Intelligent outpatient service automatic medicine taking navigator

Abstract

The invention discloses an intelligent outpatient service automatic medicine taking navigator, and relates to the technical field of medical auxiliary equipment. The working table is rotationally connected with a mechanical arm structure, the mechanical arm structure is composed of a steering arm, a right-angle arm and a telescopic arm, the steering arm is driven by a first steering motor to steer, the right-angle arm ascends and descends through a lifting motor, the telescopic arm is controlled by a telescopic motor to stretch out and draw back, and therefore the position of the medicine is accurately positioned; a grabbing mechanism at the front end of a telescopic arm achieves opening and closing of a clamping jaw through a vacuum pump and other components, medicine is effectively grabbed, an electric drawer on the side wall of a workbench is controlled to be opened and closed through a drawer motor, medicine bottles can be stably fixed through an internal medicine bottle clamping device, and in addition, an intelligent computer in the middle of a trolley handrail transverse rod has the voice broadcasting and code scanning functions and is electrically connected with all the motors. The intelligent control of equipment is realized; the medicine taking path can be automatically planned, the medicine taking efficiency and accuracy are remarkably improved, and the method is suitable for medicine taking work of outpatient pharmacy.

Description

Technical Field

[0001] The present invention relates to the technical field of medical auxiliary equipment, and in particular to an intelligent outpatient automatic medicine taking navigator. Background Art

[0002] In the field of medical services, with the advancement of medical technology and the continuous increase in the number of patients, the storage volume and drug collection volume of pharmacies continue to rise. There are many types of drugs in pharmacies, covering various dosage forms, including carton-packed drugs, medicine bottles and other irregular-shaped drugs, and the storage locations are scattered. The traditional way of taking medicine mainly relies on the staff to find the drugs between the shelves based on their memory and experience. This method seems to be unable to cope with the growing demand for taking medicine;

[0003] Existing pharmacy auxiliary equipment has certain limitations. Some navigation systems can only provide basic route guidance, cannot be closely integrated with the drug collection operation, and cannot provide targeted auxiliary strategies for drugs of different shapes. Although some automated drug collection equipment can handle some regularly packaged drugs, they have poor compatibility with medicine bottles and irregularly shaped drugs and cannot fully meet the diverse drug collection needs of pharmacies. In contrast, the intelligent outpatient automatic drug collection navigator of the present invention is specially designed for pharmacy staff. It can accurately grab carton-packed drugs through a robotic arm, and use voice to remind staff to collaborate on medicine bottles and irregularly shaped drugs. It is also equipped with special drawers to store drugs, which effectively improves the accuracy and efficiency of drug collection and fills the deficiencies of the prior art in this regard. In response to the above problems, the inventor proposes an intelligent outpatient automatic drug collection navigator to solve the above problems. Summary of the invention

[0004] In order to solve the problems of low efficiency, difficulty in ensuring accuracy and high labor intensity of staff in picking up medicines due to the large number of medicines in hospital pharmacies, as well as the lack of effective handling and navigation assistance for medicines in different packages; the purpose of the present invention is to provide an intelligent outpatient automatic medicine picking navigator.

[0005] In order to solve the above technical problems, the present invention adopts the following technical solutions: an intelligent outpatient automatic medicine navigator, including a workbench, characterized in that: the upper surface of the workbench is rotatably connected to a mechanical arm structure, the mechanical arm structure includes a steering arm, the steering arm is a hollow structure, a first internal thread is provided at the upper end of the steering arm, a first limit block is fixedly installed on the outer surface of the steering arm, a belt groove is provided on the outer surface of the steering arm, a first steering motor is fixedly installed on one side of the steering arm, a steering belt is installed on the output end of the first steering motor, a right-angle arm is sleeved on the upper end of the steering arm, the lower end of the right-angle arm is a hollow structure, a lifting motor is fixedly installed inside the lower end of the right-angle arm, and the first internal thread is threadedly connected to the output end of the lifting motor.

