the width sliding pair 22 is fixed on the adjusting block 213. When the drive belt moves back and forth, it is adapted to drive the connecting rod 23 to extend out of the base 1.

[0032] Reference Appendix Figure 2 The width-shifting pair 22 includes: a support frame 221, which is slidably disposed on the side wall of the base 1; a positioning rail is fixed to each of the two side walls of the base 1, and the support frame 221 is slidably disposed on the positioning rail. An adjusting motor 222 is fixed to one end of the support frame 221; a driven roller 223 is rotatably disposed at the other end of the support frame 221; an adjusting belt 224 is sleeved on the outer wall of the shaft of the driven roller 223 and the adjusting motor 222; the adjusting motor 222 is adapted to drive the adjusting belt 224 to reciprocate. A connecting slider 225 is fixed to a connecting rod 23, and the connecting slider 225 is fixed to the adjusting belt 224; wherein, when the adjusting belt 224 moves, it is adapted to drive the two connecting sliders 225 to move towards or away from each other. The reciprocating movement of the adjusting belt 224 is adapted to drive the two connecting rods 23 to move away from or towards each other. When the two connecting rods 23 move toward each other, they are suitable for driving the adjusting component 24 to limit the workpiece from both sides.

[0033] Furthermore, two guide rails 226 are fixed on the support frame 221, and the two guide rails 226 are respectively arranged on both sides of the adjusting belt 224, and a connecting slider 225 is slidably arranged on one guide rail 226. The arrangement of the guide rails 226 improves the stability of the sliding of the connecting slider 225.

[0034] Reference Appendix Figure 2 The feeding device 4 includes: a connecting block 41, which is slidably disposed within the receiving groove 3; and a feeding rod 42, which is vertically fixed to the end of the connecting block 41 and is adapted to abut against the workpiece. The length of the feeding rod 42 is greater than the slot width of the receiving groove 3. After the adjusting member 24 drives the workpiece to move onto the base 1, the workpiece is adapted to push against the feeding rod 42, causing it to move towards the support frame 221.

[0035] A feeding drive is fixed to the bottom of the base 1, and a connecting block 41 is fixed to the movable end of the feeding drive. The feeding drive is adapted to drive the connecting block 41 to move horizontally within the receiving groove 3. When feeding is required, the feeding drive is adapted to drive the feeding rod 42 to move it away from the support frame 221.

[0036] When the workpiece is unloaded from the base 1, the two connecting rods 23 move toward each other so that the two adjusting members 24 clamp the columnar workpiece from both sides. The two adjusting members 24 are adapted to push the workpiece to rotate so that the workpiece is parallel to the receiving groove 3 and rotates to be perpendicular to the receiving groove 3. At this time, when the workpiece is unloaded from the end of the base 1, it can avoid the workpiece being too long and getting stuck.

[0037] Example 2, based on Example 1, further provides a method for using a robotic arm to retrieve medication for an automatic medication dispensing machine. This includes the robotic arm as described in Example 1, with the specific structure being the same as in Example 1, and will not be repeated here. The specific method for using the robotic arm to retrieve medication for an automatic medication dispensing machine is as follows: After the base 1 is moved to be flush with the medicine cabinet, the clamping device 2 is adapted to move into the medicine cabinet; The two clamping devices 2 are adapted to limit the workpiece from both sides, and then move towards the base 1 to transport the workpiece onto the base 1. When the workpiece is cylindrical, the drive member 230 drives the two adjusting members 24 to flip relative to the connecting rod 23, and the two adjusting members 24 are adapted to clamp the workpiece from both sides; when the inclined surface 240 abuts against the workpiece, as the two adjusting members 24 continue to clamp the workpiece, the two adjusting members 24 are adapted to flip the cylindrical workpiece so that the arc surface of the workpiece contacts the base 1. At this time, the length direction of the workpiece is consistent with the length direction of the receiving groove 3. At the same time, the connecting rod 23 drives the adjusting members 24 to move, and the adjusting members 24 are adapted to push the workpiece so that it falls into the receiving groove 3; After the workpieces fall into the receiving groove 3 in sequence, the workpieces are adapted to push the unloading rod 42, so that they move towards the support frame 221.

[0038] All the devices selected in this application (parts whose specific structures are not specified) are general standard parts or parts known to those skilled in the art. Their structures and principles can be learned by those skilled in the art through technical manuals or conventional experimental methods.

[0039] In the description of the embodiments of the present invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in the present invention based on the specific circumstances.

[0040] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0041] Based on the above-described preferred embodiments of the present invention, and through the foregoing description, those skilled in the art can make various changes and modifications without departing from the inventive concept. The technical scope of this invention is not limited to the contents of the specification, but must be determined according to the scope of the claims.

