Intelligent object grabbing device

Abstract

The present invention relates to an intelligent device for grabbing items, and relates to the technical field of automatic medicine dispensing equipment, comprising a support frame, a connecting frame, a mounting frame classification mechanism, a clamping mechanism and a rotating assembly, wherein the connecting frame is connected to the support frame, and the mounting frame is connected to the connecting frame through a rotating assembly, and the classification mechanism comprises a first revolving door, a second revolving door, a buffer pad, a driving assembly, a sensor and a support seat, wherein the first revolving door and the second revolving door are both rotatably connected to the mounting frame, a placement cavity is formed between the first revolving door and the second revolving door, and a recovery cavity is formed between the second revolving door and the mounting frame, the buffer pad is arranged on the mounting frame, the support seat is fixedly connected to the mounting frame, and the sensor is arranged on the support seat, and when dispensing medicines, inconsistent or expired medicines are uniformly recovered, thereby increasing the simplicity of the device, improving the efficiency of grabbing medicines, and saving time for users.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic medicine dispensing equipment, and in particular to an intelligent object grabbing device. Background Art

[0002] A medicine dispensing machine is an automated device used to quickly and accurately dispense medicines in hospitals, pharmacies or other medical institutions. It is usually controlled by a computer and can automatically select, count and package medicines according to prescription information. The working principle of the medicine dispensing machine is to take out the medicines from the storage area by scanning the barcode on the prescription or entering the prescription information, and count and package them according to the prescription requirements. Some medicine dispensing machines can also check and verify the medicines to ensure that the dispensed medicines are accurate. The advantages of medicine dispensing machines include improving the efficiency of medicine dispensing, reducing human errors, and improving the accuracy and safety of medicine management. It can greatly reduce the workload of medical staff and improve the quality and efficiency of medical services. Different types of medicine dispensing machines have different functions and characteristics, which can be selected according to specific needs and usage scenarios. Smart medicine cabinet: A small medicine dispensing device, usually placed in a ward or nursing station, so that medical staff can take medicines at any time. When using a medicine dispensing machine, attention should be paid to the maintenance and management of the equipment to ensure its normal operation and accuracy. At the same time, it is also necessary to strengthen the management and supervision of medicines to ensure the safety of patients' medication.

[0003] However, when the automatic medicine dispensing machine is dispensing medicine, the mechanical arm on the medicine dispensing machine may grab inconsistent or expired medicines when grabbing the medicines, and cannot directly dispense them to the user. The medicine dispensing machine needs to automatically recycle the wrong or expired medicines, and can only continue to grab the medicines after recycling. The recycling efficiency of the medicine dispensing machine is low, and the operation of the device is cumbersome, which wastes the user's time. Summary of the invention

[0004] In order to improve the efficiency of a medicine dispensing machine in dispensing medicine to a user, the present invention provides an intelligent object grabbing device.

[0005] The present invention provides an intelligent device for grasping objects, an intelligent device for grasping objects, comprising a supporting frame, a connecting frame, a mounting frame classification mechanism, a clamping mechanism and a rotating assembly, wherein the connecting frame is connected to the supporting frame, the mounting frame is rotatably connected to the connecting frame via a rotating assembly, and the clamping mechanism is arranged on the mounting frame; the classification mechanism comprises a first revolving door, a second revolving door, a buffer pad, a driving assembly, a sensor and a supporting seat, the first revolving door and the second revolving door are both rotatably connected to the mounting frame, a placement cavity is formed between the first revolving door and the second revolving door, a recovery cavity is formed between the second revolving door and the mounting frame, the buffer pad is arranged on the mounting frame, the driving assembly is arranged on the mounting frame, and the driving assembly is used to drive the first revolving door and the second revolving door to rotate, the supporting seat is fixedly connected to the mounting frame, the sensor is arranged on the supporting seat, and the clamping mechanism is used to clamp medicines.

[0006] When the user needs to take medicine, the mounting frame rotates the assembly so that the clamping assembly faces the direction of storing the medicines, and then the clamping mechanism grabs the medicines in the medicine cabinet and scans the grabbed medicines. If there is no problem with the medicines and they are the medicines selected by the user, the clamping mechanism places the medicines in the medicine placement cavity. If the user still needs other medicines, the clamping mechanism then clamps the remaining medicines and scans the next items. If it is found that the medicines are inconsistent or expired, the clamping mechanism places the medicines in the recovery cavity and then takes the medicines. After completing all the medicines needed by the user, first align the first revolving door with the medicine outlet, rotate the first revolving door through the driving assembly, and the medicines in the placement cavity will slide to the medicine outlet along the channel, and then the driving assembly rotates the first revolving door to close the placement cavity, and then aligns the first revolving door with the automatic recovery box, and the driving assembly rotates the first revolving door and the second revolving door, and the medicines in the recovery cavity slide into the automatic recovery box, completing the automatic recovery of the medicines.

