Automatic medicine feeding machine

Abstract

The invention discloses an automatic medicine feeding machine which comprises a frame, a temporary storage mechanism and a conveying mechanism. A temporary storage mechanism and a conveying mechanism are mounted on the frame; the temporary storage mechanism comprises a first movable medicine box assembly and a second movable medicine box assembly, and the first movable medicine box assembly and the second movable medicine box assembly are parallel to the length direction of the frame and extend in the length direction of the frame. The first conveying belt assembly and the second conveying belt assembly are located on the rear sides of the first movable medicine box assembly and the second movable medicine box assembly, and the center line of the first conveying belt assembly and the center line of the second conveying belt assembly are both perpendicular to the center line of the first movable medicine box assembly. The automatic medicine feeding machine is provided with the medicine box turnover mechanism, the manipulator structure, the medicine box temporary storage structure and the push plate conveying structure, and is reasonable in layout, small in occupied area and high in medicine feeding efficiency.

Description

Technical Field

[0001] The present application relates to the technical field of medical devices, and in particular to an automatic medication dispensing machine. Background Art

[0002] In traditional medical institution pharmacies or drug storage environments, drug sorting, handling and drug delivery mostly rely on manual operations. Manual drug delivery is not only inefficient and consumes a lot of manpower costs, but is also prone to problems such as wrong or missed drug delivery due to human negligence, posing a threat to patients' drug safety. With the rapid development of the medical industry and the increasing requirements for refined drug management, there is an urgent need for a highly automated and reliable drug delivery device to replace the traditional manual drug delivery model.

[0003] The grabbing mechanism in the existing CN219949339U automatic sorting and feeding machine directly takes the medicine on the turning platform. The turning platform occupies a large space and the space of the automatic medicine feeding machine cannot be reasonably utilized. Summary of the invention

[0004] The purpose of the present invention is to propose an automatic medicine loading machine, which aims to solve the problems of high efficiency and accuracy in the process of automatic medicine sorting, transportation and loading, and improve the level of medicine management automation in medical institutions. The automatic medicine loading machine has a medicine box flipping mechanism, a manipulator structure, a medicine box temporary storage structure, a push plate conveying structure, a reasonable layout, a small footprint, and high efficiency.

[0005] The solution provided by the present invention is: an automatic medicine loading machine, comprising: a frame, a temporary storage mechanism, and a conveying mechanism; a flipping mechanism is used to change the direction of the medicine box; a manipulator structure is used to transfer the medicine box in the temporary storage mechanism to the conveying mechanism; the temporary storage mechanism and the conveying mechanism are installed on the frame; the temporary storage mechanism comprises a first movable medicine box assembly and a second movable medicine box assembly, wherein the first movable medicine box assembly and the second movable medicine box assembly are parallel to the length direction of the frame and extend along the length direction of the frame, the first movable medicine box assembly and the second movable medicine box assembly are respectively arranged side by side in the width direction of the frame, and the conveying mechanism comprises a first conveying belt assembly and a second conveying belt assembly,

[0006] The first conveyor belt assembly and the second conveyor belt assembly extend parallel to the width direction of the frame and extend along the width direction of the frame. The first conveyor belt assembly and the second conveyor belt assembly are located on the rear side of the first movable medicine box assembly and the second movable medicine box assembly. The center lines of the first conveyor belt assembly and the second conveyor belt assembly are both perpendicular to the center line of the first movable medicine box assembly.

[0007] Furthermore, the first movable medicine box assembly includes a first movable frame, a second movable frame, a first driving motor, a first synchronous belt, a first movable plate,

[0008] The first moving frame is fixed at the front end of the frame, the second moving frame is fixed at the middle of the frame, the first driving motor is arranged between the first moving frame and the second moving frame, the first synchronous belt is connected to the first driving motor, and the first moving plate is connected to the first synchronous belt.

[0009] The first movable plate further includes a pressing plate, and the first synchronous belt is arranged between the pressing plate and the first movable plate.

[0010] The first movable plate also includes a slider, and the first movable frame and the second movable frame are both provided with a slide rail, the slide rail extends along the length direction of the frame, and the slider is positioned in the slide rail.

[0011] Furthermore, a rectangular receiving box is fixed on the upper surface of the first movable plate.

[0012] The second movable medicine box assembly includes a second movable frame, a third movable frame, a second driving motor, a second synchronous belt, a second movable plate,

[0013] The third moving frame is fixed at the rear end of the frame, the second driving motor is arranged between the second moving frame and the third moving frame, the second synchronous belt is connected to the second driving motor, and the second moving plate is connected to the second synchronous belt.

[0014] The second movable plate further includes a pressing plate, and the second synchronous belt is arranged between the pressing plate and the second movable plate.

[0015] The second movable plate also includes a slider, the third movable frame is provided with a slide rail, the slide rail extends along the length direction of the frame, the slider is positioned in the slide rail, and a rectangular accommodating box is fixed on the upper surface of the second movable plate.

[0016] Furthermore, a turning mechanism is provided between the entrance of the first conveyor belt assembly and the second conveyor belt assembly and the front end of the frame.

[0017] The frame includes a first frame and a second frame, the first frame and the second frame are arranged in parallel, and the first frame and the second frame are connected to the front end and the rear end of the frame.

[0018] The flip mechanism has a fixed mounting plate, which is arranged between the first frame and the second frame.

[0019] The flip mechanism also includes: a flip drive motor, a transmission mechanism, a transmission shaft, and an L-shaped baffle mechanism. The flip drive motor, the transmission mechanism, the transmission shaft, and the L-shaped baffle mechanism are all fixed on the fixed mounting plate.

