An automatic medicine feeding machine

Abstract

The application discloses an automatic medicine feeding machine, which comprises a frame, a temporary storage mechanism and a 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. 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. First conveying belt assemblies and second conveying belt assemblies are located at the rear side of the first movable medicine box assembly and the second movable medicine box assembly. The center lines of the first conveying belt assemblies and the second conveying belt assemblies are perpendicular to the center line of the first movable medicine box assembly. The automatic medicine feeding machine has a medicine box overturning mechanism, a mechanical hand structure, a medicine box temporary storage structure and a push plate conveying structure. The automatic medicine feeding machine has reasonable layout, small floor space and high medicine feeding efficiency.

Description

Technical Field

[0001] This application relates to the field of medical device technology, specifically to an automatic drug dispensing machine. Background Technology

[0002] In traditional medical institution pharmacies or drug storage environments, the sorting, handling, and dispensing of medications largely rely on manual operation. Manual dispensing is not only inefficient and consumes significant labor costs, but it is also prone to errors such as incorrect or missed dispensing due to human negligence, posing a threat to patient medication safety. With the rapid development of the medical industry and the increasing demands for refined drug management, there is an urgent need for a highly automated and reliable dispensing system to replace the traditional manual dispensing method.

[0003] The existing CN219949339U describes an automated sorting and feeding machine where the gripping mechanism directly picks up drugs from a flipping platform. However, the flipping platform occupies a large space, making it difficult to make reasonable use of the space in the automated drug feeding machine. Summary of the Invention

[0004] The purpose of this invention is to propose an automatic drug dispensing machine, aiming to solve the problems of efficiency and accuracy in the automatic sorting, conveying, and dispensing of medicines, and to improve the level of automation in drug management in medical institutions. The automatic drug dispensing machine features a medicine box flipping mechanism, a robotic arm structure, a medicine box temporary storage structure, and a pusher conveying structure. It has a reasonable layout, a small footprint, and high dispensing efficiency.

[0005] The present invention provides an automatic medicine dispensing machine, comprising: a frame, a temporary storage mechanism, and a conveying mechanism; a flipping mechanism for changing the orientation of medicine boxes; a robotic arm structure for transferring medicine boxes from the temporary storage mechanism to the conveying mechanism; the temporary storage mechanism and the conveying mechanism are mounted on the frame; the temporary storage mechanism includes 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, and the first movable medicine box assembly and the second movable medicine box assembly are respectively located side by side in the width direction of the frame; the conveying mechanism includes a first conveyor belt assembly and a second conveyor belt assembly.

[0006] The first conveyor belt assembly and the second conveyor belt assembly extend parallel to the width direction of the frame and along the width direction of the frame. The first conveyor belt assembly and the second conveyor belt assembly are located behind 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 drive motor, a first synchronous belt, and a first movable plate.

[0008] A first movable frame is fixed at the front end of the frame, a second movable frame is fixed in the middle of the frame, a first drive motor is positioned between the first and second movable frames, a first synchronous belt is connected to the first drive motor, and a first movable plate is connected to the first synchronous belt.

[0009] The first moving plate also includes a pressure plate, and a first synchronous belt is disposed between the pressure plate and the first moving plate.

[0010] The first movable plate also includes a slider. Both the first movable frame and the second movable frame are provided with slide rails. The slide rails extend along the length of the frame, and the slider is positioned within the slide rails.

[0011] Furthermore, a rectangular receiving box is fixed to 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 drive motor, a second synchronous belt, and a second movable plate.

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

[0014] The second moving plate also includes a pressure plate, and a second synchronous belt is disposed between the pressure plate and the second moving plate.

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

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

[0017] The framework includes a first frame and a second frame, which are arranged in parallel and connected to the front and back ends of the framework.

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

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

[0020] The drive motor is connected to the transmission mechanism, which is connected to one end of the transmission shaft. The transmission shaft is fitted into the L-shaped baffle mechanism.

