Medicine dispensing robot and medicine dispensing device

Abstract

The present invention discloses a medicine dispensing robot and a medicine dispensing device, comprising a housing, a medicine storage unit, a drive unit, a first medicine dispensing port, and a medicine outlet. The medicine storage unit is disposed inside the housing and includes a circular medicine storage bin disposed circumferentially along the housing, and a partition plate that divides the medicine storage bin into a plurality of medicine storage compartments circumferentially. 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 housing. The opening of each medicine storage compartment faces the inner wall of the housing. The drive unit is disposed inside the housing and drives the medicine storage bin to rotate circumferentially along the housing. The first medicine dispensing port is provided on the housing wall. When the medicine storage bin rotates, each medicine storage compartment is sequentially connected to the first medicine dispensing port. The medicine storage bin of the present invention transports medicines placed into the medicine storage compartments from the medicine dispensing port to the medicine outlet, thereby avoiding damage to the medicines to be dispensed.

Description

Technical Field

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

[0002] Currently, most hospitals' central pharmacies rely entirely on manual labor for medication dispensing, with pharmacists picking up and dispensing medications corresponding to the patients. Hospital pharmacies are seeing an increasing number of medication types. For example, injections used in infusion therapy come in both powder and liquid forms. Pharmacists rely on manual dispensing, creating a heavy daily workload. To ensure medication accuracy and reduce unnecessary hassles, central pharmacy pharmacists must maintain high concentration throughout the entire dispensing process. However, even with this, medication dispensing errors can still occur, causing unnecessary trouble for patients and hospitals, and even harming their health. Furthermore, when a large number of people are picking up medication, pharmacists are simply overwhelmed, forcing patients to wait in line, which wastes their time and is particularly challenging for patients with limited mobility.

[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 when subjected to force, and the grasping force of existing manipulators is difficult to control. Therefore, the current automatic drug dispensing devices are still 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 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 dispensing robot, comprising:

[0008] a shell, wherein the shell is in a drum shape;

[0009] a medicine storage unit disposed within the shell, the medicine storage unit comprising an annular medicine storage bin disposed circumferentially along the shell, and a partition plate that divides the medicine storage bin into a plurality of medicine storage compartments along the circumferential direction, one end of the partition plate being connected to the bottom wall of the medicine storage bin and the other end extending to the inner wall of the shell, with the opening of each medicine storage compartment facing the inner wall of the shell;

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

[0011] a first medicine discharging opening, which is provided on the shell wall of the housing, 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 wall of the shell. When the medicine storage bin rotates, each medicine storage compartment is connected to 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, and 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 flip door, and the other end is provided with teeth that mesh with the first gear and meshes 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 flip 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 flip door, and the other end is provided with teeth that mesh with the second gear and mesh 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 flip 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 distance between the 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 first medicine discharging port and the second medicine discharging port are opened at positions higher than the medicine outlet in the vertical direction.

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

[0022] Compared with existing technologies, the present invention has the following advantages: by installing a medicine storage bin inside the housing, the bin rotates along the circumference of the housing under the drive unit, while the housing remains unchanged. The bin transports medicines placed into the medicine storage compartment from the medicine dispensing port to the medicine dispensing port, thus preventing damage to the medicines to be removed. Furthermore, a flap door equipped with a sensor is installed at the medicine dispensing port. The system can read the type of medicine in the medicine cassette and open or close the flap door according to the medicine removal demand, thereby improving the efficiency of medicine dispensing and ensuring 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 following briefly introduces the drawings required for use in the embodiments or the description of the prior art. 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 any creative work.

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

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

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

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

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

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

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

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

[0032] Attachment Figure 9This is a schematic diagram of the third flap door in the embodiment of the present application when opened and cooperating with the medicine box;

[0033] Attachment Figure 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] Description of reference numerals and components in the accompanying 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 release port; 5. Medicine outlet; 6. First flap door; 7. Second flap door; 8. Second medicine release port; 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 solutions of the present invention will be clearly and completely described below through specific implementation methods. Obviously, the described embodiments are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts 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 drive unit 3, a first drug release port 4 and a drug outlet 5, wherein the shell 1 is drum-shaped, and the drug storage unit 2 is arranged inside the shell 1. The drug storage unit 2 includes a circular 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. 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 discharge 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 discharge port 4 in sequence. A first flap door 6 is installed at the first medicine discharge 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 discharge port 5 in sequence. A second flap door 7 is installed at the medicine discharge port 5.