[0006] Preferably, the front end of the right-angle arm is a hollow structure, a second internal thread is provided at the front end of the right-angle arm, a first limit groove is provided on the side wall of the lower end of the right-angle arm, the first limit block is slidably matched with the first limit groove, a second limit block is fixedly installed on the front end side wall of the right-angle arm, a telescopic arm is sleeved at the front end of the right-angle arm, the telescopic arm is a hollow structure, and a telescopic motor is fixedly installed inside, the second internal thread is threadedly connected to the output end of the telescopic motor, and a grabbing mechanism is provided at the front end of the telescopic arm.

[0007] Preferably, the gripping mechanism includes a second steering motor, which is fixedly mounted at the front end of the telescopic arm, and a vacuum pump is fixedly mounted at the output end of the second steering motor. A vacuum chamber is provided at the lower end of the vacuum pump, and a piston is slidably connected in the vacuum chamber.

[0008] Preferably, a plurality of electric drawers are slidably connected to the side walls of the workbench, a partition plate is fixedly installed inside the electric drawer, a telescopic rack is provided on the outside of the electric drawer, a number of drawer motors equal to the number of electric drawers are installed inside the workbench, the output ends of the drawer motors are meshed with the telescopic racks, and a medicine bottle clamp is fixedly installed on the side walls inside the electric drawer.

[0009] Compared with the prior art, the present invention has the following beneficial effects:

[0010] 1. The present invention is equipped with a working mode that combines intelligent navigation with automated operation: through the cooperation of intelligent computers and various mechanical components, efficient guidance of the medication collection process is achieved. For drugs packed in cartons, the robotic arm structure can accurately grab them according to instructions, greatly shortening the medication collection time and improving work efficiency. At the same time, during the entire medication collection process, the intelligent navigation system plans the optimal path in real time, reducing the ineffective movement of staff between medicine shelves, further improving overall work efficiency, and enabling the pharmacy to respond to patients' medication needs more quickly;

[0011] 2. The present invention is provided with a precise medicine handling and safety guarantee mechanism: the medicine bottle holder can stably fix the medicine bottle to prevent shaking or falling during the movement of the drawer or the operation of the equipment, thereby ensuring the integrity of the medicine. The design of the grabbing mechanism enables high accuracy in grabbing the medicine in the carton, reducing the risk of medicine falling or damage. In addition, the intelligent computer monitors the entire process of taking medicine and verifies information, effectively avoiding the occurrence of wrong medicine, missing medicine, etc., and providing a strong guarantee for the safety of patients' medication.

[0012] 3. The present invention is equipped with a flexible human-machine collaboration function: for medicine bottles and irregular-shaped medicines, the voice reminder function promptly notifies the staff to assist, giving full play to the staff's subjective initiative and judgment ability, realizing the complementary advantages of man and machine, and the convenient operation and reasonable design of the electric drawer make it convenient for the staff to store medicines and optimize the work process. This human-machine collaboration mode not only improves the accuracy and efficiency of taking medicines, but also adapts to the complex and diverse drug processing needs of the pharmacy, and improves the pharmacy's ability to cope with different drug taking tasks. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] 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.

[0014] Figure 1 It is a schematic diagram of the structure of the present invention.

[0015] Figure 2 It is a schematic diagram of the side sectional structure of the present invention.

[0016] Figure 3 for Figure 2 A schematic diagram of the enlarged structure in the middle.

[0017] Figure 4 for Figure 2 Enlarged schematic diagram of the structure at point B in the middle.

[0018] Figure 5 for Figure 2 Enlarged schematic diagram of the structure at point C in the middle.

[0019] Figure 6 It is a schematic diagram of the top view structure of the present invention.

[0020] Figure 7 It is a schematic diagram of the front cross-section structure of the present invention.

[0021] Figure 8 for Figure 7 Enlarged schematic diagram of the structure at point D in the middle.

[0022] Fig. 9 for Figure 7 Enlarged schematic diagram of the structure at point E in the middle.

[0023] Fig.10 It is a schematic diagram of the structure of the medicine bottle holder of the present invention.

