Automatic medicine taking and dispensing robot

Abstract

The invention relates to the technical field of automation equipment, and discloses an automatic medicine taking and dispensing robot which comprises a medicine taking and dispensing device and a medicine box conveying device, the medicine box conveying device comprises a conveying mechanism and a recognition mechanism, and the recognition mechanism is arranged on the conveying mechanism and used for recognizing medicine boxes so as to remove the medicine boxes wrongly clamped by a medicine box clamping mechanism; the recognition mechanism comprises a first recognition frame and a second recognition frame, a liftable rotating assembly is arranged on the conveying mechanism, the rotating assembly is arranged below the first recognition frame, and the rotating assembly is used for rotating the medicine boxes and removing the medicine boxes; the conveying frame is further provided with an overturning assembly, the overturning assembly is used for overturning the medicine boxes, and a removing piece is arranged on the conveying mechanism and located on the second recognition frame. Through the structure, the recognition mechanism can recognize the medicine boxes conveyed on the conveying mechanism, and when the medicine boxes are wrong, the medicine boxes can be removed through the rotating assembly and the removing part, so that the wrong medicine boxes are prevented from being taken by a patient.

Description

Technical Field

[0001] The present application relates to the technical field of automated equipment, and in particular to an automatic medicine dispensing robot. Background Art

[0002] With the development of science and technology, the items and equipment that help people work or use in life are becoming more and more intelligent. For example, when picking up medicines, some pharmacies have achieved intelligence. When picking up boxed medicines, artificial robots can cooperate with mechanical arms to accurately grab different medicines and place them on conveyor belts. The conveyor belts are used to transport the medicines to the medicine picking area to increase the speed of picking up medicines.

[0003] However, in actual use, when medical staff use the system to control the artificial robot and the robotic arm to grab different medicines according to the list of medicines to be dispensed, there may be a situation where the medicines are grabbed incorrectly, causing the wrong medicines to be transported to the medicine collection area along the conveyor belt, resulting in incorrect dispensing, so that the wrong medicines are taken by the patients. Summary of the invention

[0004] The present application provides an automatic medicine dispensing robot to at least solve the above technical problems existing in the prior art.

[0005] An automatic medicine dispensing robot comprises a medicine dispensing device and a medicine box conveying device, wherein the medicine dispensing device comprises a medicine box storage rack and a medicine box clamping mechanism, wherein the medicine box clamping mechanism is used to clamp the corresponding medicine box in the medicine box storage rack and place the medicine box on the medicine box conveying device; The medicine box conveying device includes a conveying mechanism and an identification mechanism. The identification mechanism is arranged on the conveying mechanism and is used to identify the medicine box so as to remove the medicine box that is clamped incorrectly by the medicine box clamping mechanism. The conveying mechanism includes a conveying frame, and conveying rollers for conveying the medicine box are distributed between the conveying frames; The identification mechanism includes a first identification frame and a second identification frame arranged on the conveying frame, the first identification frame is provided with a first barcode scanner, three first barcode scanners are provided, and they are respectively used to scan the left, right and upper sides of the medicine box conveyed on the conveying mechanism; the conveying frame is provided with a lifting and lowering rotating component, the rotating component is arranged below the first identification frame, and the rotating component is used to rotate the medicine box conveyed on the conveying mechanism so that the front and rear sides of the medicine box can be scanned; the second identification frame is provided with a second barcode scanner, and the conveying frame is also provided with a flipping component, the flipping component is used to flip the medicine box so that the second scanner can scan the lower side of the medicine box, and a rejection piece is provided on the conveying frame and located at the second identification frame; The rotating assembly includes a turning table, which is rotatably arranged. The rotating assembly also includes a turning piece, which is used to drive the turning table to tilt toward both sides of the conveying frame so that the medicine box can slide to the corresponding side of the conveying frame.

[0006] Furthermore, the middle part of the turning platform is hingedly mounted on the first hinge seat, the first hinge seat is hingedly connected to the second hinge seat, and the second hinge seat and the first hinge seat are vertically arranged to each other, so that the turning platform can be turned along the first hinge seat and the second hinge seat; The rotating assembly also includes a bottom plate which can be lifted and lowered in the conveying frame, a rotatable turntable is arranged on the bottom plate, and the second hinged seat is fixedly installed on the turntable.

[0007] Furthermore, a central cavity located in the middle and an assembly cavity located at the end are provided on the flip table. A liftable conveying component is provided in the assembly cavity. When the flip table is horizontal, the conveying component is located in the assembly cavity. When the flip table is flipped and tilted, the conveying component along the flipping direction extends out of the assembly cavity to convey and slide the medicine box.