[0020] The drive motor is connected to the transmission mechanism, the transmission mechanism is connected to one end of the transmission shaft, and the transmission shaft sleeve is arranged in the L-shaped baffle mechanism

[0021] The L-shaped baffle mechanism comprises a first baffle and a second baffle, the first baffle and the second baffle are perpendicular to each other, and the transmission shaft sleeve is arranged at the connection between the first baffle and the second baffle.

[0022] Furthermore, it also includes a swing mechanism, wherein the swing mechanism includes a connecting baffle and a cam plate assembly; the top end of the connecting baffle is arranged below the belt conveying mechanism, the bottom end of the connecting baffle is arranged above the flat plate conveying mechanism, the left side of the connecting baffle is connected to the left side baffle, and the right side of the connecting baffle is connected to the right side baffle, an opening is arranged in the middle of the connecting baffle, a cam plate assembly is fixed in the opening, the cam plate assembly is swingably connected to the connecting baffle, the cam plate assembly includes a cam shaft, a cam bottom plate, a left cam side plate, a right cam side plate and a cam flat plate, the cam shaft is fixed to the lower surface of the connecting baffle, the left cam side plate and the right cam side plate are respectively sleeved on the cam shaft, and the cam bottom plate is fixed to the left cam side plate and the right cam side plate The cam base plate is sleeved on the camshaft, and the cam base plate is located between the left cam side plate and the right cam side plate. The cam plate assembly also includes a cam plate drive motor, a main synchronous pulley, an auxiliary synchronous pulley, and a cam plate synchronous belt, wherein the cam plate drive motor, the main synchronous pulley, the auxiliary synchronous pulley, and the cam plate synchronous belt are all arranged on the lower surface of the connecting baffle, the drive motor is connected to the main synchronous pulley, the synchronous belt is wound between the main synchronous pulley and the auxiliary synchronous pulley, and the auxiliary synchronous pulley is connected to the camshaft. The cam plate assembly also includes a left mounting seat and a right mounting seat, the left mounting seat is located on the left side of the opening, and the right mounting seat is located on the right side of the opening, one end of the camshaft is fixed in the left mounting seat, and the other end of the camshaft is fixed in the right mounting seat.

[0023] Furthermore, it also includes a push plate conveying structure, the push plate conveying structure includes: a push plate and a base plate, the push plate is slidably connected relative to the base plate, wherein the bottom of the base plate includes a base plate driving motor and a base plate synchronous belt, the base plate driving motor is connected to the base plate synchronous belt, the base plate synchronous belt is connected to the push plate, an opening is arranged in the middle of the base plate, when in the initial position, the push plate completely covers the opening, when in the moving position, the push plate partially covers the opening, the synchronous belt assembly also includes a synchronous belt idler wheel and a synchronous belt pulley, the base plate driving motor is connected to the synchronous belt pulley, the push plate is connected to the synchronous belt pulley through a connecting assembly, the synchronous belt is wound between the synchronous belt idler wheel and the synchronous belt pulley, the connecting assembly includes an L-shaped connecting plate and a synchronous belt pressure plate, the synchronous belt pressure plate is located at the lower side of the base plate synchronous belt, the L-shaped connecting plate is fixedly connected to the push plate, the L-shaped connecting plate is located at the upper side of the synchronous belt, the L-shaped connecting plate is connected to the synchronous belt pressure plate by fasteners, the base plate also includes a slide rail, the L-shaped connecting plate is positioned in the slide rail, the push plate also includes a Z-shaped connecting block, the Z-shaped connecting block is fixedly connected to the L-shaped connecting plate,

[0024] A protective baffle is fixedly arranged on the upper surface of the bottom plate. In the initial position, the push plate is arranged inside the protective baffle.

[0025] An opening is formed between the protective baffle and the bottom plate. When in the moving position, the push plate moves through the opening.

[0026] The protective baffle has a left side, a right side and a bottom side, wherein the left side and the right side are fixedly connected to the left side and the right side of the bottom plate respectively, and the bottom side, the left side, the right side and the bottom plate form a receiving space, and the push plate is arranged in the receiving space.

[0027] Furthermore, it also includes a manipulator structure,

[0028] The top of the frame has a first rail and a second rail, the first rail and the second rail are parallel, the first rail and the second rail extend along the length direction of the frame, and there is a gap between the first rail and the second rail.

[0029] A movable first manipulator and a movable second manipulator are arranged between the first rail and the second rail;

[0030] The moving path of the first manipulator passes above the carrying mechanism and above the first movable medicine box assembly and the second movable medicine box assembly.

[0031] The moving path of the second manipulator passes over the first movable medicine box assembly and the second movable medicine box assembly and over the conveying mechanism.

[0032] Furthermore, the first robot includes a Y-axis substrate, an X-axis drive motor, an X-axis synchronous belt, a Z-axis substrate,

[0033] The Y-axis substrate is arranged between the first rail and the second rail, the X-axis driving motor is fixed on the upper surface of the Y-axis substrate, the X-axis synchronous belt is fixed on the lower surface of the Y-axis substrate, the X-axis driving motor drives the X-axis synchronous belt, the Z-axis substrate is fixed on the X-axis synchronous belt, a suction claw assembly is fixed on the Z-axis substrate, a first Y-axis slide rail and a second Y-axis slide rail are arranged on the Y-axis substrate, the first Y-axis slide rail is parallel to the second Y-axis slide rail, and the first Y-axis slide rail and the second Y-axis slide rail are parallel and respectively located on both sides of the X-axis synchronous belt,

