Hospital medicine distribution automatic conveying system and use method

Abstract

The invention relates to the field of medicine distribution and conveying, and discloses a medicine distribution and automatic conveying system for hospitals and a using method. The medicine distribution and automatic conveying system comprises a medicine classified storage system and a medicine autonomous conveying system; the medicine classified storage system comprises a medicine shelf for placing medicines; the automatic medicine conveying system comprises a path which is arranged beside each group of medicine frames and is fixed on the ground to convey medicines, a pause sensor is embedded in the path, frame body sensors for identifying and sensing different medicine frames are embedded in the path, a longitudinal column sensor for rapidly identifying the longitudinal column positions of the medicines on the medicine frames is embedded in the path, and the pause sensor and the frame body sensors are embedded in the path. Transverse row sensors for quickly identifying transverse row positions of medicines are embedded in the medicine frames; a conveying robot which moves in the path direction and accurately positions and takes the medicine is arranged beside the medicine frame. The medicine distribution and automatic conveying system reduces the workload of manual medicine taking, shortens the medicine distribution and conveying time and is convenient and efficient to use.

Description

Technical Field

[0001] The present invention relates to the field of hospital medicine distribution and transportation, and in particular to an automatic hospital medicine distribution and transportation system and a use method thereof. Background Art

[0002] The distribution and delivery of hospital medicines is a complex and critical link. The electronic lists of medicines prescribed by various departments of the hospital are summarized in the medicine distribution and delivery system. Medical staff pick up medicines in the pharmacy according to the electronic list, and then distribute the medicines to patients according to the order number. The manual workload of picking up medicines is large, and it is necessary to repeatedly confirm whether the medicines taken are accurate, which is inefficient.

[0003] Chinese patent CN112938274B discloses an automatic drug distribution and delivery system for hospitals and a method for using the system, including a hospital drug management platform for providing data services for a drug distribution system, including network cloud storage, sharing, management, and backup of drug data; a drug inventory system for monitoring local inventory of drugs in the hospital; a drug distribution system for receiving drug orders from the hospital drug management platform, verifying the identity of the pharmacist, patient information, and a drug collection list, and when the drug distribution system moves to the dispensing nurse's station, notifying the nurse to place the relevant drugs and verifying them; and notifying the drug inventory system to update the inventory; through the hospital drug management platform, the drug inventory system, and the drug distribution system, the problem of dispensing drugs to patients is solved, the workload of nurses and doctors is reduced, and there is evidence to check and rely on, so there will be no mistakes, ensuring the physical and mental health of patients.

[0004] The above-mentioned automatic drug distribution and transportation system can walk according to the set path and distribute drugs, which can reduce the time for manual drug delivery, but it still requires manual labor to pick up and place drugs in the pharmacy. There are many medicine shelves in the hospital pharmacy, and it is time-consuming to manually find drugs. In addition, in order to make full use of the storage space, some medicine shelves are very high. It is inconvenient for humans to observe, identify and pick up drugs stored at high places, which increases the time for drug distribution and transportation. In addition, in order to avoid errors in drug distribution, manual drug collection usually follows the method of picking up and distributing in sequence according to the drug collection order, which is inefficient, especially for different drugs on a drug collection order stored on medicine shelves that are far away, and staff need to spend a lot of time in the pharmacy to pick up drugs. Summary of the invention

[0005] In response to the above problems, an automatic drug distribution and delivery system for hospitals and a method for use are provided. The delivery robot cooperates with multiple sensors to accurately find the distributed drugs. The delivery robot moves along the path and autonomously picks up and delivers the drugs without manual fetching. This solves the problem that some existing automatic drug distribution and delivery systems for hospitals require manual fetching and placement of drugs in pharmacies, there are many medicine shelves in hospital pharmacies, and manual search for drugs is time-consuming. In addition, in order to make full use of storage space, some medicine shelves are very high, and it is inconvenient for manual observation, identification and fetching of drugs stored at high places, which increases the time for drug distribution and delivery.

