Traditional Chinese medicine robot for dispensing medicine in pharmacy

Abstract

The traditional Chinese medicine robot comprises a medicine taking manipulator and a conveying device, the medicine taking manipulator is detachably connected to the outer wall of one side of the conveying device, and a negative pressure medicine taking device and a medicine taking pipe are arranged on one side of the medicine taking manipulator. The scraping action in the vertical direction is used in cooperation with shaking generated by rotation, traditional Chinese medicine attached to the outer wall of the medicine taking pipe is prevented from being brought out to the maximum extent, and therefore the situation that when the medicine taking pipe extracts another kind of traditional Chinese medicine particles, the traditional Chinese medicine particles are scraped out, and the traditional Chinese medicine particles are scraped out is avoided. When the traditional Chinese medicine is sucked last time, the adhered traditional Chinese medicine particles fall into another accommodating cabin for storing the traditional Chinese medicine particles, so that the situation that different traditional Chinese medicine particles are mutually mixed is avoided, the problem that the weight of the traditional Chinese medicine is inaccurate when the traditional Chinese medicine is extracted by the medicine taking manipulator is solved, and the quality of the traditional Chinese medicine dispensed by the medicine taking manipulator is ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a Chinese medicine robot used for dispensing medicines in pharmacies. Background Art

[0002] The existing patent publication number "CN114537948A" discloses an intelligent medicine dispensing robot that uses a manipulator and a negative pressure suction method to dispense medicine according to the dosage;

[0003] When the existing medicine dispensing robot drives the suction head in the suction device to enter the medicine storage device to extract Chinese medicine, the robot will grab a variety of different Chinese medicines for dispensing with the help of the robot. In order to ensure the effectiveness of the suction effect, the robot will directly contact the lower end of the suction head with the Chinese medicine particles in the medicine storage device. Some Chinese medicines (such as Ophiopogon japonicus, Gastrodia elata, donkey-hide gelatin, etc.) are sticky. Therefore, after the suction head extracts a certain amount of Chinese medicine, excess Chinese medicine particles will adhere to the outer wall of the suction head. If they are not processed in time, as the robot sucks another Chinese medicine, it will bring the previous Chinese medicine into another Chinese medicine, thereby causing confusion among different Chinese medicines. At the same time, the Chinese medicine that is adhered to the outer wall of the suction head and is taken out will accidentally fall into the medicine container, which will eventually affect the comprehensive quality of Chinese medicine dispensing and the accuracy of dispensing.

[0004] In view of this, the present invention proposes a Chinese medicine robot for dispensing medicines in pharmacies to make up for and improve the shortcomings of the prior art. Summary of the invention

[0005] In order to solve the above technical problems, the present invention provides a Chinese medicine robot for dispensing medicines in pharmacies, so as to solve the technical problem of confusion of different Chinese medicines in the robot dispensing process in the prior art.

[0006] To achieve the above purpose, the technical solution adopted by the present invention is: a Chinese medicine robot for dispensing medicine in a pharmacy, comprising a medicine taking manipulator and a conveying device, wherein the medicine taking manipulator is detachably connected to an outer wall of one side of the conveying device, and a negative pressure medicine taking device and a medicine taking tube are respectively arranged on one side of the medicine taking manipulator, wherein the negative pressure medicine taking device comprises an electric-controlled air pump, and the air inlet port of the electric-controlled air pump is connected to the medicine taking tube, and the air outlet port of the electric-controlled air pump is connected to a material storage container, and the outer wall of one side of the conveying device close to the medicine taking manipulator is detachably connected to a storage table, and the upper surface of the storage table is evenly inserted with storage cabins for storing different Chinese medicinal materials, and the upper end surfaces of the storage cabins are hinged with external covers;

[0007] The lower end of the medicine taking tube is provided with a cooperative medicine dispensing processing mechanism for automatically scraping off the Chinese medicine adhering to the outer wall, the outer wall of the lower end of the medicine taking tube is fixedly connected with a positioning ring, a through hole is opened on the outer wall of one side of the positioning ring, a spring limiting column is movably inserted in the through hole opened by the positioning ring, and the upper end of the positioning ring is evenly inserted with bending tubes, the bending tubes are distributed in a circular array, one end of the bending tube is connected to the inside of the medicine taking tube, and the end of the bending tube away from the outer surface of the medicine taking tube is connected with a negative pressure cylinder, and the negative pressure cylinder is inserted The inside of the positioning ring is provided with a force-bearing rod movably inserted in the inside of the negative pressure cylinder, and the negative pressure cylinder and the force-bearing rod form a piston cylinder structure. A return spring is arranged inside the negative pressure cylinder, and a slotted ring is slidably connected to the lower end of the force-bearing rod, and a guide protrusion is fixedly connected to the surface of the slotted ring on one side close to the outer wall of the medicine taking tube. A guide wall groove is provided at the position of the outer wall of the medicine taking tube corresponding to the guide protrusion, and the guide wall groove is in the shape of an ascending circular arc, and one end of the guide protrusion away from the slotted ring is slidably connected to the guide wall groove

[0008] Furthermore, the storage table is horizontally mounted on an outer wall of one side of the conveying device by bolt fasteners. The storage table is semicircular, and the medicine taking robot is located at the center of the storage table. The portion where the storage table contacts the circumferential surface of the lower end of the storage chamber is made of elastic material, and the specific material of this portion is rubber.

[0009] Furthermore, the slotted circular ring is sleeved on the outer wall of the lower end of the medicine taking tube, and the outer ring surface of the slotted circular ring is an inclined ring surface from top to bottom.

[0010] Furthermore, the return spring is a spring, and the upper and lower ends of the spring are respectively fixedly connected to the inner wall of the negative pressure cylinder and the upper end surface of the force-bearing rod.