[0008] Further, the conveying assembly includes a first conveying member and a second conveying member arranged in relative assembly cavities, the first conveying member includes a first bracket arranged in relative to the corresponding assembly cavity, a plurality of first rollers arranged side by side are arranged between the first brackets, and the relative first brackets are connected by a first connecting rod passing through the central cavity; the second conveying member includes a second bracket arranged in relative to the corresponding assembly cavity, a plurality of second rollers arranged side by side are arranged between the second brackets, and the relative second brackets are connected by a second connecting rod passing through the central cavity; a reset member for driving the first conveying member or the second conveying member to retract is provided in the assembly cavity, a first lifting member is provided on the first articulated seat, the first lifting member is used to lift the first conveying member to extend when the flipping platform is flipped along the second articulated seat, and a second lifting member is provided on the second articulated seat, the second lifting member is used to lift the second conveying member to extend when the flipping platform is flipped along the first articulated seat.

[0009] Furthermore, the reset member includes a mounting column relatively arranged in the assembly cavity, the mounting column passes through the first bracket or the second bracket, a first spring is sleeved on the mounting column, and the first spring is used to push the first bracket or the second bracket downward to retract it into the assembly cavity.

[0010] Furthermore, the first lifting member includes a mounting frame arranged in the first articulated seat, a first gear is relatively arranged on the mounting frame, a rotatable wheel is arranged in the central cavity, a second gear meshing with the first gear is arranged on the wheel, a shift rod is relatively arranged on the wheel, and the top end of the shift rod is used to abut against the first connecting rod. When the flip platform rotates on the first articulated seat, the second gear is driven to move circumferentially along the first gear, so that the shift rod lifts the first connecting rod to extend the first bracket.

[0011] Furthermore, the second lifting member includes a mounting block arranged in the second articulated seat, a mounting cavity is arranged in the mounting block, a lifting block is arranged in the mounting cavity through a second spring, a lifting block is provided with a push rod that passes through the mounting block and extends into the central cavity, a top plate that cooperates with the push rod is provided between the second connecting rods, a slot is opened on the side of the lifting block, a first inclined surface is provided in the slot, a slidable top block with one end extending into the slot is provided in the second articulated seat, a second inclined surface that cooperates with the first inclined surface is provided on the top block, a push rod is provided on the first articulated seat corresponding to the top block, and the rotation of the first articulated seat on the second articulated seat is used to drive the push rod to squeeze the top block into the slot, so that the second inclined surface squeezes the first inclined surface to drive the push rod to lift the top plate, thereby realizing the extension of the second bracket.

[0012] Furthermore, a cylinder for driving the bottom plate to rise and fall is provided in the conveying frame.

[0013] Furthermore, the outer edge of the turntable is provided with teeth grooves along its circumference, a first servo motor is provided on the bottom plate, and a third gear meshing with the teeth grooves is provided on the output shaft of the first servo motor.

[0014] Furthermore, the turning assembly comprises a turning shaft rotatably arranged between the conveying frames, and a turning plate which can extend out of the upper side of the conveying frames is arranged on the turning shaft.

[0015] Compared with the prior art, the automatic medicine dispensing robot of the present application has the following beneficial effects: 1. In the present application, a recognition mechanism is provided on the conveying mechanism so that the identification mechanism can identify the medicine box conveyed on the conveying mechanism. When an error occurs in the medicine box, the rotating assembly and the rejection member on the conveying mechanism can make the medicine box slide out of the conveying mechanism to prevent the wrong medicine box from being taken by the patient.

[0016] 2. In the present application, by setting up the first identification frame, the second identification frame, the rotating assembly and the rejection member, when the medicine box is transported on the conveying mechanism, the six sides of the medicine box are scanned and identified, thereby being able to accurately identify the information of the medicine box, making the recognition result of the recognition mechanism more accurate and the effect of rejecting the wrong medicine box better.

[0017] 3. In the present application, by setting up the conveying assembly, when the turning table is turned over to slide the medicine box, the conveying assembly along the turning direction extends out of the assembly cavity, that is, it extends out of the bearing surface, so as to facilitate the medicine box to slide on the turning table. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] By reading the detailed description below with reference to the accompanying drawings, the above and other purposes, features and advantages of the exemplary embodiments of the present application will become readily understood. In the accompanying drawings, several embodiments of the present application are shown in an exemplary and non-limiting manner, wherein: In the drawings, the same or corresponding reference numerals represent the same or corresponding parts.

[0019] Figure 1 The structure of an automatic medicine dispensing robot in the present application is shown; Figure 2 A schematic diagram showing the coordination structure between the medicine box clamping mechanism and the medicine box conveying device in the present application is shown; Figure 3 The schematic diagram of the structure of the medicine box conveying device in the present application is shown; Figure 4 The structure diagram of the rotating assembly in the present application is shown; Figure 5 One of the structural schematic diagrams of the conveying assembly in the present application is shown; Figure 6 The second structural schematic diagram of the conveying assembly in the present application is shown; Figure 7 A schematic diagram showing the hinged installation of the turning table on the first hinged seat in the present application is shown; Figure 8 A schematic diagram of the hinged installation of the first hinge seat on the second hinge seat in the present application is shown; Fig. 9 A schematic diagram of the explosion structure of the second lifting member in the present application is shown; Fig.10 A schematic diagram of the structure of the rejecting member in the present application is shown.