[0006] To solve the problems of the prior art, the present invention provides an automatic drug distribution and transportation system for hospitals, including a drug classification and storage system for classifying and placing stored drugs, each drug being arranged in an independent interval, which can be accurately located; an autonomous drug transportation system for quickly finding designated drugs according to the accurately located position of the drugs, autonomously taking the drugs and transporting them between the pharmacy and the drug fetching island along the navigation route; the drug classification and storage system includes a medicine shelf for placing drugs; the autonomous drug transportation system includes a path for transporting drugs which is arranged beside each group of drug shelves and fixed on the ground, a pause sensor is embedded and installed on the path, a shelf sensor for identifying and sensing different drug shelves is embedded and installed on the path, a longitudinal sensor for quickly identifying the longitudinal position of drugs on the drug shelf is embedded and installed on the path, and a transverse sensor for quickly identifying the transverse position of drugs is embedded and installed on the drug shelf; a transportation robot which moves along the path direction and accurately locates and takes drugs is arranged beside the drug shelf, and the transportation robot includes a mobile machine rolling on the ground, a lifting machine connected to the mobile machine, a lifting component installed on the mobile machine to control the longitudinal movement of the lifting machine, and a drug fetching component installed on the lifting component for clamping drugs on the drug shelf.

[0007] Preferably, the lifting assembly includes a telescopic hood connected between the mobile machine and the lifting machine, a lower screw is rotatably installed in the fixed end below the telescopic hood, a guide gear column is coaxially fixedly connected to the lower screw, an upper screw is provided with a locking sleeve on the guide gear column, the upper screw is rotatably installed in the telescopic end above the telescopic hood, the external threaded sleeve of the upper screw is provided with an internal threaded slide seat slidably connected to the telescopic hood, and the internal threaded slide seat is fixedly assembled with the medicine taking assembly; a lifting screw is rotatably installed in the telescopic end above the telescopic hood, and the lifting screw is threadedly assembled with an internal threaded frame fixedly connected to the fixed end below the telescopic hood.

[0008] Preferably, the lifting machine is provided with a driving assembly for controlling the rotation of the upper screw and the lifting screw.

[0009] Preferably, the driving assembly includes a protective cover fixed on the lifting machine, a driving gear and a transmission gear column are rotatably installed in the protective cover, the driving gear is coaxially connected to the upper screw, the transmission gear column is coaxially connected to the lifting screw, a driven gear is slidably installed on the transmission gear column, the driven gear moves downward and meshes with the driving gear, a positioning cylinder is fixedly installed in the protective cover, an internal gear seat is fixedly installed at the lifting end of the positioning cylinder, and the driving gear and the internal gear seat are rotatably assembled.

[0010] Preferably, the medicine taking assembly includes a support frame fixedly mounted on an internal threaded slide seat, a vertical sensor is embedded in the front end of the support frame, a medicine box is fixedly mounted on the support frame, a plurality of scanning areas for identifying medicine boxes are embedded in the medicine box, an electric slide rail is fixedly mounted on the support frame, a sliding seat is slidably mounted on the electric slide rail, the sliding seat is snap-fitted and slidably mounted on the support frame, and a clamping mechanism is provided on the sliding seat to clamp the medicine on the medicine rack and deliver the medicine into the medicine box.

[0011] Preferably, a distance sensor for measuring the depth of the clamping mechanism moving into the medicine rack compartment is fixedly mounted on the sliding seat.

[0012] Preferably, the clamping mechanism comprises a moving mechanism installed on a sliding seat for moving and transporting the clamped medicine on the medicine rack, and a clamping mechanism for clamping the medicine in the compartment of the medicine rack is arranged on the moving mechanism.

[0013] Preferably, the moving mechanism includes a rotating seat rotatably mounted on the sliding seat, a main arm rod is rotatably mounted on the rotating seat, a secondary arm rod is rotatably mounted on the main arm rod, a positioning seat is rotatably mounted on the secondary arm rod, a main support rod is eccentrically connected to the secondary arm rod, a main electric drive telescopic rod is rotatably connected to the main support rod, the main electric drive telescopic rod and the main arm rod are rotatably assembled, a secondary support rod is eccentrically connected to the positioning seat, a secondary electric drive telescopic rod is rotatably connected to the secondary support rod, and the secondary electric drive telescopic rod and the secondary arm rod are rotatably assembled.

[0014] Preferably, the clamping mechanism includes a clamping arm rotatably mounted on a positioning seat, a steering cam is eccentrically connected to the clamping arm, a clamping cylinder is fixedly mounted on the secondary support rod, a movable seat is fixedly mounted on the telescopic end of the clamping cylinder, a pushing rod is rotatably mounted on the movable seat, and the pushing rod is rotatably assembled with the steering cam.

[0015] A method for using an automatic drug distribution and transportation system for a hospital, applied to the above-mentioned automatic drug distribution and transportation system for a hospital, comprises the following steps: S1. Accurately locate and store drugs, classify the drugs and store them on the medicine shelf, and accurately locate the drugs in each section of the medicine shelf according to the vertical and horizontal sensors.

