A computer-controlled intelligent medicine dispensing robot

Abstract

The present invention discloses a computer-controlled intelligent medicine dispensing robot, comprising a medicine dispensing vehicle, a robot and a digital display control panel, wherein the medicine dispensing vehicle and the robot are detachably connected to each other via a hanging structure; a rotating chamber is arranged inside the medicine dispensing vehicle, an upper opening is arranged on the upper side of the rotating chamber, and a lower opening is arranged on the lower side of the rotating chamber, two relatively arranged medicine dispensing structures capable of arranging medicine storage bottles in an array are arranged in the rotating chamber, a medicine pushing assembly capable of pushing out the medicine storage bottles therein at a fixed point and driving the two medicine dispensing structures to flip up and down is arranged between the two medicine dispensing structures, and the medicine dispensing vehicle, the robot, the medicine taking structure, the medicine dispensing structure, the medicine pushing assembly, the medicine dispensing assembly and the medicine storage bottles are coordinated and cooperated with each other, so that the storage and transportation volume of medicines can be increased while ensuring the accurate dispensing of medicines, and automatic and accurate dispensing of medicines can be achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of medical robots, and in particular to a computer-controlled intelligent medicine-dispensing robot. Background Art

[0002] Medicine dispensing robots are automated devices that help hospitals, drug stores and other medical institutions or pharmacies complete the work of dispensing medicines. It usually includes medicine storage management, medicine distribution, medicine delivery, data recording and tracking, etc. The use of medicine dispensing robots can improve the efficiency and accuracy of medicine dispensing, reduce the errors and time costs of manual operations, and ensure the safety and correctness of medicines, thereby improving the quality and effectiveness of medical services;

[0003] An Internet of Things hospital medicine dispensing robot with application number 201620159846.4 comprises a walking crawler, a chassis is arranged on the upper side of the walking crawler, a partition is arranged inside the chassis, a cover is arranged on the upper side, a plurality of medicine boxes are arranged on the partition, a first sensor is arranged on one side of the chassis, a second sensor is arranged on the other side, a wireless camera is arranged on one side of the chassis, the first sensor and the second sensor are respectively connected to a control box, and a wireless transmitting box and a battery pack are arranged inside the chassis;

[0004] However, when the current medicine-dispensing robots are used, while ensuring the accurate distribution of medicines, the storage and transportation capacity of the medicines is limited, resulting in more round trips to complete the distribution of the medicines. In addition, automation cannot be achieved when patients pick up medicines. The medicines are usually stored in drawers. After the robot transports the medicines to the ward and other locations, the patients open the drawers and take them themselves, which can easily lead to errors in taking medicines and cross-infection. Summary of the invention

[0005] 1. Technical issues to be resolved

[0006] The purpose of the present invention is to provide a computer-controlled intelligent medicine dispensing robot in order to solve the above-mentioned problems.

[0007] (II) Technical solution

[0008] To achieve the above object, the present invention provides the following technical solutions:

[0009] The present invention provides a computer-controlled intelligent medicine dispensing robot, comprising a medicine dispensing vehicle, a robot and a digital display control panel, wherein the medicine dispensing vehicle and the robot are detachably connected to each other via a hanging structure;

[0010] A rotating chamber is provided inside the medicine dispensing vehicle, an upper opening is provided on the upper side of the rotating chamber, and a lower opening is provided on the lower side of the rotating chamber. Two relatively arranged medicine discharging structures capable of arranging medicine storage bottles in an array are provided in the rotating chamber, a medicine pushing component capable of pushing out medicine storage bottles at a fixed point and driving the two medicine discharging structures to flip up and down is provided between the two medicine discharging structures, and a distance adjusting component capable of adjusting the distance between the two medicine discharging structures is provided on the medicine pushing component;

[0011] Medicine dispensing structures for taking medicine bottles out of the medicine dispensing vehicle are arranged on both sides of the lower opening, a medicine dispensing assembly capable of guiding the medicine bottles out of one of the two medicine dispensing structures is arranged between the two medicine dispensing structures, and a top cover capable of sealing and protecting the medicine bottles is arranged at the upper opening.

[0012] Further, the medicine pushing assembly includes a supporting frame with a rectangular shape, a center moving block is arranged in the supporting frame, a second gas push rod is fixedly arranged on the center moving block, the second gas push rod adopts a bidirectional electric push rod, and both push rod head ends of the second gas push rod are fixedly connected with the medicine pushing block, an X-direction driving mechanism capable of driving the center moving block to move along the X direction and a Y-direction driving mechanism capable of driving the center moving block to move along the Y direction are respectively arranged on the supporting frame, and the output end of the digital display control panel is electrically connected to the input end of the second gas push rod;