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

[0022] Furthermore, it also includes a swing mechanism, which comprises a connecting baffle and a cam plate assembly. The top end of the connecting baffle is located below the belt conveyor mechanism, and the bottom end of the connecting baffle is located above the flat conveyor mechanism. The left side of the connecting baffle is connected to a left side baffle, and the right side of the connecting baffle is connected to a right side baffle. An opening is provided in the middle of the connecting baffle, and a cam plate assembly is fixed in the opening. The cam plate assembly is oscillatingly connected to the connecting baffle. The cam plate assembly includes a camshaft, a cam base plate, a left cam side plate, a right cam side plate, and a cam plate. The camshaft is fixed to the lower surface of the connecting baffle. The left and right cam side plates are respectively sleeved on the camshaft, and the cam base plate is fixed to the left and right cam side plates. The cam plate is fitted onto the camshaft, and is located between the left and right cam side plates. 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. The cam plate drive motor, the main synchronous pulley, the auxiliary synchronous pulley, and the cam plate synchronous belt are all located on the lower surface of the connecting baffle. The drive motor is connected to the main synchronous pulley, and the synchronous belt is wound between the main synchronous pulley and the auxiliary synchronous pulley. 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, which comprises a push plate and a base plate. The push plate is slidably connected to the base plate. The bottom of the base plate includes a base plate drive motor and a base plate synchronous belt. The base plate drive motor is connected to the base plate synchronous belt, and the base plate synchronous belt is connected to the push plate. An opening is provided in the middle of the base plate. In the initial position, the push plate completely covers the opening. In the moving position, the push plate partially covers the opening. The synchronous belt assembly also includes a synchronous belt idler pulley and a synchronous belt pulley. The base plate drive motor is connected to the synchronous belt pulley, and the push plate is connected to the synchronous belt pulley through a connecting assembly. The synchronous belt is wound between the synchronous belt idler pulley 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 below the synchronous belt on the base plate. The L-shaped connecting plate is fixedly connected to the push plate and is located above the synchronous belt. The L-shaped connecting plate and the synchronous belt pressure plate are connected by fasteners. The base plate also includes a slide rail, in which the L-shaped connecting plate is positioned. The push plate also includes a Z-shaped connecting block, which is fixedly connected to the L-shaped connecting plate.

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

[0025] An opening is formed between the protective baffle and the base plate. When the device is moved, the push plate moves through this opening.

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

[0027] Furthermore, it also includes robotic arm structures.

[0028] The top of the frame has a first rail and a second rail, which are parallel and extend along the length of the frame, with a gap between them.

[0029] A movable first robotic arm and a movable second robotic arm are installed between the first and second tracks;

[0030] The first robotic arm's movement path passes over the support mechanism and over the first and second movable pillbox assemblies.

[0031] The second robotic arm moves over the first and second movable pillbox assemblies and over the conveying mechanism.

[0032] Furthermore, the first robotic arm includes a Y-axis base plate, an X-axis drive motor, an X-axis timing belt, and a Z-axis base plate.

[0033] The Y-axis base plate is positioned between the first and second guide rails. The X-axis drive motor is fixed to the upper surface of the Y-axis base plate, and the X-axis timing belt is fixed to the lower surface of the Y-axis base plate. The X-axis drive motor drives the X-axis timing belt. The Z-axis base plate is fixed to the X-axis timing belt, and a suction gripper assembly is fixed on the Z-axis base plate. The Y-axis base plate is provided with a first Y-axis slide rail and a second Y-axis slide rail. The first Y-axis slide rail is parallel to the second Y-axis slide rail and is located on both sides of the X-axis timing belt.

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

[0035] Furthermore, the second robotic arm has the same structure as the first robotic arm. The first track is equipped with a first slide rail, and the second track is equipped with a second slide rail. The Y-axis base plate is equipped with a first slide block and a second slide block. The first slide block is positioned within the first slide rail, and the second slide block is positioned within the second slide rail. A synchronous belt drive motor is mounted on the positioning frame, and the synchronous belt drive motor is connected to the synchronous belt. An X-axis synchronous belt fixing connection seat is fixed on the Y-axis base plate, and the X-axis fixing plate is fixedly connected to the X-axis synchronous belt fixing connection seat. The synchronous belt is positioned between the X-axis fixing plate and the X-axis synchronous belt fixing connection seat.