[0011] Furthermore, a built-in follow-up sealing mechanism is provided below the external cover for automatically sealing after the medicine is taken out of the medicine taking tube. A rotating component is rotatably connected through the center of the external cover. A spiral groove is provided on the inner ring surface of the rotating component, and a spring limiting column can be slidably connected to the inner wall of the spiral groove. As the spring limiting column moves downward along the trajectory of the spiral groove, it can drive the rotating component to rotate. After rotation, the centripetal array groove can drive each T-shaped sliding member to move horizontally along the trajectory of the horizontal groove and move horizontally in the direction away from the center of the rotating disk. The final position after the horizontal displacement can make the sealing petal completely away from the bottom surface of the circular hole, that is, it does not block the bottom surface of the through hole. The lower end of the rotating component is fixedly connected to a rotating The disk, the bottom surface of the external cover and the outer ring surface of the rotating disk are respectively fixedly connected with spherical rubber protrusions, and the spherical rubber protrusions are distributed in a circular array, the center of the rotating disk is penetrated with a circular hole, and the circular hole can allow the medicine taking tube and the positioning ring to pass freely when they move downward, the surface of the rotating disk is penetrated with a centripetal array groove, and the centripetal array groove is evenly slidably connected with a T-shaped sliding member, the T-shaped sliding member is distributed in a circular array, and the lower end of the T-shaped sliding member is fixedly connected with a sealing flap, the bottom surface of the external cover is evenly fixedly connected with a grooved limiting plate, the grooved limiting plate corresponds to the position of the T-shaped sliding member, and the position of the grooved limiting plate close to the T-shaped sliding member is penetrated with a horizontal groove, and the T-shaped sliding member is slidably connected to the horizontal groove.

[0012] Furthermore, the sealing flap is in a complete disc shape in a closed state, and is sealed on the bottom surface of a circular hole that penetrates through the center of the rotating disc.

[0013] Furthermore, a sealing pad is provided on the surface of one side where the sealing petals are close to each other, and the sealing pad is made of soft rubber.

[0014] Furthermore, a combined medicine-pushing and drug-taking mechanism for automatically pushing the Chinese medicine to gather in the center of the storage chamber is also provided under the external cover, and support slats are evenly and fixedly connected to the upper inner wall of the storage chamber, and the support slats are distributed in a circular array, and a rotary guide groove is penetrated at the end of the support slats away from the inner wall of the storage chamber, and a reversing rotating plate is rotatably connected to the end of the support slats away from the inner wall of the storage chamber, and two traction bars are rotatably connected to the upper end surface of the reversing rotating plate, and the two traction bars are symmetrically distributed, and centripetal push plates are slidably connected in the rotary guide grooves, and extension plates are slidably connected to the surfaces of the centripetal push plates close to each other.

[0015] Furthermore, the traction strips close to the inner wall of the accommodating chamber are rotatably connected to the centripetal push plate, and one of the two traction strips away from the inner wall of the accommodating chamber is rotatably connected to the bottom surface of the T-shaped sliding member.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] When the medicine taking robot drives the negative pressure medicine taking device and the medicine taking tube to complete the medicine taking, the rebound force of the reset spring drives the slotted ring to move downward automatically on the outer wall of the lower end of the medicine taking tube, and the outer ring surface of the slotted ring is an inclined ring surface from top to bottom, so the Chinese medicine particles adhering to the contact part of the lower end of the medicine taking tube and the Chinese medicine are automatically scraped off, and the scraped Chinese medicine particles can still fall into the containing chamber, and because the slotted ring itself will rotate during the downward movement, the shaking generated by the rotation of the slotted ring can be further effectively prevented The surface of the stop groove ring adheres to the Chinese medicine particles again, so that the scraping action in the vertical direction and the shaking caused by the rotation are used to minimize the Chinese medicine adhered to the outer wall of the medicine taking tube from being taken out, thereby preventing the Chinese medicine particles adhered to the medicine when the medicine taking tube is extracting another Chinese medicine particle from falling into another storage chamber for storing Chinese medicine particles due to the Chinese medicine particles adhered when the Chinese medicine was sucked last time, causing confusion between different Chinese medicine particles, thereby preventing the quality of Chinese medicine from being inaccurate when the medicine taking robot is extracting Chinese medicine, thereby ensuring the quality of Chinese medicine dispensed by the medicine taking robot;

[0018] When the medicine-taking manipulator extracts Chinese medicine, compared with the method in the prior art where the medicine-preparing robot cooperates with the vertical cabinet to take and dispense medicine, the medicine-taking manipulator in this method drives the containing cabin to make a circular motion around a fulcrum to extract Chinese medicine. Compared with the vertical cabinet, the movement distance of the medicine-taking manipulator and the time of extracting Chinese medicine can be reduced. Since the manipulator only needs to make a circular motion on one plane, the complexity of the movement of the medicine-taking manipulator can be reduced, and the efficiency and accuracy of extracting Chinese medicine can be improved.

[0019] Before the medicine-taking robot cooperates with the medicine-taking tube to extract the Chinese medicine, the sealing flap and the external cover can effectively ensure the sealing of the storage chamber, thereby preventing the Chinese medicine inside from being contaminated by the external environment. When the storage chamber is finished taking the medicine and moving up to take out the Chinese medicine, each sealing flap can automatically and timely close, thereby timely sealing the storage chamber, reducing the time for the Chinese medicine inside the storage chamber to contact the outside air, and achieving timely and effective sealing of the storage chamber, eliminating the step of manual sealing.