[0013] The X-axis driving mechanism comprises an X-axis slide groove provided in the frame rods at both ends of the support frame along the width direction thereof, an X-axis slider is provided in the X-axis slide groove for sliding, an X-axis lead screw is provided in the X-axis slide groove for rotation, a first threaded hole for threaded connection with the X-axis lead screw is provided in the X-axis slider, one end of the X-axis lead screw is driven to rotate by an X-axis motor fixedly provided in the support frame, two parallel X-axis guide rods are fixedly connected between the two X-axis sliders, an X-axis guide slide hole matching with the X-axis guide rod is provided in the center shift block, and an output end of the digital display control panel is electrically connected to an input end of the X-axis motor;

[0014] The Y-axis driving mechanism includes a Y-axis slide groove provided in the frame rods at both ends of the supporting frame along the length direction thereof, a Y-axis slider is slidably provided in the Y-axis slide groove, a Y-axis lead screw is rotatably provided in the Y-axis slide groove, a second threaded hole for threaded connection with the Y-axis lead screw is penetrated in the Y-axis slider, one end of the Y-axis lead screw is driven to rotate by a Y-axis motor fixedly provided in the supporting frame, two parallel Y-axis guide rods are fixedly connected between the two Y-axis sliders, a Y-axis guide slide hole cooperating with the Y-axis guide rod is penetrated on the central shift block, and the output end of the digital display control panel is electrically connected to the input end of the Y-axis motor.

[0015] Furthermore, the medicine discharge structure includes a medicine discharge box having a rectangular shape, and the medicine discharge box is provided with medicine storage holes distributed in a rectangular array for storing medicine bottles, and each medicine storage hole is provided with a plurality of spring sheets for elastically fixing the medicine bottles in the medicine storage holes, and one end of the spring sheet is arranged in an embedded groove provided on the inner wall of the medicine storage hole, and each medicine storage hole is provided with a detection sensor for detecting the medicine bottle therein, and the detection sensor adopts a photoelectric sensor, and the output end of the detection sensor is electrically connected to the input end of the digital display control panel, and when the center shift block is driven to move by the X-direction driving mechanism and the Y-direction driving mechanism, the position of the center shift block corresponds to each medicine storage hole in sequence.

[0016] Furthermore, the distance adjusting component is provided with two distributed at both ends of the supporting frame along the length direction, each distance adjusting component includes a third electric telescopic rod corresponding to the two medicine discharge structures respectively, the push rod head end of the third electric telescopic rod and the medicine discharge box are fixedly connected to each other, and two guide rods symmetrically distributed with the third electric telescopic rod as the center are provided on both sides, one end of the guide rod is fixedly connected to the supporting frame, and the other end of the guide rod is slidably connected to a guide slide hole opened at the corresponding position of the medicine discharge box, and the output end of the digital display control panel is electrically connected to the input end of the third electric telescopic rod.

[0017] Furthermore, the medicine dispensing structure includes a medicine dispensing cavity opened in the medicine dispensing vehicle, the lower opening is connected to the medicine dispensing cavity through a medicine outlet, and a medicine dispensing port and a transparent observation plate are respectively provided on the outer side wall of the medicine dispensing vehicle near the medicine dispensing cavity, and a baffle is provided on the inner opening of the medicine dispensing port.

[0018] Furthermore, the medicine dispensing component includes adjustment grooves respectively opened on both side walls of the lower opening, an adjustment slider is slidably arranged in the adjustment groove, an adjustment screw is rotatably arranged in the adjustment groove, a threaded hole is penetrated through the adjustment slider and threadedly connected to the adjustment screw, one end of the adjustment screw is driven to rotate by a second motor fixed in the medicine dispensing vehicle, a material connecting structure is arranged between the two adjustment sliders, and the output end of the digital display control panel is electrically connected to the input end of the second motor.

[0019] Furthermore, the material receiving structure includes an adjusting rod, both ends of which are fixedly connected to two adjusting sliders, a rotating drum is rotatably arranged on the outer side of the adjusting rod, a flexible medicine discharge belt is mounted on the rotating drum, and the flexible medicine discharge belt is made of elastic fabric material, and both sides of the flexible medicine discharge belt are fixedly connected to the inner walls of both sides of the lower opening, and the height positions of both sides of the flexible medicine discharge belt are consistent with the height position of the bottom side of the medicine outlet.

[0020] Furthermore, the hanging structure includes a first electric telescopic rod fixedly mounted on the robot, a push rod head end of the first electric telescopic rod being fixedly connected to a hanging tube, a slot for mating with the hanging tube being provided on one side of the medicine dispensing vehicle, a second electric telescopic rod being fixedly mounted on one side of the slot, and when the hanging tube is inserted into the slot and the push rod of the second electric telescopic rod reaches a maximum stroke, the push rod head end of the second electric telescopic rod can be inserted into the hanging tube and matingly connected to each other.

[0021] Furthermore, the digital display control panel is respectively provided with an identity card identifier capable of identifying and reading an identity card, a medical card identifier capable of identifying and reading a medical card, and a two-dimensional code scanner capable of identifying an information wristband.

[0022] Furthermore, the medicine storage bottle comprises a bottle body, a bottle cap is arranged on the bottle body, and an information label is detachably arranged on the outer side of the medicine storage bottle.

