Human-like vertical type automatic medicine taking device used between rows of medicine cabinets

Abstract

The invention discloses a human-like vertical type automatic medicine taking device used between medicine cabinet columns, which comprises a gantry type walking mechanism, and the lower parts of the two ends of the walking mechanism are arranged on the edges of the top surfaces of two adjacent vertical type medicine cabinets through two combined guide rails and can move relative to the combined guide rails; the combined stand column is hung in the middle of the top of the walking mechanism. According to the human-like vertical type automatic medicine taking device used between the medicine cabinet columns, through cooperation of the walking mechanism and a lifting module in the medicine suction mechanism, the position of the medicine suction mechanism can be rapidly adjusted according to distribution information of medicine, automatic unstacking and grabbing of medicine boxes of different specifications can be achieved, and the labor intensity of workers is lowered. No-dead-angle suction within the reachable range of a single stand column is realized; the walking mechanism and the single stand column adopt guide rails, so that high-speed walking between the vertical medicine cabinets is facilitated; the device adopts a modular design, is convenient to install, debug and control, and can be easily popularized to dispensing sites of hospitals and drugstores.

Description

Technical Field

[0001] The present invention relates to a humanoid upright automatic medicine taking device used between rows of medicine cabinets, which is particularly suitable for automatic dispensing of boxed medicines stored in multi-row vertical medicine cabinets, and belongs to the field of medical intelligent equipment. Background Art

[0002] In order to ensure the efficiency of drug dispensing, domestic hospital pharmacies need a large number of pharmacists to complete the task of dispensing drugs. According to statistics from the my country Industrial Research Institute, there were about 450,000 drugstores in China from 2013 to 2017, and most of them still did not use automated equipment, requiring a large number of people to dispense drugs. As labor costs continue to rise, automatic drug dispensing systems are gradually being installed in hospitals and drugstores across the country.

[0003] In order to realize the automatic drug dispensing system, Chinese Patent 2020111519807 discloses a boxed drug orderly and rapid dispensing system based on human-machine collaboration. By installing a number of drug dispensing devices on the side walls of the medicine cabinet, the drug combination dispensing time is shortened. However, the high-speed coordinated movement of multiple drug dispensing devices will bring stability problems such as vibration, and it is necessary to reinforce the connection between the parallel medicine cabinet and the ground. For example, Chinese Patent 201910921837.2 discloses an automatic drug dispensing robot, which uses a wheeled body to carry a lifting manipulator to realize the automatic grasping or absorption of medicine boxes or bagged medicines. The walking range is large, but this automatic drug dispensing robot adopts a tracking walking mechanism, which is not easy to achieve high-speed reciprocating walking between vertical medicine cabinets. The operation of taking medicine from the medicine cabinet belongs to a repetitive operation with a certain working environment. If a walking mechanism without a tracking function can be adopted, it can not only simplify the hardware structure of the drug dispensing system, but also simplify the motion control of the system, thereby improving the efficiency of drug dispensing. For another example, Chinese patent 201210555708.4 discloses a method for controlling the automatic outbound delivery of boxed medicines, which uses an independent automatic outbound delivery mechanism composed of components such as a "U"-shaped groove and an electromagnetic ejector rod. For a vertical medicine cabinet with multiple drawers, this may easily lead to problems such as the medicine cabinet structure being too complicated and the cost being high.

[0004] It can be seen that in order to solve the current problems of low efficiency of manual medicine dispensing and insufficient matching between the automatic medicine dispensing mechanism and the working environment, there is an urgent need for a humanoid upright automatic medicine dispensing device for use between rows of medicine cabinets. Summary of the invention

[0005] The purpose of the present invention is to overcome the shortcomings of the prior art and to provide a humanoid upright automatic medicine taking device for use between rows of medicine cabinets. Through the cooperation of the walking mechanism and the lifting module in the medicine suction mechanism, the position of the medicine suction mechanism can be quickly adjusted according to the distribution information of the medicine. When it moves to the corresponding position, the end suction actuator can be moved to the target medicine according to the rotating module and the telescopic module, and the relative position of the mobile suction end and the fixed suction end can be adjusted according to the medicine size information to achieve suction of the medicine, so as to achieve the purpose of quick medicine taking.