[0024] In the figure: 1. workbench; 11. medicine frame; 12. cart handrail; 121. intelligent computer; 13. first steering motor; 131. steering belt; 2. mechanical arm structure; 21. steering arm; 211. belt groove; 212. first internal thread; 213. first limit groove; 22. right angle arm; 221. first limit block; 222. lifting motor; 223. second internal thread; 23. telescopic arm; 231. telescopic motor; 232. second limit groove; 3. grabbing mechanism; 31. second steering motor; 32. Vacuum pump; 321, vacuum chamber; 322, piston; 33, first rotating rod; 34, second rotating rod; 35, clamping claw; 351, gasket; 4, electric drawer; 41, partition plate; 42, medicine bottle clamp; 421, lifting frame; 4211, lifting gear; 4212, spring; 4213, bracket; 422, cooperative gear; 423, horizontal claw; 4231, cooperative rack; 43, telescopic rack; 44, drawer motor; 5, universal wheel; 51, third steering motor; 52, drive motor; 53, rubber wheel. DETAILED DESCRIPTION

[0025] 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.

[0026] like Figure 1-10 As shown, the present invention provides an intelligent outpatient automatic medicine navigator, including a workbench 1, the upper surface of the workbench 1 is rotatably connected with a mechanical arm structure 2, the mechanical arm structure 2 includes a steering arm 21, the steering arm 21 is a hollow structure, and a first internal thread 212 is provided at the upper end of the steering arm 21, a first limit block 213 is fixedly installed on the outer surface of the steering arm 21, a belt groove 211 is provided on the outer surface of the steering arm 21, a first steering motor 13 is fixedly installed on one side of the steering arm 21, a steering belt 131 is installed at the output end of the first steering motor 13, a right-angle arm 22 is sleeved on the upper end of the steering arm 21, the lower end of the right-angle arm 22 is a hollow structure, a lifting motor 222 is fixedly installed inside the lower end of the right-angle arm 22, and the first internal thread 212 is threadedly connected to the output end of the lifting motor 222.

[0027] By adopting the above technical solution, the workbench 1 serves as the basic supporting structure of the entire navigator, carrying other components and providing a stable platform for the movement and operation of the equipment. The mechanical arm structure 2 is used to realize the functions of grabbing and adjusting the position of the medicine. The hollow structure of the steering arm 21 reduces the overall weight while ensuring a certain strength. The first internal thread 212 cooperates with the lifting motor 222, so that the lifting motor 222 can drive the right-angle arm 22 to move up and down along the steering arm 21, thereby adjusting the position of the mechanical arm in the vertical direction to meet the needs of grabbing medicines at different heights; the first limit block 213 cooperates with the structure at the lower end of the right-angle arm 22 to ensure The stability of the right-angle arm 22 during the lifting process is ensured to prevent it from shaking or shifting; the belt groove 211, the first steering motor 13 and the steering belt 131 work together, and the first steering motor 13 drives the steering arm 21 to rotate by driving the steering belt 131, thereby realizing the horizontal rotation of the mechanical arm structure 2, so that it can flexibly adjust the grasping direction in the horizontal direction, cover a wider operating space, and facilitate grasping of medicines from different angles. The empty structure at the lower end of the right-angle arm 22 provides an installation space for the lifting motor 222. The lifting motor 222 serves as a power source to accurately control the lifting height of the right-angle arm 22 to ensure the accuracy and stability of grasping medicines.

[0028] The front end of the right-angle arm 22 is a hollow structure, and a second internal thread 223 is provided at the front end of the right-angle arm 22. A first limiting groove 213 is provided on the side wall of the lower end of the right-angle arm 22. The first limiting block 213 slides with the first limiting groove 213. The front end side wall of the right-angle arm 22 is fixedly installed with a second limiting block. The front end of the right-angle arm 22 is sleeved with a telescopic arm 23. The telescopic arm 23 is a hollow structure, and a telescopic motor 231 is fixedly installed inside. The second internal thread 223 is threadedly connected to the output end of the telescopic motor 231, and a grabbing mechanism 3 is provided at the front end of the telescopic arm 23.