[0036] The beneficial effects of this invention are:

[0037] (1) The flipping mechanism is located 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 occupying too much external space. It can achieve a large capacity of drug temporary storage and efficient conveying functions in a relatively small footprint.

[0038] (2) Two temporary storage mechanisms are set up: the first movable medicine box component and the second movable medicine box component. They can perform some preparatory work in parallel. For example, when one component receives a new batch of medicine for temporary storage, the other component can simultaneously transport the temporarily stored medicine to the conveying mechanism for medicine loading, which greatly shortens the overall medicine loading process time and improves the efficiency of medicine 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 be adjusted in posture and fall onto the flat plate conveyor mechanism, making it easier to push the medicine box out. The swing baffle structure is set inside the frame, which improves the integration of the automatic medicine dispensing machine.

[0040] (4) The bottom of the base plate is equipped with a drive motor and an opening. The push plate is set at the opening, which improves the space utilization of the base plate and facilitates the miniaturization and integration design of the automatic medicine dispensing machine.

[0041] (5) The carrying mechanism, temporary storage mechanism and conveying mechanism are integrated on the frame, and the movement paths of the first manipulator and the second manipulator are reasonably planned so that they pass through the corresponding key mechanisms, thereby realizing the automated connection and efficient collaboration of the drug delivery process, optimizing the overall drug delivery process and improving the drug delivery efficiency. Attached Figure Description

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

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

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

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

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

[0047] Figure 6 The structure of the medicine box flipping mechanism of the present invention 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] Figure 9 The swing baffle structure of the present invention Figure 3 ;

[0051] Figure 10 This invention relates to a pusher plate conveying structure. Figure 1 ;

[0052] Figure 11 This invention relates to a pusher plate conveying structure. Figure 2 ;

[0053] Figure 12 This invention relates to a pusher plate conveying structure. Figure 3 ;

[0054] Figure 13 This invention relates to a pusher plate conveying structure. Figure 4 ;

[0055] Figure 14 This invention relates to a pusher plate conveying structure. Figure 5 ;

[0056] Figure 15 This invention relates to the robotic arm structure. Figure 1 ;

[0057] Figure 16 This invention relates to the robotic arm structure. Figure 2 ;

[0058] Figure 17 This invention relates to the robotic arm structure. Figure 3 ;

[0059] Figure 18 This invention relates to the robotic arm structure. Figure 4 .

[0060] Explanation of reference numerals in the attached drawings: Frame 110, Supporting mechanism 111, Temporary storage mechanism 112, Conveying mechanism 113, First movable medicine box assembly 120, First moving frame 121, Second moving frame 122, Slide rail 123, First drive motor 124, First synchronous belt 125, First moving plate 126, Rectangular receiving box 127, Pressure plate 128, Slider 129, Second movable medicine box assembly 130, Third moving frame 131, Second drive motor 132, Second synchronous belt 133, Second moving plate 134, Pressure plate 135, Slider 136, Rectangular receiving box 137;

[0061] The components include a flipping mechanism 140, a conveying mechanism 150, a first frame 220, a second frame 221, a fixed mounting plate 222, a drive motor 223, a transmission mechanism 224, a transmission shaft 225, a first stop 226, and a second stop 227.