[0006] In order to achieve the above purpose / solve the above technical problems, the present invention is implemented by adopting the following technical solutions: A humanoid upright automatic medicine taking device for use between medicine cabinets, comprising: The walking mechanism is gantry-shaped, and the lower parts of both ends of the walking mechanism are installed on the top edges of two adjacent vertical medicine cabinets through two combined guide rails, and can move relative to the combined guide rails; Combined column, hung in the middle of the top of the walking mechanism; The drug suction mechanism is provided with a plurality of drug suction mechanisms, which are sequentially mounted on the combined column from top to bottom, and the drug suction mechanism includes a lifting module, a rotating module, a telescopic module and an end suction actuator; the lifting module can be mounted on the combined column movably up and down; the rotating module can be rotatably mounted on the outer circle of the lifting module; the telescopic module is fixed on the end face of the rotating module; the end suction actuator is connected to the telescopic end of the telescopic module, and the end suction actuator includes at least a fixed suction end and a movable suction end, and the movable suction end can change the distance between the fixed suction end and the end suction actuator when the end suction actuator moves; The system controller is connected to the walking mechanism and the drug suction mechanism signals, and is configured to control the walking mechanism and the drug suction mechanism to move the end suction actuator to the drug picking position according to the dispensing information, and adjust the relative position of the mobile suction end and the fixed suction end according to the information of the drugs to be dispensed to suction the drugs.

[0007] Furthermore, the lifting module includes a column-type lifting shell, a lifting drive device, a U-shaped mounting frame and a second gear; the column-type lifting shell is provided with two thick and thin sections, which are mounted on the combined column through a center hole, and an inverted U-shaped mounting frame is installed on the outer end surface of the thick section of the column-type lifting shell; the lifting drive device is installed at one end of the U-shaped mounting frame, and its output shaft is connected to the second gear shaft; the second gear is mounted on the second gear shaft.

[0008] Furthermore, the rotating module includes an L-shaped rotating seat plate, a rotating driving device, a third gear and a gear ring; a circular through hole is provided on the short end surface of the L-shaped rotating seat plate, and an elongated rectangular through hole is provided on the long end surface, and the L-shaped rotating seat plate can be rotatably mounted on the outer circle of the thin section of the columnar lifting shell through the circular through hole; the rotating driving device is installed on the end surface of the L-shaped rotating seat plate close to the columnar lifting shell, and the output shaft of the driving device can rotatably pass through the lip of the L-shaped rotating seat plate and be connected to the third gear; the gear ring is fixed to the outermost end of the thin section of the columnar lifting shell and is meshed with the third gear.

[0009] Furthermore, the telescopic module includes a telescopic drive device, a first screw rod, a cross nut, three guide connecting rods and an adapter plate; the output shaft of the telescopic drive device is coaxially connected to the first screw rod; the first screw rod is installed at the rectangular through hole of the L-shaped rotating seat plate through bearing seats at both ends, and the bearing seats at both ends are respectively located at the two ends of the rectangular through hole; the lower end of the cross nut is connected to the first screw rod, and the upper end passes through the rectangular through hole of the rotating shell, and the middle part of the cross nut is connected to the end face of the L-shaped rotating seat plate through the second slider and the rectangular guide rail 2 on the bottom surfaces of both sides in sequence; the installation direction of the three guide connecting rods is parallel to the rectangular guide rail 2, one end of which is fixed to the side face of the upper end of the cross nut, and the other end can telescopically pass through the guide seat and be connected to the adapter plate; the guide seat is fixed on the end face of the L-shaped rotating seat plate.

[0010] Furthermore, the end suction actuator includes a fixed seat, two T-guide rails 2, a transition gear, a driving gear, a second driving device, a first suction cup bracket, a second suction cup bracket, a fixed suction cup and a movable suction cup assembly; a T-guide rail 2 is respectively inserted at the upper front and lower rear of the fixed seat; the T-guide rail 2 is meshed with the transition gear through the third rack on the inner side; the transition gear cantilever is installed at the center position of the end face of the fixed seat and meshed with the driving gear; the driving gear is mounted on the output shaft of the second driving device; the second driving device is installed on the end face of the fixed seat through a fixed bracket; the first suction cup bracket and the second suction cup bracket are respectively connected to the two T-guide rails 2, and the first suction cup bracket and the second suction cup bracket are equipped with a fixed suction cup and a movable suction cup assembly, and the movable suction cup assembly is installed between the fixed suction cup and the fixed seat.

[0011] Furthermore, the movable suction cup assembly includes a third driving device, a second screw rod, a third slider and a suction cup 2; the third driving device is connected to the second screw rod; the second screw rod is fixed to the first suction cup bracket / the second suction cup bracket through two bearing seats at both ends; the third slider is mounted on the second screw rod; the suction cup 2 passes through the waist-shaped groove of the first suction cup bracket / the second suction cup bracket and is connected to the third slider.

