A hemp medicine delivery robot

Abstract

The application belongs to the technical field of medical transportation equipment, and provides a medicine delivery robot, which comprises a robot body, a control module, a medicine delivery mechanism and a medicine recovery mechanism. The robot body comprises a medicine storage bin and a surplus medicine recovery bin, and a medicine taking window is formed in the robot body. A plurality of medicine storage compartments are arranged in the medicine storage bin, and the medicine delivery mechanism is used for transporting the medicine in the medicine storage compartments to the medicine taking window. The medicine recovery mechanism comprises a surplus medicine transportation assembly, an ampoule recovery assembly and a surplus liquid recovery box arranged in the surplus medicine recovery bin. A recovery window is arranged on the surplus medicine recovery bin. The surplus medicine transportation assembly comprises an annular conveying belt and a plurality of first clamps arranged on the conveying belt. The ampoule recovery assembly comprises recovery channels, an identification module and a transfer device. A plurality of recovery channels are arranged on one side of the conveying belt, and a counter is arranged on one side of each recovery channel. The application can improve the safety and management quality of medicine use.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical transportation equipment, and particularly relates to a narcotic drug delivery robot. BACKGROUND

[0002] The development of drug delivery robots is a key step in addressing the challenges of modern medical systems, such as efficiency, safety, resource optimization, and improvement of patient experience. They reduce human errors through automated distribution, improve drug management efficiency, reduce the workload of medical staff, reduce the risk of cross-infection, and improve patient satisfaction.

[0003] In the related art, an intelligent drug management system is developed, which can quickly identify and complete single drug access, empty ampoule and residual drug liquid recycling, and unopened drug recycling into a recycling drug storage box, improving drug management standardization. Before surgery, the anesthesiologist selects the type and quantity of narcotic drugs needed for anesthesia on the same day through the WeChat applet narcotic drug access software on the mobile phone, submits a two-dimensional code, and scans the code at the scanning lens of the mother machine or any sub-machine, the machine automatically releases the drug to be extracted; after surgery, the anesthesiologist selects the type and quantity of narcotic drugs left after anesthesia through the drug access software, submits a two-dimensional code, and scans the code at the two-dimensional code scanning port of the machine, and divides the single whole, empty ampoule and residual drug liquid into three categories after scanning the lens drug identification, and stores them in the machine, the whole drug enters the recycling drug storage box, and the empty ampoule (including residual drug liquid) is automatically destroyed.

[0004] The recycling of empty ampoules and prescriptions can help medical institutions track the flow and use of drugs, ensure that the use of drugs meets the requirements and monitoring requirements; in the event of drug use problems or medical accidents, the recycled empty ampoules can also serve as important evidence. However, when this intelligent drug management system recycles empty ampoules, it directly crushes the empty ampoules, and the crushed glass and residual drug liquid are collected together into a sharp container. However, the mixed residue after crushing is difficult to track and manage, increasing the difficulty and complexity of supervision, leading to regulatory loopholes, and making the drug recycling data lack of protection. And after mixing the drug liquid with the glass fragments, more complex processing procedures may be required to separate the drug and the glass fragments, increasing the processing cost. SUMMARY

[0005] In order to improve the safety and management quality of drug use, the present application provides a narcotic drug delivery robot.

[0006] The present application provides a narcotic drug delivery robot, which adopts the following technical scheme:

[0007] The application discloses a medicine delivery robot, which comprises a robot body, a control module, a medicine delivery mechanism and a medicine recovery mechanism, wherein the robot body comprises a medicine storage bin and a surplus medicine recovery bin, and a medicine taking window is formed in the robot body.

[0008] A plurality of medicine storage compartments are arranged in the medicine storage bin, the medicine delivery mechanism is used for transporting the medicine in the medicine storage compartments to the medicine taking window, and the medicine delivery mechanism is in electrical signal connection with the control module.

[0009] The medicine recovery mechanism comprises a surplus medicine transportation assembly, an ampoule recovery assembly and a surplus liquid recovery box arranged in the surplus medicine recovery bin, a recovery window is arranged on the surplus medicine recovery bin, the surplus medicine transportation assembly comprises an annular conveying belt and a plurality of first clamps arranged on the conveying belt, the conveying belt is located below the recovery window, and the surplus liquid recovery box is located below the conveying belt.

[0010] The ampoule recovery assembly comprises recovery grooves, an identification module and a transfer device, a plurality of recovery grooves are arranged on one side of the conveying belt, a counter is arranged on one side of each recovery groove, the identification module is used for identifying different ampoules, the identification module is in electrical signal connection with the control module, and the control module is in electrical signal connection with the transfer device, so that the transfer device is controlled to transfer the ampoules on the conveying belt into the corresponding recovery grooves.