[0020] Description of the numbers in the figure: 10. Medicine dispensing device; 20. Medicine box conveying device; 100. Medicine box storage rack; 110. Medicine box clamping mechanism; 210, frame; 220, first slide rail; 230, second slide rail; 240, clamping platform; 300, conveying frame; 301, conveying roller; 310, first identification frame; 320, second identification frame; 331, turning shaft; 332, turning plate; 400, turning table; 401, central cavity; 402, assembly cavity; 410, first hinge seat; 420, second hinge seat; 421, third servo motor; 430, bottom plate; 431, turntable; 440, conveying assembly; 450, mounting block; 460, cylinder; 470, first servo motor; 471, third gear; 501, second hinged portion; 510, first bracket; 511, first roller; 512, first connecting rod; 520, second bracket; 521, second roller; 522, second connecting rod; 523, top plate; 530, mounting bracket; 540, lever; 601, push rod; 611, first gear; 620, rotating wheel; 621, second gear; 701, mounting column; 710, first spring; 720, second servo motor; 901, mounting cavity; 910, second spring; 920, lifting block; 921, ejector rod; 922, notch; 923, first inclined surface; 930, ejector block; 1010, mounting plate; 1020, fourth servo motor; 1030, shaft rod; 1031, rejecting rod. DETAILED DESCRIPTION

[0021] In order to make the purpose, features, and advantages of the present application more obvious and easy to understand, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0022] like Figure 1-10 As shown, an automatic medicine dispensing robot in this embodiment includes a medicine dispensing device 10 and a medicine box conveying device 20. The medicine dispensing device 10 includes a medicine box storage rack 100 and a medicine box clamping mechanism 110. The medicine box clamping mechanism 110 is used to clamp the corresponding medicine box in the medicine box storage rack 100 and place the medicine box on the medicine box conveying device 20. Specifically, Figure 1-2 As shown, a plurality of chambers arranged side by side and used for storing medicine boxes of different medicines are formed in the medicine box storage rack 100; the medicine box clamping mechanism 110 includes a frame 210, which is installed at the opening side of the medicine box storage rack 100, and the upper end surface of the frame 210 is provided with a first slide rail 220 along its length direction, and a second slide rail 230 is slidably provided on the first slide rail 220, and the second slide rail 230 is arranged along the height direction of the frame 210, and a clamping platform 240 is slidably provided on the second slide rail 230, and the clamping platform 240 is used for installing a robot arm, wherein the first slide rail 220, the second slide rail 230 and the clamping platform 240 constitute an XY axis moving platform, so that it can drive the robot arm to move to the opening of any chamber, wherein the robot arm is of an existing structure, which can take out the medicine box in the chamber, and under the action of the XY axis moving platform, the medicine box is placed on the medicine box conveying device 20 for output; It also includes a remote terminal control system for controlling the actuator to perform actions. Specifically, the remote terminal control system controls the XY axis moving platform and the robotic arm based on the prescription information to take out the drugs on the prescription information from the corresponding chamber, and place them on the medicine box conveying device 20 in sequence, and output them to the drug taking position through the medicine box conveying device 20, thereby enabling the automatic drug dispensing robot to complete automatic drug dispensing according to the prescription information; wherein the prescription information includes the type and quantity of drugs. In this embodiment, the medicine box conveying device 20 includes a conveying mechanism and an identification mechanism. The identification mechanism is arranged on the conveying mechanism and is used to identify the medicine box so as to remove the medicine box that is incorrectly clamped by the medicine box clamping mechanism 110. The conveying mechanism includes a conveying frame 300, and conveying rollers 301 for conveying the medicine box are distributed between the conveying frames 300; The identification mechanism includes a first identification frame 310 and a second identification frame 320 arranged on the conveying frame 300. The first identification frame 310 is provided with a first barcode scanner, and three first barcode scanners are provided, which are respectively used to scan the left, right and upper sides of the medicine box conveyed on the conveying mechanism; the conveying frame 300 is provided with a lifting and lowering rotating component, the rotating component is arranged below the first identification frame 310, and the rotating component is used to rotate the medicine box conveyed on the conveying mechanism so that the front and rear sides of the medicine box can be scanned; the second identification frame 320 is provided with a second barcode scanner, and the conveying frame 300 is also provided with a flipping component, the flipping component is used to flip the medicine box so that the second scanner can scan the lower side of the medicine box, and a rejection piece is provided on the conveying frame 300 and located at the second identification frame 320; The rotating assembly includes a liftable flip table 400, which is rotatably arranged. The rotating assembly also includes a flip member, which is used to drive the flip table 400 to tilt toward both sides of the conveying frame 300 so that the medicine box can slide to the corresponding side of the conveying frame 300.