[0012] Furthermore, the drug suction mechanism includes an upper arm suction mechanism and a lower arm suction mechanism, the lifting module, rotation module and telescopic module of the upper arm suction mechanism are assembled and mounted on the combined column from top to bottom, and the lifting module, rotation module and telescopic module of the lower arm suction mechanism are assembled and mounted on the combined column from bottom to top; the adsorption surfaces of the vacuum suction cups of the end suction actuators of the upper arm suction mechanism and the lower arm suction mechanism are both facing downward.

[0013] Furthermore, the walking mechanism includes a top plate, four supporting columns and four translation drive modules; the top plate is connected to two combined guide rails through the supporting columns at the four corners and the translation drive modules; the combined guide rail is provided with a T-shaped guide rail base, a first rack is installed on the top of the vertical wall of the T-shaped guide rail base, and a rectangular guide rail is distributed on the edges of both sides of the T-shaped guide rail base.

[0014] Furthermore, the translation drive module includes a first drive device, a several-shaped bracket, a first slider and a first gear; the first drive device is installed at one end of the several-shaped bracket, and its output shaft is coaxially connected to the first gear shaft, and the first gear shaft is rotatably inserted on the several-shaped bracket; the several-shaped bracket is installed on a rectangular guide rail through the first slider at the bottom; the first gear is mounted on the first gear shaft and meshes with the first rack.

[0015] Furthermore, the combined column includes a column and a traveling wheel assembly; the column is symmetrically provided with two second racks of equal length along the arrangement direction of the vertical medicine cabinets, which are respectively meshed with the second gears on the upper arm suction mechanism and the lower arm suction mechanism; the traveling wheel assembly is rotatably mounted on the T-shaped guide rail.

[0016] Compared with the prior art, the present invention has the following beneficial effects: The humanoid upright automatic medicine taking device for use between medicine cabinets provided by the present invention can quickly adjust the position of the medicine taking mechanism according to the medicine dispensing information through the cooperation of the walking mechanism and the lifting module in the medicine taking mechanism. When it moves to the corresponding position, the end holding actuator can be moved to the target medicine according to the rotating module and the telescopic module, and the mutual position of the mobile holding end and the fixed holding end can be adjusted according to the medicine size information to hold the medicine, so as to achieve the purpose of quickly taking medicine. The humanoid upright automatic medicine taking device for medicine cabinets provided by the present invention can realize automatic unstacking and grabbing of medicine boxes of different specifications through the arrangement of multiple medicine sucking mechanisms, and realize sucking without "dead angles" within the reachable range; The humanoid upright automatic medicine dispensing device provided by the present invention for use between rows of medicine cabinets can realize high-speed movement of the medicine dispensing device between vertical medicine cabinets by adopting a guide rail type walking mechanism; The humanoid upright automatic medicine taking device for medicine cabinet rows provided by the present invention adopts a modular design, is easy to install, debug and control, and can be easily promoted to various medicine dispensing sites in hospitals and pharmacies. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A schematic diagram of the structure of a humanoid upright automatic medicine dispensing device for use between rows of medicine cabinets provided by the present invention.

[0018] Figure 2 It is a model diagram of the upper arm suction mechanism of the present invention.

[0019] Figure 3 It is a model diagram of the lower arm suction mechanism of the present invention.

[0020] Figure 4 This is a model diagram of the lifting module of the present invention.

[0021] Figure 5 This is a model diagram of the columnar lifting shell of the present invention.

[0022] Figure 6 FIG. 2 is a schematic diagram of a rotating module and a lifting module of the present invention.

[0023] Figure 7 It is a model diagram of the L-shaped rotating seat plate of the present invention.

[0024] Figure 8 FIG. 1 is a schematic diagram of the assembly of the telescopic module and the rotating module of the present invention.

[0025] Fig. 9 FIG. 1 is a schematic diagram of a certain position of the end suction actuator of the present invention.

[0026] Fig.10 FIG. 1 is a schematic diagram of a certain position of the end suction actuator of the present invention.

[0027] Fig.11 It is a schematic diagram of the assembly of the translation frame and the combined columns of the present invention.

[0028] Fig.12 It is a schematic diagram of the assembly of the translation drive module and the combined guide rail of the present invention.

[0029] Fig.13 Figure 2 is a model diagram of four types of boxed medicines used in the present invention.

[0030] Fig.14 FIG. 2 is a schematic diagram of two suction methods when the present invention sucks the first type of boxed medicine.

[0031] Fig.15 FIG. 2 is a schematic diagram of two suction methods when the present invention sucks the second type of boxed medicine.

[0032] Fig.16FIG. 1 is a schematic diagram of the present invention when sucking the third type of boxed medicine.

[0033] Fig.17 FIG. 1 is a schematic diagram of the present invention when sucking the fourth type of boxed medicine.