[0016] S2. Accurately transport medicines. The transport robot moves along the path among different medicine racks, quickly finds the location where the medicines are placed, and transports the medicines to the medicine island along the path after taking the medicines.

[0017] S3. Autonomous medicine picking: The delivery robot autonomously picks up medicines from the medicine shelf through the medicine picking component. The delivery robot system can receive multiple medicine picking orders at the same time, optimize the medicine picking and delivery routes according to the location of the medicines, and pick up medicines on different medicine picking orders in a cross-wise manner, saving the overall medicine picking time.

[0018] Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention is provided with a rack sensor, a longitudinal sensor and a transverse sensor to accurately locate the position of the medicine on the medicine rack, so that the transport robot can quickly and accurately locate the position of the medicine on the medicine collection list by walking along the path, and the transport robot can pick up and distribute the medicine, thereby improving the efficiency of medicine distribution and transportation.

[0019] 2. The present invention is provided with a lifting component to quickly adjust the height of the transport robot to pick up medicines. For some high medicine shelves, the medicines at high positions are not easy for the human eye to identify. When the transport robot is moving to pick up medicines, the height of the lifting machine can be adjusted through the lifting component, which is convenient for the medicine picking component to quickly identify the medicines at the high positions of the medicine shelf, and take the medicines down for transportation, which is easy to operate.

[0020] 3. The present invention is provided with a medicine picking component to optimize the medicine picking route, pick up medicines on multiple medicine picking orders at the same time, shorten the overall medicine picking distribution and transportation time, and take the first medicine picking order first. The medicines on the same path on multiple arranged medicine picking orders are picked up at the same time. After picking up the medicines, the medicines are placed in the medicine box through the mobile mechanism, and the picked medicines are scanned and confirmed through the scanning area in front of the medicine box. The medicines are classified and placed in the medicine box according to the medicine picking orders, which greatly saves the time of the delivery robot moving in the pharmacy to pick up the medicines. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 The present invention is a schematic diagram of the three-dimensional structure of a medicine rack of an automatic drug distribution and delivery system for hospitals and a method for using the same.

[0022] Figure 2 The present invention is a schematic diagram of the three-dimensional structure of longitudinal and transverse sensors of an automatic drug distribution and delivery system for hospitals and a method for using the same.

[0023] Figure 3 The present invention is a three-dimensional structural diagram of a lifting machine for an automatic drug distribution and delivery system for hospitals and a method for using the same.

[0024] Figure 4 The present invention is a three-dimensional structural diagram of a medicine dispensing automatic delivery system for hospital use and a method for using the medicine dispensing component.

[0025] Figure 5 The present invention is a schematic diagram of the three-dimensional structure of a mobile machine for an automatic drug distribution and delivery system for hospitals and a method for using the same.

[0026] Figure 6 The present invention is a schematic diagram of the three-dimensional structure of a telescopic cover of an automatic drug distribution and delivery system for hospitals and a method of using the same.

[0027] Figure 7 The present invention is a schematic diagram of the three-dimensional structure of an upper screw of an automatic drug distribution and delivery system for hospitals and a method for using the same.

[0028] Figure 8 The present invention is a schematic diagram of the three-dimensional structure of the driving gear of an automatic drug distribution and delivery system for hospitals and a method for using the same.

[0029] Fig. 9 The present invention is a schematic diagram of the three-dimensional structure of a medicine box of an automatic drug distribution and delivery system for hospitals and a method of using the same.

[0030] Fig.10 The present invention is a schematic diagram of the three-dimensional structure of a support frame of an automatic drug distribution and delivery system for hospitals and a method of using the system.

[0031] Fig.11 The present invention is a schematic diagram of the three-dimensional structure of a sliding seat of an automatic drug distribution and transportation system for hospitals and a method for using the same.

[0032] Fig.12 The present invention is a schematic diagram of the three-dimensional structure of the main arm of an automatic drug distribution and delivery system for hospitals and a method for using the system.

[0033] Fig.13 The present invention is a schematic diagram of the three-dimensional structure of an electric slide rail of an automatic drug distribution and transportation system for hospitals and a method of using the same.

[0034] Fig.14 The present invention is a schematic diagram of the three-dimensional structure of a secondary arm of an automatic drug distribution and delivery system for hospitals and a method for using the system.

[0035] Fig.15 The present invention is a three-dimensional structural diagram of a distance sensor of an automatic drug distribution and delivery system for hospitals and a method of using the same.