[0029] By adopting the above technical solution, the hollow structure at the front end of the right-angle arm 22 provides space for the telescopic movement of the telescopic arm 23 and reduces its own weight. The second internal thread 223 is threadedly connected to the output end of the telescopic motor 231, so that the telescopic motor 231 can drive the telescopic arm 23 to perform horizontal telescopic movement at the front end of the right-angle arm 22, thereby accurately adjusting the position of the grasping mechanism 3 in the horizontal direction, so as to accurately grasp the medicines at different positions, and expand the working range of the mechanical arm structure 2. The sliding cooperation between the first limit groove 213 and the first limit block 213, and the setting of the second limit block ensure the stability and directionality of the telescopic arm 23 during the telescopic process, prevent it from being offset or rotated, and ensure that the grasping mechanism 3 can accurately reach the target position to perform the medicine grasping operation. The grasping mechanism 3 is responsible for directly contacting the medicine and completing the grasping action. Driven by the telescopic arm 23, it can flexibly move to a suitable position in the horizontal direction, and work in coordination with other components of the mechanical arm structure 2 to achieve efficient and accurate medicine grasping.

[0030] The gripping mechanism 3 includes a second steering motor 31, which is fixedly mounted at the front end of the telescopic arm 23. A vacuum pump 32 is fixedly mounted at the output end of the second steering motor 31. A vacuum chamber 321 is provided at the lower end of the vacuum pump 32. A piston 322 is slidably connected in the vacuum chamber 321.

[0031] By adopting the above technical solution, the second steering motor 31 can accurately control the overall steering of the grasping mechanism 3, so that the grasping mechanism 3 can be flexibly adjusted according to the position and placement direction of the medicine, ensuring that the clamping jaws 35 can be accurately aligned with the medicine, thereby improving the success rate of grasping. The vacuum pump 32 is the key power source for the grasping action. The vacuum chamber 321 at its lower end works together with the slidingly connected piston 322. When the vacuum pump 32 is working, the piston 322 is driven to slide up and down by changing the air pressure in the vacuum chamber 321. The sliding movement of the piston 322 is converted into the control of the opening and closing action of the clamping jaws 35, thereby realizing the grasping and releasing operations of the carton-packed medicines. This method of driving by air pressure difference has the advantages of smooth movement and adjustable grasping force, can adapt to the grasping needs of carton-packed medicines of different sizes and weights, and can effectively avoid damage to the medicines during the grasping process.

[0032] The side wall of the lower end of the piston 322 is rotatably connected to the first rotating rod 33, the upper end of the first rotating rod 33 is meshed with the teeth of the lower end of the piston 322, the outer side of the first rotating rod 33 is rotatably connected to the second rotating rod 34, the lower ends of the first rotating rod 33 and the second rotating rod 34 are rotatably connected to the clamping claw 35, and the lower end of the clamping claw 35 is fixedly installed with a gasket 351.

[0033] By adopting the above technical solution, the up and down movement of the piston 322 is transmitted to the first rotating rod 33 by means of tooth meshing, thereby realizing the effective conversion of force and motion. When the piston 322 moves upward, it drives the first rotating rod 33 to rotate. The rotation of the first rotating rod 33 then drives the second rotating rod 34 connected to its outer side for rotation to move. The second rotating rod 34 converts this movement into the opening and closing action of the clamping jaw 35, so that the clamping jaw 35 can accurately grasp or release the medicine. The gasket 351 at the lower end of the clamping jaw 35 serves to increase friction and protect the medicine. When grasping the medicine, the gasket 351 contacts the surface of the medicine. The material thereof usually has a certain flexibility and friction, which can ensure that the clamping jaw 35 firmly grasps the medicine and prevents the medicine from slipping, and can also avoid damage to the medicine packaging during the grasping process, especially for the medicine in the carton, which effectively protects the integrity of the medicine.