[0023] In this embodiment, the identification mechanism is set up so that when the conveying mechanism conveys the medicine box, the medicine box that does not belong to the medicine order information can be removed to avoid the occurrence of medication errors; Specifically, Figure 3 As shown, the first identification frame 310 and the second identification frame 320 form rejection windows at both sides of the conveying frame 300, so that when the identification mechanism identifies that the medicine box conveyed on the conveying frame 300 is misplaced, the medicine box can slide out through the rejection window under the action of the turning table 400 and the screening component, so as to avoid the situation of wrong dispensing; Specifically, the conveying roller 301 can be rotatably mounted on the conveying frame 300 to convey the medicine box, wherein when the turning table 400 is horizontal, its upper end surface forms a bearing surface, and in the initial state, the turning table 400 is lowered into the conveying frame 300 so that the bearing surface is flush with the conveying surface of the conveying roller 301, thereby enabling the conveying roller 301 to convey the medicine box to the bearing surface of the turning table 400; In actual use of this embodiment, the medicine box is sequentially conveyed on the conveying mechanism so that it passes through the first identification rack 310 and the second identification rack 320 in sequence. In actual use, when the medicine box is conveyed to the turning table 400 below the first identification rack 310, the conveying roller 301 stops conveying the medicine box, and the three first barcode scanners respectively scan the left and right sides and the upper side of the medicine box to identify the barcode on the medicine box. When it is identified that the medicine box belongs to the medicine on the medicine list, the conveying roller 301 continues to convey the medicine box until the medicine box is output; When it is recognized that the medicine box does not belong to the medicine on the medicine list, the turning table 400 rises to lift the medicine box on the carrying surface, and then the turning member is used to drive the turning table 400 to tilt toward the side of the conveying rack 300, so that the medicine box on the turning table 400 can slide to the corresponding side of the conveying rack 300; when the three first barcode scanners scan the left and right sides and the upper side of the medicine box, if the information of the medicine box not being recognized appears, the turning table 400 rises to be located above the conveying surface of the conveying roller 301, and rotates 90 degrees to adjust the direction of the medicine box. The medicine box is adjusted. After the adjustment is completed, the first barcode scanner can scan the front and back sides of the medicine box. When the medicine box is identified as a medicine on the medicine list, the turning table 400 is lowered and reset, and the conveying roller 301 continues to convey the medicine box until the medicine box is output; when it is identified that the medicine box does not belong to the medicine on the medicine list, the turning member is used to drive the turning table 400 to tilt toward the side of the conveying rack 300, so that the medicine box on the turning table 400 can slide to the corresponding side of the conveying rack 300; when the first barcode scanner scans the front and back sides of the medicine box, an unrecognized medicine box is found. When the information of the medicine box is identified, the turning table 400 moves down and resets, and the conveying roller 301 starts to convey the medicine box to the second identification rack 320. During this process, the turning component can turn the medicine box over so that the lower side of the medicine box faces upward, so that the second barcode scanner can scan the lower side of the medicine box. When the medicine box is identified as a medicine in the medicine list, the conveying roller 301 can output the medicine box; when the medicine box is identified as not belonging to the medicine in the medicine list, the rejecting part can slide the medicine box out from the corresponding side of the conveying rack 300; In actual use, the two can be respectively arranged on the corresponding sides of the conveyor rack 300 according to the type of medicine in the medicine box, such as liquid medicine and tablet medicine. When the medicine on the conveyor rack 300 is to be removed, the medicine box can be output to the corresponding side of the conveyor rack 300 according to the type of medicine, so as to remind the staff to carefully take and place the liquid medicine, which is convenient for the subsequent management of the medicine box.