[0007] The above-mentioned technical scheme in the embodiment of the present application has at least the following technical effects: through the setting of the driving component, the sensor, the first revolving door and the second revolving door, the medicines required by the user can be placed in the placement cavity, and inconsistent or expired medicines are placed in the recovery cavity. When the medicines are distributed, the inconsistent or expired medicines are uniformly recovered, which increases the simplicity of the device and improves the efficiency of grabbing medicines, saving time for users.

[0008] In some embodiments, the driving assembly includes a first driving motor, an intermittent gear, a first rotating gear, a first pulley, a first belt and a first rotating shaft. The first driving motor is arranged on the supporting base, and the output shaft of the first driving motor is connected to the intermittent gear. The first rotating shaft is rotatably connected to the mounting frame, and the end of the first rotating shaft away from the mounting frame is connected to the first rotating gear, and the first rotating gear is meshed with the intermittent gear. The first rotating shaft is also provided with the first pulley. The first rotating shaft is provided on both the first revolving door and the second revolving door, and the first pulley is provided on the end of the first rotating shaft away from the first revolving door and the second revolving door, and the first belt is provided on the first pulley.

[0009] In some embodiments, a limit sensor is provided on the mounting frame, a limit plate is rotatably connected to the mounting frame, and the limit plate is connected to an end of the first revolving door away from the first pulley, and the limit plate can pass through the limit sensor.

[0010] In some embodiments, the clamping mechanism includes a fixed frame and a sliding assembly, the sliding assembly includes a second drive motor, a first slider, a first slide rail, a second belt and a second pulley, the first slide rail is arranged on both sides of the mounting frame, the first slider is arranged on the first slide rail, the fixed frame is arranged on the first slider, and the first slider and the fixed frame slide on the first slide rail, the second drive motor is arranged on the bottom of the mounting frame, the second drive motor is arranged on the output shaft of the second drive motor, and the second pulley is rotatably connected to the side surface of the mounting frame away from the second drive motor, the second belt is arranged on the second pulley, the limit sensor is arranged on the top surface of the end of the mounting frame close to the second drive motor, the limit sensors are respectively arranged on the two ends of the side of the mounting frame, and the limit plate is arranged on the fixed frame.

[0011] In some embodiments, the clamping mechanism also includes a clamping assembly, which includes a third drive motor, a second rotating gear, a spur rack, a second slider, a second slide rail, a first clamp and a second clamp. The third drive motor is arranged at the top of the fixed frame, and the output shaft of the third drive motor is provided with the second rotating gear. The second slide rail is arranged on the fixed frame, the second slider is arranged on the second slide rail, and the second slider is slidably connected on the second slide rail. The first clamp is arranged on the second slide rail, and the second clamp is arranged on another second slide rail. There are multiple second slide rails. One end of the spur rack is arranged on the first clamp, and the other end of the spur rack is arranged on the second clamp, and the spur rack is meshed with the second rotating gear. The limit sensor is arranged on the fixed frame, and there are multiple limit sensors. The fixed frame is also provided with the limit plate, and the limit plate can pass through the limit sensor.

[0012] In some embodiments, sponge pads are disposed on the first gripper and the second gripper.

[0013] In some embodiments, the rotating assembly includes a fourth drive motor, a rotating disk and a disk shaft, the fourth drive motor is arranged on the connecting frame, the rotating disk is arranged on the connecting frame, one side of the disk shaft is rotatably connected to the rotating disk, and the other side of the rotating disk is fixedly connected to the mounting frame, the rotating disk is provided with the limit sensor, and the disk shaft is provided with the limit plate.

[0014] In some embodiments, a telescopic rod is fixedly connected to the mounting frame, a third slide rail is provided on the inner side of the mounting frame, a third slider is provided on the third slide rail, a placement plate is provided on the third slider, the placement plate slides on the third slide rail through the third slider, and the placement plate is located below the second clamp.

[0015] In some embodiments, an obstacle sensor is disposed on one end of the first gripper and the second gripper away from the third drive motor.

[0016] In some embodiments, a distance sensor is further disposed on the mounting frame, and a drag chain is disposed on the side of the mounting frame. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0018] Figure 1 This is a schematic diagram of the overall structure of an intelligent object grabbing device according to an embodiment of the present application;

[0019] Figure 2 for Figure 1 Enlarged view of part A in the middle;

[0020] Figure 3 This is a schematic diagram of the structure of a gripping component of an intelligent object gripping device according to an embodiment of the present application;

[0021] Figure 4 for Figure 3 Enlarged view of middle part B;

[0022] Figure 5 A schematic diagram of a sliding component of an intelligent object grabbing device according to an embodiment of the application;

[0023] Figure 6 for Figure 5 Enlarged view of middle C;

[0024] Figure 7 A schematic diagram of a rotating assembly of an intelligent object grabbing device according to an embodiment of the application;

[0025] Figure 8 for Figure 7 Enlarged view of the middle D part;

[0026] Fig. 9 A bottom view of an intelligent object grabbing device according to an embodiment of the application;

[0027] Fig.10 A cross-sectional view of an intelligent object grabbing device according to an embodiment of the application;

[0028] Fig.11 for Fig.10 Enlarged view of middle E part;

[0029] Fig.12 This is a schematic diagram of a classification mechanism of an intelligent object grabbing device according to an embodiment of the application.