[0034] A number of electric drawers 4 are slidably connected to the side walls of the workbench 1, a partition plate 41 is fixedly installed inside the electric drawer 4, a telescopic rack 43 is provided on the outer side of the electric drawer 4, and drawer motors 44 equal in number to the electric drawers 4 are installed inside the workbench 1, the output ends of the drawer motors 44 are meshed with the telescopic racks 43, and a medicine bottle clamp 42 is fixedly installed on the side walls inside the electric drawer 4.

[0035] By adopting the above technical scheme, the electric drawer 4 provides a convenient space for storing medicines. Its slidable design is convenient for the staff to classify, store and take out the medicines. The partition plate 41 divides the interior of the electric drawer 4 into multiple areas, which is convenient for classifying and organizing medicines of different types or batches, improving the orderliness of medicine management, and enabling the staff to find the required medicines more quickly. The cooperation between the telescopic rack 43 and the drawer motor 44 is the key to the electric drawer 4 realizing the automatic telescopic function. The output end of the drawer motor 44 engages with the telescopic rack 43. When the drawer motor 44 rotates, the extension and retraction actions of the electric drawer 4 are accurately controlled through the rack transmission principle, thereby realizing the automatic operation of the electric drawer 4, reducing the tedious process of manually opening or closing the drawer, and improving work efficiency. The medicine bottle clamp 42 is specifically used to fix medicine bottles and irregularly shaped medicines to ensure that the medicines can remain stable without shaking, tipping over or colliding during the movement of the drawer or the operation of the equipment, effectively preventing damage and confusion of the medicines, and ensuring the safety and stability of medicine storage.

[0036] The medicine bottle clamp 42 includes a lifting frame 421, which is slidably connected to the side wall of the drawer. A lifting tooth 4211 is provided in the middle of the lifting frame 421 along the vertical direction, and a spring 4212 is fixedly installed on the lifting frame 421, and the other end of the spring 4212 is fixedly connected to the side wall of the electric drawer 4.

[0037] By adopting the above technical scheme, the lifting frame 421 is used as a key component of the medicine bottle clamp 42. Its design of sliding connection to the side wall of the drawer enables it to move flexibly in the vertical direction, thereby adapting to the placement requirements of medicine bottles of different heights or irregularly shaped medicines. The lifting teeth 4211 play an important role in transmitting power and controlling the movement of the cross claw 423 during the clamping process of the medicine bottle. When the medicine bottle is placed in, the medicine bottle generates downward pressure on the lifting frame 421, causing the lifting frame 421 to slide downward along the side wall of the drawer. At this time, the spring 4212 is compressed, and the elastic potential energy of the spring 4212 is stored. The spring 4212 not only buffers the impact force when the medicine bottle is placed in, preventing damage to the medicine bottle and the clamp, but also can use its elastic force to restore the original state after the medicine bottle is taken out to reset the lifting frame 421 to prepare for the next placement of medicines. This structural design ensures the flexibility and reliability of the medicine bottle clamp 42 in fixing medicines, and can stably clamp medicine bottles of different specifications and irregularly shaped medicines, effectively preventing medicines from shaking or tipping over in the drawer.

[0038] The lifting tooth 4211 is meshed with a cooperative gear 422, and the cooperative gear 422 is rotatably connected to the side wall of the electric drawer 4. The side wall of the electric drawer 4 is slidably connected to the horizontal claw 423 in the horizontal direction. The end of the horizontal claw 423 is provided with a cooperative rack 4231, and the cooperative rack 4231 is meshed with the cooperative gear 422.

[0039] By adopting the above technical solution, the cooperative gear 422 is used as a transmission hub to convert the vertical movement of the lifting frame 421 into the horizontal movement of the cross claw 423. When the lifting frame 421 slides in the vertical direction under the action of the gravity of the medicine bottle, the lifting tooth 4211 engages with the cooperative gear 422 to drive the cooperative gear 422 to rotate. The rotation of the cooperative gear 422 engages with the cooperative rack 4231 at the end of the cross claw 423, so that the cross claw 423 slides in the horizontal direction along the side wall of the electric drawer 4. This ingenious transmission design realizes multi-angle and multi-directional clamping of medicine bottles and irregularly shaped medicines, and can automatically adjust the clamping force and position according to the shape and size of the medicine to ensure that the medicine is firmly fixed in the electric drawer 4. The horizontal sliding movement of the cross claw 423 can apply a stable clamping force from the side of the medicine, and work together with the lifting frame 421 to form a reliable clamping space, which effectively prevents the medicine from being displaced, shaken or dropped during the movement of the drawer or the operation of the equipment, thereby ensuring the safety and stability of the medicine storage.