[0020] When the medicine dispensing robot extracts Chinese medicine at one point for a long time, it is necessary to reset the medicine dispensing robot program to adjust the medicine dispensing point. This method reduces the tedious steps of manually setting the medicine dispensing robot dispensing procedure. Each time the medicine dispensing robot drives the medicine dispensing tube to extract Chinese medicine, the centripetal push plate and the extension plate are used to automatically push the Chinese medicine inside the storage chamber to the center of the storage chamber, thereby preventing the medicine dispensing tube from sucking Chinese medicine at one point in the storage chamber for a long time, which causes the amount of Chinese medicine in this part to be greatly reduced, resulting in the next extraction, causing the medicine dispensing robot to suck empty medicine, thereby improving the overall efficiency of the medicine dispensing robot in preparing Chinese medicine;

[0021] Since the extension plate is slidably connected to the centripetal push plate, as the amount of Chinese medicine inside the storage chamber is extracted and reduced, the extension plate will move downward under the action of gravity until it contacts the Chinese medicine again. This ensures that the extension plate can always contact the Chinese medicine inside the storage chamber, thereby ensuring the rationality and effectiveness of pushing the Chinese medicine to the center of the storage chamber. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0023] Figure 2 For the present invention Figure 1 A schematic diagram of the partially enlarged three-dimensional structure at point A in the middle;

[0024] Figure 3 It is a schematic diagram of the partial cross-sectional structure of the spring limit column in the present invention;

[0025] Figure 4 It is a schematic diagram of the three-dimensional structure of the positioning ring in the present invention in a partially cut-away state;

[0026] Figure 5 It is a schematic diagram of the partial three-dimensional structure of the positioning ring and the negative pressure cylinder in the present invention in a cut-away state;

[0027] Figure 6 This is a schematic diagram of a partial three-dimensional structure of the bottom of the medicine taking tube in the present invention when viewed from above;

[0028] Figure 7 It is a schematic diagram of the partial three-dimensional structure of the force-bearing rod and the slotted ring in the present invention;

[0029] Figure 8 It is a schematic diagram of the partial three-dimensional structure of the guide protrusion and the guide wall groove in the present invention;

[0030] Fig. 9 It is a partial three-dimensional structural schematic diagram of the relevant components of the storage station in the present invention;

[0031] Fig.10It is a schematic diagram of a partial bottom-up stereoscopic structure of the sealing flap of the present invention;

[0032] Fig.11 It is a partial bottom-up stereoscopic structural diagram of the relevant components inside the accommodation cabin of the present invention;

[0033] Fig.12 For the present invention Fig.10 A partial enlarged schematic diagram of the three-dimensional structure at B in the middle;

[0034] Fig.13 A schematic diagram of a partial three-dimensional structure of the relevant components of the rotating disk in the present invention;

[0035] Fig.14 A schematic diagram of a partial three-dimensional structure of the relevant components of the reversing rotor in the present invention;

[0036] Fig.15 It is a schematic diagram of the motion state of the rotating disk in the present invention;

[0037] Fig.16 It is a schematic diagram of the local motion state of the spring limiting column in the present invention.

[0038] The numbers in the figure are:

[0039] 1. Medicine dispensing manipulator; 11. Conveying device; 12. Negative pressure medicine dispensing device; 13. Medicine dispensing tube; 14. Storage table; 15. Accommodation cabin; 16. External cover;

[0040] 21. Positioning ring; 2101. Spring limiting column; 22. Bending tube; 23. Negative pressure cylinder; 24. Force bearing rod; 25. Slotted ring; 26. Return spring; 27. Guide protrusion; 28. Guide wall groove;

[0041] 31. Rotating component; 32. Rotating disk; 33. Centripetal array groove; 34. T-shaped sliding member; 35. Sealing flap; 36. Limiting plate with groove;

[0042] 41. Supporting slats; 42. Reversing rotor; 43. Traction strip; 4301. Rotating guide groove; 44. Centripetal push plate; 45. Extension plate. DETAILED DESCRIPTION

[0043] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. 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 embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention;

[0044] Embodiment 1 of the present invention

[0045] As shown in the attached figure of the specification Figures 1 to 16 As shown, a Chinese medicine robot for dispensing medicine in a pharmacy comprises a medicine dispensing manipulator 1 and a conveying device 11, wherein the medicine dispensing manipulator 1 is detachably connected to an outer wall of one side of the conveying device 11, and a negative pressure medicine dispensing device 12 and a medicine dispensing tube 13 are respectively arranged on one side of the medicine dispensing manipulator 1, wherein the negative pressure medicine dispensing device 12 comprises an electrically controlled air pump, and an air inlet port of the electrically controlled air pump is connected to an upper end of the medicine dispensing tube 13 through a tube body, and an air outlet port of the electrically controlled air pump is connected to a storage container, which is used to store the extracted Chinese medicine, and can be placed into the dispensing container on the upper surface of the conveying device 11 after the medicine dispensing manipulator 1 is rotated, and a storage table 14 is detachably connected to an outer wall of one side of the conveying device 11 close to the medicine dispensing manipulator 1, and a storage table 14 is evenly inserted on the upper surface of the storage table 14 for storing different Chinese medicinal materials, and an external cover 16 is hinged to the upper end surface of the storage chamber 15, and one side of the external cover 16 is mutually locked with the storage chamber 15 through a lock;

[0046] Specifically, the storage table 14 is horizontally mounted on one side outer wall of the conveying device 11 by bolt fasteners, the storage table 14 is semicircular, and the medicine taking robot 1 is located at the center of the storage table 14, wherein the portion where the storage table 14 contacts the circumferential surface of the lower end of the storage chamber 15 is made of elastic material;

[0047] The material of this part is rubber.

