Medicine taking manipulator and medicine taking device

Abstract

The medicine taking mechanical arm comprises a shell, a medicine storage unit, a driving unit, a first medicine placing opening and a medicine outlet, the medicine storage unit is arranged in the shell and comprises an annular medicine storage bin arranged in the circumferential direction of the shell and partition plates dividing the medicine storage bin into a plurality of medicine storage cells in the circumferential direction, and the driving unit is arranged in the shell; one end of the partition plate is connected with the bottom wall of the medicine storage bin, the other end of the partition plate extends to the inner wall of the shell, openings of the medicine storage cells face the inner wall of the shell, the driving unit is arranged in the shell and drives the medicine storage bin to rotate in the circumferential direction of the shell, the first medicine discharging opening is formed in the shell wall of the shell, and when the medicine storage bin rotates, the medicine storage cells are sequentially communicated with the first medicine discharging opening. According to the medicine storage bin, the medicine placed into the medicine storage grids from the medicine placing opening is conveyed to the medicine outlet, and therefore the medicine to be taken is prevented from being damaged.

Description

Technical Field

[0001] The present invention relates to the field of medical equipment, and in particular to a medicine dispensing robot and a medicine dispensing device. Background Art

[0002] At present, the distribution of medicines in the central pharmacies of most hospitals is completely dependent on manual operations. Pharmacists take the medicines and distribute the corresponding medicines to the patients. There are more and more types of medicines in hospital pharmacies. For example, injections in infusion therapy are divided into powders and liquids. Pharmacists take medicines manually, and their daily workload is very large. In order to ensure the accuracy of dispensing and reduce unnecessary troubles, pharmacists in central pharmacies need to concentrate highly throughout the dispensing process; however, even so, dispensing errors still occur, which brings unnecessary troubles to patients and hospitals, and even damages patients' health. In addition, when there are a large number of people taking medicines, pharmacists are simply too busy, and patients can only wait in line, which delays the patients' time. For some patients with limited mobility, this is even more of a torture.

[0003] Although there are literature reports on automatic drug dispensing devices, on the one hand, most injection bottles are ampoule bottles, which are easily broken after being subjected to force, and the gripping force of existing manipulators is difficult to control. Therefore, the current automatic drug dispensing devices still remain in the literature and cannot be put into practical use.

[0004] In view of this, it is necessary to provide an improved medicine dispensing robot and a medicine dispensing device having the medicine dispensing robot to solve the above-mentioned technical problems. Summary of the invention

[0005] In view of this, an object of the present invention is to provide a medicine dispensing robot and a medicine dispensing device.

[0006] In order to achieve the above object, the technical solution adopted by the present invention is:

[0007] A medicine taking robot, comprising:

[0008] A shell, the shell being in a drum shape;

[0009] A medicine storage unit is arranged inside the shell, the medicine storage unit comprises an annular medicine storage bin arranged along the circumference of the shell, and a partition plate dividing the medicine storage bin into a plurality of medicine storage grids along the circumference, one end of the partition plate is connected to the bottom wall of the medicine storage bin, and the other end extends to the inner wall of the shell, and the opening of each medicine storage grid faces the inner wall of the shell;

[0010] A driving unit, which is disposed inside the shell, the driving unit is drivingly connected to the medicine storage bin, and the driving unit drives the medicine storage bin to rotate along the circumferential direction of the shell;

[0011] A first medicine discharging opening is provided on the shell wall of the shell, and when the medicine storage bin rotates, each of the medicine storage compartments is sequentially connected to the first medicine discharging opening; a first flap door is installed at the first medicine discharging opening;

[0012] The medicine outlet is provided on the bottom shell wall of the shell body. When the medicine storage bin rotates, each of the medicine storage compartments is connected with the medicine outlet in sequence. A second flap door is installed at the medicine outlet.

[0013] Furthermore, a first transmission member and a second transmission member are installed in the shell, and the first transmission member and the second transmission member are respectively connected to the first flap door and the second flap door, and the first transmission member and the second transmission member respectively drive the first flap door and the second flap door to open or close.