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

[0063] Push plate 41, base plate 42, base plate drive motor 43, base plate synchronous belt 44, opening 45, synchronous belt idler pulley 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 edge 416;

[0064] Frame 110, bearing mechanism 180, temporary storage mechanism 190, conveying mechanism 150, first first rail 55, second second rail 56, first robot arm 57, second robot arm 58, Y-axis base plate 59, X-axis drive motor 510, X-axis synchronous belt 511, Z-axis base plate 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 base plate 525, first slide rail 526, second slide rail 527, first slide block 528, second slide block 529, synchronous belt drive motor 530, synchronous belt 531, X-axis synchronous belt fixed connection seat 532, X-axis fixed plate 533. Detailed Implementation

[0065] This invention discloses an automatic medicine dispensing machine, comprising a frame 110, a temporary storage mechanism 112, a conveying mechanism 113, a flipping mechanism, a swinging mechanism, a pusher conveying structure, and a robotic arm structure. The flipping mechanism is used to change the orientation of the medicine box; the robotic arm structure is used to transfer the medicine box in the temporary storage mechanism 112 to the conveying mechanism 113.

[0066] To efficiently classify and temporarily store different types or batches of medicines, facilitating subsequent sorting and transportation operations, this greatly improves the flexibility and capacity of medicine storage. For example... 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 mounted 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 located side by side in the width direction of the frame 110, the conveying mechanism 113 includes a first conveyor belt assembly and a second conveyor belt assembly, the first conveyor belt assembly and the second conveyor belt assembly extend parallel to the width direction of the frame 110 and extend along the width direction of the frame 110, the first conveyor belt assembly and the second conveyor belt assembly are located behind the first movable medicine box assembly 120 and the second movable medicine box assembly 130, and the center lines of the first conveyor belt assembly and the second conveyor 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 plate 126. The first movable frame 121 is fixed to the front end of the frame 110, and the second movable frame 122 is fixed to the middle of the frame 110. The first drive motor 124 is disposed 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 plate 126 is connected to the first synchronous belt 125. The first movable plate 126 also includes a pressure plate 128. The first synchronous belt 125 is disposed between the pressure plate 128 and the first movable plate 126. The first movable plate 126 also includes a slider 129. Both the first movable frame 121 and the second movable frame 122 are provided with slide rails 123. The slide rails 123 extend along the length direction of the frame 110, and the slider 129 is positioned within the slide rails 123.

[0068] like Figure 3 and 4As shown, a rectangular receiving box 127 is fixed on the upper surface of the first movable plate 126. 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 disposed 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 pressure plate 135. The second synchronous belt 133 is disposed between the pressure 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 that extends along the length of the frame 110. The slider 136 is positioned within the slide rail. The rectangular receiving box 137 is fixed on the upper surface of the second movable plate 134.

[0069] like Figure 5 As shown, a flipping mechanism 140 is provided between the inlet of the first and second conveyor belt assemblies 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, which are arranged in parallel and connected to the front and rear ends of the frame 110. The flipping mechanism 140 has a fixed mounting plate 222, which is disposed 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, and the transmission mechanism 224 is connected to one end of the transmission shaft 225. 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, which are perpendicular to each other. The drive 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 that it can be easily grasped by the robotic arm.