[0023] (III) Beneficial effects

[0024] Compared with the prior art, the present invention has the following beneficial effects:

[0025] 1. Through the coordination and cooperation among the medicine delivery vehicle, robot, medicine taking structure, medicine discharging structure, medicine pushing component, medicine discharging component and medicine storage bottle, the storage and transportation volume of medicines can be increased on the basis of ensuring accurate distribution of medicines, and automatic and accurate distribution of medicines can be achieved;

[0026] 2. The medicine dispensing vehicle and the robot are detachably connected to each other through a hanging structure, so that one robot can correspond to multiple medicine dispensing vehicles to dispense medicine. After the robot finishes dispensing and returns to the dispensing room, it can unload the empty medicine dispensing vehicle after dispensing medicine, and reconnect the new medicine dispensing vehicle with medicine loaded through the hanging structure to continue to complete the subsequent medicine dispensing;

[0027] 3. The two medicine discharging structures can be turned upside down in the rotating chamber, so as to solve the problem of small storage capacity in a single layer and the inconvenience of taking out medicine bottles in multiple layers without affecting the taking out of each medicine storage bottle. It can increase the storage and transportation capacity while ensuring that each medicine storage bottle can be taken out at a fixed point;

[0028] 4. Under the cooperative driving of the X-axis driving mechanism and the Y-axis driving mechanism, the central moving block can be moved to the corresponding position of any medicine storage hole, so that under the cooperation of the second air push rod and the medicine pushing block, the medicine storage bottle in the medicine storage hole can be pushed out in a designated manner after reading the medicine taking information;

[0029] 5. The distance adjustment component has multiple functions. The first function is to reduce the distance between the two medicine discharging structures. When the two medicine discharging structures are adjusted to the shortest distance, the medicine discharging structure and the medicine pushing component can be turned up and down in the rotating chamber under the drive of the first motor, which can reduce the overall utilization space of the medicine dispensing vehicle and is more suitable for the hospital's demand for space. The second function is to increase the distance between the two medicine discharging structures, which is suitable for loading medicine storage bottles into the medicine discharging box;

[0030] 6. Under the adjustment of the medicine dispensing component, the medicine storage bottle can be taken out from one of the two medicine taking structures. This is suitable for when the medicine dispensing vehicle and the robot are walking in the hospital corridor, especially when moving close to one side of the wall. In order to avoid the distance from the wall being too small, you can choose to take the medicine from the other side, which is more convenient for patients to take the medicine. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0032] Figure 1 It is a main structural schematic diagram of the present invention;

[0033] Figure 2 The present invention Figure 1 AA cross-sectional structural diagram;

[0034] Figure 3 The present invention Figure 2 A schematic diagram of the local enlarged structure at E;

[0035] Figure 4 The present invention Figure 2 A schematic diagram of the local enlarged structure at F;

[0036] Figure 5 The present invention Figure 1 BB cross-sectional structure diagram;

[0037] Figure 6 The present invention Figure 1 Schematic diagram of CC cross-section structure;

[0038] Figure 7 The present invention Figure 1 Schematic diagram of the left view structure;

[0039] Figure 8 The present invention Figure 7 DD cross-sectional structure diagram;

[0040] Fig. 9 The present invention Figure 8 A schematic diagram of the local enlarged structure at G;

[0041] Fig.10 The present invention Figure 8 A schematic diagram of the local enlarged structure at H;

[0042] Fig.11 The present invention Figure 1 Schematic diagram of the three-dimensional structure;

[0043] Fig.12 The present invention Figure 1 A schematic diagram of a three-dimensional structure in another direction;

[0044] Fig.13 It is a schematic diagram of the three-dimensional structure of the medicine pushing assembly of the present invention;

[0045] Fig.14 It is a schematic diagram of the structure of the medicine storage bottle of the present invention.

[0046] The accompanying drawings are described as follows: 1. medicine dispensing vehicle; 101. top cover; 102. first air push rod; 103. wheel; 104. rotating chamber; 105. upper opening; 106. lower opening; 107. medicine outlet; 2. robot; 3. hanging structure; 301. first electric telescopic rod; 302. second electric telescopic rod; 303. slot; 304. hanging tube; 4. medicine dispensing structure; 401. medicine dispensing chamber; 402. dispensing Drug port; 403, baffle; 404, transparent observation plate; 5, drug discharge structure; 501, drug discharge box; 502, drug storage hole; 503, embedded groove; 504, spring sheet; 505, detection sensor; 6, drug push assembly; 601, support frame; 602, center shift block; 603, second air push rod; 604, drug push block; 605, X guide rod; 606, Y guide rod; 607, Y motor; 608, Y Slideway; 609, Y-direction slider; 610, Y-direction lead screw; 611, X-direction motor; 612, X-direction slideway; 613, X-direction slider; 614, X-direction lead screw; 615, first motor; 7, distance adjustment component; 701, third electric telescopic rod; 702, guide rod; 8, medicine discharging component; 801, adjustment rod; 802, rotating drum; 803, boss; 804, flexible medicine discharging belt; 805, adjustment slider; 806 , adjusting screw; 807, medicine baffle; 808, vertical opening slot; 809, adjusting slide slot; 810, second motor; 811, second motor; 812, horizontal slide slot; 813, mounting base plate; 9, digital display control panel; 901, ID card identifier; 902, medical card identifier; 903, QR code scanner; 10, medicine storage bottle; 1001, bottle body; 1002, bottle cap; 1003, information label. DETAILED DESCRIPTION