[0014] Furthermore, the first transmission member and the second transmission member are both connected to a controller, a first sensor is installed on the first flap door, a second sensor is installed on the second flap door, and the first sensor and the second sensor are both communicatively connected to the controller.

[0015] Furthermore, the first transmission member includes a first gear, a first locking tongue and a first positioning block, one end of the first locking tongue is movably connected to the first flap door, and the other end is provided with teeth meshing with the first gear and meshing with the first gear, the first positioning block is installed in the shell, and the first locking tongue is slidably connected to the first positioning block; when the first sensor recognizes the position of the medicine magazine, the controller controls the first locking tongue to slide on the first positioning block to drive the first flap door to open.

[0016] Furthermore, the second transmission member includes a second gear, a second locking tongue and a second positioning block, one end of the second locking tongue is movably connected to the second flap door, and the other end is provided with teeth meshing with the second gear and meshing with the second gear, the second positioning block is installed in the shell, and the second locking tongue is slidably connected to the second positioning block; when the second sensor recognizes the medicine receiving position, the controller controls the second locking tongue to slide on the second positioning block to drive the second flap door to open.

[0017] Furthermore, the spacing distance between the two partition plates is adapted to the size of the medicines to be placed.

[0018] Furthermore, the spacing between one end of the partition plate close to the shell and the inner wall of the shell is smaller than the size of the medicine to be placed.

[0019] Furthermore, a second medicine discharging opening is provided on the shell wall of the shell, and a third flap door is installed at the second medicine discharging opening; the second medicine discharging opening and the first medicine discharging opening are located on the same horizontal line.

[0020] Furthermore, the opening positions of the first medicine discharging port and the second medicine discharging port in the vertical direction are higher than the opening position of the medicine outlet port.

[0021] In order to achieve the above-mentioned object of the invention, the present invention also provides a medicine dispensing device, including the medicine dispensing robot.

[0022] Compared with the prior art, the advantages of the present invention are: by installing a medicine storage bin inside the shell, the medicine storage bin rotates along the circumference of the shell under the drive of the driving unit, and the shell remains unchanged, and the medicine storage bin transports the medicine placed in the medicine storage grid from the medicine release port to the medicine outlet, thereby avoiding damage to the medicine to be taken. At the same time, a flap door with a sensor is installed at the medicine release port, which can read the type of medicine in the medicine box through the system, open or close the flap door according to the demand for taking medicine, improve the efficiency of medicine dispensing and ensure the accuracy of medicine dispensing. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0024] Attached Figure 1 This is a schematic diagram of the structure of an embodiment of the present application;

[0025] Attached Figure 2 This is a schematic diagram of the front view of an embodiment of the present application;

[0026] Attached Figure 3 A side view schematic diagram of an embodiment of the present application;

[0027] Attached Figure 4 A schematic top view of an embodiment of the present application;

[0028] Attached Figure 5 This is a schematic diagram of the drug storage unit structure of an embodiment of the present application;

[0029] Attached Figure 6 This is a schematic diagram of the transmission structure of an embodiment of the present application;

[0030] Attached Figure 7 This is a schematic diagram of the first flap door in the embodiment of the present application in an open state;

[0031] Attached Figure 8 This is a schematic diagram of the closed state of the first flap door in the embodiment of the present application;

[0032] Attached Fig. 9This is a schematic diagram of the third flap door of the embodiment of the present application cooperating with the medicine box when it is opened;

[0033] Attached Fig.10 This is a schematic diagram of the third flap door of the embodiment of the present application cooperating with the medicine box when closed.