[0034] Fig.18 FIG. 2 is a schematic diagram of an application of the present invention. DETAILED DESCRIPTION

[0035] The present invention will be further described below in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and cannot be used to limit the protection scope of the present invention.

[0036] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and the like are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", and the like may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0037] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood by specific circumstances. Embodiment 1

[0038] like Figure 1~Figure 3 As shown, this embodiment provides a humanoid upright automatic medicine taking device for use between medicine cabinets, comprising: The walking mechanism 21 is gantry-shaped, and the lower parts of both ends of the walking mechanism 21 are installed on the top edges of two adjacent vertical medicine cabinets 1 through two combined guide rails 25, and can move relative to the combined guide rails 25; A combined column is hung in the middle of the top of the walking mechanism 21; The drug suction mechanism is provided with a plurality of drug suction mechanisms, which are sequentially mounted on the combined column 22 from top to bottom, and the drug suction mechanism includes a lifting module 231, a rotating module 232, a telescopic module 233 and an end suction actuator 234; the lifting module 231 can be mounted on the combined column 22 movably up and down; the rotating module 232 can be rotatably mounted on the outer circle of the lifting module 231; the telescopic module 233 is fixed on the end face of the rotating module 232; the end suction actuator 234 is connected to the telescopic end of the telescopic module 233, and the end suction actuator 234 includes at least a fixed suction end and a movable suction end, and the movable suction end can be moved on the end suction actuator 234 to change the distance between the fixed suction end and the end suction end; The system controller is connected to the walking mechanism 21 and the drug suction mechanism signal, and is configured to control the walking mechanism 21 and the drug suction mechanism to move the end suction actuator 234 to the drug picking position according to the dispensing information, and adjust the relative position of the mobile suction end and the fixed suction end according to the information of the drugs to be dispensed to suction the drugs.

[0039] In the above technical solution, through the cooperation between the walking mechanism 21 and the lifting module 231 in the drug suction mechanism, the position of the drug suction mechanism can be quickly adjusted according to the drug distribution information. When it moves to the corresponding position, the end suction actuator 234 can be moved to the target drug according to the rotating module 232 and the telescopic module 233, and the relative position of the mobile suction end and the fixed suction end can be adjusted according to the drug size information to achieve suction of the drug, so as to achieve the purpose of quickly taking the drug. Embodiment 2

[0040] The humanoid upright automatic medicine dispensing device for use between medicine cabinets provided in this embodiment is different from the humanoid upright automatic medicine dispensing device for use between medicine cabinets provided in the first embodiment in that: like Figure 4 As shown, the lifting module 231 includes a columnar lifting housing 2311, a lifting drive device 2312, a U-shaped mounting frame 2313 and a second gear 2315; Figure 5 As shown, the column-type lifting shell 2311 is provided with a center hole, and is mounted on the combined column 22 through the center hole. The column-type lifting shell 2311 is provided with two sections, thick and thin. An inverted U-shaped mounting frame 2313 is installed on the outer end surface of the thick section of the column-type lifting shell 2311; the lifting drive device 2312 is installed at one end of the U-shaped mounting frame 2313, and its output shaft is connected to the second gear shaft 2314; the second gear 2315 is mounted on the second gear shaft 2314.

[0041] like Figure 6As shown, the rotating module 232 includes an L-shaped rotating seat plate 2321, a rotating driving device 2322, a third gear 2323 and a gear ring 2324; Figure 7 As shown, a circular through hole is provided on the short end face of the L-shaped rotating seat plate 2321, and an elongated rectangular through hole is provided on the long end face. The L-shaped rotating seat plate 2321 can be rotatably mounted on the outer circle of the thin section of the columnar lifting shell 2311 through the circular through hole; the rotating drive device 2322 is installed on the end face of the L-shaped rotating seat plate 2321 close to the columnar lifting shell 2311, and the output shaft of the drive device 2322 can rotatably pass through the lip of the L-shaped rotating seat plate 2321 and be connected to the third gear 2323; the gear ring 2324 is fixed to the outermost end of the thin section of the columnar lifting shell 2311, and is meshed with the third gear 2323.