[0030] Among them, the reference numerals in the figure are:

[0031] 1. Support frame; 2. Connecting frame; 3. Mounting frame; 4. Classification mechanism; 41. First revolving door; 42. Second revolving door; 43. Buffer pad; 44. Driving assembly; 441. First driving motor; 442. Intermittent gear; 443. First rotating gear; 444. First pulley; 445. First belt; 446. First rotating shaft; 45. Sensor; 46. Support seat; 5. Clamping mechanism; 51. Fixed frame; 52. Sliding assembly; 521. Second driving motor; 522. First slider; 523. First slide rail; 524. Second belt; 525. Second belt Pulley; 53, gripping assembly; 531, third driving motor; 532, second rotating gear; 533, spur rack; 534, second slider; 535, second slide rail; 536, first gripper; 537, second gripper; 6, rotating assembly; 61, fourth driving motor; 62, rotating disk; 63, disk shaft; 7, limit sensor; 8, limit plate; 9, telescopic rod; 10, placement plate; 11, sponge pad; 12, drag chain; 13, obstacle sensor; 14, distance sensor; 15, third slider; 16, third slide rail; 17, placement cavity; 18, recovery cavity. DETAILED DESCRIPTION

[0032] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0033] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs; the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit this application. The terms "including" and "having" and any variations thereof in the specification and claims of this application and the above-mentioned figure descriptions are intended to cover non-exclusive inclusions.

[0034] With regard to the existing technology, when an automatic medicine dispensing machine is taking medicine, the mechanical arm on the medicine dispensing machine may grab inconsistent or expired medicines when grabbing the medicines, and cannot directly dispense them to the user. The medicine dispensing machine needs to automatically recycle the wrong or expired medicines, and can only continue to grab the medicines after recycling. The recycling efficiency of the medicine dispensing machine is low, and the operation of the device is cumbersome, which wastes the user's time.

[0035] Based on this, in order to improve the efficiency of the medicine dispensing machine in dispensing medicine to users, the embodiments of the present application provide the following solutions.

[0036] Please also read Figures 1 to 12An embodiment of the present application provides an intelligent device for grasping objects, which includes a supporting frame 1, a connecting frame 2, a mounting frame 3, a classification mechanism 4, a clamping mechanism 5 and a rotating assembly 6. The connecting frame 2 is connected to the supporting frame 1, the mounting frame 3 is rotatably connected to the connecting frame 2 through the rotating assembly 6, and the clamping mechanism 5 is arranged on the mounting frame 3.

[0037] Please also read Figure 7-Figure 8 The rotating assembly 6 includes a fourth driving motor 61, a rotating disk 62 and a disk rotating shaft 63. The fourth driving motor 61 is arranged on the connecting frame 2, the rotating disk 62 is arranged on the connecting frame 2, one side of the disk rotating shaft 63 is rotatably connected to the rotating disk 62, and the other side of the rotating disk 62 is fixedly connected to the mounting frame 3. The rotating disk 62 is provided with the limit sensor 7, and the disk rotating shaft 63 is provided with the limit plate 8.

[0038] As can be seen from the above, the disc shaft 63 on the rotating disk 62 is rotated by the fourth driving motor 61, and the mounting frame 3 fixedly connected to the disc shaft 63 rotates with the rotation of the disc shaft 63. The limit plate 8 is set on the disc shaft 63 and also rotates with the rotation of the disc shaft 63. After the limit plate 8 passes through the limit sensor 7, the sensor 45 stops the fourth driving motor 61 and stops the rotation of the disc shaft 63, so that the clamping mechanism 5 on the mounting frame 3 is opposite to the position where the medicines are stored, and the medicines required by the user can be clamped.

[0039] Please also read Figure 5-Figure 6 The clamping mechanism 5 includes a fixed frame 51 and a sliding assembly 52, the sliding assembly 52 includes a second driving motor 521, a first slider 522, a first slide rail 523, a second belt 524 and a second pulley 525, the first slide rail 523 is arranged on both sides of the mounting frame 3, the first slider 522 is arranged on the first slide rail 523, the fixed frame 51 is arranged on the first slider 522, and the first slider 522 and the fixed frame 51 slide on the first slide rail 523, the second driving motor 521 is arranged At the bottom of the mounting frame 3, the output shaft of the second drive motor 521 is provided with the second pulley 525, and the side surface of the mounting frame 3 away from the second drive motor 521 is rotatably connected with the second pulley 525, the second belt 524 is provided on the second pulley 525, the top surface of the end of the mounting frame 3 close to the second drive motor 521 is provided with the limit sensor 7, the two ends of the side surface of the mounting frame 3 are respectively provided with the limit sensors 7, and the limit plate 8 is provided on the fixing frame 51;