[0071] like Figure 7-9As shown, to prevent drug accumulation and blockage, and to improve the accuracy and reliability of drug delivery, the automatic drug delivery machine also includes a swing mechanism, which includes a connecting baffle 310 and a cam plate assembly. The top of the connecting baffle 310 is located below the belt conveyor mechanism 160, and the bottom of the connecting baffle 310 is located above the flat conveyor mechanism 170. The left side of the connecting baffle 310 is connected to the left side baffle 331, and the right side of the connecting baffle 310 is connected to the right side baffle 332. An opening 311 is provided in the middle, and a cam plate assembly is fixed inside the opening 311. The cam plate assembly is oscillatingly connected to the connecting baffle 310. The cam plate assembly includes a camshaft 320, a cam base plate 321, a left cam side plate 322, a right cam side plate 323, and a cam plate 324. The camshaft 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 camshaft 320. The cam base plate 321 is fixed to the left cam side plate 322 and the right cam plate 324. Between the wheel side plates 323, the cam base plate 321 is sleeved on the camshaft 320. The cam base plate 321 is located between the left cam side plate 322 and the right cam side plate 323. The cam plate assembly also includes a cam plate drive motor 325, a main synchronous pulley 326, an auxiliary synchronous pulley 327, and a synchronous belt 328. The cam plate drive motor 325, the main synchronous pulley 326, the auxiliary synchronous pulley 327, and the synchronous belt 328 are all located on the lower surface of the connecting baffle 310. The cam plate drive motor 325 and the main synchronous pulley 326 are connected to the camshaft 320. A timing pulley 326 is connected, and a timing belt 328 is wound between the main timing pulley 326 and the auxiliary timing pulley 327. The auxiliary timing 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 dispensing machine also includes a pusher plate conveying structure. The push plate conveying structure includes a push plate 41 and a base plate 42. The push plate 41 is slidably connected to the base plate 42. The bottom of the base plate 42 includes a base plate drive motor 43 and a base plate synchronous belt 44. The base plate drive motor 43 is connected to the base plate synchronous belt 44, and the base plate synchronous belt 44 is connected to the push plate 41. An opening 45 is provided in the middle of the base plate 42. In the initial position, the push plate 41 completely covers the opening 45. In the moving position, the push plate 41 partially covers the opening 45. The synchronous belt assembly also includes a synchronous belt idler pulley 46 and a synchronous belt pulley 47. The base 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 pulley 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 below the base plate synchronous belt 44. The L-shaped connecting plate 48 is fixedly connected to the push plate 41. The connecting plate 48 is located on the upper side of the synchronous belt 44. The L-shaped connecting plate 48 is connected to the synchronous belt pressure plate 49 by fasteners. The base plate 42 also includes a slide rail 410. 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. The Z-shaped connecting block 411 is fixedly connected to the L-shaped connecting plate 48. A protective baffle 412 is fixedly installed on the upper surface of the base plate 42. In the initial position, the push plate 41 is set in the protective baffle 412. An opening 413 is formed between the protective baffle 412 and the base plate 42. In the moving position, the push plate 41 moves from the opening 413. The protective baffle 412 has a left side 414, a right side 415 and a bottom side 416. The left side 414 and the right side 415 are fixedly connected to the left and right sides of the base plate 42, respectively. The bottom side 416, the left side 414, the right side 415 and the base plate 42 form an accommodating space. The push plate 41 is set in the accommodating space.

[0073] like Figure 15-18 As shown, in order to enable the robotic arms to work in concert, they can operate on medicines at different positions simultaneously or sequentially according to the instructions of the control system, which greatly improves the efficiency and flexibility of medicine loading. For example, medicines can be quickly sorted in the temporary storage mechanism 190 and transferred to the conveying mechanism 150, or the medicines at the end of the conveying mechanism 150 can be accurately placed into the medicine loading equipment, completing the key steps of automatic medicine loading.

[0074] The automatic medicine dispensing machine also includes a robotic arm structure. The top of the frame 110 has a first track 55 and a second track 56, which are parallel and extend along the length of the frame 110. There is a gap between the first track 55 and the second track 56. A movable first robotic arm 57 and a movable second robotic arm 58 are arranged between the first track 55 and the second track 56.

[0075] The first robotic arm 57 moves over the support mechanism 180 and over the first movable pillbox assembly 120 and the second movable pillbox assembly 130. The second robotic arm 58 moves over the first movable pillbox assembly 120 and the second movable pillbox assembly 130 and over the conveying mechanism 150.

[0076] Furthermore, the first robotic arm 57 includes a Y-axis base plate 59, an X-axis drive motor 510, an X-axis synchronous belt 511, and a Z-axis base plate 512. The Y-axis base plate 59 is disposed between the first first track 55 and the second second track 56. The X-axis drive motor 510 is fixed to the upper surface of the Y-axis base plate 59, and the X-axis synchronous belt 511 is fixed to the lower surface of the Y-axis base plate 59. The X-axis drive motor 510 drives the X-axis synchronous belt 511. The Z-axis base plate 512 is fixed on the X-axis synchronous belt 511, and a suction gripper assembly 513 is fixed on the Z-axis base plate 512. The Y-axis base plate 59 is provided with a first Y-axis slide rail 514 and a second Y-axis slide rail 515. The first Y-axis slide rail 514 and the second Y-axis slide rail 515 are parallel to each other and are located on both sides of the X-axis synchronous belt 511.