[0042] like Figure 8 As shown, the telescopic module 233 includes a telescopic driving device 2331, a first screw rod 2332, a cross nut 2334, three guide connecting rods 2336 and an adapter plate 2338; the output shaft of the telescopic driving device 2331 is coaxially connected to the first screw rod 2332; the first screw rod 2332 is installed at the rectangular through hole of the L-shaped rotating seat plate 2321 through the bearing seats 2333 at both ends, and the bearing seats 2333 at both ends are respectively located at the two ends of the rectangular through hole; the lower end of the cross nut 2334 is connected to the first screw rod 2332 The upper end of the cross nut 2334 passes through the rectangular through hole of the rotating shell 2321, and the middle part of the cross nut 2334 is connected to the end surface of the L-shaped rotating seat plate 2321 through the second slider 2335 and the rectangular guide rail 2339 on the bottom surfaces of both sides in sequence; the three guide connecting rods 2336 are installed in a direction parallel to the rectangular guide rail 2339, one end of which is fixed to the side surface of the upper end of the cross nut 2334, and the other end can be telescopically passed through the guide seat 2337 and connected to the adapter plate 2338; the guide seat 2337 is fixed on the end surface of the L-shaped rotating seat plate 2321.

[0043] like Fig. 9 and Fig.10As shown, the end holding actuator 234 includes a fixed seat 2341, two T-shaped guide rails 2342, a transition gear 2344, a driving gear 2345, a second driving device 2346, a first suction cup bracket 2348, a second suction cup bracket 2349, a fixed suction cup 2350 and a movable suction cup assembly 2351; the fixed seat 2341 is respectively inserted with a T-shaped guide rail 2342 at the front upper and rear lower; the T-shaped guide rail 2342 is meshed with the transition gear 2344 through the third rack 2343 on the inner side; the transition gear 2344 is cantilevered and installed at the end of the fixed seat 2341 The center position of the surface is meshed with the driving gear 2345; the driving gear 2345 is sleeved on the output shaft of the second driving device 2346; the second driving device 2346 is installed on the end face of the fixed seat 2341 through the fixed bracket 2347; the first suction cup bracket 2348 and the second suction cup bracket 2349 are respectively connected to the two T-shaped guide rails 2342, and the first suction cup bracket 2348 and the second suction cup bracket 2349 are both equipped with a fixed suction cup 2350 and a movable suction cup assembly 2351, and the movable suction cup assembly 2351 is installed between the fixed suction cup 2350 and the fixed seat 2341.

[0044] The movable suction cup assembly 2351 is located between the fixed suction cup 2350 and the fixed seat 2341, and includes a third driving device 23511, a second screw rod 23512, a third slider 23513 and a suction cup 23514; the third driving device 23511 is connected to the second screw rod 23512; the second screw rod 23512 is fixed to the first suction cup bracket / the second suction cup bracket through the bearing seats 23515 at both ends; the third slider 23513 is sleeved on the second screw rod 23512; the suction cup 23514 passes through the waist-shaped groove of the first suction cup bracket / the second suction cup bracket and is connected to the third slider 23513.

[0045] Based on the height of the existing vertical medicine cabinet 1 and the demand for taking medicine, the medicine suction mechanism includes an upper arm suction mechanism and a lower arm suction mechanism. The lifting module 231, the rotating module 232 and the telescopic module 233 of the upper arm suction mechanism are assembled and mounted on the combined column 22 from top to bottom, and the lifting module 231, the rotating module 232 and the telescopic module 233 of the lower arm suction mechanism are assembled and mounted on the combined column 22 from bottom to top; the vacuum suction cup adsorption surfaces of the end suction actuators 234 of the upper arm suction mechanism and the lower arm suction mechanism are both facing downward; By reversing the installation order of the modules in the upper and lower arm suction mechanisms, the end suction actuators 234 in the upper and lower arm suction modules can be adjacent to each other, so as to facilitate the approach of the upper and lower arm suction modules during the medicine taking process.

[0046] like Fig.11As shown, the walking mechanism 21 includes a top plate 211, four support columns 212 and four translation drive modules 213; the top plate 211 is connected to two combined guide rails 25 through the support columns 212 at the four corners and the translation drive modules 213; the combined guide rail 25 is provided with a T-shaped guide rail base 251, and a first rack 252 is installed on the top of the vertical wall of the T-shaped guide rail base 251, and a rectangular guide rail 253 is distributed on the edges of both sides of the T-shaped guide rail base 251.

[0047] like Fig.12 As shown, the translation drive module 213 includes a first drive device 2131, a multi-shaped bracket 2132, a first slider 2133 and a first gear 2134; the first drive device 2131 is installed at one end of the multi-shaped bracket 2132, and its output shaft is coaxially connected with the first gear shaft 2135, and the first gear shaft 2135 is rotatably inserted on the multi-shaped bracket 2132; the multi-shaped bracket 2132 is installed on a rectangular guide rail 253 through the first slider 2133 at the bottom; the first gear 2134 is sleeved on the first gear shaft 2135 and meshes with the first rack 252.