[0011] By adopting the above technical scheme, the plurality of medicine storage compartments are used for storing different kinds of medicine, the control module can control the operation of the medicine delivery mechanism, the medicine delivery mechanism transports the medicine in the medicine storage compartments to the medicine taking window, and medical staff can take the required medicine from the medicine taking window; the used ampoules can be recovered along the recovery window into the surplus medicine recovery bin, after the ampoules in the surplus medicine recovery bin fall onto the conveying belt, the first clamps on the conveying belt clamp and fix the ampoules; during the movement of the conveying belt, the first clamps are driven to move together, so that the ampoules are transported to the surplus liquid recovery box, the surplus liquid in the ampoules is poured into the liquid recovery box to obtain empty ampoules; the conveying belt continues to drive the empty ampoules to move, drives the empty ampoules to move towards the ampoule recovery assembly, the identification module identifies the type of the empty ampoules, transmits an identification signal to the control module, the control module controls the operation of the transfer device, and the transfer device transports the empty ampoules into the corresponding recovery grooves, and the counter counts the empty ampoules in the corresponding recovery grooves, so that the types and quantities of the recovered empty ampoules can be counted, the use and recovery of the medicine can be checked, and the safety of the medicine use and the management quality are improved. In addition, the empty ampoules and the surplus liquid are recovered separately, the more complex or higher cost treatment measures are avoided after the two are mixed, and the treatment cost is reduced.

[0012] Optionally, the medicine delivery mechanism comprises a storage platform and a delivery assembly, the storage platform is slidingly arranged in the medicine storage compartment, and the storage platform is located between the medicine storage compartment and the medicine taking window.

[0013] Each of the medicine storage compartments is provided with a transmission chain, a plurality of second clamps for clamping medicines are arranged on the transmission chain at intervals, and a first driving source for driving the transmission chain to move is arranged in the medicine storage compartment.

[0014] By adopting the above technical scheme, the second clamp is used to realize the detachable connection of the medicine on one side of the transmission chain. When the medicine needs to be taken, the storage platform is slid to be close to the medicine storage compartment, the first driving source is started to drive the transmission chain to move under the control of the control module, and the medicine on the second clamp is transported to the storage platform by the delivery assembly after the transmission chain drives the medicine to move to the storage platform. After the required medicine is transported to the storage platform, the storage platform moves towards the medicine taking window to transport the medicine to the side of the medicine taking window.

[0015] Optionally, the second clamp comprises a connecting seat and a clamping piece arranged on the connecting seat, one end of the connecting seat is connected to the transmission chain, and the clamping piece is oppositely arranged with two clamping pieces made of elastic material.

[0016] By adopting the above technical scheme, the second clamp is installed and fixed on one side of the transmission chain through the connecting seat. After the medicine is placed between the two clamping pieces, the two clamping pieces clamp the medicine together, and the installation of the medicine on one side of the transmission chain is realized. The clamping piece is made of elastic material. When in use, the distance between the two clamping pieces in the second clamp is less than the width of the medicine. After the medicine is placed between the two clamping pieces, the two clamping pieces are deformed to clamp the medicine.

[0017] Optionally, the delivery assembly comprises a delivery push plate and a second driving source, the delivery push plate comprises a plate body and a plurality of push rods fixed to one side of the plate body, and the push rods are correspondingly arranged on one side of the transmission chain.

[0018] The delivery push plate is located on the side of the transmission chain away from the storage platform, and the second driving source is used to drive the plate body to slide.

[0019] By adopting the above technical scheme, when the transmission chain drives the medicine to move to one side of the delivery push plate, the second driving source drives the delivery push plate to move towards the transmission chain. The push rods on one side of the push plate move together with the push plate, and the push rods move between the two clamping pieces of the second clamp to push out the medicine on the second clamp and push the medicine to the storage platform.

[0020] Optionally, the remaining medicine recovery bin is fixed with a clamping strip, a connecting clamping groove for accommodating the clamping strip is formed on the outer wall of the remaining liquid recovery box, and a weight sensor is arranged on the clamping strip.

[0021] By adopting the above technical scheme, the connecting clamping groove on the remaining liquid recovery box is aligned with the clamping strip, the remaining liquid recovery box is slid into the remaining medicine recovery bin, and the clamping strip is clamped into the connecting clamping groove, so that the detachable connection of the remaining liquid recovery box in the remaining medicine recovery bin is realized. The clamping strip provides support for the remaining liquid recovery box, and the weight sensor arranged on the clamping strip can detect the weight of the remaining medicine recovery bin before and after the recovery of the residual liquid, so as to count the amount of the recovered residual liquid in the remaining liquid recovery box, which helps to ensure that the medicine will not flow into illegal channels and prevent misuse and illegal transactions.