[0048] When installing the accommodation chamber 15, personnel can use the rubber at this part to apply external force to it, causing this part to deform, thereby facilitating personnel to quickly install or remove the accommodation chamber 15;

[0049] Furthermore, a cooperative dispensing processing mechanism for automatically scraping off the Chinese medicine adhering to the outer wall is provided at the lower end of the medicine taking tube 13, a positioning ring 21 is fixedly connected to the outer wall of the lower end of the medicine taking tube 13, a through hole is provided on the outer wall of one side of the positioning ring 21, a spring limiting column 2101 is movably inserted in the through hole provided by the positioning ring 21, one end of the spring limiting column 2101 located in the through hole is fixedly connected to the inner wall of the through hole by a spring, a bending tube 22 is evenly inserted at the upper end of the positioning ring 21, the bending tube 22 is distributed in a circular array, one end of the bending tube 22 is connected to the interior of the medicine taking tube 13, and the end of the bending tube 22 away from the outer surface of the medicine taking tube 13 is connected to A negative pressure cylinder 23 is inserted into the interior of the positioning ring 21. A force-bearing rod 24 is movably inserted into the interior of the negative pressure cylinder 23. The negative pressure cylinder 23 and the force-bearing rod 24 form a piston cylinder structure. A return spring 26 is arranged inside the negative pressure cylinder 23. A slotted circular ring 25 is slidably connected to the lower end of the force-bearing rod 24. A guide protrusion 27 is fixedly connected to the surface of the slotted circular ring 25 on one side close to the outer wall of the medicine taking tube 13. A guide wall groove 28 is provided on the outer wall of the medicine taking tube 13 at a position corresponding to the guide protrusion 27. The guide wall groove 28 is in an ascending arc shape. One end of the guide protrusion 27 away from the slotted circular ring 25 is slidably connected to the guide wall groove 28.

[0050] Specifically, the slotted ring 25 is sleeved on the outer wall of the lower end of the medicine taking tube 13, and the outer ring surface of the slotted ring 25 is an inclined ring surface from top to bottom;

[0051] Embodiment 2 of the present invention

[0052] Furthermore, before the robot of the prior art can grab the Chinese medicine for dispensing, a professional technician is required to first set the dispensing program for the manipulator. After the program setting is completed, the manipulator will drive the suction head in the negative pressure device to extract the Chinese medicine, and the position where the manipulator drives the suction head to extract the Chinese medicine remains unchanged before the program is reset. When the manipulator drives the suction head to perform the suction operation of the Chinese medicine, the position of the suction head in the medicine storage device will not change relatively, which will cause the Chinese medicine at this position to be over-extracted by the suction head, because the manipulator will automatically execute the medicine taking and dispensing position in the pre-set program each time it operates, which will cause More Chinese medicine is extracted from this position. Over time, in the absence of other external interference, a "hole" of Chinese medicine will be formed here, that is, the amount of Chinese medicine at this position will be reduced. When the suction head encounters the hollow part of the container where the Chinese medicine is placed, it will cause empty suction or less suction during the next suction, that is, the suction head inhales air instead of the Chinese medicine, or the amount of Chinese medicine sucked is small. In this case, the robot needs to cooperate with the suction device to make the suction head extend further into the medicine storage device to extract the Chinese medicine. This also means that the robot will waste more time and energy to take and dispense the medicine, which will affect the comprehensive effect and efficiency of the robot's Chinese medicine dispensing.

[0053] Among them, a built-in follow-up sealing mechanism is provided below the external cover 16 for automatic sealing after the medicine taking tube 13 has finished taking medicine. A rotating component 31 is rotatably connected to the center of the external cover 16. A spiral groove is provided on the inner ring surface of the rotating component 31. The groove surface widths of the upper and lower ends of the spiral groove are smaller than the groove surface width of the middle spiral groove. The spring limiting column 2101 can be slidably connected to the inner wall of the spiral groove. As the spring limiting column 2101 moves downward along the trajectory of the spiral groove, it can drive the rotating component 31 to rotate. After the rotating component 31 rotates, it can drive each T-shaped sliding member 34 along the trajectory of the horizontal groove with the help of the centripetal array groove 33, and at the same time, it can be horizontally displaced in the direction away from the center of the rotating disk 32. The final position after the horizontal displacement can make the sealing flap 35 completely away from the bottom surface of the circular hole, that is, it does not block the bottom surface of the through hole.

[0054] Specifically, the lower end of the rotating component 31 is fixedly connected with a rotating disk 32, and a circular hole is formed in the center of the rotating disk 32, and the drug taking tube 13 and the positioning ring 21 can freely pass through the circular hole when they move downward;

[0055] Specifically, the surface of the rotating disk 32 is penetrated with a centripetal array groove 33, and the centripetal array groove 33 is evenly slidably connected with a T-shaped sliding member 34, and the T-shaped sliding member 34 is distributed in a circular array, and the lower end of the T-shaped sliding member 34 is fixedly connected with a sealing flap 35, and the bottom surface of the external cover 16 is evenly fixedly connected with a grooved limiting plate 36, and the grooved limiting plate 36 corresponds to the position of the T-shaped sliding member 34, and the position of the grooved limiting plate 36 close to the T-shaped sliding member 34 is penetrated with a horizontal groove, and the T-shaped sliding member 34 is slidably connected with the horizontal groove;

[0056] Specifically, the sealing flap 35 is in a complete disc shape when closed, and is sealed on the bottom surface of the circular hole through the center of the rotating disk 32. The sealing flap 35 forms a complete disc shape after closing, and can be blocked on the bottom surface of the circular hole to achieve the effect of automatic sealing.