[0048] The combined column 22 includes a column 221 and a traveling wheel assembly 223; the column 221 is symmetrically provided with two second racks 222 of equal length along the arrangement direction of the vertical medicine cabinet 1, which are respectively engaged with the second gears 2315 on the upper arm suction mechanism and the lower arm suction mechanism; the traveling wheel assembly 223 is rotatably mounted on the T-shaped guide rail 24.

[0049] The first driving device 2131, the lifting driving device 2312, the rotating driving device 2322, the telescopic driving device 2331, the second driving device 2346 and the third driving device 23511 are all connected to the system controller.

[0050] The working principle of the humanoid upright automatic medicine dispensing device for use between medicine cabinets provided in this embodiment is as follows: Step 1: Before the boxed medicines are automatically dispensed, various boxed medicines are stored in the vertical medicine cabinet 1; Step 2: When the boxed medicine is automatically dispensed, the system controller controls the walking mechanism 21, the combined column 22, the upper arm suction mechanism, and the lower arm suction mechanism to deliver the boxed medicine from the vertical medicine cabinet 1 to the specified medicine placing frame II on the conveyor line of the automatic dispensing system (such as Fig.18 The implementation process includes the following steps: A. According to the dispensing information of the boxed medicine in the prescription, the system controller 26 controls the walking mechanism 21 and the upper / lower arm suction mechanism to move to the medicine picking position; during this period, according to the position information of the boxed medicine to be dispensed, the system controller determines whether to use the upper arm suction mechanism or the lower arm suction mechanism to suck the boxed medicine, and the selection conditions are as follows: (1) If both the upper and lower arm suction mechanisms can suck the boxed medicine, the suction mechanism closer to the medicine picking position is selected; (2) If only one of the upper and lower arm suction mechanisms can suck the boxed medicine, the feasible suction mechanism is rotated; B. The system controller controls the lifting module 231, the rotating module 232, the telescopic module 233 and the end-holding actuator 234 to suck the boxed medicine to be distributed and send it to the automatic distribution system conveyor line; during this period, the system controller 26 automatically adjusts the relative positions of the suction cups on the end-holding actuator 234 according to the specifications and dimensions of the medicine packaging box to be distributed, and enters the boxed medicine holding state: (1) If Fig.13 For the “narrow and short” boxed medicine in a, if only one box is needed, Fig.14 a method for suction, that is, through the second driving device 2346, the driving gear 2345, the transition gear 2344, and the third rack 2343, the first suction cup bracket 2348 and the second suction cup bracket 2349 are separated, and the fixed suction cup 2350 and the movable suction cup assembly 2351 on the first suction cup bracket 2348 or the second suction cup bracket 2349 are independently sucked; when two boxes need to be distributed, they can be pressed Fig.14 b method for suction, that is, through the second driving device 2346, the driving gear 2345, the transition gear 2344, and the third rack 2343, the first suction cup bracket 2348 and the second suction cup bracket 2349 are adjusted to a suitable distance, and the fixed suction cup 2350 and the movable suction cup assembly 2351 on the first suction cup bracket 2348 and the second suction cup bracket 2349 are sucked together; when the number of medicine boxes to be dispensed is greater than 2 boxes, it can be pressed Fig.14 a, 14b two methods combined absorption; (2) If Fig.13 b) for the "narrow and long" boxed medicine, the system controller adjusts the suction cup 23514 relative to the fixed suction cup 2350 to a suitable position according to the size of the boxed medicine: when only one box needs to be dispensed, press Fig.15 a method of sucking, that is, firstly, the first suction cup bracket 2348 and the second suction cup bracket 2349 are separated by the second driving device 2346, the driving gear 2345, the transition gear 2344, and the third rack 2343, and then the suction cup 23514 is adjusted to a suitable position relative to the fixed suction cup 2350 by the mobile suction cup assembly 2351, and the fixed suction cup 2350 and the mobile suction cup assembly 2351 on the first suction cup bracket 2348 or the second suction cup bracket 2349 are sucked independently; when two boxes need to be distributed, press Fig.15b method, except that the fixed suction cup 2350 and the movable suction cup assembly 2351 on the first suction cup bracket 2348 and the second suction cup bracket 2349 suck together, the other suction methods are the same as those when dispensing one box; when the number of medicine boxes to be dispensed is greater than 2 boxes, the method can be pressed Fig.15 Combination of methods a and 15b; (3) If Fig.13 c) for the "flat and wide" boxed medicines. According to the size of the boxed medicines, the system controller adjusts the suction cups 23514 on the first suction cup bracket 2348 and the second suction cup bracket 2349 to a suitable position relative to the fixed suction cup 2350. Fig.16 The specific absorption process is similar to Fig.15 The method of a is the same; (4) If Fig.13 d, according to the size of the boxed medicine, the system controller adjusts the suction cup 23514 on the first suction cup bracket 2348 and the second suction cup bracket 2349 to a suitable position relative to the fixed suction cup 2350. Fig.17 The specific absorption process is similar to Fig.15 The method is the same as a.