[0022] Optionally, the first clamp comprises a driving member and two clamping plates arranged oppositely, and the driving member is used to drive the two clamping plates to move relative to each other.

[0023] One end of the driving member is movably connected to the conveying belt, the remaining medicine recovery bin is fixed with an elastic tab, the elastic tab is located between the remaining liquid recovery box and the conveying belt, and one end of the elastic tab can abut against the first clamp.

[0024] By adopting the above technical scheme, when the first clamp needs to be clamped, the two clamping plates are driven to move towards each other by the driving member; when the first clamp needs to be released, the two clamping plates are driven to move away from each other by the driving member; one end of the driving member is movably connected to the conveying belt, the first clamp gradually abuts against the elastic tab during movement, and then the first clamp is separated from the elastic tab; the first clamp shakes after being acted on by the elastic tab, the empty ampoule clamped by the first clamp shakes together with the first clamp, and the residual liquid in the empty ampoule falls into the remaining liquid recovery box under the shaking, so as to reduce the residual liquid in the empty ampoule.

[0025] Optionally, the first clamp further comprises an elastic connecting member, and the elastic connecting member is connected between the conveying belt and the driving member.

[0026] By adopting the above technical scheme, the elastic connecting member is used to realize the movable connection between the first clamp and the conveying belt; when the first clamp is acted on by the elastic tab, the elastic connecting member can ensure the stable connection between the shaking first clamp and the conveying belt; when the first clamp stops shaking, the elastic connecting member can also drive the first clamp to return to the original position, which helps the first clamp to perform the next clamping action.

[0027] Optionally, the recovery window is communicated with a recovery pipeline, the recovery pipeline is located in the remaining medicine recovery bin, and the recovery pipeline extends towards the conveying belt.

[0028] The clamping plate is made of ferromagnetic material, and the recovery pipeline is connected with a positioning electromagnetic ring at one end close to the conveying belt.

[0029] By adopting the technical scheme, the recovery pipeline provides guidance for the sliding of the ampoule, so that the ampoule entering the remaining medicine recovery bin along the recovery window can be smoothly moved onto the conveying belt; since the first clamp is movably connected with the conveying belt, when the first clamp moves to the recovery pipeline, the positioning electromagnetic ring is powered on to exert an attractive force on the clamping plate, so that after the first clamp moves to the position directly below the recovery pipeline, the first clamp can be aligned with the recovery pipeline, which helps the ampoule to be smoothly dropped between the two clamping plates of the first clamp after being moved onto the conveying belt, so as to improve the clamping accuracy of the first clamp.

[0030] Optionally, the remaining liquid recovery box is provided with a liquid collecting opening, and the liquid collecting opening is arranged towards the conveying belt; the remaining liquid recovery box is used for containing water absorption material, and the liquid collecting opening is covered with a water-permeable diaphragm.

[0031] By adopting the technical scheme, when the recovered ampoule is transported to the side of the remaining liquid recovery box under the action of the conveying belt, the residual liquid in the ampoule flows into the remaining liquid recovery box along the liquid collecting opening; after the residual liquid falls into the remaining liquid recovery box, it is absorbed by the water absorption material in the remaining liquid recovery box, and the water-permeable diaphragm is arranged to allow the residual liquid to pass through and prevent the water absorption material from passing out, so that the residual liquid is not easy to spill out and cause pollution after being recovered.

[0032] Optionally, the recovery channel is arranged to be inclined relative to the conveying belt, and the end of the recovery channel away from the conveying belt is connected with a recovery bag.

[0033] By adopting the technical scheme, the recovery channel is arranged to be inclined, so that after the empty ampoule is transferred to the recovery channel by the transfer device, the empty ampoule will move along the recovery channel under the action of gravity and into the recovery bag, and the arrangement of the recovery bag improves the recovery capacity.

[0034] In summary, the present application has at least one of the following beneficial effects:

[0035] 1. The ampoule recovery assembly in the present application comprises an identification module and a counter, the identification module identifies the type of the empty ampoule and transmits an identification signal to a control module, the control module controls the operation of the transfer device to transport the empty ampoule into the corresponding recovery channel, and the counter counts the empty ampoules in the corresponding recovery channel, so that the types and quantities of the recovered empty ampoules can be counted, which is convenient for checking the use and recovery of the medicine and can improve the safety and management quality of the medicine.