[0034] A first slider and a second slider are fixed to the upper surface of the Z-axis substrate, wherein the first slider is parallel to the second slider, the first slider is positioned in the first Y-axis slide rail, and the second slider is positioned in the second Y-axis slide rail. The suction claw assembly includes a Z-axis drive motor, a Z-axis mounting plate, and a Z-axis synchronous belt. The Z-axis drive motor is fixed to the lower surface of the Z-axis substrate, the Z-axis mounting plate is perpendicular to the Z-axis substrate, the Z-axis synchronous belt is fixed to the Z-axis mounting plate, the Z-axis synchronous belt is connected to the Z-axis drive motor, and an air pump unit is also provided on the Z-axis synchronous belt. The air pump unit includes an air pump motor, an air pump synchronous belt, an air pump suction claw, and a Q-axis substrate. The Q-axis substrate is fixed on the Z-axis synchronous belt, the air pump motor is fixed on the Q-axis substrate, the air pump synchronous belt is connected to the air pump motor, the air pump suction claw is connected to the air pump synchronous belt, and the number of air pump suction claws is three.

[0035] Furthermore, the second manipulator has the same structure as the first manipulator, the first rail is provided with a first slide rail, the second rail is provided with a second slide rail, the Y-axis substrate is provided with a first slide seat and a second slide seat, the first slide seat is positioned in the first slide rail, the second slide seat is positioned in the second slide rail, a synchronous belt drive motor is provided on the frame, the synchronous belt drive motor is connected to the synchronous belt, an X-axis synchronous belt fixed connecting seat is fixed on the Y-axis substrate, the X-axis fixed plate is fixedly connected to the X-axis synchronous belt fixed connecting seat, and the synchronous belt is provided between the X-axis fixed plate and the X-axis synchronous belt fixed connecting seat.

[0036] The beneficial effects of the present invention are:

[0037] (1) The flipping mechanism is set between the temporary storage mechanism and the conveying mechanism. It has a compact structure, is easy to install, and can operate stably inside the frame without taking up too much external space. It can achieve large-capacity drug temporary storage and efficient conveying functions in a relatively small footprint.

[0038] (2) Two temporary storage mechanisms, namely the first movable medicine box assembly and the second movable medicine box assembly, are provided. They can perform some preparatory work in parallel. For example, when one component receives a new batch of medicines for temporary storage, the other component can simultaneously transport the temporarily stored medicines to the transport mechanism for drug loading. This greatly shortens the overall drug loading process time and improves the work efficiency of drug loading.

[0039] (3) The cam plate assembly is set to swing back and forth at an angle, so that the medicine box falling from the belt conveyor mechanism can fall onto the flat conveyor mechanism through posture adjustment, making it easier to push out the medicine box. The swing baffle structure is set inside the frame to improve the integration of the automatic medicine replenishing machine.

[0040] (4) A driving motor and an opening are provided at the bottom of the base plate, and a push plate is provided at the opening, thereby improving the space utilization of the base plate and facilitating the miniaturization and integrated design of the automatic medicine replenishing machine.

[0041] (5) The carrying mechanism, temporary storage mechanism, and conveying mechanism are integrated on the frame, and the moving paths of the first manipulator and the second manipulator are rationally planned so that they pass through the corresponding key mechanisms respectively, thus realizing the automated connection and efficient collaboration of the drug application process, optimizing the overall drug application process, and improving drug application efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 It is a structural diagram of the automatic medicine feeding machine of the present invention;

[0043] Figure 2 The structure of the temporary storage structure of the medicine box of the present invention Figure 1 ;

[0044] Figure 3 The structure of the temporary storage structure of the medicine box of the present invention Figure 2 ;

[0045] Figure 4 The structure of the temporary storage structure of the medicine box of the present invention Figure 3 ;

[0046] Figure 5 The structure of the medicine box flipping mechanism of the present invention is Figure 1 ;

[0047] Figure 6 The structure of the medicine box flipping mechanism of the present invention is Figure 2 ;

[0048] Figure 7 The swing baffle structure of the present invention Figure 1 ;

[0049] Figure 8 The swing baffle structure of the present invention Figure 2 ;

[0050] Fig. 9 The swing baffle structure of the present invention Figure 3 ;

[0051] Fig.10 The push plate conveying structure of the present invention Figure 1 ;

[0052] Fig.11 The push plate conveying structure of the present invention Figure 2 ;

[0053] Fig.12 The push plate conveying structure of the present invention Figure 3 ;

[0054] Fig.13 The push plate conveying structure of the present invention Figure 4 ;

[0055] Fig.14 The push plate conveying structure of the present invention Figure 5 ;

[0056] Fig.15 The manipulator structure of the present invention Figure 1 ;

[0057] Fig.16 The manipulator structure of the present invention Figure 2 ;

[0058] Fig.17 The manipulator structure of the present invention Figure 3 ;

[0059] Fig.18 The manipulator structure of the present invention Figure 4 .

[0060] Description of reference numerals: frame 110, carrying mechanism 111, temporary storage mechanism 112, conveying mechanism 113, first movable medicine box assembly 120, first movable frame 121, second movable frame 122, slide rail 123, first drive motor 124, first synchronous belt 125, first movable flat plate 126, rectangular containing box 127, pressing plate 128, slider 129, second movable medicine box assembly 130, third movable frame 131, second drive motor 132, second synchronous belt 133, second movable flat plate 134, pressing plate 135, slider 136, rectangular containing box 137;

[0061] The turning mechanism 140, the conveying mechanism 150, the first frame 220, the second frame 221, the fixed mounting plate 222, the driving motor 223, the transmission mechanism 224, the transmission shaft 225, the first rib 226, and the second rib 227;