[0051] C. So far, the automatic absorption of the boxed medicine to be dispensed in the prescription has been completed; if there are other boxed medicines to be dispensed in the prescription, return to step A), otherwise the automatic dispensing task is terminated.

[0052] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A humanoid upright automatic medicine taking device for use between medicine cabinets, characterized in that: include: The walking mechanism (21) is gantry-shaped, and the lower parts of both ends of the walking mechanism (21) are mounted on the top edges of two adjacent vertical medicine cabinets (1) via two combined guide rails (25), and are movable relative to the combined guide rails (25); A combined column, suspended in the middle of the top of the walking mechanism (21); A plurality of drug suction mechanisms are provided, and the plurality of drug suction mechanisms are sequentially mounted on the combined column (22) from top to bottom, and the drug suction mechanisms include a lifting module (231), a rotating module (232), a telescopic module (233), and an end-holding actuator (234); the lifting module (231) is mounted on the combined column (22) in a manner that allows it to move up and down; the rotating module (232) is rotatably mounted on the outer circle of the lifting module (231); the telescopic module (233) is fixed on the end surface of the rotating module (232); the end-holding actuator (234) is connected to the telescopic end of the telescopic module (233), and the end-holding actuator (234) includes at least a fixed holding end and a movable holding end, and the movable holding end can change the spacing between the movable holding end and the fixed holding end by moving on the end-holding actuator (234); The system controller is connected to the walking mechanism (21) and the drug suction mechanism by signal, and is configured to control the walking mechanism (21) and the drug suction mechanism to move the end suction actuator (234) to the drug taking position according to the dispensing information, and to adjust the relative position between the mobile suction end and the fixed suction end according to the information of the drug to be dispensed, so as to suction the drug.

2. The humanoid upright automatic medicine taking device for use between medicine cabinets according to claim 1 is characterized in that: The lifting module (231) comprises a column-shaped lifting shell (2311), a lifting drive device (2312), a U-shaped mounting frame (2313) and a second gear (2315); the column-shaped lifting shell (2311) is provided with two thick and thin sections, which are sleeved on the combined column (22) through a center hole, and an inverted U-shaped mounting frame (2313) is mounted on the outer end surface of the thick section of the column-shaped lifting shell (2311); the lifting drive device (2312) is mounted on one end of the U-shaped mounting frame (2313), and its output shaft is connected to the second gear shaft (2314); the second gear (2315) is sleeved on the second gear shaft (2314); A second rack (222) is installed on the upright column (221) along the arrangement direction of the upright medicine cabinet (1), and the second rack (222) is meshed with the second gear (2315).

3. The humanoid upright automatic medicine taking device for use between medicine cabinets according to claim 2 is characterized in that: The rotating module (232) comprises an L-shaped rotating seat plate (2321), a rotating driving device (2322), a third gear (2323) and a gear ring (2324); a circular through hole is provided on the short end surface of the L-shaped rotating seat plate (2321), and a slender rectangular through hole is provided on the long end surface; the L-shaped rotating seat plate (2321) is rotatably mounted on the outer circle of the thin section of the column-shaped lifting shell (2311) through the circular through hole; the rotating driving device (2322) is mounted on the end surface of the L-shaped rotating seat plate (2321) close to the column-shaped lifting shell (2311); the output shaft of the driving device (2322) is rotatably passed through the lip edge of the L-shaped rotating seat plate (2321) and connected to the third gear (2323); the gear ring (2324) is fixed to the outermost end of the thin section of the column-shaped lifting shell (2311) and meshes with the third gear (2323).

4. The humanoid upright automatic medicine taking device for use between medicine cabinets according to claim 3 is characterized in that: The telescopic module (233) comprises a telescopic drive device (2331), a first screw rod (2332), a cross nut (2334), three guide connecting rods (2336) and an adapter plate (2338); the output shaft of the telescopic drive device (2331) is coaxially connected to the first screw rod (2332); the first screw rod (2332) is installed at the rectangular through hole of the L-shaped rotating seat plate (2321) through bearing seats (2333) at both ends, and the bearing seats (2333) at both ends are respectively located at the two ends of the rectangular through hole; the lower end of the cross nut (2334) is connected to the first screw rod (2332); The upper end of the cross nut (2334) passes through the rectangular through hole of the rotating shell (2321); the middle part of the cross nut (2334) is connected to the end surface of the L-shaped rotating seat plate (2321) through the second slider (2335) and the second rectangular guide rail (2339) on the bottom surfaces of both sides in sequence; the three guide connecting rods (2336) are installed in a direction parallel to the second rectangular guide rail (2339), one end of which is fixedly connected to the side surface of the upper end of the cross nut (2334), and the other end of which can be telescopically passed through the guide seat (2337) and connected to the adapter plate (2338); the guide seat (2337) is fixed on the end surface of the L-shaped rotating seat plate (2321).