[0024] In this embodiment, combined with Figure 3As shown, the flip assembly is arranged between the first identification frame 310 and the second identification frame 320 to reverse the medicine box output by the first identification frame 310 so that the medicine box can enter the second identification frame 320; specifically, the flip assembly includes a flip shaft 331 rotatably arranged between the conveying frames 300, and the flip shaft 331 is provided with a flip plate 332 that can extend out of the upper side of the conveying frame 300, and four flip plates 332 are evenly arranged along the circumference of the flip shaft 331. When the medicine box is conveyed on the conveying roller 301 to the flip plate 332 that is attached to the conveying surface of the conveying roller 301, at this time, the flip shaft 331 rotates to drive the flip plate 332 to flip, thereby realizing the flipping of the medicine box; In this embodiment, combined with Fig.10 As shown, the rejection member includes a mounting plate 1010 relatively arranged on the corresponding side of the conveying frame 300, and a rotatable shaft 1030 is installed between the mounting plates 1010 through a fourth servo motor 1020, and a rejection rod 1031 extending into the conveying frame 300 is relatively provided on the shaft 1030; specifically, when the conveying roller 301 conveys the medicine box to the rejection member below the second identification frame 320, the conveying roller 301 stops conveying. At this time, according to the scanning result of the second barcode scanner, the corresponding fourth servo motor 1020 is controlled to start, driving the shaft 1030 to rotate, so as to lift the corresponding rejection rod 1031, so that it rises to above the conveying surface of the conveying roller 301, and the medicine box slides off the corresponding side of the conveying frame 300 to achieve the rejection of the wrong medicine box.

[0025] It should be noted that both the first identification frame 310 and the second identification frame 320 are provided with infrared sensors. When the infrared sensors detect the medicine box, the conveying roller 301 can be controlled to stop so as to facilitate the operation of the identification mechanism.

[0026] Combination Figure 4-8 As shown, in this embodiment, the middle position of the flip table 400 is hingedly mounted on the first hinge seat 410, the first hinge seat 410 is hingedly connected to the second hinge seat 420, and the second hinge seat 420 and the first hinge seat 410 are arranged perpendicular to each other, so that the flip table 400 can be flipped along the first hinge seat 410 and the second hinge seat 420; The rotating assembly further includes a bottom plate 430 which can be lifted and lowered in the conveying frame 300 . A rotatable turntable 431 is disposed on the bottom plate 430 . The second hinge seat 420 is fixedly mounted on the turntable 431 .

[0027] In actual use of this embodiment, a first hinged portion is disposed at the middle position of the flip table 400 and on the lower side thereof, and the first hinged portion extends into the first hinged seat 410. The first hinged seat 410 is provided with a first hinged shaft penetrating the first hinged portion, thereby realizing the hinged installation of the flip table 400 on the first hinged seat 410. The first hinge seat 410 is provided with a second hinge portion 501, the second hinge portion 501 extends into the second hinge seat 420, and the second hinge portion 501 is provided with a second hinge shaft penetrating the second hinge seat 420, thereby realizing the hinged installation of the first hinge seat 410 on the second hinge seat 420; Specifically, the first hinge seat 410 is provided with a second servo motor 720 for driving the first hinge portion to rotate, and the second hinge seat 420 is provided with a third servo motor 421 for driving the second hinge portion 501 to rotate, thereby enabling the second servo motor 720 and the third servo motor 421 to drive the flip table 400 to flip toward the side of the conveying frame 300, so that the medicine box on the flip table 400 slides off; Among them, the outer edge of the turntable 431 has teeth distributed along its circumference, a first servo motor 470 is provided on the base plate 430, and a third gear 471 meshing with the teeth is provided on the output shaft of the first servo motor 470, and a cylinder 460 for driving the base plate 430 to rise and fall is provided in the conveying frame 300.

[0028] Through the above structure, under the action of the cylinder 460 and the first servo motor 470, the turning table 400 can be raised to above the conveying surface of the conveying roller 301 and rotated to switch the direction of the medicine box on the turning table 400.

[0029] In this embodiment, a central cavity 401 located in the middle and an assembly cavity 402 located at the end are provided on the flip table 400. A liftable conveying component 440 is provided in the assembly cavity 402. When the flip table 400 is horizontal, the conveying component 440 is located in the assembly cavity 402. When the flip table 400 is flipped and tilted, the conveying component 440 along the flipping direction extends out of the assembly cavity 402 to convey and slide the medicine box.

[0030] In actual use of this embodiment, due to the arrangement of the central cavity 401 and the assembly cavity 402, the turning table 400 as a whole is in the shape of a "well". Specifically, the first hinged portion is arranged on the side wall opposite to the central cavity 401, wherein, through the arrangement of the conveying assembly 440, in actual use, when the turning table 400 is in a horizontal state, the conveying assembly 440 is lowered into the assembly cavity 402, that is, when the turning table 400 is located below the conveying surface of the conveying roller 301, the conveying roller 301 can convey the medicine box, and when the turning table 400 is turned over to slide the medicine box, the conveying assembly 440 along the turning direction extends out of the assembly cavity 402 to facilitate the medicine box to slide on the turning table 400.