[0040] See also Figure 3-Figure 4The clamping mechanism 5 also includes a clamping assembly 53, which includes a third driving motor 531, a second rotating gear 532, a spur rack 533, a second slider 534, a second slide rail 535, a first clamp 536 and a second clamp 537. The third driving motor 531 is arranged at the top of the fixed frame 51, and the output shaft of the third driving motor 531 is provided with the second rotating gear 532. The second slide rail 535 is arranged on the fixed frame 51, and the second slider 534 is arranged on the second slide rail 535. The second slider 534 slides and connects to the second slide rail 535. Then, the first gripper 536 is arranged on the second slide rail 535, the second gripper 537 is arranged on another second slide rail 535, and the second slide rail 535 is provided with a plurality of them. One end of the spur rack 533 is arranged on the first gripper 536, and the other end of the spur rack 533 is arranged on the second gripper 537, and the spur rack 533 is meshed and connected with the second rotating gear 532. The limit sensor 7 is arranged on the fixing frame 51, and the limit sensor 7 is provided with a plurality of them. The fixing frame 51 is also provided with the limit plate 8, and the limit plate 8 can pass through the limit sensor 7;

[0041] See also Figure 9-10 The mounting frame 3 is fixedly connected with a telescopic rod 9, a third slide rail 16 is arranged on the inner side of the mounting frame 3, a third slider 15 is arranged on the third slide rail 16, a placement plate 10 is arranged on the third slider 15, the placement plate 10 slides on the third slide rail 16 through the third slider 15, and the placement plate 10 is located below the second clamping hand 537

[0042] As can be seen from the above, when the required medicine is to be clamped, the second driving motor 521 is started, and the second pulley 525 connected to the output shaft of the second driving motor 521 rotates, and the second pulley 525 drives the second belt 524 to move, and the slider connected to the second belt 524 and the fixed frame 51 will move on the second slide rail 535 with the movement of the second belt 524, and the first clamping hand 536 and the second clamping hand 537 on the fixed frame 51 slide toward the medicine. After the first clamping hand 536 and the second clamping hand 537 reach the corresponding positions, a limit plate 8 is provided on the side of the fixed frame 51, and moves with the movement of the fixed frame 51. A limit sensor 7 is provided at the end of the mounting frame 3 close to the medicine. If the limit plate 8 passes through the limit sensor 7, it indicates the maximum sliding distance of the first slider 522 on the second slide rail 535, and the first slider 522 no longer slides, and the third The driving motor 531 rotates the second rotating gear 532 connected to the output shaft of the third driving motor 531, and then the spur rack 533 meshing with the second rotating gear 532 moves under the rotation of the second rotating gear 532. The first gripper 536 and the second slider 534 arranged on the second gripper 537 move on the second slide rail 535 under the action of the spur rack 533. The first gripper 536 and the second gripper 537 move toward each other. A limit sensor 7 is arranged on the fixed plate, and a limit plate 8 is arranged on the first gripper 536. When the first gripper 536 moves, the limit plate 8 moves. When the limit plate 8 passes through the limit sensor 7, the distance between the first gripper 536 and the second gripper 537 will reach the maximum or minimum, and the third driving motor 531 is stopped, and the first gripper 536 and the second gripper 537 no longer move, so as to prevent damage to the medicine when the medicine is grabbed.

[0043] In some embodiments, please refer to Figure 10-12, the classification mechanism 4 includes a first revolving door 41, a second revolving door 42, a buffer pad 43, a driving assembly 44, a sensor 45 and a support seat 46, the first revolving door 41 and the second revolving door 42 are both rotatably connected to the mounting frame 3, a placement chamber 17 is formed between the first revolving door 41 and the second revolving door 42, and a recovery chamber 18 is formed between the second revolving door 42 and the mounting frame 3, the buffer pad 43 is arranged on the mounting frame 3, the driving assembly 44 is arranged on the mounting frame 3, and the driving assembly 44 is used to drive the first revolving door 41 and the second revolving door 42 to rotate, the support seat 46 is fixedly connected to the mounting frame 3, the sensor 45 is arranged on the support seat 46, the clamping mechanism 5 is used to drive the clamping hand to move and open and close, the rotating assembly 6 is used for the rotation of the mounting frame 3 on the connecting frame 2, the classification mechanism 4 includes a first revolving door 41, a second revolving door 42, a buffer pad 43, a driving assembly 44, a sensor 45 and a support seat 46, the first revolving door 41 and the second revolving door 42 are both rotatably connected to the mounting frame 3, a placement chamber 17 is formed between the first revolving door 41 and the second revolving door 42, and a recovery chamber 18 is formed between the second revolving door 42 and the mounting frame 3, the buffer pad 43 is arranged on the mounting frame 3, the driving assembly 44 is arranged on the mounting frame 3, and the driving assembly 44 is used to drive the first revolving door 41 and the second revolving door 42 to rotate, the support seat 46 is fixedly connected to the mounting frame 3, the sensor 45 is arranged on A buffer pad 43, a drive assembly 44, a sensor 45 and a support seat 46, the first revolving door 41 and the second revolving door 42 are both rotatably connected to the mounting frame 3, a placement cavity 17 is formed between the first revolving door 41 and the second revolving door 42, and a recovery cavity 18 is formed between the second revolving door 42 and the mounting frame 3, the buffer pad 43 is arranged on the mounting frame 3, the drive assembly 44 is arranged on the mounting frame 3, and the drive assembly 44 is used to drive the first revolving door 41 and the second revolving door 42 to rotate, the support seat 46 is fixedly connected to the mounting frame 3, the sensor 45 is arranged on the support seat 46, the clamping mechanism 5 is used to clamp the medicine, a limit sensor 7 is arranged on the mounting frame 3, a limit plate 8 is rotatably connected to the mounting frame 3, and the limit plate 8 is connected to the end of the first revolving door 41 away from the first pulley 444, and the limit plate 8 can pass through the limit sensor 7.