[0062] Connecting baffle 310, opening 311, cam shaft 320, cam bottom plate 321, left cam side plate 322, right cam side plate 323, cam plate 324, cam plate driving motor 325, main synchronous pulley 326, auxiliary synchronous pulley 327, synchronous belt 328, left mounting seat 3292, right mounting seat 3291, frame 110, plate conveying mechanism 170, left side baffle 331, right side baffle 332, belt conveying mechanism 160;

[0063] Push plate 41, bottom plate 42, bottom plate drive motor 43, bottom plate synchronous belt 44, opening 45, synchronous belt idler wheel 46, synchronous belt pulley 47, L-shaped connecting plate 48, synchronous belt pressure plate 49, slide rail 410, Z-shaped connecting block 411, protective baffle 412, opening 413, left side 414, right side 415, bottom side 416;

[0064] Frame 110, carrying mechanism 180, temporary storage mechanism 190, conveying mechanism 150, first rail 55, second rail 56, first manipulator 57, second manipulator 58, Y-axis substrate 59, X-axis drive motor 510, X-axis synchronous belt 511, Z-axis substrate 512, suction claw assembly 513, first Y-axis slide rail 514, second Y-axis slide rail 515, first slider 516, second slider 517, Z-axis drive motor 518, Z-axis mounting plate 519, Z-axis synchronous belt 520, air pump unit 521, air pump motor 522, air pump synchronous belt 523, air pump suction claw 524, Q-axis substrate 525, first slide rail 526, second slide rail 527, first slide seat 528, second slide seat 529, synchronous belt drive motor 530, synchronous belt 531, X-axis synchronous belt fixed connection seat 532, X-axis fixed plate 533. DETAILED DESCRIPTION

[0065] The present invention discloses an automatic medicine loading machine, comprising a frame 110, a temporary storage mechanism 112, a conveying mechanism 113, a flipping mechanism, a swinging mechanism, a push plate conveying structure and a manipulator structure. The flipping mechanism is used to change the direction of the medicine box; the manipulator structure is used to transfer the medicine box in the temporary storage mechanism 112 to the conveying mechanism 113.

[0066] In order to efficiently classify and temporarily store different types or batches of drugs, and facilitate subsequent sorting and transportation operations, the flexibility and capacity of drug temporary storage have been greatly improved. Figure 1 As shown, an automatic medicine dispensing machine includes: a frame 110, a temporary storage mechanism 112, and a conveying mechanism 113; the temporary storage mechanism 112 and the conveying mechanism 113 are installed on the frame 110; the temporary storage mechanism 112 includes a first movable medicine box assembly 120 and a second movable medicine box assembly 130, wherein the first movable medicine box assembly 120 and the second movable medicine box assembly 130 are parallel to the length direction of the frame 110 and extend along the length direction of the frame 110, the first movable medicine box assembly 120 and the second movable medicine box assembly 130 are respectively arranged side by side in the width direction of the frame 110, and the conveying mechanism 113 includes a first conveying belt assembly and a second conveying belt assembly, the first conveying belt assembly and the second conveying belt assembly extend parallel to the width direction of the frame 110 and extend along the width direction of the frame 110, the first conveying belt assembly and the second conveying belt assembly are located at the rear sides of the first movable medicine box assembly 120 and the second movable medicine box assembly 130, and the center lines of the first conveying belt assembly and the second conveying belt assembly are perpendicular to the center line of the first movable medicine box assembly 120.

[0067] like Figure 2 As shown, the first movable medicine box assembly 120 includes a first movable frame 121, a second movable frame 122, a first drive motor 124, a first synchronous belt 125, and a first movable flat plate 126. The first movable frame 121 is fixed at the front end of the frame 110, and the second movable frame 122 is fixed in the middle of the frame 110. The first drive motor 124 is arranged between the first movable frame 121 and the second movable frame 122. The first synchronous belt 125 is connected to the first drive motor 124, and the first movable flat plate 126 is connected to the first synchronous belt 125. The first movable flat plate 126 also includes a pressing plate 128. The first synchronous belt 125 is arranged between the pressing plate 128 and the first movable flat plate 126. The first movable flat plate 126 also includes a slider 129. The first movable frame 121 and the second movable frame 122 are both provided with a slide rail 123. The slide rail 123 extends along the length direction of the frame 110, and the slider 129 is positioned in the slide rail 123.

[0068] like Figure 3 and 4As shown, a rectangular accommodating box 127 is fixed to the upper surface of the first movable plate 126, and the second movable medicine box assembly 130 includes a second movable frame, a third movable frame 131, a second drive motor 132, a second synchronous belt 133, and a second movable plate 134. The third movable frame 131 is fixed to the rear end of the frame 110, the second drive motor 132 is arranged between the second movable frame and the third movable frame 131, the second synchronous belt 133 is connected to the second drive motor 132, the second movable plate 134 is connected to the second synchronous belt 133, the second movable plate 134 also includes a pressing plate 135, the second synchronous belt 133 is arranged between the pressing plate 135 and the second movable plate 134, the second movable plate 134 also includes a slider 136, the third movable frame 131 is provided with a slide rail, the slide rail extends along the length direction of the frame 110, the slider 136 is positioned in the slide rail, and a rectangular accommodating box 137 is fixed to the upper surface of the second movable plate 134.

[0069] like Figure 5 As shown, a flipping mechanism 140 is arranged between the entrance of the first conveying belt assembly and the second conveying belt assembly in the conveying mechanism 150 and the front end of the frame 110, the frame 110 includes a first frame 220 and a second frame 221, the first frame 220 and the second frame 221 are arranged in parallel, the first frame 220 and the second frame 221 are connected to the front end and the rear end of the frame 110, the flipping mechanism 140 has a fixed mounting plate 222, the fixed mounting plate 222 is arranged between the first frame 220 and the second frame 221, the flipping mechanism 140 also includes: a flipping drive motor 223, a transmission mechanism 224, a transmission shaft 225, and an L-shaped baffle mechanism, the flipping drive motor 223, the transmission mechanism 224, the transmission shaft 225, and the L-shaped baffle mechanism are all fixed on the fixed mounting plate 222, the flipping drive motor 223 is connected to the transmission mechanism 224, the transmission mechanism 224 is connected to one end of the transmission shaft 225, and the transmission shaft 225 is sleeved in the L-shaped baffle mechanism.