[0034] Reference numerals and component descriptions in the drawings:

[0035] 1. Shell; 2. Medicine storage unit; 21. Medicine storage bin; 22. Medicine storage grid; 23. Partition plate; 3. Drive unit; 31. Rotating wheel; 32. Connecting plate; 4. First medicine outlet; 5. Medicine outlet; 6. First flap door; 7. Second flap door; 8. Second medicine outlet; 9. Third flap door; 10. First transmission member; 101. First gear; 102. First locking tongue; 103. First positioning block; 11. Second transmission member; 12. Third transmission member; 13. First sensor; 14. Third sensor; 15. Second sensor. DETAILED DESCRIPTION

[0036] The technical solution of the present invention will be clearly and completely described below through specific implementation methods. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0037] See attached Figures 1 to 10 As shown, a drug taking manipulator of the present application includes a shell 1, a drug storage unit 2, a driving unit 3, a first drug release port 4 and a drug outlet 5, wherein the shell 1 is drum-shaped, the drug storage unit 2 is arranged inside the shell 1, and the drug storage unit 2 includes a circular annular drug storage bin 21 arranged along the circumference of the shell 1, and a partition plate 23 that divides the drug storage bin 21 into a plurality of drug storage grids 22 along the circumference, one end of the partition plate 23 is connected to the bottom wall of the drug storage bin 21, and the other end extends to the inner wall of the shell 1, and the opening of each drug storage grid 22 faces the inner wall of the shell 1 The driving unit 3 is arranged inside the shell 1, and the driving unit 3 is connected to the medicine storage bin 21. The driving unit 3 drives the medicine storage bin 21 to rotate along the circumferential direction of the shell 1. The first medicine release port 4 is opened on the shell wall of the shell 1. When the medicine storage bin 21 rotates, each medicine storage grid 23 is connected with the first medicine release port 4 in sequence. A first flap door 6 is installed at the first medicine release port 4. The medicine outlet 5 is opened on the bottom shell wall of the shell 1. When the medicine storage bin 21 rotates, each medicine storage grid 22 is connected with the medicine outlet 5 in sequence. A second flap door 7 is installed at the medicine outlet 5.

[0038] The following is a further explanation of the above structure:

[0039] See attached Figures 1 to 10As shown, the shell 1 is in the shape of a drum, and the shell wall of the shell 1 is provided with a first medicine release port 4, a second medicine release port 8 and a medicine outlet 5. The lengths of the first medicine release port 4, the second medicine release port 8 and the medicine outlet 5 are adapted to the shell wall width of the shell 1, so as to pass different medicines of different sizes. The positions of the first medicine release port 4 and the second medicine release port 8 in the vertical direction are higher than the position of the medicine outlet 5. The annular medicine storage bin 21 is installed inside the shell 1, and the rolling direction of the medicine storage bin 21 is in the same direction as the rolling direction of the shell 1, that is, the circumferential direction of the medicine storage bin 21 is in the same direction as the circumferential direction of the shell 1. A plurality of partition plates 23 are installed on the medicine storage bin 21, one end of the partition plate 23 is connected to the bottom wall of the medicine storage bin 21, and the other end extends to the inner wall of the shell 1. The partition plate 23 is arranged close to the inner wall of the shell 1 but is not connected to the inner wall of the shell 1, so as to facilitate the rotation of the medicine storage bin 21 inside the shell 1, and the spacing between the two partition plates 23 can be adjusted according to the size of the medicine to be placed. The driving unit 3 includes a rotating wheel 31 and a connecting plate 32 arranged inside the shell 1. The rotating wheel 31 rotates by being connected to the output shaft of the driving motor. A plurality of connecting plates 32 are connected to the rotating wheel 31, and each connecting plate 32 is connected to the medicine storage bin 21. When the driving motor drives the rotating wheel 31 to rotate, it drives the medicine storage bin 21 to rotate, so that the medicines placed from the first medicine release port 4 and the second medicine release port 8 are transported to the medicine outlet 5 through rotation, and then taken out from the medicine outlet 5.