[0047] In order to make the purpose, technical scheme and advantages of the present invention clearer, the technical scheme of the present invention will be described in detail below. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other implementation methods obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0048] See also Figure 1-13 As shown, the present invention provides a computer-controlled intelligent medicine dispensing robot, including a medicine dispensing cart 1, a robot 2 and a digital display control panel 9, wherein the medicine dispensing cart 1 and the robot 2 are detachably connected to each other via a hanging structure 3; through the above-mentioned specific structural design, during the reciprocating movement of the robot 2 between the medicine dispensing room and the medicine delivery point, a plurality of medicine dispensing carts 1 can be prepared, and after the robot 2 returns to the medicine dispensing room after completing medicine dispensing, the empty medicine dispensing cart 1 after dispensing can be unloaded, and then the new medicine dispensing cart 1 after loading of medicine can be reconnected via the hanging structure 3 to continue dispensing.

[0049] See the instruction manual Figure 2 As shown, the medicine dispensing vehicle 1 is provided with a rotating chamber 104 inside, and an upper opening 105 is provided on the upper side of the rotating chamber 104. Specifically, the medicine storage bottle 10 in the medicine dispensing box 501 can be taken out and placed through the upper opening 105. The lower side of the rotating chamber 104 is provided with a lower opening 106. Specifically, the medicine storage bottle 10 in the medicine dispensing box 501 can be taken out through the lower opening 106. Two relatively arranged medicine dispensing structures 5 capable of arranging the medicine storage bottles 10 in an array are provided in the rotating chamber 104, and a spacer capable of arranging the medicine storage bottles 10 in an array is provided between the two medicine dispensing structures 5. The inner medicine storage bottle 10 is pushed out at a fixed point and drives the two medicine discharge structures 5 to flip up and down by the medicine pushing component 6, and the medicine pushing component 6 is provided with a distance adjusting component 7 which can adjust the distance between the two medicine discharge structures 5; through the above-mentioned specific structural design, the two medicine discharge structures 5 can be flipped up and down in the rotating chamber 104, thereby solving the problem of small single-layer storage capacity and the problem of inconvenience in taking out the medicine storage bottles 10 in multiple layers without affecting the taking out of each medicine storage bottle 10, and increasing the storage and transportation capacity while ensuring the fixed-point taking out of each medicine storage bottle 10.

[0050] Medicine dispensing structures 4 for taking out medicine bottles 10 from the medicine dispensing vehicle 1 are arranged on both sides of the lower opening 106, a medicine dispensing assembly 8 capable of guiding the medicine bottles 10 out of one of the two medicine dispensing structures 4 is arranged between the two medicine dispensing structures 4, and a top cover 101 capable of sealing and protecting it is arranged at the upper opening 105.

[0051] See the instruction manual Figure 3 , 5As shown in Figure 13, the medicine pushing assembly 6 includes a supporting frame 601 with a rectangular shape, a center shift block 602 is arranged in the supporting frame 601, a second gas push rod 603 is fixedly arranged on the center shift block 602, and the second gas push rod 603 adopts a bidirectional electric push rod. Specifically, the second gas push rod 603 can be composed of two staggered electric push rods, which are used to respectively drive and push out the medicine storage bottle 10 in the medicine storage hole 502 located below, and the two push rod head ends of the second gas push rod 603 are fixedly connected with the medicine pushing block 604, and the support frame 601 is respectively provided with an X-direction driving mechanism capable of driving the center shift block 602 to move along the X-direction and a Y-direction driving mechanism capable of driving the center shift block 602 to move along the Y-direction, and the output end of the digital display control panel 9 is electrically connected to the input end of the second gas push rod 603;

[0052] Among them, the X-axis driving mechanism includes an X-axis slide groove 612 opened in the frame rods at both ends of the support frame 601 along the width direction thereof, an X-axis slider 613 is slidably arranged in the X-axis slide groove 612, an X-axis lead screw 614 is rotatably arranged in the X-axis slide groove 612, a first threaded hole for threaded connection with the X-axis lead screw 614 is penetrated in the X-axis slider 613, one end of the X-axis lead screw 614 is driven to rotate by an X-axis motor 611 fixedly arranged in the support frame 601, two parallel X-axis guide rods 605 are fixedly connected between the two X-axis sliders 613, an X-axis guide slide hole that cooperates with the X-axis guide rod 605 is penetrated on the center shift block 602, and the output end of the digital display control panel 9 is electrically connected to the input end of the X-axis motor 611; the rotation directions of the two X-axis lead screws 614 are opposite to each other, and the two are parallel to each other and rotate in opposite directions, and the rotation speeds of the two are consistent. Through the opposite rotation directions of the two, the double-screw drive can provide a balanced force and maintain the stable movement of the slider.