[0031] In this embodiment, the conveying assembly 440 includes a first conveying member and a second conveying member arranged in the relative assembly cavity 402, the first conveying member includes a first bracket 510 arranged in the corresponding assembly cavity 402, a plurality of first rollers 511 arranged side by side are arranged between the first brackets 510, and the relative first brackets 510 are connected by a first connecting rod 512 that passes through the central cavity 401; the second conveying member includes a second bracket 520 arranged in the corresponding assembly cavity 402, a plurality of second rollers 511 arranged side by side are arranged between the second brackets 520 521, the second brackets 520 relative to each other are connected by a second connecting rod 522 passing through the central cavity 401; a reset member for driving the first conveying member or the second conveying member to retract is provided in the assembly cavity 402, a first lifting member is provided on the first articulated seat 410, and the first lifting member is used to lift the first conveying member to extend when the turning platform 400 is turned over along the second articulated seat 420, and a second lifting member is provided on the second articulated seat 420, and the second lifting member is used to lift the second conveying member to extend when the turning platform 400 is turned over along the first articulated seat 410.

[0032] In actual use of this embodiment, when the turning table 400 is tilted, the first roller 511 or the second roller 521 can extend out of the turning table 400, thereby supporting the medicine box on the turning table 400, so that the sliding friction between the medicine box and the turning table 400 is changed to rolling friction, so as to facilitate the sliding of the medicine box.

[0033] In actual use, the first connecting rod 512 and the second connecting rod 522 are staggered to avoid mutual interference between the two and affecting the lifting of the first conveying member or the second conveying member; When the turning table 400 is horizontal, the first bracket 510 and the second bracket 520 are pushed downward by the reset member, so that the first roller 511 and the second roller 521 are located below the bearing surface; the first lifting member and the second lifting member are arranged to drive the corresponding first conveying member or the second conveying member to extend out of the bearing surface when the turning table 400 is turned over; In this embodiment, the reset member includes a mounting column 701 relatively arranged in the assembly cavity 402, the mounting column 701 passes through the first bracket 510 or the second bracket 520, and a first spring 710 is sleeved on the mounting column 701. The first spring 710 is used to push the first bracket 510 or the second bracket 520 downward so that it retracts into the assembly cavity 402.

[0034] In actual use of this embodiment, the mounting column 701 passes through the first bracket 510 or the second bracket 520 and is threadedly mounted with a nut at the end thereof, and the nut is used to realize the installation of the first conveying member and the second conveying member in the flip table 400; The first spring 710 is arranged to drive the first and second conveying members to retract into the assembly cavity 402 , so that the turning table 400 is horizontal and located below the conveying surface of the conveying roller 301 , and the medicine box can be moved onto the turning table 400 .

[0035] In this embodiment, the first lifting member includes a mounting frame 530 arranged in the first articulated seat 410, and a first gear 611 is relatively arranged on the mounting frame 530. A rotatable wheel 620 is arranged in the central cavity 401, and a second gear 621 meshing with the first gear 611 is arranged on the wheel 620. A lever 540 is relatively arranged on the wheel 620, and the top end of the lever 540 is used to abut against the first connecting rod 512. When the flip table 400 rotates on the first articulated seat 410, the second gear 621 is driven to move circumferentially along the first gear 611, so that the lever 540 lifts the first connecting rod 512 to extend the first bracket 510.

[0036] In this embodiment, the mounting frame 530 is U-shaped and fixedly mounted in the first hinge seat 410, wherein the first gear 611 is fixed on the mounting frame 530 and is coaxially arranged with the first hinge axis; wherein the rotating wheel 620 is rotatably mounted on the side wall opposite to the central cavity 401 through the rotating shaft to realize its rotatable arrangement, thereby, in the initial state, that is, when the turning platform 400 is horizontal, the upper end of the relative lever 540 abuts against the corresponding first connecting rod 512 to retract the first conveying member into the assembly cavity 402, at this time, when the turning platform 400 is turned over on the first hinge seat 410, the second gear 621 can be moved circumferentially along the first gear 611, thereby causing the second gear 621 to rotate, driving the corresponding lever 540 to rotate, so as to lift the first connecting rod 512, so that the first conveying member is extended out of the bearing surface; at the same time, when the turning platform 400 is turned over to the horizontal, the second gear 621 can be rotated and reset, so that the first conveying member is retracted into the assembly cavity 402 again; In this embodiment, the two levers 540 on the same rotating wheel 620 are V-shaped, thereby allowing the turning table 400 to rotate toward both sides on the first hinge seat 410, and both can drive the second conveying member to extend out of the bearing surface for practical use.

[0037] Combination Fig. 9As shown, in this embodiment, the second lifting member includes a mounting block 450 disposed in the second hinge seat 420, a mounting cavity 901 is disposed in the mounting block 450, a lifting block 920 is disposed in the mounting cavity 901 through a second spring 910, a lifting block 920 is provided with a push rod 921 that penetrates the mounting block 450 and extends into the central cavity 401, a top plate 523 that matches the push rod 921 is provided between the second connecting rod 522, a notch 922 is provided on the side of the lifting block 920, and a first inclined surface 923 is provided in the notch 922. A slidable top block 930 with one end extending into the slot 922 is provided in the second hinged seat 420, and a second inclined surface matching the first inclined surface 923 is provided on the top block 930. A push rod 601 is provided on the first hinged seat 410 corresponding to the top block 930. The rotation of the first hinged seat 410 on the second hinged seat 420 is used to drive the push rod 601 to squeeze the top block 930 and extend into the slot 922, so that the second inclined surface squeezes the first inclined surface 923 to drive the push rod 921 to lift the top plate 523, thereby realizing the extension of the second bracket 520.