[0036] Fig.16 The present invention is a schematic diagram of the three-dimensional structure of a clamping arm of an automatic drug distribution and delivery system for hospitals and a method of using the same.

[0037] The numbers in the figure are: 1. Medicine rack; 2. Path; 31. Pause sensor; 32. Rack sensor; 33. Column sensor; 34. Column sensor; 4. Transport robot; 41. Mobile machine; 42. Lifting machine; 43. Lifting assembly; 431. Telescopic cover; 432. Lower screw; 433. Guide gear column; 434. Upper screw; 435. Internal threaded slide; 436. Lifting screw; 437. Internal threaded rack; 44. Medicine extraction assembly; 441. Support frame; 442. Facade sensor; 443. Medicine box; 444. Scanning area; 445. Electric slide; 446. Sliding seat; 44 7. Moving mechanism; 4471. Rotating seat; 4472. Main arm; 4473. Auxiliary arm; 4474. Positioning seat; 4475. Main support rod; 4476. Main electric drive telescopic rod; 4477. Auxiliary support rod; 4478. Auxiliary electric drive telescopic rod; 448. Clamping mechanism; 4481. Clamping arm; 4482. Steering cam; 4483. Clamping cylinder; 4484. Movable seat; 4485. Push rod; 5. Driving assembly; 51. Protective cover; 52. Driving gear; 53. Transmission gear column; 54. Positioning cylinder; 55. Internal gear seat; 56. Driven gear; 6. Distance sensor. DETAILED DESCRIPTION

[0038] In order to further understand the features, technical means, specific objectives and functions of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0039] See also Figure 1-Figure 6 As shown, an automatic drug distribution and transportation system for hospitals includes a drug classification storage system for classifying and placing stored drugs, each drug is set in an independent area, and the area can be accurately located; a drug autonomous transportation system quickly finds the designated drug according to the accurate location of the drug, autonomously takes the drug and transports it between the pharmacy and the drug collection island along the navigation route; the drug classification storage system includes a medicine rack 1 for placing drugs; the drug autonomous transportation system includes a path 2 for transporting drugs that is set beside each group of drug racks 1 and fixed on the ground, a pause sensor 31 is embedded in the path 2, and a rack sensor 32 for identifying and sensing different drug racks 1 is embedded in the path 2. A longitudinal sensor 33 for quickly identifying the longitudinal position of medicines on the medicine rack 1 is embedded and installed on the path 2, and a transverse sensor 34 for quickly identifying the transverse position of medicines is embedded and installed on the medicine rack 1; a transport robot 4 is arranged next to the medicine rack 1 for moving along the direction of the path 2 and accurately locating and picking up medicines, and the transport robot 4 includes a mobile machine 41 that rolls on the ground, a lifting machine 42 that is lifted and connected to the mobile machine 41, a lifting component 43 installed on the mobile machine 41 to control the longitudinal movement of the lifting machine 42, and a medicine picking component 44 installed on the lifting component 43 for clamping medicines on the medicine rack 1. A display is arranged on the transport robot 4, and the display shows the current medicine picking order number.

[0040] The electronic prescriptions issued by various departments of the hospital are transmitted to the transport robot 4. The drugs stored on the medicine rack 1 have their respective positioning positions in the automatic drug distribution and transportation system. The transport robot 4 searches for the medicine rack 1 according to the positioning position of the drugs in the system. The transport robot 4 walks along the path 2 according to the position of the navigation medicine rack 1 in the system, and first determines the position of the medicine rack 1 where the drugs are stored through the rack sensor 32, and then senses the longitudinal position of the drugs placed on the medicine rack 1 according to the longitudinal sensor 33, so that the transport robot 4 moves accurately to the front of the medicine rack 1. The transport robot 4 quickly adjusts the height corresponding to the drug picking component 44 through the lifting component 43 according to the drug picking height, accurately locates the transverse position of the drugs through the transverse sensor 34, and takes the drugs from the medicine rack 1 through the drug picking component 44. After taking all the drugs, the transport robot 4 moves and transports them to the hospital's drug picking island to autonomously complete drug distribution and transportation.

[0041] See also Figure 3-Figure 7 As shown, the lifting assembly 43 includes a telescopic cover 431 connected between the mobile machine 41 and the lifting machine 42, a lower screw 432 is rotatably installed in the fixed end below the telescopic cover 431, a guide gear column 433 is coaxially fixedly connected to the lower screw 432, an upper screw 434 is clamped on the guide gear column 433, the upper screw 434 is rotatably installed in the telescopic end above the telescopic cover 431, the external thread sleeve of the upper screw 434 is provided with an internal thread slide 435 slidably connected to the telescopic cover 431, and the internal thread slide 435 is fixedly assembled with the medicine taking assembly 44; a lifting screw 436 is rotatably installed in the telescopic end above the telescopic cover 431, and an internal thread frame 437 fixedly connected to the fixed end below the telescopic cover 431 is threadedly assembled on the lifting screw 436, and when the upper screw 434 moves to fit with the lower screw 432, the threads of the two can be connected with each other.