[0057] Specifically, sealing pads are provided on the surfaces of the sealing petals 35 that are close to each other, and the sealing pads are made of soft rubber to further improve the sealing effect of the sealing petals 35;

[0058] Specifically, the bottom surface of the external cover 16 and the outer ring surface of the rotating disk 32 are respectively fixedly connected with spherical rubber protrusions, and the spherical rubber protrusions are distributed in a circular array;

[0059] Furthermore, a combined drug-pushing mechanism for automatically pushing the Chinese medicine to gather in the center of the storage chamber 15 is also provided below the external cover 16. The inner wall above the storage chamber 15 is evenly and fixedly connected with support strips 41, and the support strips 41 are distributed in a circular array. The end of the support strips 41 away from the inner wall of the storage chamber 15 is penetrated by a rotary guide groove 4301, and the end of the support strip 41 away from the inner wall of the storage chamber 15 is rotatably connected with a reversing rotating piece 42, and the upper end surface of the reversing rotating piece 42 is rotatably connected with two traction bars 43, and the two traction bars 43 are symmetrically distributed. Centripetal push plates 44 are slidably connected in the rotary guide groove 4301, and the surfaces of the centripetal push plates 44 close to each other are slidably connected with extension plates 45. The traction bars 43 close to the inner wall of the storage chamber 15 are rotatably connected to the centripetal push plates 44, and one of the two traction bars 43 away from the inner wall of the storage chamber 15 is rotatably connected to the bottom surface of the T-shaped sliding member 34.

[0060] The following are the complete usage steps and working principles of the above-mentioned embodiment 1 and embodiment 2:

[0061] The Chinese medicine robot is used in the pharmacy for the preparation of various solid granular Chinese medicines. The medicine taking manipulator 1 drives the medicine taking tube 13, and uses the negative pressure of the negative pressure medicine taking device 12 which is an electric controlled air pump to automatically extract the Chinese medicines in different containing chambers 15, and finally puts the different Chinese medicines into the container on the surface of the conveying device 11, so as to realize the preparation and automatic transportation of Chinese medicines.

[0062] Description: When the medicine taking robot 1 sets the program to start the operation, the medicine taking robot 1 rotates with the lower end as the center point, and simultaneously drives the negative pressure medicine taking device 12 and the medicine taking tube 13 to move vertically downward at the same time, and extend into the containing chamber 15 to take medicine. In this scheme, the medicine taking robot 1, the conveying device 11, the negative pressure medicine taking device 12, and the medicine taking tube 13 are all existing well-known technologies, so their working principles are not elaborated in detail.

[0063] When used in conjunction with a dispensing treatment agency:

[0064] refer to Figures 1 to 6 As shown, when the medicine taking robot 1 is started and drives the medicine taking tube 13 and the negative pressure medicine taking device 12 to move to the top of one of the accommodating chambers 15, the medicine taking tube 13 and the rotating component 31 are on the same axis, and the positioning ring 21 and the rotating component 31 are also on the same axis. Then the medicine taking robot 1 drives the medicine taking tube 13 to move vertically downward. As the medicine taking tube 13 moves downward, the positioning ring 21 enters the inner annular surface of the rotating component 31. At this time, the built-in central processing unit of the medicine taking robot 1 controls in parallel to start the negative pressure medicine taking device 12 to generate negative pressure inside the medicine taking tube 13.

[0065] When the negative pressure medicine dispensing device 12 is started to generate negative pressure inside the medicine dispensing tube 13, since the negative pressure cylinder 23 is connected to the medicine dispensing tube 13 through the bent tube 22, negative pressure will also be generated inside the negative pressure cylinder 23. As negative pressure is generated inside the negative pressure cylinder 23, the force-bearing rod 24 movably inserted inside the negative pressure cylinder 23 will slide upward. During this process, the return spring 26 will be continuously compressed by the force-bearing rod 24 moving upward. As the force-bearing rod 24 moves upward, the slotted ring 25 will be synchronously driven to move upward, and the final position of the slotted ring 25 after the synchronous upward movement is fitted on the lower end surface of the negative pressure cylinder 23. The guide protrusion 27 is slidably connected to the guide wall groove 28, and the guide wall groove 28 is in an upward arc shape. Therefore, the slotted ring 25 is squeezed relative to the force-bearing rod 24 in the guide wall groove 28 during the upward movement, and rotates itself. Since negative pressure is continuously formed inside the medicine taking tube 13 when extracting Chinese medicine, the slotted ring 25 is always in the position after the upward movement during this process. When the medicine taking tube 13 enters the storage chamber 15 to extract Chinese medicine, it is necessary to ensure that the lower end of the medicine taking tube 13 is in contact with the Chinese medicine particles, while the slotted ring 25 is not in contact with the Chinese medicine particles at this time, and then the negative pressure generated inside the medicine taking tube 13 can be used to effectively take medicine;

[0066] After the medicine is taken, the extracted Chinese medicine will be temporarily stored in the storage container connected to the air outlet port of the electric control air pump. At this time, the medicine taking robot 1 controls the medicine taking tube 13 to gradually move upward, and the electric control air pump in the negative pressure medicine taking device 12 also stops working. After the electric control air pump stops, there is no negative pressure inside the medicine taking tube 13. At this time, the force rod 24 will be under the rebound force of the reset spring 26, prompting the force rod 24 and the slotted ring 25 to move downward in the opposite direction and reset. During this reset process, the guide protrusion 27 will slide in the opposite direction along the trajectory of the guide wall groove 28, that is, the slotted ring 25 is prompted to rotate in the opposite direction relative to the force rod 24.