Claims

1. An automated dispensing machine with a dispensing robot, characterized by, include: Base (1), said base (1) being adapted to support the workpiece; A clamping device (2) is slidably disposed on the base (1) and is adapted to clamp the workpiece from both sides; A receiving groove (3) is provided along the length of the base (1); The feeding device (4) is slidably disposed in the receiving groove (3); Among them, the two clamping devices (2) are adapted to limit the columnar workpiece from both sides, and the adjusting parts (24) of the two clamping devices (2) are offset from each other to guide the columnar workpiece to tilt into the receiving groove (3); The clamping device (2) includes: a length sliding pair (21), which is fixed to one side of the base (1); Width sliding joint (22), the width sliding joint (22) is fixed to the movable end of the length sliding joint (21), and the width sliding joint (22) is disposed above the base (1); Two connecting rods (23) are provided along the length of the base (1). The two connecting rods (23) are respectively provided on both sides of the receiving groove (3), and the connecting rods (23) are fixed to the movable end of the width moving pair (22). A driving member (230) is fixed to the inner wall of the connecting rod (23), and an adjusting member (24) is fixed to the movable end of the driving member (230). The driving member (230) is adapted to drive the adjusting member (24) to rotate circumferentially relative to the connecting rod (23). The adjusting member (24) is triangular, and one corner of the adjusting member (24) is fixed to the movable end of the driving member (230); An adjusting member (24) has a slope (240) on its side wall, the slope (240) being adapted to abut against the workpiece; When transporting a rectangular workpiece, the two adjusting members (24) limit the workpiece from both sides to push it onto the base (1); When transporting the columnar workpiece, the adjusting member (24) moves it onto the base (1), and the two adjusting members (24) are misaligned to tilt the workpiece so that the arc surface of the columnar workpiece abuts against the side wall of the receiving groove (3).

2. The automatic medicine dispensing robot as described in claim 1, characterized in that: The length sliding pair (21) includes two rotating rollers (211), which are respectively rotatably disposed at both ends of the base (1) in the length direction; A drive belt (212) is sleeved on the outer wall of the two rotating rollers (211), and the rotating rollers (211) are adapted to drive the drive belt (212) to rotate cyclically. Adjusting block (213), which is fixed on the drive belt (212), and width moving pair (22) is fixed on the adjusting block (213).

3. The automatic medicine dispensing robot as described in claim 2, characterized in that: The width sliding pair (22) includes: a support frame (221), which is slidably disposed on the side wall of the base (1); An adjusting motor (222) is fixed to one end of the support frame (221); Driven roller (223), which is rotatably disposed at the other end of the support frame (221); Adjusting belt (224), the adjusting belt (224) is sleeved on the outer wall of the shaft of the driven roller (223) and the adjusting motor (222); A connecting slider (225) is fixed on a connecting rod (23), and the connecting slider (225) is fixed on the adjusting belt (224); When the adjusting belt (224) moves, it is suitable for driving the two connecting sliders (225) to move towards each other or away from each other.

4. The automatic medicine dispensing machine's robotic arm as described in claim 3, characterized in that: Two guide rails (226) are fixed on the support frame (221). The two guide rails (226) are respectively arranged on both sides of the adjusting belt (224), and a connecting slider (225) is slidably arranged on one guide rail (226).

5. The automatic medicine dispensing machine's robotic arm as described in claim 4, characterized in that: The feeding device (4) includes: a connecting block (41), which is slidably disposed in the receiving groove (3); The feeding rod (42) is vertically fixed to the end of the connecting block (41) and is adapted to abut against the workpiece.

6. The automatic medicine dispensing machine's robotic arm as described in claim 5, characterized in that: The base (1) has a feeding drive fixed at its bottom, and the connecting block (41) is fixed at the movable end of the feeding drive. The feeding drive is adapted to drive the connecting block (41) so that it moves horizontally within the receiving groove (3).

7. The automatic medicine dispensing robot as described in claim 6, characterized in that: The length of the feeding rod (42) is greater than the slot width of the receiving groove (3).

8. A medicine taking method of a medicine taking robot arm for an automated dispensing machine, characterized by, The use of the automatic medicine dispensing machine robotic arm as described in claim 7 includes the following steps: After the base (1) is moved to be flush with the medicine cabinet, the clamping device (2) is adapted to move into the medicine cabinet; After the two clamping devices (2) are positioned from both sides, the clamping devices (2) move toward the base (1) to transport the workpiece onto the base (1); When the workpiece is cylindrical, the driving member (230) drives the two adjusting members (24) to flip relative to the connecting rod (23), and the two adjusting members (24) are adapted to clamp the workpiece from both sides; when the inclined surface (240) abuts against the workpiece, as the two adjusting members (24) continue to clamp the workpiece, the two adjusting members (24) are adapted to flip the cylindrical workpiece so that the arc surface of the workpiece contacts the base (1). At the same time, the connecting rod (23) drives the adjusting members (24) to move, and the adjusting members (24) are adapted to push the workpiece so that it falls into the receiving groove (3); After the workpieces fall into the receiving groove (3) in sequence, the workpieces are adapted to push the unloading rod (42) so that they move towards the support frame (221).

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