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

[0078] Furthermore, the second robotic arm 58 has the same structure as the first robotic arm 57. A first slide rail 526 is provided on the first first track 55, and a second slide rail 527 is provided on the second second track 56. A first slide block 528 and a second slide block 529 are provided on the Y-axis base plate 59. The first slide block 528 is positioned within the first slide rail 526, and the second slide block 529 is positioned within 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 fixing connection seat 532 is fixed on the Y-axis base plate 59. The X-axis fixing plate 533 is fixedly connected to the X-axis synchronous belt fixing connection seat 532, and the synchronous belt 531 is disposed between the X-axis fixing plate 533 and the X-axis synchronous belt fixing connection seat 532.

[0079] The working principle of this invention is:

[0080] During the operation of the automatic drug dispensing machine, all mechanisms work closely together to achieve efficient and precise drug dispensing. First, drugs are placed manually or by external equipment into the rectangular containers of the first and second movable drug box components of the temporary storage mechanism. The temporary storage mechanism performs preliminary classification and storage based on drug type, batch, and other information. When drug dispensing is required, the first and second drive motors drive the corresponding synchronous belts, moving the moving plate to a position close to the conveying mechanism. At this time, the L-shaped baffle mechanism of the flipping mechanism, driven by the flipping drive motor, adjusts to a suitable angle, guiding the drug smoothly into the first and second conveyor belt components. During the conveying process, if there is a deviation in drug position or a need for diversion, the cam plate component of the swing mechanism, driven by the drive motor, swings in a timely manner to correct the drug's posture and ensure it moves along the predetermined path. When the drug is conveyed to a specific position, such as before the filling station, the bottom plate drive motor of the pusher conveyor structure starts, driving the pusher plate to smoothly push the drug to the precise position, ready for filling. The robotic arm structure plays a flexible scheduling role throughout the process. The first and second robotic arms move rapidly on the overhead track according to the instructions of the control system, accurately grabbing medicines from the temporary storage mechanism and placing them into the conveying mechanism, or grabbing medicines from the end of the conveying mechanism and placing them into the drug loading equipment. It seamlessly connects with the conveying and pushing actions of other mechanisms, realizing the automation, efficiency and precision of the entire process of medicines from temporary storage to drug loading, effectively improving the drug management level of medical institutions, reducing labor costs, improving the accuracy and reliability of drug loading, 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, robot arm structure, load-bearing mechanism; The frame is equipped with a temporary storage mechanism, a conveying mechanism, a tilting mechanism, and a robotic arm structure; The flipping mechanism is used to change the orientation of the medicine box; The robotic arm structure is used to transfer medicine boxes from the temporary storage mechanism to the conveying mechanism; The temporary storage mechanism includes a first movable pillbox assembly and a second movable pillbox assembly. The temporary storage mechanism is used for temporarily storing pillboxes. The first and second movable pillbox assemblies are parallel to the length of the frame and extend along the length of the frame. The first movable pillbox assembly and the second movable pillbox assembly are arranged side by side along the width of the frame. The conveying mechanism includes a first conveyor belt assembly and a second conveyor belt assembly. The conveying mechanism is used to transfer medicine boxes from an automatic medicine feeding machine to an 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 along the width direction of the frame. The first conveyor belt assembly and the second conveyor belt assembly are located behind the first movable pillbox assembly and the second movable pillbox assembly, and the center lines of both the first conveyor belt assembly and the second conveyor belt assembly are perpendicular to the center line of the first movable pillbox assembly. It also includes a swing mechanism, which is located inside the frame. The swing mechanism includes a connecting baffle and a cam plate assembly. The top of the connecting baffle is located below the belt conveyor mechanism, and the bottom of the connecting baffle is located above the flat conveyor mechanism. The left side of the connecting baffle is connected to a left side baffle, and the right side of the connecting baffle is connected to a right side baffle. An opening is provided in the middle of the connecting baffle, and a cam plate assembly is fixed within the opening. The cam plate assembly is oscillatingly connected to the connecting baffle. The cam plate assembly includes a camshaft, a cam base plate, a left cam side plate, a right cam side plate, and a cam plate. The camshaft is fixed to the lower surface of the connecting baffle. The left and right cam side plates are respectively fitted onto the camshaft. The cam base plate is fixed to the left cam side plate and the right cam plate. Between the wheel side plates, a cam base plate is fitted onto the camshaft. The cam base plate is located between the left and right cam side plates. 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. The cam plate drive motor, main synchronous pulley, auxiliary synchronous pulley, and cam plate synchronous belt are all located on the lower surface of the connecting baffle. The drive motor is connected to the main synchronous pulley, and the synchronous belt is wound between the main synchronous pulley and the auxiliary synchronous pulley. 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 inside the left mounting seat, and the other end of the camshaft is fixed inside the right mounting seat. It also includes a push plate conveying structure, which comprises a push plate and a base plate. The push plate is slidably connected to the base plate. The bottom of the base plate includes a base plate drive motor and a base plate synchronous belt. The base plate drive motor is connected to the base plate synchronous belt, and the base plate synchronous belt is connected to the push plate. An opening is provided in the middle of the base plate. In the initial position, the push plate completely covers the opening. In the moving position, the push plate partially covers the opening. The synchronous belt assembly also includes a synchronous belt idler pulley and a synchronous belt pulley. The base plate drive motor is connected to the synchronous belt pulley, and the push plate is connected to the synchronous belt pulley through a connecting assembly. A synchronous belt is wound between a synchronous belt idler pulley and a 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 below the synchronous belt on the base plate. The L-shaped connecting plate is fixedly connected to a push plate and is located above the synchronous belt. The L-shaped connecting plate and the synchronous belt pressure plate are connected by fasteners. The base plate also includes a slide rail, in which the L-shaped connecting plate is positioned. The push plate also includes a Z-shaped connecting block, which is fixedly connected to the L-shaped connecting plate. A protective baffle is fixedly installed on the upper surface of the base plate. In the initial position, the push plate is positioned inside the protective baffle. An opening is formed between the protective baffle and the base plate. When the device is moved, the push plate moves through this opening. The protective baffle has a left side, a right side and a bottom side. The left side and the right side are fixedly connected to the left side and the right side of the bottom plate, respectively. The bottom side, the left side, the right side and the bottom plate form an accommodating space, and the push plate is set in the accommodating space. The cam plate assembly swings back and forth at an angle, causing the medicine box falling from the belt conveyor to be adjusted in posture and placed onto the flat conveyor, making it easier to push the medicine box out.