[0040] The lower surface of the workbench 1 is fixedly mounted with universal wheels 5 in a rectangular array, and the universal wheels 5 include a third steering motor 51, which is fixedly mounted on the lower surface of the workbench 1, and a drive motor 52 is fixedly mounted on the output end of the third steering motor 51, and rubber wheels 53 are fixedly mounted on the output ends of both sides of the drive motor 52.

[0041] By adopting the above technical solution, the universal wheel 5 provides flexible mobility for the entire intelligent outpatient automatic medicine navigator. The third steering motor 51 is responsible for controlling the steering of the universal wheel 5. It can accurately adjust the direction of the universal wheel 5 according to the navigation instructions or the operating requirements of the staff, so that the navigator can freely turn in the narrow pharmacy space, easily bypass obstacles, and accurately reach each medicine shelf position. The drive motor 52 provides power for the rolling of the universal wheel 5. The rubber wheels 53 installed on the output ends on both sides are in contact with the ground. When the drive motor 52 is started, it drives the rubber wheels 53 to rotate, thereby pushing the navigator forward or backward. The rubber wheels 53 have good wear resistance, grip and shock absorption performance, which can not only ensure the stability of the navigator during movement and prevent slipping, but also reduce the noise generated during movement. At the same time, it can also buffer the vibration caused by uneven ground, protect the precision components inside the navigator, ensure the stability and reliability of the equipment during operation, and improve the applicability and maneuverability of the navigator in a complex pharmacy environment.

[0042] A medicine frame 11 is provided on the upper surface of the workbench 1 , a trolley handrail 12 is fixedly installed at one end of the workbench 1 , and a smart computer 121 is fixedly installed in the middle of the crossbar of the trolley handrail 12 .

[0043] By adopting the above technical solution, the medicine frame 11 is convenient for temporarily storing medicines when picking up a single prescription, and then sending them to the medicine outlet for manual verification. The cart armrest 12 is convenient for the staff to move the navigator. When picking up multiple prescriptions, the smart computer 121 can plan an efficient route based on the distance of the medicines, command the robotic arm to pick up the medicines in sequence, and issue a voice reminder when encountering medicines that require manual assistance. The staff puts the medicines into the corresponding drawer according to the voice prompt.

[0044] The smart computer 121 is equipped with a voice broadcast function and a code scanning function, and the smart computer 121 is electrically connected to each motor of the device.

[0045] By adopting the above technical solution, the staff can use the barcode scanning device of the smart computer 121 to scan the barcode or QR code of the medicine, as well as the prescription information of the patient. By scanning the barcode of the medicine, the smart computer 121 can quickly obtain detailed information about the medicine and compare and verify it with the prescription for taking the medicine, providing a basis for subsequent medicine route planning and operation control. The smart computer 121 is electrically connected to each motor to realize comprehensive automated control of the equipment. It can accurately control the start, stop, speed and steering parameters of the first steering motor 13, lifting motor 222, telescopic motor 231, drawer motor 44, third steering motor 51, drive motor 52 and other motors according to preset programs and algorithms, as well as information obtained in real time (such as drug location, prescription for taking medicine, etc.).