[0042] For the medicines at the lower part of the medicine shelf 1, the telescopic cover 431 is in the smallest contracted state, the upper screw 434 and the lower screw 432 are closed with each other, the upper screw 434 is controlled to rotate, and the upper screw 434 drives the lower screw 432 to rotate synchronously through the guide tooth column 433, and the internal thread slide 435 sleeved on the outer side of the upper screw 434 and the lower screw 432 slides longitudinally, and the internal thread slide 435 drives the medicine taking component 44 to move up and down to take the medicines at the lower part of the medicine shelf 1. For the medicines at the higher part of the medicine shelf 1, the telescopic cover 431 is controlled to move and unfold, the lifting screw 436 is controlled to rotate, and the internal thread frame 437 sleeved on the lifting screw 436 moves longitudinally, and the internal thread frame 437 drives the telescopic cover 431 to move up and unfold, and the height position of the lifting machine 42 corresponding to the mobile machine 41 is adjusted, so as to adjust the height of the medicine taking component 44, and when the mobile machine 41 moves upward, it drives the upper screw 434 sleeved on the guide tooth column 433 to move upward synchronously.

[0043] See also Figure 3-Figure 8As shown, the lifting machine 42 is provided with a driving assembly 5 for controlling the rotation of the upper screw 434 and the lifting screw 436 .

[0044] According to the medicine taking height, the upper screw 434 and the lifting screw 436 are controlled to rotate through the driving component 5 to quickly adjust the medicine taking height of the medicine taking component 44.

[0045] See also Figure 3-Figure 8 As shown, the driving assembly 5 includes a protective cover 51 fixed on the lifting machine 42, and a driving gear 52 and a transmission gear column 53 are rotatably installed in the protective cover 51. The driving gear 52 is coaxially connected to the upper screw 434, and the transmission gear column 53 is coaxially connected to the lifting screw 436. A driven gear 56 is slidably installed on the transmission gear column 53, and the driven gear 56 moves downward to mesh with the driving gear 52. A positioning cylinder 54 is fixedly installed in the protective cover 51, and an internal gear seat 55 is fixedly installed at the lifting end of the positioning cylinder 54. The driving gear 52 and the internal gear seat 55 are rotatably assembled between them; a motor is installed on the protective cover 51, and the output end of the motor is connected to the driving gear 52.

[0046] The upper screw rod 434 is controlled to rotate by the driving gear 52, and the internal thread slide seat 435 can be controlled to slide longitudinally under the thread transmission structure. The positioning cylinder 54 is operated to control the internal tooth seat 55 to move downward, and the internal tooth seat 55 drives the driven gear 56 to move downward and mesh with the driving gear 52. When the driving gear 52 rotates, it drives the driven gear 56 to rotate through the meshing transmission. The driven gear 56 drives the upper screw rod 434 to rotate and drives the transmission gear column 53 and the lifting screw 436 to rotate. When the lifting machine 42 moves upward, the internal thread slide seat 435 embedded in the telescopic cover 431 also moves upward. The two-way upward movement structure can quickly adjust the medicine taking height of the medicine taking component 44.

[0047] See also Figure 3-Figure 6 , Figure 9-11 As shown, the medicine taking component 44 includes a support frame 441 fixedly mounted on an internal threaded slide 435, a vertical sensor 442 is embedded in the front end of the support frame 441, a medicine box 443 is fixedly mounted on the support frame 441, and a plurality of scanning areas 444 for identifying medicine boxes are embedded in the medicine box 443, an electric slide rail 445 is fixedly mounted on the support frame 441, a sliding seat 446 is slidably mounted on the electric slide rail 445, and the sliding seat 446 is slidably mounted on the support frame 441, and a clamping mechanism for clamping the medicine on the medicine rack 1 and delivering the medicine into the medicine box 443 is provided on the sliding seat 446.