[0053] The Y-axis driving mechanism includes a Y-axis slide groove 608 provided in the frame rods at both ends of the support frame 601 along the length direction thereof, a Y-axis slider 609 is slidably provided in the Y-axis slide groove 608, a Y-axis lead screw 610 is rotatably provided in the Y-axis slide groove 608, a second threaded hole for threaded connection with the Y-axis lead screw 610 is provided through the Y-axis slider 609, one end of the Y-axis lead screw 610 is driven to rotate by a Y-axis motor 607 fixedly provided in the support frame 601, two parallel Y-axis guide rods 606 are fixedly connected between the two Y-axis sliders 609, a Y-axis guide sliding hole for cooperating with the Y-axis guide rod 606 is provided through the center shift block 602, and the output end of the digital display control panel 9 is electrically connected to the input end of the Y-axis motor 607. The rotation directions of the two Y-axis lead screws 610 are opposite to each other, and the two are parallel to each other and rotate in opposite directions, and the rotation speeds of the two are consistent. Through the opposite rotation directions of the two, the twin-screw drive can provide a balanced force and maintain the stable movement of the slider.

[0054] Under the cooperative drive of the X-axis driving mechanism and the Y-axis driving mechanism, the center shift block 602 can be moved to the corresponding position of any medicine storage hole 502, so that under the cooperation of the second air push rod 603 and the medicine pushing block 604, the medicine storage bottle 10 in any medicine storage hole 502 can be pushed out in a designated manner.

[0055] It should be noted that in order to cooperate with the above-mentioned medicine pushing component 6, see the attached manual Figure 2 , 5 As shown in Figures 10 and 13, the medicine discharge structure 5 includes a medicine discharge box 501 with a rectangular shape. The medicine discharge box 501 is penetrated by medicine storage holes 502 distributed in a rectangular array for storing medicine bottles 10. Each medicine storage hole 502 is provided with a plurality of spring sheets 504 for elastically fixing the medicine storage bottle 10 in the medicine storage hole 502. One end of the spring sheet 504 is arranged in a groove 503 provided on the inner wall of the medicine storage hole 502. Each medicine storage hole 502 is provided with a detection sensor 505 for detecting the medicine storage bottle 10 therein. The detection sensor 505 is a photoelectric sensor. The output end of the detection sensor 505 is electrically connected to the input end of the digital display control panel 9. When the center shift block 602 is driven to move by the X-axis driving mechanism and the Y-axis driving mechanism, the position of the center shift block 602 corresponds to each medicine storage hole 502 in sequence. Through the above-mentioned specific structural design, the detection sensor 505 can also adopt an infrared sensor and a pressure sensor, so as to detect whether there is a medicine storage bottle 10 in the medicine storage hole 502, and the spring sheet 504 can realize elastic clamping when the medicine storage bottle 10 is inserted into the medicine storage hole 502, wherein the spring sheet 504 is arranged in the medicine storage hole 502 near one end of the medicine pushing component 6.

[0056] See the instruction manual Figure 2 , 8As shown in Figure 13, the distance adjusting component 7 is provided with two distributed at both ends of the supporting frame 601 along the length direction, each distance adjusting component 7 includes a third electric telescopic rod 701 corresponding to the two medicine discharge structures 5 respectively, the push rod head end of the third electric telescopic rod 701 and the medicine discharge box 501 are fixedly connected to each other, and two guide rods 702 symmetrically distributed with it as the center are provided on both sides of the third electric telescopic rod 701, one end of the guide rod 702 is fixedly connected to the supporting frame 601, and the other end of the guide rod 702 is slidably connected to the guide slide hole provided at the corresponding position of the medicine discharge box 501, and the output end of the digital display control panel 9 is electrically connected to the input end of the third electric telescopic rod 701. The distance adjusting component 7 has multiple functions in practical applications. The first function is to retract the distance between the two medicine discharging structures 5. When the two medicine discharging structures 5 are adjusted to the shortest distance, the medicine discharging structure 5 and the medicine pushing component 6 can be turned upside down in the rotating chamber 104 under the drive of the first motor 615. This structural design can reduce the overall utilization space of the medicine dispensing vehicle 1, and is more suitable for the hospital's demand for space. The second function is to increase the distance between the two medicine discharging structures 5, which is suitable for loading medicine storage bottles 10 into the medicine discharging box 501.

[0057] The medicine dispensing structure 4 includes a medicine dispensing chamber 401 opened in the medicine dispensing cart 1, and the lower opening 106 is connected to the medicine dispensing chamber 401 through the medicine outlet 107. A medicine dispensing port 402 and a transparent observation plate 404 are respectively provided on the outer wall of the medicine dispensing cart 1 near the medicine dispensing chamber 401, and a baffle 403 is provided on the inner opening of the medicine dispensing port 402.