[0070] like Figure 6 As shown, the L-shaped baffle mechanism has a first baffle 226 and a second baffle 227, the first baffle 226 and the second baffle 227 are perpendicular, and the transmission shaft 225 is sleeved at the connection between the first baffle 226 and the second baffle 227. The flipping mechanism 140 ensures that the medicine can be flipped to a suitable position according to the shape, size or conveying requirements of the medicine, so as to facilitate the robot to grab it.

[0071] like Figure 7-9As shown, in order to prevent drug accumulation and clogging and improve the accuracy and reliability of drug delivery, the automatic drug loading machine also includes a swing mechanism, wherein the swing mechanism includes a connecting baffle 310 and a cam plate assembly; the top end of the connecting baffle 310 is arranged below the belt conveying mechanism 160, the bottom end of the connecting baffle 310 is arranged above the flat plate conveying mechanism 170, the left side of the connecting baffle 310 is connected to the left side baffle 331, the right side of the connecting baffle 310 is connected to the right side baffle 332, and the connecting baffle 310 is connected to the left side baffle 331. 0 is provided with an opening 311 in the middle, and a cam plate assembly is fixed in the opening 311. The cam plate assembly is swingably connected to the connecting baffle 310. The cam plate assembly includes a cam shaft 320, a cam bottom plate 321, a left cam side plate 322, a right cam side plate 323 and a cam flat plate 324. The cam shaft 320 is fixed to the lower surface of the connecting baffle 310, the left cam side plate 322 and the right cam side plate 323 are respectively sleeved on the cam shaft 320, and the cam bottom plate 321 is fixed to the left cam side plate 322 and the right cam side plate 323. The cam plate assembly further comprises a cam plate driving motor 325, a main synchronous pulley 326, an auxiliary synchronous pulley 327, and a synchronous belt 328, wherein the cam plate driving motor 325, the main synchronous pulley 326, the auxiliary synchronous pulley 327, and the synchronous belt 328 are all arranged on the lower surface of the connecting baffle 310, and the cam plate driving motor 325 and the main synchronous pulley 326 are connected to each other. The synchronous belt 328 is wound between the main synchronous belt pulley 326 and the auxiliary synchronous belt pulley 327, and the auxiliary synchronous belt pulley 327 is connected to the camshaft 320. The cam plate assembly also includes a left mounting seat 3292 and a right mounting seat 3291. The left mounting seat 3292 is located on the left side of the opening 311, and the right mounting seat 3291 is located on the right side of the opening 311. One end of the camshaft 320 is fixed in the left mounting seat 3292, and the other end of the camshaft 320 is fixed in the right mounting seat 3291.

[0072] like Figure 10-14As shown, the automatic medicine loading machine also includes a push plate conveying structure. The push plate conveying structure includes: a push plate 41 and a bottom plate 42, the push plate 41 is slidably connected with the bottom plate 42, wherein the bottom of the bottom plate 42 includes a bottom plate drive motor 43 and a bottom plate synchronous belt 44, the bottom plate drive motor 43 is connected to the bottom plate synchronous belt 44, the bottom plate synchronous belt 44 is connected to the push plate 41, an opening 45 is provided in the middle of the bottom plate 42, when in the initial position, the push plate 41 completely covers the opening 45, when in the moving position, the push plate 41 partially covers the opening 45, the synchronous belt assembly also includes a synchronous belt idler wheel 46 and a synchronous belt pulley 47, the bottom plate drive motor 43 is connected to the synchronous belt pulley 47, the push plate 41 is connected to the synchronous belt pulley 47 through a connecting assembly, the synchronous belt 44 is wound between the synchronous belt idler wheel 46 and the synchronous belt pulley 47, the connecting assembly includes an L-shaped connecting plate 48 and a synchronous belt pressure plate 49, the synchronous belt pressure plate 49 is located at the lower side of the bottom plate synchronous belt 44, the L-shaped connecting plate 48 is fixedly connected to the push plate 41, the L-shaped The connecting plate 48 is located on the upper side of the synchronous belt 44, and the L-shaped connecting plate 48 is connected to the synchronous belt pressure plate 49 by fasteners. The bottom plate 42 also includes a slide rail 410, and the L-shaped connecting plate 48 is positioned in the slide rail 410. The push plate 41 also includes a Z-shaped connecting block 411, which is fixedly connected to the L-shaped connecting plate 48. A protective baffle 412 is fixedly arranged on the upper surface of the bottom plate 42. In the initial position, the push plate 41 is arranged in the protective baffle 412, and an opening 413 is formed between the protective baffle 412 and the bottom plate 42. In the moving position, the push plate 41 moves from the opening 413. The protective baffle 412 has a left side edge 414, a right side edge 415 and a bottom edge 416, wherein the left side edge 414 and the right side edge 415 are fixedly connected to the left side and the right side of the bottom plate 42 respectively, and the bottom edge 416 forms a receiving space with the left side edge 414, the right side edge 415 and the bottom plate 42, and the push plate 41 is arranged in the receiving space.