[0046] Working principle: When the present invention is used, the staff first pushes the workbench 1 equipped with the cart handrail 12 to the pharmacy work area, and starts the smart computer 121. The smart computer 121 is equipped with a voice broadcast function and a code scanning function, and is electrically connected to each motor. If a single prescription for taking medicine is processed, the smart computer 121 obtains the prescription information through the code scanning function, analyzes the drug demand, and plans the drug taking path of the mechanical arm structure 2 according to the drug layout of the pharmacy. The mechanical arm structure 2 includes a steering arm 21, a right-angle arm 22 and a telescopic arm 23. The first steering motor 13 on one side of the steering arm 21 drives the steering belt 131 according to the instruction of the smart computer 121, driving the steering arm 2 1 rotates to the direction where the target drug is located; the lifting motor 222 at the lower end of the right-angle arm 22 cooperates with the first internal thread 212 at the upper end of the steering arm 21, so that the right-angle arm 22 can be lifted up and down to adjust the height; the telescopic motor 231 inside the telescopic arm 23 cooperates with the second internal thread 223 at the front end of the right-angle arm 22 to control the horizontal extension of the telescopic arm 23, so as to move the grasping mechanism 3 at the front end of the telescopic arm 23 to the drug position. In the grasping mechanism 3, the second steering motor 31 can adjust the grasping direction, and the vacuum pump 32 works to make the piston 322 in the vacuum chamber 321 slide, and the first rotating rod 33 engaged with the lower end teeth of the piston 322 and the second rotating rod 34 connected thereto carry The movable clamp 35 opens and closes, and the gasket 351 at the lower end of the clamp 35 increases the friction. After grabbing the medicine, it is placed in the medicine frame 11, and then sent to the medicine outlet for manual verification. If there are multiple prescriptions, the smart computer 121 also scans the code to analyze the planned route. The mechanical arm structure 2 grabs the medicines in sequence according to the plan. When encountering irregular medicines such as medicine bottles, the smart computer 121 voice reminds the staff, and the staff follows the equipment to the corresponding medicine and puts the medicine into the corresponding drawer according to the voice prompt. The electric drawer 4 on the side wall of the workbench 1 is controlled to open and close by the drawer motor 44 through meshing with the telescopic rack 43 on the outside of the electric drawer 4. The medicine bottle holder 42 inside the electric drawer 4 includes a lifting frame 4 21. The cooperative gear 422 and the horizontal claw 423, etc., the lifting frame 421 is slidably connected to the side wall of the drawer, the middle lifting tooth 4211 is meshed with the cooperative gear 422, one end of the spring 4212 is connected to the lifting frame 421, and the other end is fixed to the side wall of the electric drawer 4, the cooperative rack 4231 at the end of the horizontal claw 423 is meshed with the cooperative gear 422, which can stably clamp the medicine bottle, and the universal wheel 5 on the lower surface of the workbench 1 is controlled by the third steering motor 51 and the drive motor 52. The third steering motor 51 adjusts the direction, and the drive motor 52 drives the rubber wheel 53 to rotate, so that the equipment can be flexibly moved in the pharmacy. During the whole process, various components cooperate closely to achieve efficient and accurate medicine extraction.

[0047] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. An intelligent outpatient automatic medication navigator, comprising a workbench (1), characterized in that: The upper surface of the workbench (1) is rotatably connected to a mechanical arm structure (2), the mechanical arm structure (2) comprising a steering arm (21), the steering arm (21) being a hollow structure, the upper end of the steering arm (21) being provided with a first internal thread (212), the outer surface of the steering arm (21) being fixedly mounted with a first limit block (213), the outer surface of the steering arm (21) being provided with a belt groove (211), a first steering motor (13) being fixedly mounted on one side of the steering arm (21), the output end of the first steering motor (13) being provided with a steering belt (131), the upper end of the steering arm (21) being sleeved with a right-angle arm (22), the lower end of the right-angle arm (22) being a hollow structure, the lower end of the right-angle arm (22) being fixedly mounted with a lifting motor (222), the first internal thread (212) being threadedly connected to the output end of the lifting motor (222).