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

[0039] See attached Figures 1 to 10As shown, the housing 1 is in the shape of a drum. A first drug release port 4, a second drug release port 8, and a drug outlet 5 are formed on the wall of the housing 1. The lengths of the first drug release port 4, the second drug release port 8, and the drug outlet 5 are adapted to the width of the wall of the housing 1 to accommodate drugs of varying sizes. The first drug release port 4 and the second drug release port 8 are vertically positioned higher than the drug outlet 5. A circular drug storage bin 21 is mounted within the housing 1. The rotational direction of the drug storage bin 21 is the same as that of the housing 1, i.e., the circumferential direction of the drug storage bin 21 is the same as that of the housing 1. Several partition plates 23 are mounted on the drug storage bin 21. 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 housing 1. The partition plates 23 are positioned near the inner wall of the housing 1 but are not connected thereto, facilitating rotation of the drug storage bin 21 within the housing 1. The spacing between the two partition plates 23 can be adjusted according to the size of the drugs to be released. 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. Several 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 discharge port 4 and the second medicine discharge 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. The first sensor 13, the third sensor 14, and the second sensor 15 are all in communication with the controller. 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 within 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 that meshes with the first gear 101 and meshes with the first gear 101 through the tooth. The first positioning block 103 slides with the first lock tongue 102, allowing the first lock tongue 102 to reciprocate on the first positioning block 103. When the first sensor 13 detects the position of the medicine cassette, it sends a signal to the controller. Upon receiving the signal, the controller controls the motor to rotate the first gear 101, causing the first locking tongue 102 to slide on the first positioning block 103, thereby opening the first flap door 6 and allowing the medicine to tumble from the medicine cassette into the medicine storage compartment 21. Once the medicines are placed, the controller, upon receiving the signal from the first sensor 13, controls the motor to rotate the first gear 101 in the opposite direction, causing the first locking tongue 102 to slide away from the first flap door 6, thereby closing the first flap door 6. This cycle continues until the first sensor 13 detects the next group of medicines to be removed, opening the first flap door 6 to allow the medicines to be removed.

[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 within 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 teeth that mesh with the second gear and mesh with the second gear through these teeth. The second positioning block and the second locking tongue slide together, allowing the second locking tongue to reciprocate on the second positioning block. When the third sensor 14 identifies the position of the medicine magazine, it sends a signal to the controller. After receiving the signal, the controller controls the motor to drive the second gear to rotate, causing the second locking tongue to slide on the second positioning block, thereby opening the third flap door 9 and causing the medicine to roll out of the medicine magazine into the medicine storage chamber 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 within 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 that meshes with the third gear and meshes with the third gear through the tooth. The third positioning block and the third locking tongue slide together, allowing the third locking tongue to reciprocate on the third positioning block. When the second sensor 15 identifies the medicine receiving frame or 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, thereby driving the third locking tongue to slide on the third positioning block, thereby opening the second flap door 7, and the medicines roll from the medicine storage bin 21 to the medicine receiving frame or medicine receiving basket.

[0043] The present application also provides a medicine dispensing device (not shown), comprising 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 injection bottles and other medicines from the medicine boxes based on the patient information, thereby improving work efficiency and avoiding errors. Of course, the medicine dispensing device may also optionally include a conveyor belt, a medicine basket, and other structures for transporting injection bottles and other medicines to medical staff. The present application can store more injection bottles, improve work efficiency, and avoid damage to injection bottles.

[0044] The above description of the disclosed embodiments will enable one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to one 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 is not limited to the embodiments shown herein, but is intended to 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, wherein the shell is in a drum shape; a medicine storage unit disposed within the shell, the medicine storage unit comprising an annular medicine storage bin disposed circumferentially along the shell, and a partition plate that divides the medicine storage bin into a plurality of medicine storage compartments along the circumferential direction, one end of the partition plate being connected to the bottom wall of the medicine storage bin and the other end extending to the inner wall of the shell, with the opening of each medicine storage compartment facing the inner wall of the shell; a driving unit, which is disposed inside the housing, the driving unit being drivingly connected to the medicine storage bin, and the driving unit driving the medicine storage bin to rotate along the circumferential direction of the housing; a first medicine discharging opening, which is provided on the shell wall of the housing, 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; A medicine outlet is provided on the bottom wall of the housing. When the medicine storage bin rotates, each medicine storage compartment is connected to the medicine outlet in sequence. A second flap door is installed at the medicine outlet. 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 flip door and the second flip door, and the first transmission member and the second transmission member respectively drive the first flip door and the second flip door to open or close; the first transmission member and the second transmission member are both connected to the controller, a first sensor is installed on the first flip door, and a second sensor is installed on the second flip door, and the first sensor and the second sensor are both communicatively connected to the controller.

2. A medicine dispensing robot according to claim 1, 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 flip door, and the other end is provided with teeth that mesh with the first gear and mesh 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 flip door to open.

3. The medicine dispensing robot according to claim 1, 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 that mesh with the second gear and mesh 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.

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

5. The medicine dispensing robot according to claim 1, characterized in that: The distance 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.

6. The medicine dispensing robot according to claim 1, characterized in that: A second medicine discharging opening is further 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.

7. The medicine dispensing robot according to claim 6, characterized in that: The first medicine discharging port and the second medicine discharging port are opened at positions higher than the medicine outlet in the vertical direction.

8. A medicine dispensing device, characterized in that: include: The medicine dispensing robot according to any one of claims 1 to 7.

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