Integrated all-medicine robot intelligent pharmacy and using method thereof

Abstract

The invention discloses an integrated full-medicine robot intelligent pharmacy and a using method thereof.The intelligent pharmacy comprises a pharmacy body, a medicine frame for containing medicine is arranged in the pharmacy body, a plurality of medicine storage baskets are placed on the medicine frame, an X-axis transmission device moving in the X direction is arranged on one side of the medicine frame, and a Z-axis transmission device is vertically arranged on the X-axis transmission device in a sliding mode; the Z-axis transmission device is provided with a medicine taking and storing device and an electric manipulator, the medicine taking and storing device is provided with a scanning mechanism for identifying traceability codes of medicines in the medicine storing baskets, a medicine supplementing device and a first medicine dispensing device are further arranged in the pharmacy body, and a second medicine dispensing device is arranged on the outer side of the pharmacy body in a communicating mode. The X-axis transmission device and the Z-axis transmission device are used for driving the electric mechanical arm and the medicine taking and storing device to move to the medicine frame to take and place the medicines, the first medicine dispensing device, the second medicine dispensing device and the medicine supplementing device are matched, automatic identification, dispensing and supplementing of all the medicines are achieved, and the phenomena of medicine clamping and wrong medicine taking are avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of medical equipment, and in particular to an integrated all-drug robot smart pharmacy and a method of using the same. Background Art

[0002] With the progress of social science and technology, the medical industry has also been developing faster and faster, especially in the pharmacy dispensing machines. Various automated equipment has greatly improved the work efficiency of pharmacy staff and provided great help in many aspects such as the accuracy of dispensing and the drug management system.

[0003] The existing pharmacies of major hospitals and convenience pharmacies mainly use two types of automated equipment: chute type and robotic arm type. The chute type automated pharmacy is prone to drug jams when dispensing, and may cause stagnation, stacking and rushing out when dispensing drugs, while the robotic arm type automated pharmacy can only dispense some boxed drugs. In addition, both of the above automated pharmacies are unable to scan and identify the traceability code of the output drugs. After the relevant drugs are taken out, the traceability code needs to be manually entered. Manually entering the traceability code takes a long time and is prone to entry errors, resulting in inaccurate traceability information, which in turn affects the traceability effect of the drugs. Summary of the invention

[0004] In view of the above problems, the present invention provides an integrated all-drug robot smart pharmacy and a method of using the same to solve the problems of existing automated pharmacies such as drug card loading, drug dispensing errors, automatic distribution of only some boxed drugs, and inability to automatically identify drug traceability codes.

[0005] The present invention is achieved in that: An integrated all-drug robot smart pharmacy comprises a pharmacy body, wherein a medicine shelf for placing medicines is arranged inside the pharmacy body, a plurality of medicine storage baskets are placed on the medicine shelf, an X-axis transmission device moving along the X direction is arranged on one side of the medicine shelf, a Z-axis transmission device is vertically slidably arranged on the X-axis transmission device, a medicine fetching and storing device and an electric manipulator are arranged on the Z-axis transmission device, a scanning mechanism for identifying traceability codes of medicines in the medicine storage baskets is arranged on the medicine fetching and storing device, a medicine replenishing device and a first medicine dispensing device are also arranged inside the pharmacy body, and a second medicine dispensing device is connected to the outside of the pharmacy body.

[0006] Furthermore, the X-axis transmission device includes an X-upward guide rail and an X-downward guide rail respectively located at the top and bottom of the pharmacy body, a Z-guide rail is slidably arranged between the X-upward guide rail and the X-downward guide rail, a first transmission belt is rotatably arranged on the X-downward guide rail, a second transmission belt is rotatably arranged on the X-upward guide rail, one side of the first transmission belt is fixedly connected to the bottom of the Z-guide rail through a first connecting member, one side of the second transmission belt is fixedly connected to the top of the Z-guide rail through a second connecting member, and the Z-axis transmission device includes a third transmission belt rotatably arranged on the Z-guide rail.

[0007] Furthermore, the medicine dispensing and storing device includes a medicine storage mechanism, which is fixedly connected to one side of the third transmission belt, a medicine dispensing mechanism is provided on the medicine storage mechanism, a scanning mechanism is fixedly arranged on the medicine dispensing side of the medicine dispensing mechanism, and the scanning mechanism includes a first frame fixedly arranged on the medicine storage mechanism, and a plurality of barcode scanners are arranged on the first frame, and the barcode scanners are used to scan and identify the traceability code of the medicine.