[0073] like Figure 15-18 As shown, in order to make the robots work in coordination, they can operate on medicines in different positions simultaneously or successively according to the instructions of the control system, which greatly improves the efficiency and flexibility of medicine loading, such as quickly sorting medicines in the temporary storage mechanism 190 and transferring them to the conveying mechanism 150, or accurately placing the medicines at the end of the conveying mechanism 150 into the medicine loading equipment, completing the key steps of automatic medicine loading.

[0074] The automatic medication dispensing machine also includes a manipulator structure. The top of the frame 110 has a first rail 55 and a second rail 56, the first rail 55 and the second rail 56 are parallel, the first rail 55 and the second rail 56 extend along the length direction of the frame 110, there is a gap between the first rail 55 and the second rail 56, and a movable first manipulator 57 and a movable second manipulator 58 are arranged between the first rail 55 and the second rail 56;

[0075] The moving path of the first manipulator 57 passes over the supporting mechanism 180 and over the first movable medicine box assembly 120 and the second movable medicine box assembly 130 , and the moving path of the second manipulator 58 passes over the first movable medicine box assembly 120 and the second movable medicine box assembly 130 and over the conveying mechanism 150 .

[0076] Furthermore, the first robot 57 includes a Y-axis substrate 59, an X-axis drive motor 510, an X-axis synchronous belt 511, and a Z-axis substrate 512. The Y-axis substrate 59 is arranged between the first rail 55 and the second rail 56. The X-axis drive motor 510 is fixed on the upper surface of the Y-axis substrate 59, the X-axis synchronous belt 511 is fixed on the lower surface of the Y-axis substrate 59, the X-axis drive motor 510 drives the X-axis synchronous belt 511, the Z-axis substrate 512 is fixed on the X-axis synchronous belt 511, and a suction claw assembly 513 is fixed on the Z-axis substrate 512. A first Y-axis slide rail 514 and a second Y-axis slide rail 515 are arranged on the Y-axis substrate 59. The first Y-axis slide rail 514 is parallel to the second Y-axis slide rail 515, and the first Y-axis slide rail 514 and the second Y-axis slide rail 515 are parallel and are respectively located on both sides of the X-axis synchronous belt 511.

[0077] The upper surface of the Z-axis substrate 512 is fixed with a first slider 516 and a second slider 517, wherein the first slider 516 is parallel to the second slider 517, the first slider 516 is positioned in the first Y-axis slide rail 514, and the second slider 517 is positioned in the second Y-axis slide rail 515. The suction claw assembly 513 includes a Z-axis drive motor 518, a Z-axis mounting plate 519, and a Z-axis synchronous belt 520. The Z-axis drive motor 518 is fixed to the lower surface of the Z-axis substrate 512, the Z-axis mounting plate 519 is perpendicular to the Z-axis substrate 512, and the Z-axis synchronous belt 520 is fixed to the Z-axis drive motor 518. On the shaft mounting plate 519, the Z-axis synchronous belt 520 is connected to the Z-axis drive motor 518, and an air pump unit 521 is also provided on the Z-axis synchronous belt 520. The air pump unit 521 includes an air pump motor 522, an air pump synchronous belt 523, an air pump suction claw 524, and a Q-axis substrate 525. The Q-axis substrate 525 is fixed on the Z-axis synchronous belt 520, and the air pump motor 522 is fixed on the Q-axis substrate 525. The air pump synchronous belt 523 is connected to the air pump motor 522, and the air pump suction claw 524 is connected to the air pump synchronous belt 523. The number of the air pump suction claws 524 is three.

[0078] Furthermore, the second manipulator 58 has the same structure as the first manipulator 57, a first slide rail 526 is provided on the first rail 55, a second slide rail 527 is provided on the second rail 56, a first slide seat 528 and a second slide seat 529 are provided on the Y-axis substrate 59, the first slide seat 528 is positioned in the first slide rail 526, and the second slide seat 529 is positioned in the second slide rail 527, a synchronous belt drive motor 530 is provided on the frame 110, and the synchronous belt drive motor 530 is connected to the synchronous belt 531, an X-axis synchronous belt fixed connecting seat 532 is fixed on the Y-axis substrate 59, the X-axis fixed plate 533 is fixedly connected to the X-axis synchronous belt fixed connecting seat 532, and the synchronous belt 531 is arranged between the X-axis fixed plate 533 and the X-axis synchronous belt fixed connecting seat 532.

[0079] The working principle of the present invention is:

[0080] During the operation of the automatic drug loading machine, each mechanism cooperates closely to achieve efficient and accurate drug loading tasks. First, the drugs are placed in the rectangular containing boxes of the first movable medicine box assembly and the second movable medicine box assembly of the temporary storage mechanism by manual or external equipment, and the temporary storage mechanism performs preliminary classification and storage according to the drug category, batch and other information. When the drug needs to be loaded, the first drive motor and the second drive motor drive the corresponding synchronous belt to drive the mobile plate to move and move the target drug to a position close to the conveying mechanism. At this time, the L-shaped baffle mechanism of the flip mechanism is adjusted to a suitable angle under the action of the flip drive motor to guide the drug to smoothly enter the first conveyor belt assembly and the second conveyor belt assembly. During the conveying process, if the drug position deviation or diversion is required, the cam plate assembly of the swing mechanism swings in time under the drive of the drive motor to correct the posture of the drug and ensure that it moves along the predetermined path. When the drug is delivered to a specific position, such as in front of the drug loading station, the bottom plate drive motor of the push plate conveying structure is started to drive the push plate to push the drug smoothly to the precise position for loading. The robot structure plays a role of flexible scheduling in the whole process. The first robot and the second robot move quickly on the overhead track according to the instructions of the control system, accurately grab the medicines from the temporary storage mechanism and place them in the conveying mechanism, or grab the medicines from the end of the conveying mechanism and place them in the loading equipment, and seamlessly connect with the conveying and pushing actions of other mechanisms, realizing the automation, efficiency and precision of the whole process from temporary storage to drug application, effectively improving the drug management level of medical institutions, reducing labor costs, improving the accuracy and reliability of drug application, and ensuring the safety of patients' medication.