[0036] 2. In the application, the empty ampoule and the residual liquid are separately recycled by setting the ampoule recycling assembly and the residual liquid recycling box, avoiding the need to take more complex or higher cost treatment measures after mixing the two, reducing the treatment cost;

[0037] 3. In the application, the first clamp is movably connected to the conveying belt, and a fixed elastic tab is also arranged in the residual medicine recycling bin. During the movement of the first clamp with the conveying belt, the first clamp will shake under the action of the elastic tab, and the empty ampoule clamped by the first clamp will also shake with the first clamp. The residual liquid in the empty ampoule will fall into the residual liquid recycling box under the shaking, reducing the liquid residue in the empty ampoule. BRIEF DESCRIPTION OF DRAWINGS

[0038] Figure 1 is the overall structure schematic diagram of the medicine delivery robot of the application embodiment;

[0039] Figure 2 is the cross-sectional structure schematic diagram of the medicine storage bin of the application embodiment;

[0040] Figure 3 is the cross-sectional structure schematic diagram of the medicine storage bin of the application embodiment from another perspective;

[0041] Figure 4 is the cross-sectional structure schematic diagram of the residual medicine recycling bin of the application embodiment;

[0042] Figure 5 is the cross-sectional structure schematic diagram of the residual medicine recycling bin of the application embodiment from another perspective;

[0043] Figure 6 Figure 5 is the local enlarged structure schematic diagram of A in the application;

[0044] Explanation of reference signs: 1, robot body; 11, medicine taking compartment; 111, medicine taking window; 12, medicine storage compartment; 121, partition plate; 122, medicine storage bay; 13, surplus medicine recycling compartment; 131, recycling window; 132, cover plate; 133, clamping strip; 14, elastic tab; 15, recycling pipeline; 16, medicine taking door plate; 17, face recognizer; 18, medical order scanner; 2, medicine delivery mechanism; 21, delivery assembly; 211, delivery push plate; 2111, plate body; 2112, push rod; 212, second driving source; 213, transmission chain; 22, second clamp; 221, connecting seat; 222, clamping piece; 23, first driving source; 24, storage platform; 25, third driving source; 3, surplus medicine transportation assembly; 31, conveying belt; 32, first clamp; 321, clamping plate; 322, driving piece; 323, elastic connecting piece; 4, ampoule recycling assembly; 41, recycling channel; 42, identification module; 43, transfer equipment; 44, counter; 45, recycling bag; 5, surplus liquid recycling box; 51, connecting clamping groove; 52, liquid collecting opening; 53, water-permeable diaphragm; 6, alignment electromagnetic ring; 7, weight sensor; 8, electronic lock. DETAILED DESCRIPTION

[0045] The following will be described in detail below with reference to the accompanying drawings. Figures 1-6 The application is further described in detail.

[0046] The application provides a precise medicine delivery robot.

[0047] Reference will be made to Figure 1 and Figure 2 A precise medicine delivery robot includes a robot body 1, a control module, a medicine delivery mechanism 2 and a medicine recycling mechanism. The robot body 1 includes a medicine taking compartment 11, a medicine storage compartment 12 and a surplus medicine recycling compartment 13 connected to each other, the medicine storage compartment 12 is located between the medicine taking compartment 11 and the surplus medicine recycling compartment 13, the medicine taking compartment 11 and the medicine storage compartment 12 are in communication with each other, and a medicine taking window 111 is formed on the outer side wall of the medicine taking compartment 11. A medicine taking door plate 16 is arranged at the medicine taking window 111, one end of the medicine taking door plate 16 is hinged to the outer side wall of the medicine taking compartment 11, and the other end is fixed with an electronic lock 8; a face recognizer 17 is also fixed on the robot body 1, and the face recognizer 17 is in electrical signal connection with the electronic lock 8, and only when the face recognizer 17 recognizes the specified face information can the electronic lock 8 be unlocked. The medicine delivery mechanism 2 is used to transport the medicine from the medicine storage compartment 12 to the medicine taking window 111, and the medicine recycling mechanism is used to recycle the empty ampoule and surplus liquid after use. Reference Figure 1 and Figure 2The medicine delivery mechanism 2 comprises a delivery assembly 21 and a storage platform 24 arranged in the medicine storage compartment 12. A plurality of partition plates 121 are fixed on the inner side wall of the medicine storage compartment 12 at intervals, the partition plates 121 are arranged vertically, and the plurality of partition plates 121 divide one side of the medicine storage compartment 12 into a plurality of medicine storage compartments 122. In this embodiment, two partition plates 121 are arranged to divide the medicine storage compartment 12 into three medicine storage compartments 122. A transmission chain 213 is arranged in each medicine storage compartment 122, and the transmission chain 213 is arranged in a ring shape. A plurality of second clamps 22 for clamping medicines are arranged on the transmission chain 213 at intervals. The second clamp 22 comprises a connecting seat 221 and a clamping piece 222 arranged on the connecting seat 221, one end of the connecting seat 221 is fixed on the transmission chain 213; the clamping piece 222 is oppositely arranged, and the clamping piece 222 is made of elastic material so as to be able to clamp medicines of different sizes. A first driving source 23 such as a motor is fixed in each medicine storage compartment 122 for driving the transmission chain 213 to move. A transmission gear is engaged on the inner side of the ring-shaped transmission chain, and the transmission chain 213 is driven to move by rotating the gear driven by the first driving source 23. The first driving source 23 is electrically connected with a control module, and the transmission chain 213 can be driven to move by the control of the control module, and then the medicines on the second clamps 22 are moved one by one towards the medicine taking compartment 11. A medicine adding opening (not shown in the figure) is formed on the outer side wall of the medicine storage compartment 12, and the medicine adding opening is covered with an opening and closing cover which is rotationally connected to the outer side wall of the medicine storage compartment 12, and medicines can be supplemented to each medicine storage compartment 122 through the medicine adding opening.