2. The automatic 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 drive motor, a first synchronous belt, and a first movable plate. A first movable frame is fixed at the front end of the frame, a second movable frame is fixed in the middle of the frame, a first drive motor is positioned between the first and second movable frames, a first synchronous belt is connected to the first drive motor, and a first movable plate is connected to the first synchronous belt. The first moving plate also includes a pressure plate, and a first synchronous belt is disposed between the pressure plate and the first moving plate. The first movable plate also includes a slider. Both the first movable frame and the second movable frame are provided with slide rails. The slide rails extend along the length of the frame, and the slider is positioned within the slide rails.

3. The automatic dispensing machine according to claim 2, characterized in that: A rectangular receiving box is fixed to the upper surface of the first moving plate. The second movable medicine box assembly includes a second movable frame, a third movable frame, a second drive motor, a second synchronous belt, and a second movable plate. The third moving frame is fixed at the rear end of the frame. The second drive motor is positioned between the second and third moving frames. The second synchronous belt is connected to the second drive motor, and the second moving plate is connected to the second synchronous belt. The second moving plate also includes a pressure plate, and a second synchronous belt is disposed between the pressure plate and the second moving plate. The second movable plate also includes a slider, and the third movable frame is provided with a slide rail that extends along the length of the frame. The slider is positioned within the slide rail, and a rectangular receiving box is fixed to the upper surface of the second movable plate.