[0067] Summary 1: With this, as the medicine taking robot 1 drives the negative pressure medicine taking device 12 and the medicine taking tube 13 to complete the medicine taking work, the grooved ring 25 is driven by the rebound force of the reset spring 26 to move downward on the outer wall of the lower end of the medicine taking tube 13, and the outer ring surface of the grooved ring 25 is an inclined ring surface from top to bottom, so the Chinese medicine particles adhering to the outer wall of the contact part of the lower end of the medicine taking tube 13 with the Chinese medicine are automatically scraped off, and because the medicine taking tube 13 is still in the upward movement process in the storage chamber 15 during this process, the Chinese medicine particles scraped off by the grooved ring 25 can still fall into the storage chamber 15, and because the grooved ring 25 is in the process of downward movement, it prompts the guide protrusion 27 to slide downward in the opposite direction along the trajectory of the guide wall groove 28, and when the guide wall groove 28 and the guide wall groove 28 are in contact with each other, the Chinese medicine particles are automatically scraped off by the grooved ring 25. The cooperation of the protrusion 27 will cause the grooved ring 25 to rotate in the opposite direction. Therefore, the vibration generated by the rotation of the grooved ring 25 can further effectively prevent the surface of the grooved ring 25 from adhering to the Chinese medicine particles again. In this way, the scraping action in the vertical direction and the vibration generated by the rotation can minimize the Chinese medicine adhering to the outer wall of the medicine taking tube 13 from being taken out, thereby preventing the Chinese medicine particles adhering to the outer wall of the medicine taking tube 13 from being mixed up when the medicine taking tube 13 extracts another kind of Chinese medicine particles because the Chinese medicine particles adhering to the Chinese medicine during the last extraction of Chinese medicine fall into another storage chamber 15 for storing different Chinese medicine particles, thereby preventing the weight of the Chinese medicine from being inaccurate when the medicine taking robot 1 extracts the Chinese medicine, thereby ensuring the quality of the Chinese medicine dispensed by the medicine taking robot 1;

[0068] When the medicine dispensing robot 1 extracts the Chinese medicine from different storage chambers 15, the medicine dispensing robot 1 will rotate with its lower end as the center point. Since the medicine dispensing robot 1 is located at the center of the storage table 14, and a variety of different Chinese medicines can be stored in each storage chamber 15 on the upper surface of the storage table 14, when the medicine dispensing robot 1 is sucking the Chinese medicine, compared with the method in the prior art that the dispensing robot cooperates with the vertical cabinet to dispense and prepare the medicine, in this method, the medicine dispensing robot 1 drives the storage chamber 15 to make a circular motion around a fulcrum to extract the Chinese medicine. Compared with the vertical cabinet, the movement distance of the medicine dispensing robot 1 and the time of extracting the Chinese medicine can be reduced. Since the robot only needs to make a circular motion on one plane, the complexity of the movement of the medicine dispensing robot 1 can be reduced, and the efficiency and accuracy of extracting the Chinese medicine can be improved.

[0069] Built-in follow-up sealing mechanism, when in use:

[0070] Figures 1 to 3 , Figures 9 to 16As shown, in the above process, as the positioning ring 21 enters the interior of the rotating component 31, since the inner ring surface of the rotating component 31 is provided with a spiral groove, and the spring limiting column 2101 can be slidably connected to the inner wall of the spiral groove, in this process, when the positioning ring 21 drives the spring limiting column 2101 to move downward to contact the upper end surface of the rotating component 31, at this time, since the end of the spring limiting column 2101 away from the positioning ring 21 is an arc surface, as the arc surface of one end of the spring limiting column 2101 contacts the outer wall of the rotating component 31, the spring at one end of the spring limiting column 2101 close to the through hole is compressed, so that the spring limiting column 2101 moves toward the positioning ring. The spring limiting post 2101 slides in the through hole opened on one side of 21 until the positioning ring 21 drives the spring limiting post 2101 to continue to move downward to correspond to the spiral groove opened on the inner wall of the rotating component 31. At this time, the spring in the spring limiting post 2101 releases its elastic force. Since the groove widths at the upper and lower ends of the spiral groove are smaller than the groove width of the middle spiral groove, the arc surface of the spring limiting post 2101 will first be stuck in the groove surface with smaller width at the upper end. As the positioning ring 21 continues to move downward, the arc surface of the end of the spring limiting post 2101 will be squeezed with the groove surface with smaller width at the upper end of the spiral groove, thereby causing the spring limiting post 2101 to squeeze the spring again and retract the through hole. Inside, when the positioning ring 21 continues to move downward, the spring limiting column 2101 is inserted into the middle spiral groove of the inner ring surface of the rotating component 31. At this time, the large outer ring surface of the spring limiting column 2101 is squeezed and contacted with the wide groove surface of the middle spiral groove (that is, the circular surface is in contact with the horizontal surface of the wide groove of the spiral groove). At this time, as the positioning ring 21 continues to move downward, the spring limiting column 2101 will gradually continue to contact and squeeze with the middle groove surface of the spiral groove, thereby prompting the rotating component 31 to rotate. As the rotating component 31 rotates, it will synchronously drive the centripetal array groove 33 and the rotating disk 32 to rotate. At this time, due to the bottom surface of the external cover 16 and the rotating disk 32 The outer ring surface is respectively fixedly connected with spherical rubber protrusions, and the spherical rubber protrusions are distributed in a circular array. Therefore, as the rotating disk 32 rotates, the rubber spherical protrusions on the outer ring surface of the rotating disk 32 will be driven to rub against the rubber spherical protrusions on the bottom surface of the external cover 16, thereby generating vibrations. Since one side of the external cover 16 is mutually locked with the storage chamber 15 through a lock buckle, the vibration generated by the external cover 16 at this time will be transmitted to the storage chamber 15. At this time, the vibration force acts on the Chinese medicine stored in the storage chamber 15, thereby reducing the accumulation of the Chinese medicine at the inner wall of the storage chamber 15 (that is, the part of the centripetal push plate 44 and the extension plate 45 that does not correspond to the inner wall of the storage chamber 15).