[0044] As can be seen from the above, the medicines grabbed by the first gripper 536 and the second gripper 537 are verified by OCR recognition, image comparison and barcode reading to ensure that the grabbed medicines are consistent with the medicines purchased by the user. Then the telescopic rod 9 is pulled back to drive the third slider 15 to slide on the third slide rail 16. The placement plate 10 connected to the third slider 15 moves with the third slider 15 and leaks out of the placement cavity 17. At this time, the first gripper 536 and the second gripper 537 release the clamped medicines, and the medicines fall into the placement cavity 17 under the action of gravity. Then, the remaining medicines purchased by the user are grabbed. If the grabbed medicines are inconsistent with the medicines purchased by the user or the medicines are detected to be expired, the first gripper 536 and the second gripper 537 will place the medicines on the placement cavity 17. The medicine is placed on the plate 10, and then the medicine is loosened. The telescopic rod 9 moves, driving the third slider 15 and the placing plate 10 to move, and the medicine on the placing plate 10 is moved to the top of the recovery chamber 18. Then the first clamping hand 536 and the second clamping hand 537 clamp the medicine on the placing plate 10 again, and the telescopic rod 9 pulls the placing plate 10 to leak out the recovery chamber 18 below. The first clamping hand 536 and the second clamping hand 537 loosen the medicine, and the medicine will fall into the recovery chamber 18. The recovery chamber 18 and the placing chamber 17 are provided with a buffer pad 43 to prevent the medicine from falling and being damaged. In this way, inconsistent or expired medicines will be separated from the medicines purchased by the user, which will not affect the medicines purchased by the user, and all problematic medicines will be placed in the recovery chamber 18 in a unified manner. After the medicine purchased by the user is grabbed, the mounting frame 3 is moved to align the first rotating door 41 with the medicine outlet, and the first driving motor 441 is started. The first driving motor 441 drives the intermittent gear 442 to rotate counterclockwise, and the teeth of the intermittent gear 442 contact the first rotating gear 443 close to the first rotating door 41. The intermittent gear 442 drives the first rotating gear 443 close to the first rotating door 41 to rotate, and the first rotating gear 443 drives the first pulley 444 to rotate clockwise, and the first rotating door 41 rotates clockwise to open. After the intermittent gear 442 rotates 180 degrees counterclockwise, the teeth of the intermittent gear 442 no longer contact the first rotating gear 443 close to the first rotating door 41, and the first rotating door 41 is opened. The revolving door 41 stops rotating, and the medicine in the placement chamber 17 slides out of the placement chamber 17 under the action of gravity. Then the first driving motor 441 drives the intermittent gear 442 to rotate clockwise, and the teeth of the intermittent gear 442 contact the first rotating gear 443 close to the first revolving door 41, and the first revolving door 41 is rotated counterclockwise to close. Then the mounting frame 3 is moved to align the first revolving door 41 with the automatic recycling box. Then the intermittent gear 442 rotates counterclockwise, first driving the first rotating gear 443 close to the first revolving door 41 to rotate clockwise. After the teeth of the intermittent gear 442 separate from the first rotating gear 443 close to the first revolving door 41, the first revolving door 41 stops rotating, and the intermittent gear 442 continues to rotate counterclockwise.The teeth of the intermittent gear 442 contact the first rotating gear 443 near the second rotating door 42, and then drive the first rotating gear 443 near the second rotating door 42 to rotate, and drive the second rotating door 42 to rotate, so that the first rotating door 41 and the second rotating door 42 are opened at the same time. After the intermittent gear 442 rotates one circle, the teeth are no longer in contact with the first rotating gear 443, and the first rotating door 41 and the second rotating door 42 no longer rotate. The medicine in the recovery chamber 18 slides from the recovery chamber 18 to the automatic recovery box under the action of gravity, and then the driving motor drives the intermittent gear 442 to rotate in the opposite direction. The teeth of the intermittent gear 442 first contact the first rotating gear 443 near the second rotating door 42, and the second rotating door 42 is rotated counterclockwise to close, and the teeth contact the first rotating gear 443 near the first rotating door 41 again, and the first rotating door 41 is closed counterclockwise. Rotate to close, the end of the first revolving door 41 away from the first belt 445 is connected to the limit plate 8, and the limit plate 8 rotates with the rotation of the first revolving door. Because two limit sensors 7 are arranged on the side of the limit plate 8, when the first revolving door 41 is opened, the limit plate 8 passes through the first limit sensor 7, and the first revolving door 41 stops rotating to reach the maximum opening angle. When the first revolving door 41 is closed, the limit plate 8 passes through the second limit sensor 7, and the first revolving door 41 stops rotating to block the placement chamber 17, which effectively controls the opening angle of the revolving door. In this way, the medicines required by the user can also be placed in the placement chamber 17. In case of inconsistent or expired medicines, they are uniformly placed in the recovery chamber 18. When dispensing medicines, inconsistent or expired medicines are uniformly recovered, which increases the simplicity of the device and improves the efficiency of grabbing medicines, saving time for users.