Claims

1. An automatic medicine dispensing machine, characterized in that: include: Frame, temporary storage mechanism, conveying mechanism, flipping mechanism, and manipulator structure; The frame is equipped with a temporary storage mechanism, a conveying mechanism, a flipping mechanism, and a manipulator structure; The flipping mechanism is used to change the direction of the medicine box; The manipulator structure is used to transfer the medicine box in the temporary storage mechanism to the conveying mechanism; The temporary storage mechanism includes a first movable medicine box assembly and a second movable medicine box assembly. The temporary storage mechanism is used to temporarily store the medicine box. The first movable medicine box assembly and the second movable medicine box assembly are parallel to the length direction of the frame and extend along the length direction of the frame. The first movable medicine box assembly and the second movable medicine box assembly are respectively arranged side by side in the width direction of the frame. The conveying mechanism includes a first conveying belt assembly and a second conveying belt assembly. The conveying mechanism is used to transfer the medicine box from the automatic medicine loading machine to the automatic medicine dispensing machine. The first conveyor belt assembly and the second conveyor belt assembly extend parallel to the width direction of the frame and extend along the width direction of the frame. The first conveyor belt assembly and the second conveyor belt assembly are located at the rear side of the first movable medicine box assembly and the second movable medicine box assembly, and the center lines of the first conveyor belt assembly and the second conveyor belt assembly are both perpendicular to the center line of the first movable medicine box assembly.

2. The automatic medication dispensing machine according to claim 1, characterized in that: The first movable medicine box assembly includes a first movable frame, a second movable frame, a first driving motor, a first synchronous belt, a first movable plate, The first moving frame is fixed at the front end of the frame, the second moving frame is fixed at the middle of the frame, the first driving motor is arranged between the first moving frame and the second moving frame, the first synchronous belt is connected to the first driving motor, and the first moving plate is connected to the first synchronous belt. The first movable plate further includes a pressing plate, and the first synchronous belt is arranged between the pressing plate and the first movable plate. The first movable plate also includes a slider, and the first movable frame and the second movable frame are both provided with a slide rail, the slide rail extends along the length direction of the frame, and the slider is positioned in the slide rail.

3. The automatic medication dispensing machine according to claim 2, characterized in that: A rectangular receiving box is fixed on the upper surface of the first movable plate. The second movable medicine box assembly includes a second movable frame, a third movable frame, a second driving motor, a second synchronous belt, a second movable plate, The third moving frame is fixed at the rear end of the frame, the second driving motor is arranged between the second moving frame and the third moving frame, the second synchronous belt is connected to the second driving motor, and the second moving plate is connected to the second synchronous belt. The second movable plate further includes a pressing plate, and the second synchronous belt is arranged between the pressing plate and the second movable plate. The second movable plate further comprises a slider, the third movable frame is provided with a slide rail, the slide rail extends along the length direction of the frame, the slider is positioned in the slide rail, and a rectangular accommodating box is fixed on the upper surface of the second movable plate.

4. The automatic medication dispensing machine according to claim 3, characterized in that: A turning mechanism is provided between the entrance of the first conveyor belt assembly and the second conveyor belt assembly and the front end of the frame. The frame includes a first frame and a second frame, the first frame and the second frame are arranged in parallel, and the first frame and the second frame are connected to the front end and the rear end of the frame. The flip mechanism has a fixed mounting plate, which is arranged between the first frame and the second frame. The flip mechanism also includes: a flip drive motor, a transmission mechanism, a transmission shaft, and an L-shaped baffle mechanism. The flip drive motor, the transmission mechanism, the transmission shaft, and the L-shaped baffle mechanism are all fixed on the fixed mounting plate. The drive motor is connected to the transmission mechanism, the transmission mechanism is connected to one end of the transmission shaft, and the transmission shaft sleeve is arranged in the L-shaped baffle mechanism The L-shaped baffle mechanism comprises a first baffle and a second baffle, the first baffle and the second baffle are perpendicular to each other, and the transmission shaft sleeve is arranged at the connection between the first baffle and the second baffle.

5. The automatic medication dispensing machine according to claim 4, characterized in that: The invention also includes a swing mechanism, wherein the swing mechanism includes a connecting baffle and a cam plate assembly; the top end of the connecting baffle is arranged below the belt conveying mechanism, the bottom end of the connecting baffle is arranged above the flat plate conveying mechanism, the left side of the connecting baffle is connected to the left side baffle, the right side of the connecting baffle is connected to the right side baffle, an opening is arranged in the middle of the connecting baffle, a cam plate assembly is fixed in the opening, the cam plate assembly is swingably connected to the connecting baffle, the cam plate assembly includes a cam shaft, a cam bottom plate, a left cam side plate, a right cam side plate and a cam flat plate, the cam shaft is fixed to the lower surface of the connecting baffle, the left cam side plate and the right cam side plate are respectively sleeved on the cam shaft, and the cam bottom plate is fixed between the left cam side plate and the right cam side plate. The cam base plate is sleeved on the camshaft, and the cam base plate is located between the left cam side plate and the right cam side plate. The cam plate assembly also includes a cam plate drive motor, a main synchronous pulley, an auxiliary synchronous pulley, and a cam plate synchronous belt, wherein the cam plate drive motor, the main synchronous pulley, the auxiliary synchronous pulley, and the cam plate synchronous belt are all arranged on the lower surface of the connecting baffle, the drive motor is connected to the main synchronous pulley, the synchronous belt is wound between the main synchronous pulley and the auxiliary synchronous pulley, and the auxiliary synchronous pulley is connected to the camshaft. The cam plate assembly also includes a left mounting seat and a right mounting seat, the left mounting seat is located on the left side of the opening, and the right mounting seat is located on the right side of the opening, one end of the camshaft is fixed in the left mounting seat, and the other end of the camshaft is fixed in the right mounting seat.