[0048] Reference Figure 2 and Figure 3 The storage platform 24 is slidingly arranged in the medicine storage compartment 12, and the storage platform 24 is located between the medicine storage compartment 122 and the medicine taking window 111. A third driving source 25 is fixed in the medicine storage compartment 12, and in this embodiment, the third driving source 25 is specifically an electric push rod, the electric push rod is located below the storage platform 24, and the electric push rod is arranged at intervals. One end of the telescopic rod of the electric push rod is fixedly connected with the storage platform 24, and the storage platform 24 can be driven to move in the vertical direction by starting the electric push rod, so as to slide into or slide out of the medicine taking compartment 11.

[0049] Reference Figure 3The delivery assembly 21 is used to transport the medicine in the medicine storage compartment 122 to the storage platform 24 to realize the delivery function of the medicine. The delivery assembly 21 is in electrical connection with the control module, and the delivery task of the medicine can be accurately completed through the control of the control module. The delivery assembly 21 comprises a delivery push plate 211 and a second driving source 212. The delivery push plate 211 comprises a plate body 2111 and a plurality of push rods 2112 fixed to one side of the plate body 2111, and the push rods 2112 are arranged in one-to-one correspondence with the transmission chain 213. The delivery push plate 211 is located at the side of the transmission chain 213 away from the storage platform 24. The medicine storage compartment 12 is fixed with a linear sliding module, and the linear sliding module comprises a horizontal guide rail and a motor. The plate body 2111 is slidably connected to the horizontal guide rail. In this embodiment, the second driving source 212 is the motor in the vertical sliding module. Starting the second driving source 212 can drive the storage platform 24 to move along the horizontal guide rail. When it is necessary to deliver the medicine, the second driving source 212 drives the plate body 2111 to slide, and then the push rods 2112 push the medicine from the second clamp 22 to the storage platform 24.

[0050] With reference to Figure 1 and Figure 3 The robot body 1 is also fixed with a medical order scanner 18, which is in electrical connection with the control module. The second driving source 212 and the third driving source 25 are both in electrical connection with the control module. After the medical order scanner 18 scans the medicine information in the medical order information, the medicine information is transmitted to the control module. The control module controls the first driving source 23, the second driving source 212 and the third driving source 25 in the medicine delivery mechanism 2 to operate, so that the storage platform 24 transports the corresponding types and quantities of medicines to the medicine taking compartment 11, which is convenient for medical staff to take medicine from the medicine taking window 111.

[0051] With reference to Figure 1 and Figure 4 The medicine recovery mechanism comprises a residual medicine transportation assembly 3, an ampoule recovery assembly 4 and a residual liquid recovery box 5 arranged in the residual medicine recovery compartment 13. The residual medicine recovery compartment 13 is provided with a recovery window 131 through which the used empty ampoules and residual liquid can be put into the residual medicine recovery compartment 13. The recovery window 131 is also provided with a cover plate 132 rotatably connected to the outer side wall of the residual medicine recovery compartment 13. Rotating the cover plate 132 can open or close the recovery window 131. The residual medicine transportation assembly 3 comprises an annular conveying belt 31 and a plurality of first clamps 32 arranged on the conveying belt 31. The first clamp 32 comprises a driving member 322, an elastic connecting member 323 and two clamping plates 321 arranged oppositely. The conveying belt 31 is located below the recovery window 131. In order to ensure that the first clamp 32 can stably clamp the empty ampoules falling from the recovery window 131, a recovery pipeline 15 is connected to the recovery window 131. The recovery pipeline 15 extends towards the conveying belt 31 in the residual medicine recovery compartment 13.