[0045] Optionally, in some embodiments, see Figure 1 The first clamping hand 536 and the second clamping hand 537 are both provided with a sponge pad 11 .

[0046] With such arrangement, the sponge pad 11 has an elastic arrangement, so that when the first clamping hand 536 and the second clamping hand 537 grasp the medicine, the grasped medicine is well protected to avoid the problem of damage to the medicine.

[0047] Optionally, in some embodiments, see Figure 1-Figure 2 An obstacle sensor 13 is provided on one end of the first gripper 536 and the second gripper 537 away from the third driving motor 531 .

[0048] With such arrangement, the obstacle sensor 13 disposed at the front end of the first gripper 536 and the second gripper 537 can ensure that when the first gripper 536 and the second gripper 537 extend forward, when the obstacle sensor 13 senses an obstacle, the first gripper 536 and the second gripper 537 will stop, and the sensing surface of the obstacle sensor 13 is located on the side with the arrow.

[0049] Optionally, in some embodiments, see Fig. 9 A distance sensor 14 is also provided on the mounting frame 3 , and a drag chain 12 is provided on the side of the mounting frame 3 .

[0050] With such a configuration, the distance sensor 14 detects the distance between the medicine and the distance sensor 14 , and the first gripper 536 and the second gripper 537 will extend forward to the distance that the distance sensor 14 responds to.

[0051] Working principle: After the user purchases the medicine, the purchase list is uploaded to the system, the fourth drive motor 61 rotates the disc shaft 63 on the rotating disk 62, and the mounting frame 3 fixedly connected to the disc shaft 63 rotates with the rotation of the disc shaft 63. The limit plate 8 is set on the disc shaft 63 and also rotates with the rotation of the disc shaft 63. After the limit plate 8 passes through the limit sensor 7, the sensor 45 stops the fourth drive motor 61 and stops the rotation of the disc shaft 63, so that the clamping mechanism 5 on the mounting frame 3 corresponds to the position where the medicine is stored. When the required medicine is clamped, the second drive motor 521 is started, and the second pulley 525 connected to the output shaft of the second drive motor 521 rotates, and the second pulley 525 drives the second belt 52 4 moves, the slider connected to the second belt 524 and the fixing frame 51 will move on the second slide rail 535 as the second belt 524 moves, the first gripper 536 and the second gripper 537 on the fixing frame 51 slide toward the medicine, after the first gripper 536 and the second gripper 537 reach the corresponding position, a limit plate 8 is provided on the side of the fixing frame 51, and moves along with the movement of the fixing frame 51, and a limit sensor 7 is provided at one end of the mounting frame 3 close to the medicine, if the limit plate 8 passes through the limit sensor 7, it indicates the maximum sliding distance of the first slider 522 on the second slide rail 535, the first slider 522 no longer slides, and by starting the third driving motor 531, the second The rotating gear 532 rotates, and then the spur rack 533 meshing with the second rotating gear 532 moves under the rotation of the second rotating gear 532. The first gripper 536 and the second slider 534 arranged on the second gripper 537 move on the second slide rail 535 under the action of the spur rack 533. The first gripper 536 and the second gripper 537 move toward each other. A limit sensor 7 is arranged on the fixed plate, and a limit plate 8 is arranged on the first gripper 536. When the first gripper 536 moves, the limit plate 8 moves. When the limit plate 8 passes through the limit sensor 7, the distance between the first gripper 536 and the second gripper 537 will reach the maximum or minimum, and the third driving motor 531 is stopped. The first gripper 536 and the second gripper 537 move toward each other. The medicines grabbed by the first gripper 536 and the second gripper 537 are no longer moved. The medicines are verified by OCR recognition, image comparison and barcode reading to ensure that the grabbed medicines are consistent with the medicines purchased by the user. Then the telescopic rod 9 is pulled back to drive the third slider 15 to slide on the third slide rail 16. The placement plate 10 connected to the third slider 15 moves with the third slider 15 and leaks out of the placement cavity 17. At this time, the first gripper 536 and the second gripper 537 release the clamped medicines, and the medicines fall into the placement cavity 17 under the action of gravity. Then, the remaining medicines purchased by the user are grabbed. If the grabbed medicines are inconsistent with the medicines purchased by the user or the medicines are detected to be expired, the first gripper 536 and the second gripper 537 place the medicines on the placement plate 10.Then, the medicine is loosened, and the telescopic rod 9 moves, driving the third slider 15 and the placement plate 10 to move, and the medicine on the placement plate 10 is moved to the top of the recovery chamber 18. Then, the first clamp 536 and the second clamp 537 clamp the medicine on the placement plate 10 again, and the telescopic rod 9 pulls the placement plate 10 to leak out the recovery chamber 18 below. The first clamp 536 and the second clamp 537 loosen the medicine, and the medicine will fall into the recovery chamber 18. The recovery chamber 18 and the placement chamber 17 are provided with a buffer pad 43 to prevent the medicine from falling and being damaged. In this way, inconsistent or expired medicines will be separated from the medicines purchased by the user. After the medicines purchased by the user are grabbed, the first rotating door 41 is aligned with the medicine outlet by moving the mounting frame 3, and the first driving motor 441 is started, and the first driving motor 441 drives the intermittent gear 442 to rotate counterclockwise. The intermittent gear 442 first drives the first rotating gear 443 close to the first rotating door 41 to rotate, and the first belt 445 gear connected to the first rotating door 41 rotates accordingly, and the first rotating door 41 rotates and opens, and the medicines in the placement chamber 17 are discharged from the placement chamber 17 under the action of gravity. 7 slides out, and then the first driving motor 441 drives the intermittent gear 442 to rotate clockwise, rotates the first revolving door 41 to close, and then moves the mounting frame 3 to align the first revolving door 41 with the automatic recycling box, and then the first driving motor 441 rotates counterclockwise, first drives the first rotating gear 443 near the first revolving door 41 to rotate clockwise, and then drives the first rotating gear 443 near the second revolving door 42 to rotate, so that the first revolving door 41 and the second revolving door 42 are opened at the same time, and the medicine in the recycling chamber 18 slides from the recycling chamber 18 to the automatic recycling box under the action of gravity, and then drives The motor drives the intermittent gear 442 to rotate in the opposite direction, rotating the first revolving door 41 and the second revolving door 42 counterclockwise. The end of the first revolving door 41 away from the first belt 445 is connected to the limit plate 8. The limit plate 8 rotates with the rotation of the first revolving door. Because two limit sensors 7 are arranged on the side of the limit plate 8, when the first revolving door 41 is opened, the limit plate 8 passes through the first limit sensor 7, and the first revolving door 41 stops rotating and reaches the maximum opening angle. When the first revolving door 41 is closed, the limit plate 8 passes through the second limit sensor 7, and the first revolving door 41 stops rotating, blocking the placement cavity 17.