[0008] Furthermore, the electric manipulator includes a connecting frame, which is connected to one side of the third transmission belt. The connecting frame is provided with two telescopic trays opposite to each other above and below, and the two telescopic trays are slidably connected to the connecting frame through a transmission mechanism.

[0009] Furthermore, the transmission mechanism includes a first driving motor fixedly arranged on a connecting frame, the output shaft of the first driving motor is fixedly connected to a first gear, two second gears are meshingly connected to both sides of the first gear, the two second gears are rotatably connected to the connecting frame, a first slide is also provided on the connecting frame, a first rack is fixedly provided at the bottom of the first slide, the first rack is meshingly connected to the second gear, a fourth transmission belt and a ninth transmission belt are provided on the connecting frame, the upper sides of the fourth transmission belt and the ninth transmission belt are respectively fixedly connected to the two ends of the telescopic tray, and the lower sides of the fourth transmission belt and the ninth transmission belt are respectively fixedly connected to the two ends of the connecting frame.

[0010] Furthermore, a fifth transmission belt is rotatably provided on the connecting frame, and the fifth transmission belt includes a first side transmission belt and a second side transmission belt which are relatively arranged at two ends of the connecting frame, and two first claws are fixedly connected to the inner side and the outer side of the first side transmission belt, and two second claws are fixedly connected to the inner side and the outer side of the second side transmission belt, respectively. When the fifth transmission belt rotates, it drives the two first claws and the two second claws to approach or move away from each other, and the moving directions of the first claws and the second claws are perpendicular to the moving direction of the telescopic tray.

[0011] Furthermore, the second medicine dispensing device includes a rotatably arranged first conveyor belt and a spiral medicine dispensing channel connected to its output end. The input end of the first conveyor belt is connected to the interior of the pharmacy body, the output end of the first conveyor belt is connected to the input end of the spiral medicine dispensing channel, and the output end of the spiral medicine dispensing channel is provided with a second medicine dispensing port.

[0012] Furthermore, a medicine dispensing window is provided on one side of the pharmacy body, and a door for opening or closing the medicine dispensing window is provided above the first conveyor belt, and the door is slidably connected to the medicine dispensing window through a window opening and closing device, and the window opening and closing device includes a first fixed frame, and the first fixed frame is fixedly arranged above the first conveyor belt and located inside the pharmacy body, a second driving motor is fixedly provided on the first fixed frame, and a third gear is fixedly connected to the output shaft of the second driving motor, a second rack is fixedly provided on one side of the door, and the third gear is meshingly connected to the second rack, a vertical slide rail is fixedly provided on the outer side of the first fixed frame, and a vertical slider is correspondingly provided on one side of the door, and the vertical slider is slidably connected to the vertical slide rail.

[0013] Furthermore, the first medicine dispensing device includes a first medicine dispensing rack, which is located inside the pharmacy body. A medicine basket placement platform is horizontally slidably provided on the first medicine dispensing rack. The sliding direction of the medicine basket placement platform is parallel to the length direction of the first medicine dispensing rack. A first medicine dispensing port is provided at one end of the first medicine dispensing rack close to the outside of the pharmacy body.