[0048] The electric slide rail 445 is operated to control the slide seat 446 to slide on the support frame 441. The movement of the slide seat 446 drives the clamping mechanism to move forward into the compartment of the medicine rack 1. The clamping mechanism takes the medicine and moves the clamped medicine into the medicine box 443. Before the medicine is sent into the medicine box 443, the scanning area 444 corresponding to the medicine in front of the medicine box 443 is scanned and processed to identify and confirm the taken medicine, and the medicine is classified according to the medicine collection list and placed in the medicine box 443.

[0049] See also Fig.15 As shown, a distance sensor 6 for measuring the depth of the clamping mechanism moving into the compartment of the medicine rack 1 is fixedly installed on the sliding seat 446.

[0050] When the clamping mechanism moves into the compartment of the medicine rack 1, the sliding seat 446 engages and moves on the support frame 441. The distance sensor 6 on the sliding seat 446 can sense the distance it moves, thereby analyzing the depth of the clamping mechanism moving to the compartment of the support frame 441, and analyzing the remaining amount of medicine stored in the medicine rack 1 based on the moving depth, so as to replenish the medicine on the medicine rack 1 in time.

[0051] See also Figure 9-Figure 16 As shown, the clamping mechanism includes a moving mechanism 447 installed on a sliding seat 446 for moving and transporting the clamped medicine on the medicine rack 1, and a clamping mechanism 448 for clamping the medicine in the compartment of the medicine rack 1 is arranged on the moving mechanism 447.

[0052] The medicines in the compartment of the medicine rack 1 are clamped by the clamping mechanism 448, and the medicines clamped by the clamping mechanism 448 are classified and moved to the medicine box 443 by the moving mechanism 447, so as to realize autonomous distribution and transportation of medicines.

[0053] See also Figure 9-Figure 16 As shown, the moving mechanism 447 includes a rotating seat 4471 rotatably mounted on the sliding seat 446, a main arm 4472 is rotatably mounted on the rotating seat 4471, a secondary arm 4473 is rotatably mounted on the main arm 4472, a positioning seat 4474 is rotatably mounted on the secondary arm 4473, a main support rod 4475 is eccentrically connected to the secondary arm 4473, a main electric drive telescopic rod 4476 is rotatably connected to the main support rod 4475, the main electric drive telescopic rod 4476 is rotatably assembled with the main arm 4472, a secondary support rod 4477 is eccentrically connected to the positioning seat 4474, a secondary electric drive telescopic rod 4478 is rotatably connected to the secondary support rod 4477, and the secondary electric drive telescopic rod 4478 is rotatably assembled with the secondary arm 4473; the rotating seat 4471 and the main arm 4472 are rotated by a motor.

[0054] The transport robot 4 receives multiple medicine pick-up orders, which are arranged in chronological order. Based on the principle of preferentially taking the medicine pick-up order at the front, the transport robot 4 plans a medicine pick-up route based on the multiple medicines on the medicine pick-up order at the front, and identifies the information of the medicines on the last two medicine pick-up orders. If some of the medicines on the last two medicine pick-up orders are on the medicine pick-up route of the medicine pick-up order at the front, the transport robot 4 takes some of the medicines on the last two medicine pick-up orders while taking the medicines on the front medicine pick-up order, and classifies the taken medicines into the medicine box 443 through the mobile mechanism 447.

[0055] After clamping the medicine, according to the classification interval of the medicine placed in the medicine box 443 corresponding to the medicine collection order, the rotating seat 4471 is controlled to rotate, and the clamping mechanism 448 is adjusted to correspond to the position of the classification placement interval in the medicine box 443. Then, the main electric drive telescopic rod 4476 is operated to push the main support rod 4475 to rotate, and the main support rod 4475 drives the auxiliary arm rod 4473 to rotate. The auxiliary electric drive telescopic rod 4478 is operated to push the auxiliary support rod 4477 to rotate, and the auxiliary support rod 4477 drives the positioning seat 4474 to rotate, and the angle of the clamping mechanism 448 and the corresponding position in front of the scanning area 444 are adjusted. The barcode on the clamped medicine box is scanned by the scanning area 444 to quickly identify the taken medicine to avoid mistakes in taking medicine. After identifying the medicine, the main arm rod 4472, the auxiliary arm rod 4473 and the positioning seat 4474 are controlled to rotate so that the clamping mechanism 448 corresponds to the upper position of the medicine box 443, and the clamping mechanism 448 is loosened to place the clamped medicine box into the medicine box 443.