[0058] The medicine dispensing assembly 8 includes an adjustment slot 809 respectively provided on the inner side walls of the lower opening 106, an adjustment slider 805 is slidably provided in the adjustment slot 809, an adjustment screw 806 is rotatably provided in the adjustment slot 809, a threaded hole is provided through the adjustment slider 805 and is threadedly connected with the adjustment screw 806, one end of the adjustment screw 806 is driven to rotate by a second motor 810 fixedly provided in the medicine dispensing vehicle 1, a material receiving structure is provided between the two adjustment sliders 805, and the output end of the digital display control panel 9 is electrically connected to the input end of the second motor 810. The rotation directions of the two adjustment screws 806 are opposite to each other, and the two are parallel to each other and rotate in opposite directions, and the rotation speeds of the two are consistent. Through the opposite rotation directions of the two, the twin-screw drive can provide a balanced force and maintain the stable movement of the slider. The material receiving structure includes an adjusting rod 801, and the two ends of the adjusting rod 801 are respectively fixedly connected to two adjusting sliders 805. A rotating drum 802 is rotatably arranged on the outer side of the adjusting rod 801, and a flexible medicine discharging belt 804 is mounted on the rotating drum 802. The flexible medicine discharging belt 804 can play a buffering role for the medicine storage bottle 10, and play a role in the slow descent and extraction of the medicine storage bottle 10. The flexible medicine discharging belt 804 is made of elastic cloth material. The two sides of the flexible medicine discharging belt 804 are respectively fixedly connected to the inner walls of the two sides of the lower opening 106, and the height positions of the two sides of the flexible medicine discharging belt 804 are consistent with the height positions of the bottom side of the medicine outlet 107. Under the adjustment of the medicine discharging component 8, the medicine storage bottle 10 is selected to be taken out from one of the two medicine taking structures 4, which is suitable for when the medicine dispensing vehicle 1 and the robot 2 walk in the hospital corridor, especially when moving close to one side of the wall, in order to avoid the distance from the wall being too small, the medicine can be taken from the other side.

[0059] The hanging structure 3 includes a first electric telescopic rod 301 fixedly set on the robot 2, and the push rod head end of the first electric telescopic rod 301 is fixedly connected to the hanging tube 304. A slot 303 that cooperates with the hanging tube 304 is opened on one side of the medicine dispensing cart 1, and a second electric telescopic rod 302 is fixedly set on one side of the slot 303. When the hanging tube 304 is inserted into the slot 303, when the push rod of the second electric telescopic rod 302 reaches the maximum stroke, the push rod head end of the second electric telescopic rod 302 can be inserted into the hanging tube 304 and matched with each other.

[0060] The digital display control panel 9 is respectively provided with an identity card identifier 901 capable of identifying and reading an identity card, a medical card identifier 902 capable of identifying and reading a medical card, and a two-dimensional code scanner 903 capable of identifying an information wristband.

[0061] The medicine storage bottle 10 includes a bottle body 1001, a bottle cap 1002 is provided on the bottle body 1001, and an information label 1003 is detachably provided on the outer side of the medicine storage bottle 10. When dispensing medicine, the medicine can be stored in the bottle body 1001, and the bottle body 1001 and the bottle cap 1002 cooperate to achieve the storage of the medicine. After the patient has finished using it, the medicine storage bottle 10 can be recovered and reused after disinfection and cleaning. Or, when the patient is infected with an infectious disease, it can be made of disposable plastic materials, such as the porridge holding cup used in the market.

[0062] Working principle:

[0063] When in use, the robot 2 is connected to the medicine dispensing vehicle 1 through the hanging structure 3. When the robot 2 moves through the crawler track on its lower side, the hanging structure 3 can drive the medicine dispensing vehicle 1 to move. The robot 2 moves in the dispensing room, ward, department, operating room and other places, thereby driving the medicine dispensing vehicle 1 to move;

[0064] When loading medicine in the dispensing room, the top cover 101 is opened, and the distance adjustment component 7 adjusts the distance between the two medicine discharging structures 5 so that the medicine discharging structure 5 located above moves to the upper opening 105. At this time, the medical staff can insert the medicine storage bottle 10 containing medicine into each medicine storage hole 502. Before inserting each medicine storage bottle 10, it is necessary to scan and read the information identification 1003 on the medicine storage bottle 10 for information entry. When the medicine storage bottle 10 is inserted into one of the medicine storage holes 502, the detection sensor 505 in the medicine storage hole 502 can detect its position and combine it with the information on the medicine storage bottle 10, and the information on the medicine storage bottle 10 is connected with the medicine taking information, so that when reading the medicine taking information for taking medicine, the medicine storage bottle 10 in the designated medicine storage hole 502 can be taken out, wherein the medicine taking information includes but is not limited to the patient's ID card information, the patient's medical card information, the patient's hospitalization medicine list QR code information, etc., for facilitating the patient to take medicine in multiple ways;