6. The automatic medication dispensing machine according to claim 5, characterized in that: The push plate conveying structure also includes a push plate and a bottom plate, the push plate is slidably connected with the bottom plate, wherein the bottom of the bottom plate includes a bottom plate driving motor and a bottom plate synchronous belt, the bottom plate driving motor is connected to the bottom plate synchronous belt, the bottom plate synchronous belt is connected to the push plate, an opening is arranged in the middle of the bottom plate, when in the initial position, the push plate completely covers the opening, when in the moving position, the push plate partially covers the opening, the synchronous belt assembly also includes a synchronous belt idler wheel and a synchronous belt pulley, the bottom plate driving motor is connected to the synchronous belt pulley, the push plate is connected to the synchronous belt pulley through a connecting assembly, the bottom plate synchronous belt is wound between the synchronous belt idler wheel and the synchronous belt pulley, the connecting assembly includes an L-shaped connecting plate and a synchronous belt pressure plate, the synchronous belt pressure plate is located at the lower side of the bottom plate synchronous belt, the L-shaped connecting plate is fixedly connected to the push plate, the L-shaped connecting plate is located at the upper side of the synchronous belt, the L-shaped connecting plate is connected to the synchronous belt pressure plate by a fastener, the bottom plate also includes a slide rail, the L-shaped connecting plate is positioned in the slide rail, the push plate also includes a Z-shaped connecting block, the Z-shaped connecting block is fixedly connected to the L-shaped connecting plate, A protective baffle is fixedly arranged on the upper surface of the bottom plate. In the initial position, the push plate is arranged inside the protective baffle. An opening is formed between the protective baffle and the bottom plate. When in the moving position, the push plate moves through the opening. The protective baffle has a left side, a right side and a bottom side, wherein the left side and the right side are fixedly connected to the left side and the right side of the bottom plate respectively, and the bottom side, the left side, the right side and the bottom plate form a receiving space, and the push plate is arranged in the receiving space.

7. The automatic medication dispensing machine according to claim 6, characterized in that: It also includes a manipulator structure, The top of the frame has a first rail and a second rail, the first rail and the second rail are parallel, the first rail and the second rail extend along the length direction of the frame, and there is a gap between the first rail and the second rail. A movable first manipulator and a movable second manipulator are arranged between the first rail and the second rail; The moving path of the first manipulator passes above the carrying mechanism and above the first movable medicine box assembly and the second movable medicine box assembly. The moving path of the second manipulator passes over the first movable medicine box assembly and the second movable medicine box assembly and over the conveying mechanism.

8. The automatic medication dispensing machine according to claim 6, characterized in that: The first robot includes a Y-axis base plate, an X-axis drive motor, an X-axis synchronous belt, and a Z-axis base plate. The Y-axis substrate is arranged between the first rail and the second rail, the X-axis driving motor is fixed on the upper surface of the Y-axis substrate, the X-axis synchronous belt is fixed on the lower surface of the Y-axis substrate, the X-axis driving motor drives the X-axis synchronous belt, the Z-axis substrate is fixed on the X-axis synchronous belt, a suction claw assembly is fixed on the Z-axis substrate, a first Y-axis slide rail and a second Y-axis slide rail are arranged on the Y-axis substrate, the first Y-axis slide rail is parallel to the second Y-axis slide rail, and the first Y-axis slide rail and the second Y-axis slide rail are parallel and respectively located on both sides of the X-axis synchronous belt, A first slider and a second slider are fixed to the upper surface of the Z-axis substrate, wherein the first slider is parallel to the second slider, the first slider is positioned in the first Y-axis slide rail, and the second slider is positioned in the second Y-axis slide rail. The suction claw assembly includes a Z-axis drive motor, a Z-axis mounting plate, and a Z-axis synchronous belt. The Z-axis drive motor is fixed to the lower surface of the Z-axis substrate, the Z-axis mounting plate is perpendicular to the Z-axis substrate, the Z-axis synchronous belt is fixed to the Z-axis mounting plate, the Z-axis synchronous belt is connected to the Z-axis drive motor, and an air pump unit is also provided on the Z-axis synchronous belt. The air pump unit includes an air pump motor, an air pump synchronous belt, an air pump suction claw, and a Q-axis substrate. The Q-axis substrate is fixed on the Z-axis synchronous belt, the air pump motor is fixed on the Q-axis substrate, the air pump synchronous belt is connected to the air pump motor, the air pump suction claw is connected to the air pump synchronous belt, and the number of air pump suction claws is three.

9. The automatic medication dispensing machine according to claim 8, characterized in that: The second manipulator has the same structure as the first manipulator, a first slide rail is arranged on the first rail, a second slide rail is arranged on the second rail, a first slide seat and a second slide seat are arranged on the Y-axis base plate, the first slide seat is positioned in the first slide rail, and the second slide seat is positioned in the second slide rail. A synchronous belt drive motor is arranged on the frame, and the synchronous belt drive motor is connected with the synchronous belt, an X-axis synchronous belt fixed connecting seat is fixed on the Y-axis base plate, the X-axis fixed plate is fixedly connected with the X-axis synchronous belt fixed connecting seat, and the synchronous belt is arranged between the X-axis fixed plate and the X-axis synchronous belt fixed connecting seat.

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