[0056] See also Figure 9-Figure 16 As shown, the clamping mechanism 448 includes a clamping arm 4481 rotatably mounted on a positioning seat 4474, a steering cam 4482 is eccentrically connected to the clamping arm 4481, a clamping cylinder 4483 is fixedly mounted on the secondary support rod 4477, a movable seat 4484 is fixedly mounted on the telescopic end of the clamping cylinder 4483, a pushing rod 4485 is rotatably mounted on the movable seat 4484, and the pushing rod 4485 is rotatably assembled with the steering cam 4482.

[0057] The operating clamping cylinder 4483 pushes the movable seat 4484 to move, and the two ends of the pushing rod 4485 connected between the movable seat 4484 and the steering flange 4482 rotate accordingly. The rotating pushing rod 4485 pushes the steering flange 4482 and the clamping arm 4481 to rotate, and the clamping arm 4481 rotates to clamp the medicine on the medicine rack 1 so as to autonomously clamp and transport the medicine.

[0058] A method for using an automatic drug distribution and transportation system for a hospital, applied to the above-mentioned automatic drug distribution and transportation system for a hospital, comprises the following steps: S1. Accurately locate and store medicines. Classify and store the medicines on the medicine rack 1 , and accurately locate the medicines in each section of the medicine rack 1 according to the vertical row sensors 33 and the horizontal row sensors 34 .

[0059] S2. Accurately transport medicines. The transport robot 4 moves along the path 2 among different medicine racks 1, quickly finds the location where the medicines are placed, and transports the medicines to the medicine-taking island along the path 2 after taking the medicines.

[0060] S3, autonomous medicine picking: the transport robot 4 autonomously picks up medicines from the medicine rack 1 through the medicine picking component 44. The transport robot 4 system can receive multiple medicine picking orders at the same time, optimize the medicine picking and transportation route according to the location of the medicines, and pick up medicines on different medicine picking orders in an alternating manner, thereby saving the overall medicine picking time.

[0061] The above embodiments only express one or several implementation modes of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the present invention. It should be pointed out that, for those of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the attached claims.

Claims

1. An automatic drug distribution and delivery system for hospitals, characterized in that: It includes a drug classification storage system, which is used to classify and store drugs. Each drug is placed in an independent area, which can be accurately located. The autonomous drug delivery system can quickly find the designated drug based on the precise location of the drug, autonomously pick up the drug and deliver it between the pharmacy and the drug collection station along the navigation route; The drug classification storage system includes a medicine shelf (1) for placing drugs; The drug autonomous transport system comprises a path (2) for transporting drugs, which is arranged beside each group of drug racks (1) and fixed on the ground, a pause sensor (31) is embedded in the path (2), a rack sensor (32) for identifying and sensing different drug racks (1) is embedded in the path (2), a vertical row sensor (33) for quickly identifying the vertical row position of drugs on the drug rack (1) is embedded in the path (2), and a horizontal row sensor (34) for quickly identifying the horizontal row position of drugs is embedded in the drug rack (1); A transport robot (4) is arranged beside the medicine rack (1) and is capable of moving along the path (2) and accurately positioning and picking up medicines. The transport robot (4) comprises a mobile machine (41) that rolls on the ground, a lifting machine (42) that is connected to the mobile machine (41) for lifting, a lifting component (43) that is installed on the mobile machine (41) and controls the longitudinal movement of the lifting machine (42), and a medicine picking component (44) that is installed on the lifting component (43) and is used to clamp medicines on the medicine rack (1).

2. The automatic drug distribution and transportation system for hospitals according to claim 1, characterized in that: The lifting assembly (43) comprises a telescopic cover (431) connected between a mobile machine (41) and a lifting machine (42); a lower screw (432) is rotatably mounted in a fixed end below the telescopic cover (431); a guide tooth column (433) is coaxially fixedly connected to the lower screw (432); an upper screw (434) is provided on a locking sleeve on the guide tooth column (433); the upper screw (434) is rotatably mounted in a telescopic end above the telescopic cover (431); an external threaded sleeve of the upper screw (434) is provided with an internal threaded slide seat (435) slidably connected to the telescopic cover (431); the internal threaded slide seat (435) is fixedly assembled with the medicine taking assembly (44); A lifting screw rod (436) is rotatably mounted in the telescopic end above the telescopic cover (431), and an internal threaded frame (437) is threadedly mounted on the lifting screw rod (436) and is fixedly connected to the fixed end below the telescopic cover (431).

3. The automatic drug distribution and transportation system for hospitals according to claim 2, characterized in that: The lifting machine (42) is provided with a driving assembly (5) for controlling the rotation of an upper screw rod (434) and a lifting screw rod (436).