[0052] Reference Figure 4 The elastic connecting piece 323 is fixed between the driving piece 322 and the conveying belt 31, and the elastic connecting piece 323 can be selected from rubber columns or elastic materials; in this embodiment, the elastic connecting piece 323 is specifically selected from rubber columns. The driving piece 322 is specifically an electric clamp jaw, which includes two clamping parts arranged oppositely; the clamping parts are arranged one by one on the clamping plates 321, and the clamping plates 321 are fixedly connected to the clamping parts. When the electric clamp jaw is started, the two clamping plates 321 can be driven to move relative to each other to realize the function of clamping or releasing the empty ampoule. The first clamp 32 can clamp the input empty ampoule and transport it to the subsequent processing position.

[0053] To ensure that the input ampoule can accurately enter the recycling pipeline 15 and slide to between the two clamping plates 321 of the first clamp 32, the recycling pipeline 15 is connected with a positioning electromagnetic ring 6 near one end close to the conveying belt 31. The clamping plates 321 are made of ferromagnetic materials, and when the first clamp 32 moves to the position directly below the recycling pipeline 15 along with the conveying belt 31, the positioning electromagnetic ring 6 is powered on, and the first clamp 32 is aligned with the recycling pipeline 15 under the action of the electromagnetic force; after the first clamp 32 clamps the ampoule, the positioning electromagnetic ring 6 is powered off, so that the first clamp 32 smoothly drives the ampoule to move away from the recycling pipeline 15.

[0054] Reference Figure 4 and Figure 5 The residual liquid recycling box 5 is located below the conveying belt 31 and is used to collect the residual liquid dropped from the empty ampoule. The residual liquid recycling box 5 is provided with a liquid collecting opening 52, and the liquid collecting opening 52 is arranged to face the conveying belt 31. The residual liquid recycling box 5 is used to contain water-absorbing materials such as water-absorbing cotton, water-absorbing paper or water-absorbing powder, etc., which are used to absorb the residual liquid dropped from the empty ampoule. In order to ensure that the liquid can penetrate into the water-absorbing material without spilling, the liquid collecting opening 52 is covered with a water-permeable diaphragm 53. The water-permeable diaphragm 53 has good water permeability, allowing the liquid to pass through while preventing the water-absorbing material from spilling out.

[0055] Reference Figure 4 In order to reduce the residual liquid in the ampoule and make the residual liquid as much as possible to be recycled into the liquid collecting box, a plurality of elastic tabs 14 are fixed in the residual liquid recycling box 5, and the elastic tabs 14 are located between the residual liquid recycling box 5 and the conveying belt 31. In this embodiment, three elastic tabs 14 are arranged at intervals. When the conveying belt 31 moves, the first clamp 32 moves along with it, and the first clamp 32 gradually abuts against the elastic tabs 14 during the movement, and then separates from the elastic tabs 14; after being affected by the elastic tabs 14, the first clamp 32 shakes, and the empty ampoule clamped by the first clamp 32 shakes along with the first clamp 32, and the residual liquid in the empty ampoule drops into the residual liquid recycling box 5 under the shaking.

[0056] ReferenceFigure 5 The excess liquid recovery box 5 is detachably connected in the excess medicine recovery bin 13. A clamping strip 133 is fixed in the excess medicine recovery bin 13, and a connecting clamping groove 51 is formed in the outer side wall of the excess liquid recovery box 5 to accommodate the clamping strip 133. After the connecting clamping groove 51 on the excess liquid recovery box 5 is aligned with the clamping strip 133, the excess liquid recovery box 5 is slid into the excess medicine recovery bin 13, and the clamping strip 133 is clamped into the connecting clamping groove 51, so that the detachable connection of the excess liquid recovery box 5 in the excess medicine recovery bin 13 is realized. The clamping strip 133 is provided with a weight sensor 7, and the clamping strip 133 supports the excess liquid recovery box 5, and the weight change of the excess liquid recovery box 5 is detected through the weight sensor 7. Thus, the amount of residual liquid recovered in the excess liquid recovery box 5 is counted. Figure 4 and Figure 5 The ampoule recovery assembly 4 is located on the side of the conveying belt 31 away from the excess liquid recovery box 5, and the ampoule recovery assembly 4 includes a recovery chute 41, an identification module 42, and a transfer device 43. A plurality of recovery chutes 41 are arranged on one side of the conveying belt 31, and each recovery chute 41 corresponds to one type of empty ampoule. The recovery chute 41 is arranged downwardly inclined relative to the conveying belt 31, so that the empty ampoule can slide away from the conveying belt 31. In this embodiment, three recovery chutes 41 are arranged at intervals.