4. The automatic dispensing machine according to claim 3, characterized in that: A tilting mechanism is provided between the inlet of the first conveyor belt assembly and the front end of the frame. The framework includes a first frame and a second frame, which are arranged in parallel and connected to the front and back ends of the framework. The flipping mechanism has a fixed mounting plate, which is positioned between the first frame and the second frame. The flipping mechanism also includes: a flipping drive motor, a transmission mechanism, a drive shaft, and an L-shaped baffle mechanism. The flipping drive motor, transmission mechanism, drive shaft, and L-shaped baffle mechanism are all fixed on the fixed mounting plate. The tilting drive motor is connected to the transmission mechanism, which is connected to one end of the transmission shaft. The transmission shaft is fitted into the L-shaped baffle mechanism. The L-shaped baffle mechanism has a first baffle and a second baffle, which are perpendicular to each other, and the transmission shaft is sleeved at the connection between the first baffle and the second baffle.

5. The automatic dispensing machine according to claim 4, characterized in that: It also includes robotic arm structures, The top of the frame has a first rail and a second rail, which are parallel and extend along the length of the frame, with a gap between them. A movable first robotic arm and a movable second robotic arm are installed between the first and second tracks; The first robotic arm's movement path passes over the support mechanism and over the first and second movable pillbox assemblies. The second robotic arm moves over the first and second movable pillbox assemblies and over the conveying mechanism.

6. The automatic dispensing machine according to claim 5, characterized in that: The first robotic arm includes a Y-axis base plate, an X-axis drive motor, an X-axis timing belt, and a Z-axis base plate. The Y-axis base plate is positioned between the first and second guide rails. The X-axis drive motor is fixed to the upper surface of the Y-axis base plate, and the X-axis timing belt is fixed to the lower surface of the Y-axis base plate. The X-axis drive motor drives the X-axis timing belt. The Z-axis base plate is fixed to the X-axis timing belt, and a suction gripper assembly is fixed on the Z-axis base plate. The Y-axis base plate is provided with a first Y-axis slide rail and a second Y-axis slide rail. The first Y-axis slide rail is parallel to the second Y-axis slide rail and is located on both sides of the X-axis timing belt. A first slider and a second slider are fixed on the upper surface of the Z-axis base plate, wherein the first slider and the second slider are parallel. The first slider is positioned within the first Y-axis slide rail, and the second slider is positioned within 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 timing belt. The Z-axis drive motor is fixed on the lower surface of the Z-axis base plate, the Z-axis mounting plate is perpendicular to the Z-axis base plate, the Z-axis timing belt is fixed on the Z-axis mounting plate, and the Z-axis timing belt is connected to the Z-axis drive motor. An air pump unit is also provided on the Z-axis timing belt. The air pump unit includes an air pump motor, an air pump timing belt, an air pump suction claw, and a Q-axis base plate. The Q-axis base plate is fixed on the Z-axis timing belt, the air pump motor is fixed on the Q-axis base plate, the air pump timing belt is connected to the air pump motor, and the air pump suction claw is connected to the air pump timing belt. The number of air pump suction claws is three.

7. The automatic dispensing machine according to claim 6, characterized in that: The second robotic arm has the same structure as the first robotic arm. A first slide rail is set on the first track, and a second slide rail is set on the second track. A first slide block and a second slide block are set on the Y-axis base plate. The first slide block is positioned in the first slide rail. A synchronous belt drive motor is set on the positioning frame of the second slide block in the second slide rail. The synchronous belt drive motor is connected to the synchronous belt. An X-axis synchronous belt fixing connection seat is fixed on the Y-axis base plate. The X-axis fixing plate is fixedly connected to the X-axis synchronous belt fixing connection seat. The synchronous belt is set between the X-axis fixing plate and the X-axis synchronous belt fixing connection seat.

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