[0071] refer to Fig.15As shown: Since the inner part of the centripetal array groove 33 is equidistantly distributed and slidably connected with four T-shaped sliding members 34 distributed in a circular array, and the middle part of the T-shaped sliding member 34 is slidably connected with the horizontal groove on one side of the grooved limiting plate 36, under the squeezing and guiding action of the inner wall of the centripetal array groove 33, the T-shaped sliding member 34 and the sealing flap 35 will be forced to move horizontally along the trajectory of the horizontal groove in the direction away from the center of the rotating disk 32 at the same time, and the final position of the T-shaped sliding member 34 and the sealing flap 35 after the horizontal displacement can make the sealing flap 35 completely away from the bottom surface of the circular hole, that is, not blocking the bottom surface of the through hole;

[0072] When the medicine taking tube 13 has finished extracting Chinese medicine once and gradually moves upward, as the medicine taking tube 13 drives the positioning ring 21 to move upward, the spring limiting column 2101 is again engaged with the groove surface with a smaller width at the lower end of the spiral groove on the inner wall of the rotating component 31. At this time, as the positioning ring 21 and the spring limiting column 2101 continue to move upward, the spring limiting column 2101 is engaged with the groove surface with a wider middle portion of the spiral groove. Then, as the positioning ring 21 continues to move upward, the rotating component 31 is prompted to rotate in the opposite direction. After the rotating component 31 rotates in the opposite direction, the T-shaped sliding member 34 drives the sealing flap 35 to gradually move in the opposite direction and reset. In the process of the sealing flap 35 gradually resetting, the lower end face of the medicine taking tube 13 has moved upward to the top of the sealing flap 35, that is, the sealing flap 35 will not contact the outer wall of the medicine taking tube 13 during the reverse resetting process, thereby not hindering the normal upward movement of the medicine taking tube 13 to take out the Chinese medicine.

[0073] Summary 2: Before the medicine taking manipulator 1 cooperates with the medicine taking tube 13 to extract the Chinese medicine, the sealing flap 35 and the external cover 16 can effectively ensure the sealing of the storage chamber 15, thereby preventing the Chinese medicine inside from being contaminated by the external environment. As the storage chamber 15 finishes taking the medicine and moves up to take out the Chinese medicine, each sealing flap 35 can automatically and timely close, thereby timely sealing the storage chamber 15, thereby reducing the time for the Chinese medicine inside the storage chamber 15 to contact the outside air, and can achieve a timely and effective sealing effect on the storage chamber 15, eliminating the step of manual sealing.

[0074] To help promote the joint drug collection agency, when used:

[0075] like Figure 1 and Figures 9 to 14As shown, at the same time, when the medicine taking tube 13 moves down to the storage chamber 15 to take medicine, the Chinese medicine stored in the storage chamber 15 contacts the bottom outer wall of the extension plate 45 in the initial state, and as the medicine taking tube 13 drives the positioning ring 21 to enter the rotating component 31 from top to bottom, that is, the T-shaped sliding member 34 moves away from the center of the rotating disk 32, during this process, the T-shaped sliding member 34 will cause one of the two traction strips 43, which is close to the side of the T-shaped sliding member 34, to rotate and move. Since the end of the support strip 41 away from the inner wall of the storage chamber 15 is rotatably connected to the reversing rotating plate 42, the rotation of the traction strip 43 will drive the other traction strip 43 close to the inner wall of the storage chamber 15 to rotate in the opposite direction through the reversing rotating plate 42. The traction bar 43 rotates and moves, and as the traction bar 43 rotates and moves, the traction bar 43 will drive the centripetal push plate 44 and the extension plate 45 to slide and move along the trajectory of the rotary guide groove 4301 toward the center of the storage chamber 15. Since the Chinese medicine stored in the storage chamber 15 is in contact with the bottom outer wall of the extension plate 45 in the initial state, as the centripetal push plate 44 and the extension plate 45 slide and move toward the center of the storage chamber 15, the Chinese medicine in the storage chamber 15 will be automatically pushed to the center of the storage chamber 15. Conversely, as the medicine taking tube 13 completes the upward movement of the medicine taking, the sealing flap 35 moves in the reverse direction to reset, and the reversing rotating plate 42 is driven to rotate in the reverse direction by the traction bar 43, so that each centripetal push plate 44 and the extension plate 45 will also reset in the reverse direction.

[0076] Summary 3: Compared with the prior art, when the dispensing robot extracts Chinese medicine at a point for a long time, it is necessary to reset the dispensing robot program to adjust the medicine extraction point. This method reduces the cumbersome steps of manually setting the dispensing procedure of the medicine extraction manipulator 1, and utilizes the action of the medicine extraction manipulator 1 to drive the medicine extraction tube 13 downward to extract Chinese medicine each time, and cooperates with the centripetal push plate 44 and the extension plate 45 to automatically push the Chinese medicine inside the storage chamber 15 to the center of the storage chamber 15, thereby preventing the medicine extraction tube 13 from sucking Chinese medicine at a point in the storage chamber 15 for a long time, resulting in a significant and excessive reduction in the amount of Chinese medicine in this part, thereby causing the dispensing robot to suck empty medicine when extracting next time, thereby improving the comprehensive efficiency of the dispensing robot in preparing Chinese medicine;

[0077] At the same time, since the extension plate 45 is slidably connected to the centripetal push plate 44, as the amount of Chinese medicine inside the storage chamber 15 is extracted and reduced, the extension plate 45 will move downward under the action of gravity until it contacts the Chinese medicine again. This ensures that the extension plate 45 can always contact the Chinese medicine inside the storage chamber 15, thereby ensuring the rationality and effectiveness of pushing the Chinese medicine to the center of the storage chamber 15.