[0057] Referring to Figure 4 and Figure 6 A counter 44 is arranged on one side of each recovery chute 41 for counting the empty ampoules put into the recovery chute 41. The identification module 42 is used to identify different ampoules and transmit identification signals to the control module. The control module controls the transfer device 43 to operate according to the received identification signals, and transfers the empty ampoules on the conveying belt 31 into the corresponding recovery chute 41. In this embodiment, the transfer device 43 is specifically a mechanical hand, the identification module 42 is specifically an image recognition device, and the counter 44 is specifically a photoelectric counter 44. In this way, accurate classification and recovery of different types of empty ampoules can be realized.

[0058] Referring to Figure 4 and Figure 5 In order to facilitate the collection and processing of the recovered empty ampoules, the recovery chute 41 is communicated with a recovery bag 45 at the end away from the conveying belt 31. When the empty ampoule slides into the recovery chute 41, it will automatically slide into the recovery bag 45 along the inclined recovery chute 41, thereby realizing the centralized collection and processing of the empty ampoules. A treatment port (not shown in the figure) is also formed in the outer side wall of the excess medicine recovery bin 13, and a cover plate is arranged on the treatment port. The cover plate is rotationally connected to the outer side wall of the excess medicine recovery bin 13, and the excess liquid recovery box 5 and the recovery bag 45 can be taken out through the treatment port.

[0059] The medicine delivery robot system provided by the application realizes accurate delivery of medicines through the medicine delivery mechanism 2, and realizes classified recycling and processing of used empty ampoules and residual medicines through the medicine recycling mechanism. The synergistic effect of the modules, the control module, the transfer device 43, the recycling channel 41 and the counter 44 and other components not only improves the safety and management quality of medicine use, but also reduces the processing cost of waste medicines. By optimizing the structure and function of each component, the stability and reliability of the system are further improved, providing strong support for the medical field.

[0060] The implementation principle of the medicine delivery robot in the embodiment of the application is as follows: the medical order is placed at the medical order scanner 18, the medicine information on the medical order is scanned by the medical order scanner 18, and then the medicine information is transmitted to the control module. The control module controls the operation of the first driving source 23, the second driving source 212 and the third driving source 25 in the medicine delivery mechanism 2, so that the medicine platform 24 transports the corresponding types and quantities of medicines to the medicine taking compartment 11 (i.e. one side of the medicine taking window 111). The face recognizer 17 performs face recognition on the medical staff, and after recognizing the face information that meets the requirements, the medicine taking door plate 16 is unlocked, and the medicine taking window 111 is opened by rotating the medicine taking door plate 16 to take medicine. When recycling residual medicines, the used ampoule is put into the recycling window 131, and after the ampoule in the residual medicine recycling compartment 13 falls onto the conveying belt 31, the first clamp 32 on the conveying belt 31 clamps and fixes the ampoule. When the first clamp 32 and the conveying belt 31 move, they gradually abut against and separate from the elastic tab 14, and the first clamp 32 shakes under the action of the elastic tab 14 and moves together. When the first clamp 32 moves the ampoule to one side of the residual liquid recycling box 5, the ampoule is in an inverted state, and the residual liquid in the ampoule is poured into the liquid recycling box, so as to obtain an empty ampoule. The conveying belt 31 continues to move the empty ampoule, drives the empty ampoule to move towards the ampoule recycling assembly 4, the identification module 42 identifies the type of the empty ampoule, and then transmits the identification signal to the control module. The control module controls the operation of the transfer device 43, so that the transfer device 43 transports the empty ampoule to the corresponding recycling channel 41, and the counter 44 counts the empty ampoules in the corresponding recycling channel 41, so as to count the types and quantities of the recycled empty ampoules.

[0061] The above are preferred embodiments of the application, and do not limit the protection scope of the application, therefore: any equivalent changes made on the basis of the structure, shape, principle of the application should be covered within the protection scope of the application.