[0038] In actual use of this embodiment, the first hinge seat 410 and the mounting frame 530 are both provided with a strip groove along their length direction for the push rod 921 to extend out; The second spring 910 is sleeved outside the top rod 921 and is used to drive the lifting block 920 to move down to the bottom of the installation cavity 901, so that when the flip table 400 is horizontal, the top rod 921 is located below the top plate 523. At this time, the second conveying member is in a state of being retracted into the assembly cavity 402. In this embodiment, the top block 930 is slidably installed on the turntable 431 through a slide rail so that one end of the top block 930 extends into the notch 922. In actual use, the first hinge seat 410 is flipped on the second hinge seat 420 to make the flip table 400 move along the direction of the first hinge seat 410. During the overturning, the push rod 601 on the first hinge seat 410 pushes the top block 930 to move into the notch 922 due to the overturning of the first hinge seat 410, so that the second inclined surface squeezes the first inclined surface 923 to drive the push rod 921 to lift the top plate 523, so that the second conveying member extends out of the bearing surface. When the first hinge seat 410 rotates to the horizontal along the second hinge seat 420, even if the overturning platform 400 is overturned to the horizontal, at this time, the push rod 601 is away from the top block 930, so that under the action of the second spring 910, the push rod 921 moves down, and the top block 930 is reset at the same time, so that it can lift the push rod 921 again; Specifically, in order to enable the second conveying member to extend out of the bearing surface when the first articulated seat 410 is flipped toward both sides, a notch 922 and a first inclined surface 923 are provided on the two opposite side surfaces of the lifting block 920, and a lifting block 930 is also provided at the notch 922 to enable the second conveying member to extend out of the bearing surface when the first articulated seat 410 is flipped toward both sides.

[0039] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps recorded in this disclosure can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution disclosed in this application can be achieved, and this document is not limited here.

[0040] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0041] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. An automatic medicine dispensing robot, comprising a medicine dispensing device (10) and a medicine box conveying device (20), characterized in that: The medicine dispensing device (10) comprises a medicine box storage rack (100) and a medicine box clamping mechanism (110), wherein the medicine box clamping mechanism (110) is used to clamp a corresponding medicine box in the medicine box storage rack (100) and place the medicine box on the medicine box conveying device (20); The medicine box conveying device (20) comprises a conveying mechanism and an identification mechanism, wherein the identification mechanism is arranged on the conveying mechanism and is used to identify the medicine box so as to remove the medicine box that is incorrectly clamped by the medicine box clamping mechanism (110); The conveying mechanism comprises a conveying frame (300), and conveying rollers (301) for conveying medicine boxes are distributed between the conveying frames (300); The identification mechanism comprises a first identification frame (310) and a second identification frame (320) which are arranged on the conveying frame (300); the first identification frame (310) is provided with a first barcode scanner, and three first barcode scanners are provided, which are respectively used to scan the left, right and upper sides of the medicine box conveyed on the conveying mechanism; the conveying frame (300) is provided with a retractable rotating component, the rotating component is arranged below the first identification frame (310), and the rotating component is used to rotate the medicine box conveyed on the conveying mechanism so that the front and rear sides of the medicine box are scanned; the second identification frame (320) is provided with a second barcode scanner, and the conveying frame (300) is also provided with a flipping component, the flipping component is used to flip the medicine box so that the second scanner can scan the lower side of the medicine box, and a rejection piece is provided on the conveying frame (300) and located at the second identification frame (320); The rotating assembly comprises a turning table (400) which is rotatably arranged. The rotating assembly also comprises a turning piece which is used to drive the turning table (400) to tilt toward two sides of the conveying frame (300) so that the medicine box can slide to the corresponding side of the conveying frame (300).

2. The automatic medicine dispensing robot according to claim 1, characterized in that: The middle part of the turning platform (400) is hingedly mounted on a first hinge seat (410), the first hinge seat (410) is hingedly connected to a second hinge seat (420), and the second hinge seat (420) and the first hinge seat (410) are arranged perpendicular to each other, so that the turning platform (400) can be turned along the first hinge seat (410) and the second hinge seat (420); The rotating assembly also includes a bottom plate (430) which is movably arranged inside the conveying frame (300), a rotatable turntable (431) is arranged on the bottom plate (430), and the second hinge seat (420) is fixedly mounted on the turntable (431).