[0065] When taking medicine, after the ID card identifier 901, medical card identifier 902 and QR code scanner 903 on the digital display control panel 9 read the information, the digital display control panel 9 first controls the first motor 615 to drive the medicine pushing component 6 to turn the medicine discharging structure 5 up and down, so that the medicine discharging box 501 where the medicine storage hole 502 where medicine needs to be taken is located is located in the lower position, and the X-direction driving mechanism and the Y-direction driving mechanism cooperate with each other to drive the center shift block 602 to move, thereby adjusting the position of the center shift block 602 to the medicine storage hole 502, and the push rod pointing downward of the second air push rod 603 is extended, so that the medicine pushing block 604 pushes the medicine storage bottle 10 After the medicine storage bottle 10 is pushed away from the clamping of the spring sheet 504, the medicine storage bottle 10 automatically slides out from the medicine storage hole 502, and the medicine storage bottle 10 falls on the flexible medicine dispensing belt 804 of the medicine storage bottle 10, slides on the flexible medicine dispensing belt 804 to the medicine outlet 107 and enters the medicine dispensing cavity 401, opens the baffle 403, and takes out the medicine storage bottle 10 in the medicine dispensing cavity 401 from the medicine dispensing port 402. In actual applications, the robot 2 and the medicine dispensing vehicle 1 are wirelessly connected to each other and are both controlled by a computer in a remote control center. After the robot 2 and the medicine dispensing vehicle 1 are loaded with drugs in the dispensing room, they move to each ward in turn, and each patient or family member provides the drug dispensing information to dispensing the drugs.

[0066] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art who is familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A computer-controlled intelligent medicine dispensing robot, characterized in that: It comprises a medicine dispensing vehicle (1), a robot (2) and a digital display control panel (9), wherein the medicine dispensing vehicle (1) and the robot (2) are detachably connected to each other via a hanging structure (3); A medicine dispensing vehicle (1) is provided with a rotating chamber (104) inside, an upper opening (105) is provided on the upper side of the rotating chamber (104), and a lower opening (106) is provided on the lower side of the rotating chamber (104), two medicine discharging structures (5) which are arranged opposite to each other and can arrange medicine storage bottles (10) in an array are provided in the rotating chamber (104), a medicine pushing component (6) which can push out the medicine storage bottles (10) therein at a fixed point and drive the two medicine discharging structures (5) to turn upside down is provided between the two medicine discharging structures (5), and a distance adjusting component (7) which can adjust the distance between the two medicine discharging structures (5) is provided on the medicine pushing component (6); Medicine dispensing structures (4) for taking out a medicine storage bottle (10) from the medicine dispensing vehicle (1) are arranged on both sides of the lower opening (106); a medicine dispensing assembly (8) capable of dispensing the medicine storage bottle (10) from one of the two medicine dispensing structures (4) is arranged between the two medicine dispensing structures (4); and a top cover (101) capable of sealing and protecting the upper opening (105) is arranged at the upper opening (105); The medicine pushing assembly (6) comprises a supporting frame (601) having a rectangular shape, wherein a central moving block (602) is arranged in the supporting frame (601), a second air push rod (603) is fixedly arranged on the central moving block (602), the second air push rod (603) adopts a bidirectional electric push rod, and both push rod head ends of the second air push rod (603) are fixedly connected to a medicine pushing block (604), an X-direction driving mechanism capable of driving the central moving block (602) to move along the X-direction and a Y-direction driving mechanism capable of driving the central moving block (602) to move along the Y-direction are respectively arranged on the supporting frame (601), and an output end of the digital display control panel (9) is electrically connected to an input end of the second air push rod (603); The X-direction driving mechanism comprises an X-direction slide groove (612) provided in the frame rods at both ends of the support frame (601) along the width direction thereof, an X-direction slider (613) being slidably provided in the X-direction slide groove (612), an X-direction lead screw (614) being rotatably provided in the X-direction slide groove (612), a first threaded hole for threaded connection with the X-direction lead screw (614) being provided through the X-direction slider (613), one end of the X-direction lead screw (614) being driven to rotate by an X-direction motor (611) fixedly provided in the support frame (601), two parallel X-direction guide rods (605) being fixedly connected between the two X-direction sliders (613), an X-direction guide slide hole for cooperating with the X-direction guide rod (605) being provided through the central shift block (602), and an output end of the digital display control panel (9) being electrically connected to an input end of the X-direction motor (611); The Y-direction driving mechanism comprises a Y-direction slide groove (608) provided in the frame rods at both ends of the support frame (601) along the length direction thereof, a Y-direction slider (609) being slidably provided in the Y-direction slide groove (608), a Y-direction lead screw (610) being rotatably provided in the Y-direction slide groove (608), a second threaded hole for threaded connection with the Y-direction lead screw (610) being provided through the Y-direction slider (609), one end of the Y-direction lead screw (610) being driven to rotate by a Y-direction motor (607) fixedly provided in the support frame (601), two Y-direction guide rods (606) distributed in parallel being fixedly connected between the two Y-direction sliders (609), a Y-direction guide slide hole for cooperating with the Y-direction guide rod (606) being provided through the center shift block (602), and an output end of the digital display control panel (9) being electrically connected to an input end of the Y-direction motor (607); The medicine discharging structure (5) comprises a medicine discharging box (501) having a rectangular parallelepiped shape, the medicine discharging box (501) being provided with medicine storage holes (502) distributed in a rectangular array for storing medicine storage bottles (10), each medicine storage hole (502) being provided with a plurality of spring sheets (504) for elastically locking the medicine storage bottle (10) in the medicine storage hole (502), one end of the spring sheet (504) being provided with an embedding groove ( 503), each medicine storage hole (502) is provided with a detection sensor (505) for detecting the medicine storage bottle (10) therein, the detection sensor (505) is a photoelectric sensor, the output end of the detection sensor (505) is electrically connected to the input end of the digital display control panel (9), and when the center moving block (602) is driven to move by the X-direction driving mechanism and the Y-direction driving mechanism, the position of the center moving block (602) corresponds to each medicine storage hole (502) in sequence; The distance adjustment component (7) is provided with two components distributed at both ends of the support frame (601) along the length direction, each distance adjustment component (7) comprises a third electric telescopic rod (701) corresponding to the two medicine discharge structures (5), the push rod head end of the third electric telescopic rod (701) and the medicine discharge box (501) are fixedly connected to each other, and two guide rods (702) symmetrically distributed around the third electric telescopic rod (701) are provided on both sides, one end of the guide rod (702) is fixedly connected to the support frame (601), and the other end of the guide rod (702) is slidably connected to a guide sliding hole provided at a corresponding position of the medicine discharge box (501), and the output end of the digital display control panel (9) is electrically connected to the input end of the third electric telescopic rod (701); The medicine dispensing component (8) comprises an adjusting slide groove (809) respectively provided on both side walls of the lower opening (106), an adjusting slider (805) being slidably arranged in the adjusting slide groove (809), an adjusting screw (806) being rotatably arranged in the adjusting slide groove (809), a threaded hole being provided through the adjusting slider (805) and being threadedly connected to the adjusting screw (806), one end of the adjusting screw (806) being driven to rotate by a second motor (810) fixedly arranged in the medicine dispensing vehicle (1), a material receiving structure being provided between the two adjusting sliders (805), and an output end of the digital display control panel (9) being electrically connected to an input end of the second motor (810); The material receiving structure comprises an adjusting rod (801), the two ends of the adjusting rod (801) are respectively fixedly connected to two adjusting sliders (805), a rotating drum (802) is rotatably arranged outside the adjusting rod (801), a flexible medicine discharging belt (804) is mounted on the rotating drum (802), the flexible medicine discharging belt (804) is made of elastic fabric material, the two sides of the flexible medicine discharging belt (804) are respectively fixedly connected to the inner walls of the two sides of the lower opening (106), and the height positions of the two sides of the flexible medicine discharging belt (804) are consistent with the height position of the bottom side of the medicine discharging port (107).