[0040] A first flap door 6 is installed at the first medicine dispensing port 4, a third flap door 9 is installed at the second medicine dispensing port 8, and a second flap door 7 is installed at the medicine outlet 5. The first flap door 6, the third flap door 9, and the second flap door 7 are opened or closed at the first medicine dispensing port 4, the second medicine dispensing port 8, and the medicine outlet 5, respectively. A first transmission member 10, a second transmission member 11, and a third transmission member 12 are installed inside the housing 1. The first transmission member 10, the second transmission member 11, and the third transmission member 12 are respectively connected to the first flap door 6, the third flap door 9, and the second flap door 7. The first transmission member 10, the second transmission member 11, and the third transmission member 12 can respectively drive the first flap door 6, the third flap door 9, and the second flap door 7 to open or close. At the same time, the first transmission member 10, the second transmission member 11 and the third transmission member 12 are all connected to the controller and controlled by the controller, the first flap door 6 is equipped with a first sensor 13, the third flap door 9 is equipped with a third sensor 14, and the second flap door 7 is equipped with a second sensor 15, and the first sensor 13, the third sensor 14 and the second sensor 15 are all connected to the controller. Among them, the first transmission member 10 includes a first gear 101, a first lock tongue 102 and a first positioning block 103, the first gear 101 and the first positioning block 103 are both fixed in the housing 1, one end of the first lock tongue 102 is movably connected to the first flap door 6, and the other end is provided with a tooth meshing with the first gear 101 and meshing with the first gear 101 through the tooth, and the first positioning block 103 is slidably matched with the first lock tongue 102, so that the first lock tongue 102 can reciprocate on the first positioning block 103. When the first sensor 13 identifies the position of the medicine box, it sends a signal to the controller. After receiving the signal, the controller controls the motor to drive the first gear 101 to rotate, so as to drive the first locking tongue 102 to slide on the first positioning block 103, thereby opening the first flap door 6, and the medicine rolls from the medicine box to the medicine storage bin 21. After the medicine is placed, the controller receives the signal from the first sensor 13 and controls the motor to drive the first gear 101 to rotate in the opposite direction, so that the first locking tongue 102 slides away from the first flap door 6, thereby driving the first flap door 6 to close. Until the first sensor 13 identifies the next group of medicines to be taken, the first flap door 6 is opened to take the medicine, and this reciprocating process is completed to complete the entire medicine taking operation.

[0041] Similarly, the second transmission member 11 includes a second gear, a second locking tongue and a second positioning block. The second gear and the second positioning block are both fixed in the housing 1. One end of the second locking tongue is movably connected to the third flap door 9, and the other end is provided with a tooth meshing with the second gear and meshing with the second gear through the tooth. The second positioning block and the second locking tongue slide together, so that the second locking tongue can reciprocate on the second positioning block. When the third sensor 14 identifies the position of the medicine box, it sends a signal to the controller. After receiving the signal, the controller controls the motor to drive the second gear to rotate, so as to drive the second locking tongue to slide on the second positioning block, thereby opening the third flap door 9, and the medicine rolls from the medicine box into the medicine storage bin 21.

[0042] The third transmission member 12 includes a third gear, a third locking tongue and a third positioning block. The third gear and the third positioning block are both fixed in the housing 1. One end of the third locking tongue is movably connected to the second flap door 7, and the other end is provided with a tooth meshing with the third gear and meshing with the third gear through the tooth. The third positioning block and the third locking tongue slide together, so that the third locking tongue can reciprocate on the third positioning block. When the second sensor 15 identifies the medicine receiving frame or the medicine receiving basket, it sends a signal to the controller. After receiving the signal, the controller controls the motor to drive the third gear to rotate, so as to drive the third locking tongue to slide on the third positioning block, thereby opening the second flap door 7, and the medicine rolls from the medicine storage bin 21 to the medicine receiving frame or the medicine receiving basket.