[0052] The above are all preferred embodiments of the present invention, and are not intended to limit the protection scope of the present invention. Therefore, any equivalent changes made based on the structure, shape, and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An intelligent object grabbing device, characterized in that: The invention comprises a supporting frame (1), a connecting frame (2), a mounting frame (3), a classification mechanism (4), a clamping mechanism (5) and a rotating assembly (6), wherein the connecting frame (2) is connected to the supporting frame (1), the mounting frame (3) is rotatably connected to the connecting frame (2) via the rotating assembly (6), and the clamping mechanism (5) is arranged on the mounting frame (3); The classification mechanism (4) comprises a first revolving door (41), a second revolving door (42), a buffer pad (43), a driving assembly (44), a sensor (45) and a support seat (46); the first revolving door (41) and the second revolving door (42) are both rotatably connected to the mounting frame (3); a placement chamber (17) is formed between the first revolving door (41) and the second revolving door (42); a recovery chamber (18) is formed between the second revolving door (42) and the mounting frame (3); the buffer pad (43) is arranged on the mounting frame (3); the driving assembly (44) is arranged on the mounting frame (3); and the driving assembly (44) is used to drive the first revolving door (41) and the second revolving door (42) to rotate; the support seat (46) is fixedly connected to the mounting frame (3); the sensor (45) is arranged on the support seat (46); and the clamping mechanism (5) is used to clamp drugs; The driving assembly (44) comprises a first driving motor (441), an intermittent gear (442), a first rotating gear (443), a first pulley (444), a first belt (445) and a first rotating shaft (446); the first driving motor (441) is arranged on the supporting seat (46); the output shaft of the first driving motor (441) is connected to the intermittent gear (442); the first rotating shaft (446) is rotatably connected to the mounting frame (3); and one end of the first rotating shaft (446) away from the mounting frame (3) is connected to The first rotating gear (443) is meshedly connected with the intermittent gear (442); the first rotating shaft (446) is also provided with the first belt pulley (444); the first rotating door (41) and the second rotating door (42) are both provided with the first rotating shaft (446); the first rotating shaft (446) is provided with a first belt pulley (444) at one end away from the first rotating door (41) and the second rotating door (42); and the first belt (445) is provided on the first belt pulley (444); A limit sensor (7) is provided on the mounting frame (3), a limit plate (8) is rotatably connected to the mounting frame (3), and the limit plate (8) is connected to an end of the first rotating door (41) away from the first pulley (444), and the limit plate (8) can pass through the limit sensor (7); The clamping mechanism (5) comprises a fixed frame (51) and a sliding assembly (52); the sliding assembly (52) comprises a second driving motor (521), a first sliding block (522), a first sliding rail (523), a second belt (524) and a second pulley (525); the first sliding rail (523) is arranged on both sides of the mounting frame (3); the first sliding block (522) is arranged on the first sliding rail (523); the fixed frame (51) is arranged on the first sliding block (522); the first sliding block (522) and the fixed frame (51) slide on the first sliding rail (523); the second driving motor (521) ) is arranged on the bottom of the mounting frame (3), the second pulley (525) is arranged on the output shaft of the second drive motor (521), and the second pulley (525) is rotatably connected to the side surface of the mounting frame (3) at one end away from the second drive motor (521), the second belt (524) is arranged on the second pulley (525), the limit sensor (7) is arranged on the top surface of the end of the mounting frame (3) close to the second drive motor (521), the limit sensors (7) are respectively arranged on both ends of the side surface of the mounting frame (3), and the limit plate (8) is arranged on the fixing frame (51); The clamping mechanism (5) further comprises a clamping assembly (53), wherein the clamping assembly (53) comprises a third driving motor (531), a second rotating gear (532), a spur rack (533), a second slider (534), a second slide rail (535), a first clamping hand (536) and a second clamping hand (537), wherein the third driving motor (531) is arranged at the top end of the fixing frame (51), the output shaft of the third driving motor (531) is provided with the second rotating gear (532), the second slide rail (535) is arranged on the fixing frame (51), the second slider (534) is arranged on the second slide rail (535), and the second slider (534) slides on the second slide rail (535). The first gripper (536) is arranged on the second slider (534), the second gripper (537) is arranged on another second slider (534), a plurality of second sliders (534) are arranged, one end of the spur rack (533) is arranged on the first gripper (536), the other end of the spur rack (533) is arranged on the second gripper (537), and the spur rack (533) is meshingly connected with the second rotating gear (532), the limit sensor (7) is arranged on the fixing frame (51), a plurality of limit sensors (7) are arranged, and the fixing frame (51) is also provided with the limit plate (8), and the limit plate (8) can pass through the limit sensor (7); A telescopic rod (9) is fixedly connected to the mounting frame (3); a third slide rail (16) is arranged on the inner side of the mounting frame (3); a third slider (15) is arranged on the third slide rail (16); a placement plate (10) is arranged on the third slider (15); the placement plate (10) slides on the third slide rail (16) via the third slider (15); the placement plate (10) is located below the second gripper (537); The medicines grasped by the first gripper (536) and the second gripper (537) are verified by OCR recognition, image comparison and barcode reading to ensure that the grasped medicines are consistent with the medicines purchased by the user. Then the telescopic rod (9) is pulled back to drive the third slider (15) to slide on the third slide rail (16). The placement plate (10) connected to the third slider (15) moves with the third slider (15) and leaks out of the placement cavity (17). At this time, the first gripper (536) and the second gripper (537) release the grasped medicines, and the medicines fall into the placement cavity (17) under the action of gravity. Then, the remaining medicines purchased by the user are grasped. If the grasped medicines are consistent with the medicines purchased by the user, When the detected drugs are inconsistent or expired, the first gripper (536) and the second gripper (537) place the drugs on the placement plate (10), then loosen the drugs, and the telescopic rod (9) moves, driving the third slider (15) and the placement plate (10) to move, so that the drugs on the placement plate (10) are moved to just above the recovery chamber (18), and then the first gripper (536) and the second gripper (537) clamp the drugs on the placement plate (10), and the telescopic rod (9) pulls the placement plate (10) to leak out of the recovery chamber (18) below, and the first gripper (536) and the second gripper (537) loosen the drugs, so that the drugs fall into the recovery chamber (18).

2. The intelligent object grabbing device according to claim 1, characterized in that: The first gripper (536) and the second gripper (537) are both provided with a sponge pad (11).

3. The intelligent object grabbing device according to claim 2, characterized in that: The rotating assembly (6) comprises a fourth driving motor (61), a rotating disk (62) and a disk rotating shaft (63); the fourth driving motor (61) is arranged on the connecting frame (2); the rotating disk (62) is arranged on the connecting frame (2); one side of the disk rotating shaft (63) is rotatably connected to the rotating disk (62); the other side of the rotating disk (62) is fixedly connected to the mounting frame (3); the rotating disk (62) is provided with the limit sensor (7); and the disk rotating shaft (63) is provided with the limit plate (8).

4. The intelligent object grabbing device according to claim 3, characterized in that: An obstacle sensor (13) is provided on one end of the first gripper (536) and the second gripper (537) away from the third drive motor (531).

5. The intelligent object grabbing device according to claim 4, characterized in that: A distance sensor (14) is also provided on the mounting frame (3), and a drag chain (12) is provided on the side of the mounting frame (3).

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