2. The intelligent outpatient automatic medication navigator according to claim 1, characterized in that: The front end of the right-angle arm (22) is a hollow structure. The front end of the right-angle arm (22) is provided with a second internal thread (223). The side wall of the lower end of the right-angle arm (22) is provided with a first limiting groove (213). The first limiting block (213) is slidably matched with the first limiting groove (213). The front end side wall of the right-angle arm (22) is fixedly installed with a second limiting block. The front end of the right-angle arm (22) is sleeved with a telescopic arm (23). The telescopic arm (23) is a hollow structure and a telescopic motor (231) is fixedly installed inside. The second internal thread (223) is threadedly connected to the output end of the telescopic motor (231). The front end of the telescopic arm (23) is provided with a grabbing mechanism (3).

3. The intelligent outpatient automatic medication navigator as claimed in claim 2, characterized in that: The gripping mechanism (3) comprises a second steering motor (31), the second steering motor (31) being fixedly mounted on the front end of the telescopic arm (23), a vacuum pump (32) being fixedly mounted on the output end of the second steering motor (31), a vacuum chamber (321) being arranged at the lower end of the vacuum pump (32), and a piston (322) being slidably connected in the vacuum chamber (321).

4. The intelligent outpatient automatic medication navigator according to claim 1, characterized in that: The side wall of the lower end of the piston (322) is rotatably connected to a first rotating rod (33), the upper end of the first rotating rod (33) is meshed with teeth at the lower end of the piston (322), the outer side of the first rotating rod (33) is rotatably connected to a second rotating rod (34), the lower ends of the first rotating rod (33) and the second rotating rod (34) are rotatably connected to a clamping claw (35), and a gasket (351) is fixedly installed at the lower end of the clamping claw (35).

5. The intelligent outpatient automatic medication navigator according to claim 1, characterized in that: The side wall of the workbench (1) is slidably connected to a plurality of electric drawers (4), a partition plate (41) is fixedly installed inside the electric drawer (4), a telescopic rack (43) is provided on the outside of the electric drawer (4), and drawer motors (44) equal in number to the number of the electric drawers (4) are installed inside the workbench (1), the output end of the drawer motor (44) is meshed with the telescopic rack (43), and a medicine bottle holder (42) is fixedly installed on the side wall inside the electric drawer (4).

6. The intelligent outpatient automatic medication navigator as claimed in claim 5, characterized in that: The medicine bottle clamp (42) comprises a lifting frame (421), the lifting frame (421) is slidably connected to the side wall of the drawer, a lifting tooth (4211) is provided in the middle of the lifting frame (421) in the vertical direction, and a spring (4212) is fixedly installed on the lifting frame (421), and the other end of the spring (4212) is fixedly connected to the side wall of the electric drawer (4).

7. The intelligent outpatient automatic medication navigator as claimed in claim 6, characterized in that: The lifting tooth (4211) is meshed with a cooperative gear (422), and the cooperative gear (422) is rotatably connected to the side wall of the electric drawer (4), and the side wall of the electric drawer (4) is slidably connected to a horizontal claw (423) in a horizontal direction, and a cooperative rack (4231) is provided at the end of the horizontal claw (423), and the cooperative rack (4231) is meshed with the cooperative gear (422).

8. The intelligent outpatient automatic medication navigator according to claim 1, characterized in that: The lower surface of the workbench (1) is fixedly mounted with universal wheels (5) in a rectangular array, the universal wheels (5) comprising a third steering motor (51), the third steering motor (51) being fixedly mounted on the lower surface of the workbench (1), a drive motor (52) being fixedly mounted on the output end of the third steering motor (51), and rubber wheels (53) being fixedly mounted on the output ends of both sides of the drive motor (52).

9. The intelligent outpatient automatic medication navigator according to claim 1, characterized in that: A medicine frame (11) is provided on the upper surface of the workbench (1), a trolley handrail (12) is fixedly mounted on one end of the workbench (1), and an intelligent computer (121) is fixedly mounted in the middle of the crossbar of the trolley handrail (12).

10. The intelligent outpatient automatic medication navigator according to claim 9, characterized in that: The smart computer (121) is equipped with a voice broadcast function and a code scanning function, and the smart computer (121) is electrically connected to each motor of the device.

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