5. The humanoid upright automatic medicine taking device for use between medicine cabinets according to claim 4 is characterized in that: The end-holding actuator (234) comprises a fixed seat (2341), two T-shaped guide rails (2342), a transition gear (2344), a driving gear (2345), a second driving device (2346), a first suction cup bracket (2348), a second suction cup bracket (2349), a fixed suction cup (2350) and a movable suction cup assembly (2351); a T-shaped guide rail (2342) is respectively inserted at the upper front and lower rear of the fixed seat (2341); the T-shaped guide rail (2342) is meshed with the transition gear (2344) through a third rack (2343) on the inner side; the transition gear (2344) is cantilevered and mounted at the end of the fixed seat (2341). The first suction cup bracket (2348) and the second suction cup bracket (2349) are respectively connected to the two T-shaped guide rails (2342); the first suction cup bracket (2348) and the second suction cup bracket (2349) are both provided with a fixed suction cup (2350) and a movable suction cup assembly (2351), and the movable suction cup assembly (2351) is installed between the fixed suction cup (2350) and the fixed seat (2341).

6. The humanoid upright automatic medicine taking device for use between medicine cabinets according to claim 5 is characterized in that: The movable suction cup assembly (2351) comprises a third driving device (23511), a second screw rod (23512), a third slider (23513) and a second suction cup (23514); the third driving device (23511) is connected to the second screw rod (23512); the second screw rod (23512) is fixed to the first suction cup bracket / the second suction cup bracket via two bearing seats (23515) at both ends; the third slider (23513) is sleeved on the second screw rod (23512); the second suction cup (23514) passes through the waist-shaped groove of the first suction cup bracket / the second suction cup bracket and is connected to the third slider (23513).

7. The humanoid upright automatic medicine taking device for use between medicine cabinets according to claim 6 is characterized in that: The medicine suction mechanism comprises an upper arm suction mechanism and a lower arm suction mechanism, wherein the lifting module (231), the rotating module (232) and the telescopic module (233) of the upper arm suction mechanism are assembled and sleeved on the combined column (22) from top to bottom, and the lifting module (231), the rotating module (232) and the telescopic module (233) of the lower arm suction mechanism are assembled and sleeved on the combined column (22) from bottom to top; the vacuum suction cup adsorption surfaces of the end suction actuators (234) of the upper arm suction mechanism and the lower arm suction mechanism are both facing downward.

8. The humanoid upright automatic medicine taking device for use between medicine cabinets according to claim 7 is characterized in that: The walking mechanism (21) comprises a top plate (211), four support columns (212) and four translation drive modules (213); the top plate (211) is connected to two combined guide rails (25) via the support columns (212) at four corners and the translation drive modules (213); the combined guide rails (25) are provided with a T-shaped guide rail base (251), a first rack (252) is installed at the top of the vertical wall of the T-shaped guide rail base (251), and a rectangular guide rail 1 (253) is installed on the edges of both sides of the T-shaped guide rail base (251).

9. The humanoid upright automatic medicine taking device for use between medicine cabinets according to claim 8, characterized in that: The translation drive module (213) comprises a first drive device (2131), a plurality of brackets (2132), a first slider (2133) and a first gear (2134); the first drive device (2131) is mounted on one end of the plurality of brackets (2132), and its output shaft is coaxially connected to a first gear shaft (2135), and the first gear shaft (2135) is rotatably inserted on the plurality of brackets (2132); the plurality of brackets (2132) is mounted on a rectangular guide rail (253) via a first slider (2133) at the bottom; the first gear (2134) is sleeved on the first gear shaft (2135) and meshes with a first rack (252).

10. The humanoid upright automatic medicine taking device for use between medicine cabinets according to claim 9, characterized in that: The combined column (22) comprises a column (221) and a traveling wheel assembly (223) fixed to the bottom end of the column (211); the column (221) is symmetrically provided with two second racks (222) of equal length along the arrangement direction of the vertical medicine cabinet (1), which are respectively meshed with the second gears (2315) on the upper arm suction mechanism and the lower arm suction mechanism; the traveling wheel assembly (223) is rollably mounted on the T-shaped guide rail (24).

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