[0078] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A Chinese medicine robot for dispensing medicine in a pharmacy, comprising a medicine dispensing manipulator (1) and a conveying device (11), wherein the medicine dispensing manipulator (1) is detachably connected to an outer wall of one side of the conveying device (11), and a negative pressure medicine dispensing device (12) and a medicine dispensing tube (13) are respectively provided on one side of the medicine dispensing manipulator (1), characterized in that: A storage table (14) is detachably connected to the outer wall of one side of the conveying device (11) close to the medicine-taking manipulator (1), and the upper surface of the storage table (14) is evenly provided with storage compartments (15) for storing different Chinese medicinal materials, and the upper end surfaces of the storage compartments (15) are hinged with external covers (16); The lower end of the medicine dispensing tube (13) is provided with a coordinated medicine dispensing processing mechanism for automatically scraping off the Chinese medicine adhering to the outer wall. The outer wall of the lower end of the medicine dispensing tube (13) is fixedly connected with a positioning ring (21). A through hole is opened on one side of the outer wall of the positioning ring (21). A spring limiting column (2101) is movably inserted into the through hole opened in the positioning ring (21). The upper end of the positioning ring (21) is evenly inserted with a bending tube (22). One end of the bending tube (22) is connected to the inside of the medicine dispensing tube (13). The bending tube (22) is away from the medicine dispensing tube (13). One end of the outer surface is connected to a negative pressure cylinder (23), and a force-bearing rod (24) is movably inserted inside the negative pressure cylinder (23). The lower end of the force-bearing rod (24) is slidably connected to a slotted ring (25), and a guide protrusion (27) is fixedly connected to the surface of the slotted ring (25) on one side close to the outer wall of the medicine dispensing tube (13). A guide wall groove (28) is provided on the outer wall of the medicine dispensing tube (13) at a position corresponding to the guide protrusion (27), and one end of the guide protrusion (27) away from the slotted ring (25) is slidably connected to the guide wall groove (28).

2. The Chinese medicine robot for dispensing medicine in pharmacies according to claim 1, characterized in that: The storage platform (14) is horizontally mounted on an outer wall of one side of the conveying device (11) by means of bolt fasteners; the storage platform (14) is semicircular, and the medicine taking robot (1) is located at the center of the storage platform (14).

3. The Chinese medicine robot for dispensing medicine in pharmacies according to claim 1, characterized in that: The bending tubes (22) are distributed in a circular array, the negative pressure cylinders (23) are each provided with a return spring (26), the negative pressure cylinders (23) are each inserted into the interior of the positioning ring (21), and the guide wall grooves (28) are in the shape of an ascending circular arc.

4. The Chinese medicine robot for dispensing medicine in pharmacies according to claim 1, characterized in that: The slotted circular ring (25) is sleeved on the outer wall of the lower end of the medicine taking tube (13), and the outer ring surface of the slotted circular ring (25) is an inclined ring surface from top to bottom.

5. The Chinese medicine robot according to claim 3, characterized in that: The upper and lower ends of the return spring (26) are respectively fixedly connected to the inner wall of the negative pressure cylinder (23) and the upper end surface of the force-bearing rod (24).

6. The Chinese medicine robot for dispensing medicine in pharmacies according to claim 1, characterized in that: A built-in follow-up sealing mechanism is provided below the external cover (16) for automatically sealing after the medicine is taken out of the medicine taking tube (13). A rotating component (31) is rotatably connected to the center of the external cover (16). The inner ring surface of the rotating component (31) is provided with a spiral groove. The lower end of the rotating component (31) is fixedly connected to a rotating disk (32). The bottom surface of the external cover (16) and the outer ring surface of the rotating disk (32) are respectively fixedly connected to spherical rubber protrusions, and the spherical rubber protrusions are distributed in a circular array. A circular hole is provided at the center of the rotating disk (32). The surface of the cover (16) is provided with a centripetal array groove (33), the centripetal array groove (33) is evenly slidably connected with a T-shaped sliding member (34), the T-shaped sliding member (34) is distributed in a circular array, the lower end of the T-shaped sliding member (34) is fixedly connected with a sealing flap (35), the bottom surface of the external cover (16) is evenly fixedly connected with a grooved limiting plate (36), the position of the grooved limiting plate (36) corresponds to the position of the T-shaped sliding member (34), and the position of the grooved limiting plate (36) close to the T-shaped sliding member (34) is provided with a horizontal groove, and the T-shaped sliding member (34) is slidably connected with the horizontal groove.

7. The Chinese medicine robot for dispensing medicine in pharmacies according to claim 6, characterized in that: The sealing flap (35) is in a complete disc shape in a closed state and is sealed on the bottom surface of a circular hole that penetrates the center of the rotating disc (32).

8. The Chinese medicine robot for dispensing medicine in pharmacies according to claim 7, characterized in that: Sealing pads are provided on surfaces of one side of the sealing petals (35) that are close to each other.

9. The Chinese medicine robot for dispensing medicine in pharmacies according to claim 1, characterized in that: A combined drug-pushing mechanism for automatically pushing the Chinese medicine to gather in the center of the storage chamber (15) is also provided below the external cover (16). The upper inner wall of the storage chamber (15) is evenly and fixedly connected with support strips (41). The support strips (41) are distributed in a circular array. The ends of the support strips (41) away from the inner wall of the storage chamber (15) are penetrated by a rotary guide groove (4301). The ends of the support strips (41) away from the inner wall of the storage chamber (15) are rotatably connected with a reversing rotating plate (42). The upper end surface of the reversing rotating plate (42) is rotatably connected with two traction strips (43). The two traction strips (43) are symmetrically distributed. The rotary guide groove (4301) is slidably connected with a centripetal push plate (44). The surfaces of the centripetal push plates (44) close to each other are slidably connected with an extension plate (45).

10. The Chinese medicine robot for dispensing medicine in pharmacies according to claim 9, characterized in that: The traction bars (43) close to the inner wall of the accommodating chamber (15) are rotatably connected to the centripetal push plate (44), and one of the two traction bars (43) away from the inner wall of the accommodating chamber (15) is rotatably connected to the bottom surface of the T-shaped sliding member (34).

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