3. The automatic medicine dispensing robot according to claim 2, characterized in that: The turning table (400) is provided with a central cavity (401) located in the middle and an assembly cavity (402) located at the end. A liftable conveying assembly (440) is provided in the assembly cavity (402). When the turning table (400) is horizontal, the conveying assembly (440) is located in the assembly cavity (402). When the turning table (400) turns over and tilts, the conveying assembly (440) in the turning direction extends out of the assembly cavity (402) to convey and slide the medicine box.

4. The automatic medicine dispensing robot according to claim 3 is characterized in that: The conveying assembly (440) comprises a first conveying member and a second conveying member arranged in the corresponding assembly cavity (402), the first conveying member comprising a first bracket (510) arranged in the corresponding assembly cavity (402), a plurality of first rollers (511) arranged side by side are arranged between the first brackets (510), and the first brackets (510) are connected to each other via a first connecting rod (512) penetrating the central cavity (401); the second conveying member comprises a second bracket (520) arranged in the corresponding assembly cavity (402), a plurality of second rollers (511) arranged side by side are arranged between the second brackets (520), and the first rollers (511) arranged side by side are arranged between the second brackets (520). 21), the second brackets (520) relative to each other are connected by a second connecting rod (522) penetrating the central cavity (401); a reset member for driving the first conveying member or the second conveying member to retract is provided in the assembly cavity (402); a first lifting member is provided on the first hinged seat (410), and the first lifting member is used to lift the first conveying member to extend when the turning platform (400) is turned along the second hinged seat (420); a second lifting member is provided on the second hinged seat (420), and the second lifting member is used to lift the second conveying member to extend when the turning platform (400) is turned along the first hinged seat (410).

5. The automatic medicine dispensing robot according to claim 4, characterized in that: The reset member comprises a mounting post (701) arranged relatively in the assembly cavity (402); the mounting post (701) passes through the first bracket (510) or the second bracket (520); a first spring (710) is sleeved on the mounting post (701); the first spring (710) is used to push the first bracket (510) or the second bracket (520) downward to retract it into the assembly cavity (402).

6. The automatic medicine dispensing robot according to claim 4, characterized in that: The first lifting member comprises a mounting frame (530) arranged in the first hinge seat (410), a first gear (611) being arranged on the mounting frame (530) in a relative manner, a rotatable rotating wheel (620) being arranged in the central cavity (401), a second gear (621) meshing with the first gear (611) being arranged on the rotating wheel (620), a shifting rod (540) being arranged in a relative manner on the rotating wheel (620), a top end of the shifting rod (540) being used to abut against the first connecting rod (512), and when the turning platform (400) rotates on the first hinge seat (410), the second gear (621) is driven to move circumferentially along the first gear (611), so that the shifting rod (540) can lift the first connecting rod (512) to extend the first bracket (510).

7. The automatic medicine dispensing robot according to claim 4, characterized in that: The second lifting member comprises a mounting block (450) disposed in the second hinge seat (420), a mounting cavity (901) being disposed in the mounting block (450), a lifting block (920) being disposed in the mounting cavity (901) through a second spring (910), a lifting rod (921) penetrating the mounting block (450) and extending into the central cavity (401) being disposed on the lifting block (920), a top plate (523) cooperating with the lifting rod (921) being disposed between the second connecting rods (522), a notch (922) being provided on the side surface of the lifting block (920), a first inclined surface (923) being provided in the notch (922), and a second A top block (930) is provided in the hinged seat (420) and is slidable and has one end extending into the slot (922). A second inclined surface that matches the first inclined surface (923) is provided on the top block (930). A push rod (601) is provided on the first hinged seat (410) corresponding to the top block (930). The first hinged seat (410) rotates on the second hinged seat (420) to drive the push rod (601) to squeeze the top block (930) and extend into the slot (922), so that the second inclined surface squeezes the first inclined surface (923) to drive the push rod (921) to lift the top plate (523), thereby realizing the extension of the second bracket (520).

8. The automatic medicine dispensing robot according to claim 2, characterized in that: The conveying frame (300) is provided with a cylinder (460) for driving the bottom plate (430) to rise and fall.

9. The automatic medicine dispensing robot according to claim 2, characterized in that: The outer edge of the turntable (431) is provided with tooth grooves along its circumference, a first servo motor (470) is provided on the bottom plate (430), and a third gear (471) meshing with the tooth grooves is provided on the output shaft of the first servo motor (470).

10. The automatic medicine dispensing robot according to claim 1, characterized in that: The turning assembly comprises a turning shaft (331) rotatably arranged between the conveying frames (300), and a turning plate (332) is provided on the turning shaft (331) and can extend out of the upper side of the conveying frame (300).

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