Claims

1. A robot for delivering narcotic and psychotropic drugs, characterized in that, The system includes a robot body (1), a control module, a drug delivery mechanism (2), and a drug recycling mechanism. The robot body (1) includes a drug storage compartment (12) and a residual drug recycling compartment (13), and the robot body (1) has a drug retrieval window (111). The drug storage compartment (12) is provided with multiple drug storage compartments (122). The drug delivery mechanism (2) is used to transport the drugs in the drug storage compartments (122) to the drug dispensing window (111). The drug delivery mechanism (2) is electrically connected to the control module. The drug delivery mechanism (2) includes a storage platform (24) and a delivery component (21). The storage platform (24) is slidably disposed in the drug storage compartment (12) and is located between the drug storage compartment (122) and the drug retrieval window (111). Each of the aforementioned medicine storage compartments (122) is provided with a transmission chain (213), and multiple second clamps (22) for holding medicines are spaced apart on the transmission chain (213). Each medicine storage compartment (122) is also provided with a first drive source (23) for driving the transmission chain (213) to move. The first drive source (23) is electrically connected to the control module. The delivery component (21) is used to transport the medicines on the second clamps (22) to the storage platform (24). The drug recycling mechanism includes a residual drug transport component (3), an ampoule recycling component (4), and a residual liquid recycling box (5) set in the residual drug recycling bin (13). The residual drug recycling bin (13) is provided with a recycling window (131). The residual drug transport component (3) includes a ring conveyor belt (31) and a plurality of first clamps (32) set on the conveyor belt (31). The conveyor belt (31) is located below the recycling window (131), and the residual liquid recycling box (5) is located below the conveyor belt (31). The ampoule recycling assembly (4) includes a recycling channel (41), an identification module (42), and a transfer device (43). A plurality of recycling channels (41) are provided on one side of the conveyor belt (31), and a counter (44) is provided on one side of each recycling channel (41). The identification module (42) is used to identify different ampoules. The identification module (42) is electrically connected to the control module, and the control module is electrically connected to the transfer device (43) to control the transfer device (43) to transfer the ampoules on the conveyor belt (31) to the corresponding recycling channel (41). The first clamp (32) includes a drive (322) and two clamps (321) arranged opposite to each other. The drive (322) is used to drive the two clamps (321) to move relative to each other. A recycling pipe (15) is connected to the recycling window (131). The clamps (321) are made of ferromagnetic material. An alignment electromagnetic ring (6) is connected to one end of the recycling pipe (15) near the conveyor belt (31). The first clamp (32) is elastically connected to the conveyor belt (31).

2. The narcotic and psychotropic drug delivery robot according to claim 1, characterized in that, The second clamp (22) includes a connecting seat (221) and a clamping piece (222) disposed on the connecting seat (221). One end of the connecting seat (221) is connected to the transmission chain (213). There are two clamping pieces (222) disposed opposite each other, and the clamping pieces (222) are made of elastic material.

3. The narcotic and psychotropic drug delivery robot according to claim 1, characterized in that, The delivery assembly (21) includes a delivery push plate (211) and a second drive source (212). The delivery push plate (211) includes a plate body (2111) and a plurality of push rods (2112) fixed to one side of the plate body (2111). The push rods (2112) are arranged one-to-one with the transmission chain (213). The delivery pusher (211) is located on the side of the transmission chain (213) away from the placement platform (24), and the second drive source (212) is used to drive the plate (2111) to slide.

4. The narcotic and psychotropic drug delivery robot according to claim 2, characterized in that, The residual medicine recovery chamber (13) is fixed with a card strip (133), and the outer wall of the residual liquid recovery box (5) is provided with a connecting card slot (51) for the card strip (133) to be accommodated. A weight sensor (7) is provided on the card strip (133).

5. A drug delivery robot according to claim 4, characterized in that, One end of the drive unit (322) is movably connected to the conveyor belt (31). An elastic lever (14) is fixed inside the residual medicine recovery bin (13). The elastic lever (14) is located between the residual liquid recovery box (5) and the conveyor belt (31). One end of the elastic lever (14) can abut against the first clamp (32).

6. The narcotic and psychotropic drug delivery robot according to claim 5, characterized in that, The first clamp (32) further includes an elastic connector (323) connected between the conveyor belt (31) and the drive member (322).

7. A drug delivery robot according to claim 5, characterized in that, The recycling pipe (15) is located inside the residual medicine recycling bin (13), and the recycling pipe (15) extends toward the conveyor belt (31).

8. A drug delivery robot according to claim 6, characterized in that, The residual liquid recovery box (5) has a liquid collection opening (52) and the liquid collection opening (52) is set towards the conveyor belt (31). The residual liquid recovery box (5) is used to hold water-absorbing material, and the liquid collection opening (52) is covered with a water-permeable membrane (53).

9. A drug delivery robot according to claim 8, characterized in that, The recycling channel (41) is inclined relative to the conveyor belt (31), and a recycling bag (45) is connected to one end of the recycling channel (41) away from the conveyor belt (31).

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