4. The automatic drug distribution and transportation system for hospitals according to claim 3, characterized in that: The driving assembly (5) comprises a protective cover (51) fixed on the lifting machine (42), a driving gear (52) and a transmission gear column (53) being rotatably mounted in the protective cover (51), the driving gear (52) being coaxially connected to the upper screw rod (434), the transmission gear column (53) being coaxially connected to the lifting screw rod (436), a driven gear (56) being slidably mounted on the transmission gear column (53), the driven gear (56) being moved downward to mesh with the driving gear (52), a positioning cylinder (54) being fixedly mounted in the protective cover (51), an internal gear seat (55) being fixedly mounted on the lifting end of the positioning cylinder (54), and the driving gear (52) and the internal gear seat (55) being rotatably mounted therebetween.

5. The automatic drug distribution and transportation system for hospitals according to claim 1, characterized in that: The medicine dispensing assembly (44) comprises a support frame (441) fixedly mounted on an internally threaded slide seat (435), a vertical surface sensor (442) being embedded and mounted on the front end of the support frame (441), a medicine box (443) being fixedly mounted on the support frame (441), a plurality of scanning areas (444) for identifying medicine boxes being embedded and mounted on the medicine box (443), an electric slide rail (445) being fixedly mounted on the support frame (441), a sliding seat (446) being slidably mounted on the electric slide rail (445), the sliding seat (446) being snap-fitted and slidably mounted on the support frame (441), and a clamping mechanism for clamping medicine on the medicine rack (1) and delivering the medicine into the medicine box (443) being provided on the sliding seat (446).

6. The automatic drug distribution and transportation system for hospitals according to claim 5, characterized in that: A distance sensor (6) for measuring the depth of the clamping mechanism moving into the compartment of the medicine rack (1) is fixedly mounted on the sliding seat (446).

7. The automatic drug distribution and transportation system for hospitals according to claim 5, characterized in that: The clamping mechanism comprises a moving mechanism (447) mounted on a sliding seat (446) for moving and transporting the clamped medicine on the medicine rack (1), and a clamping mechanism (448) for clamping the medicine in the interlayer of the medicine rack (1) is arranged on the moving mechanism (447).

8. The automatic drug distribution and transportation system for hospitals according to claim 7, characterized in that: The moving mechanism (447) comprises a rotating seat (4471) rotatably mounted on a sliding seat (446); a main arm (4472) is rotatably mounted on the rotating seat (4471); a secondary arm (4473) is rotatably mounted on the main arm (4472); a positioning seat (4474) is rotatably mounted on the secondary arm (4473); a main support rod (4475) is eccentrically connected to the secondary arm (4473); a main electric drive telescopic rod (4476) is rotatably connected to the main support rod (4475); the main electric drive telescopic rod (4476) and the main arm (4472) are rotatably assembled; a secondary support rod (4477) is eccentrically connected to the positioning seat (4474); a secondary electric drive telescopic rod (4478) is rotatably connected to the secondary support rod (4477); and the secondary electric drive telescopic rod (4478) and the secondary arm (4473) are rotatably assembled.

9. The automatic drug distribution and transportation system for hospitals according to claim 8, characterized in that: The clamping mechanism (448) comprises a clamping arm (4481) rotatably mounted on a positioning seat (4474), a steering cam (4482) being eccentrically connected to the clamping arm (4481), a clamping cylinder (4483) being fixedly mounted on the auxiliary support rod (4477), a movable seat (4484) being fixedly mounted on the telescopic end of the clamping cylinder (4483), a pushing rod (4485) being rotatably mounted on the movable seat (4484), and the pushing rod (4485) and the steering cam (4482) being rotatably assembled.

10. A method for using an automatic drug distribution and delivery system for a hospital, characterized in that: An automatic drug distribution and delivery system for hospitals as described in any one of claims 1 to 9 comprises the following steps: S1. Accurately locate and store drugs, classify the drugs and store them on the drug shelf (1), and accurately locate the drugs in each section of the drug shelf (1) according to the vertical row sensors (33) and the horizontal row sensors (34); S2, accurately transporting medicines, the transport robot (4) moves along the path (2) in different medicine racks (1), quickly finds the location where the medicines are placed, and after taking the medicines, transports the medicines along the path (2) to the medicine taking island; S3, autonomous drug collection, the transport robot (4) autonomously picks up drugs from the medicine rack (1) through the drug collection component (44), the transport robot (4) system can simultaneously receive multiple drug collection orders, optimize the drug collection and transportation routes according to the drug placement positions, and cross-pick up drugs from different drug collection orders, thereby saving the overall drug collection time.

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