[0043] The present application also provides a medicine dispensing device (not shown), including a medicine rack, a plurality of medicine boxes located on the medicine rack for storing medicines in a classified manner, and the above-mentioned manipulator. By storing medicines such as injection bottles in a classified manner in a plurality of medicine boxes, the manipulator automatically grabs the medicines such as injection bottles from the medicine boxes according to the patient information, thereby improving work efficiency and avoiding mistakes. Of course, the medicine dispensing device may also selectively include a conveyor belt, a medicine basket, and other structures for transmitting medicines such as injection bottles to medical staff. The present application can store more injection bottles, improve work efficiency, and avoid damaging injection bottles.

[0044] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A medicine taking robot, characterized in that: include: A shell, the shell being in a drum shape; A medicine storage unit is arranged inside the shell, the medicine storage unit comprises an annular medicine storage bin arranged along the circumference of the shell, and a partition plate dividing the medicine storage bin into a plurality of medicine storage grids along the circumference, one end of the partition plate is connected to the bottom wall of the medicine storage bin, and the other end extends to the inner wall of the shell, and the opening of each medicine storage grid faces the inner wall of the shell; A driving unit, which is disposed inside the shell, the driving unit is drivingly connected to the medicine storage bin, and the driving unit drives the medicine storage bin to rotate along the circumferential direction of the shell; A first medicine discharging opening is provided on the shell wall of the shell, and when the medicine storage bin rotates, each of the medicine storage compartments is sequentially connected to the first medicine discharging opening; a first flap door is installed at the first medicine discharging opening; The medicine outlet is provided on the bottom shell wall of the shell body. When the medicine storage bin rotates, each of the medicine storage compartments is connected with the medicine outlet in sequence. A second flap door is installed at the medicine outlet.

2. A medicine dispensing robot according to claim 1, characterized in that: A first transmission member and a second transmission member are installed in the shell, and the first transmission member and the second transmission member are respectively connected to the first flap door and the second flap door, and the first transmission member and the second transmission member respectively drive the first flap door and the second flap door to open or close.

3. A medicine dispensing robot according to claim 2, characterized in that: The first transmission member and the second transmission member are both connected to a controller, a first sensor is installed on the first flap door, a second sensor is installed on the second flap door, and the first sensor and the second sensor are both communicatively connected to the controller.

4. A medicine dispensing robot according to claim 3, characterized in that: The first transmission member includes a first gear, a first locking tongue and a first positioning block, one end of the first locking tongue is movably connected to the first flap door, and the other end is provided with teeth meshing with the first gear and meshing with the first gear, the first positioning block is installed in the shell, and the first locking tongue is slidably connected to the first positioning block; when the first sensor recognizes the position of the medicine magazine, the controller controls the first locking tongue to slide on the first positioning block to drive the first flap door to open.

5. The medicine dispensing robot according to claim 3, characterized in that: The second transmission member includes a second gear, a second locking tongue and a second positioning block, one end of the second locking tongue is movably connected to the second flap door, and the other end is provided with teeth meshing with the second gear and meshing with the second gear, the second positioning block is installed in the shell, and the second locking tongue is slidably connected to the second positioning block; when the second sensor recognizes the medicine receiving position, the controller controls the second locking tongue to slide on the second positioning block to drive the second flap door to open.

6. The medicine dispensing robot according to claim 1, characterized in that: The spacing distance between the two partition plates is adapted to the size of the medicines to be placed.

7. The medicine dispensing robot according to claim 1, characterized in that: The spacing between one end of the partition plate close to the shell and the inner wall of the shell is smaller than the size of the medicine to be placed.

8. The medicine dispensing robot according to claim 1, characterized in that: A second medicine discharging opening is also provided on the shell wall of the shell, and a third flap door is installed at the second medicine discharging opening; the second medicine discharging opening and the first medicine discharging opening are located on the same horizontal line.

9. A medicine dispensing robot according to claim 8, characterized in that: The opening positions of the first medicine discharging port and the second medicine discharging port in the vertical direction are higher than the opening position of the medicine outlet.

10. A medicine dispensing device, characterized in that: include: The medicine dispensing robot according to any one of claims 1 to 9.

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