2. A computer-controlled intelligent medicine dispensing robot according to claim 1, characterized in that: The medicine dispensing structure (4) comprises a medicine dispensing chamber (401) opened in the medicine dispensing vehicle (1); the lower opening (106) is connected to the medicine dispensing chamber (401) via a medicine outlet (107); a medicine dispensing port (402) and a transparent observation plate (404) are respectively arranged on the outer side wall of the medicine dispensing vehicle (1) near the medicine dispensing chamber (401); and a baffle plate (403) is arranged on the inner opening of the medicine dispensing port (402).

3. A computer-controlled intelligent medicine dispensing robot according to claim 1, characterized in that: The hanging structure (3) comprises a first electric telescopic rod (301) fixedly arranged on the robot (2), the push rod head end of the first electric telescopic rod (301) being fixedly connected to a hanging tube (304), a slot (303) for fitting and embedding with the hanging tube (304) being provided on one side of the medicine dispensing vehicle (1), a second electric telescopic rod (302) being fixedly arranged on one side of the slot (303), and when the hanging tube (304) is inserted into the slot (303) and the push rod of the second electric telescopic rod (302) reaches a maximum stroke, the push rod head end of the second electric telescopic rod (302) can be inserted into the hanging tube (304) and fitted and connected with each other.

4. The computer-controlled intelligent medicine dispensing robot according to claim 1, characterized in that: The digital display control panel (9) is provided with an identity card identifier (901) capable of identifying and reading an identity card, a medical card identifier (902) capable of identifying and reading a medical card, and a two-dimensional code scanner (903) capable of identifying an information wristband.

5. The computer-controlled intelligent medicine dispensing robot according to claim 1, characterized in that: The medicine storage bottle (10) comprises a bottle body (1001), on which a bottle cap (1002) is arranged, and an information label (1003) is detachably arranged on the outer side of the medicine storage bottle (10).

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