[0014] The present invention also provides a method for using the integrated all-drug robot smart pharmacy, using the aforementioned integrated all-drug robot smart pharmacy, including taking medicine and replenishing medicine; wherein the medicine taking process includes the following steps: S1. According to the drug sampling list, the drug taking and storing device and the electric manipulator are driven by the X-axis transmission device and the Z-axis transmission device to move to the drug storage place on the medicine shelf. If the drugs in the drug taking list are boxed drugs (drugs placed in boxed medicine storage baskets are defined as boxed drugs), step S2 is executed; if the drugs in the drug taking list are non-boxed drugs (drugs placed in non-boxed medicine storage baskets are defined as non-boxed drugs), step S4 is executed; S2, the medicine taking mechanism in the medicine taking and storing device takes out the corresponding medicine, and during the medicine taking process, the code scanner on the scanning mechanism scans and identifies the traceability code on the medicine, and then puts the medicine into the medicine storage mechanism, and repeats steps S1 and S2 according to the medicine sampling list until all the boxed medicines to be taken out are put into the medicine storage mechanism, and then executes step S3; S3, the medicine dispensing and storing device is driven to move to the top of the first conveyor belt of the second medicine dispensing device through the X-axis transmission device and the Z-axis transmission device, and the medicine falls on the first conveyor belt, the door moves to open the medicine dispensing window, the medicine passes through the medicine dispensing window under the transportation of the first conveyor belt and moves to the entrance end along the spiral medicine dispensing channel and slides down through the spiral medicine dispensing channel to the second medicine dispensing port, the staff takes the medicine from the second medicine dispensing port, and the boxed medicine is taken; S4, the telescopic tray of the electric manipulator extends to the bottom of the medicine storage basket where medicines need to be taken, so that the medicine storage basket is placed on the telescopic tray, and then the telescopic tray drives the medicine storage basket to contract and the two first clamping claws and the two second clamping claws approach each other and clamp the medicine storage basket, and then execute step S5; S5, the electric manipulator and the medicine storage basket are driven to move to the medicine basket placement platform of the first medicine dispensing device through the X-axis transmission device and the Z-axis transmission device, the two first claws and the two second claws move away from each other and release the medicine storage basket, the telescopic tray is extended to place the medicine storage basket on the medicine basket placement platform, and then the telescopic tray is retracted, the medicine basket placement platform moves and drives the non-boxed drugs in the medicine storage basket to the first medicine dispensing port, the staff takes the non-boxed drugs from the first medicine dispensing port, and repeats steps S4 and S5 according to the drug sampling list until all non-boxed drugs are taken; When you need to refill medicines in the pharmacy, follow these steps: S6. According to the replenishment medicine list, the electric manipulator is driven by the X-axis transmission device and the Z-axis transmission device to move to the medicine storage basket on the medicine shelf where the medicine to be replenished is stored. The electric manipulator takes the medicine storage basket from the medicine shelf and moves it to the medicine replenishment device. The medicine replenishment device transports the medicine storage basket to the medicine replenishment location for the staff to replenish the medicine in the medicine storage basket; S7. After the staff has finished replenishing the medicines into the medicine storage basket, the electric manipulator places the medicine storage basket containing the medicines on its telescopic tray, clamps the medicine storage basket through two first claws and two second claws, and then drives the electric manipulator and the medicine storage basket to move to the corresponding position of the medicine rack through the X-axis transmission device and the Z-axis transmission device, and releases the medicine storage basket through the two first claws and two second claws and puts it back on the medicine rack to complete the replenishment of the medicines.

[0015] The beneficial effects of the present invention are: The integrated all-drug robot smart pharmacy and the use method thereof of the present invention drive the electric manipulator and the medicine taking and storing device to move to the medicine shelf to take and place the medicines through the X-axis transmission device and the Z-axis transmission device, and cooperate with the first medicine dispensing device, the second medicine dispensing device and the medicine replenishing device to realize automatic identification, dispensing and replenishment of all medicines, and the medicine taking and placing efficiency is high, and the phenomenon of medicine jamming and medicine taking errors is avoided; in the process of automatic medicine taking by the medicine taking mechanism, the medicine traceability code can be quickly identified by the scanning mechanism, and there is no need to manually scan the medicine again, which greatly saves labor costs, saves time and labor, and improves the accuracy of traceability information entry; the second medicine dispensing device is used for taking and placing boxed medicines, and the first medicine dispensing device is used for taking and placing medicines in non-boxed medicine storage baskets, and the two are combined to realize the taking and placing of all medicines; in the medicine replenishing device, the counting component arranged above the medicine replenishing shelf can shoot the medicines in the medicine storage baskets of the first medicine replenishing component and the second medicine replenishing component, and then automatically identify and count the medicines, which can replace manual counting, save time and labor, and improve counting accuracy and counting efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a three-dimensional structural diagram of the pharmacy body of the present invention without the external shell; Figure 2It is a three-dimensional structural diagram of the X-direction transmission device and the Z-direction transmission device inside the pharmacy body of the present invention; Figure 3 It is a three-dimensional structural diagram of the electric manipulator of the present invention; Figure 4 is a three-dimensional structural diagram of the electric manipulator of the present invention from another perspective; Figure 5 It is a three-dimensional structural diagram of some components of the electric manipulator of the present invention; Figure 6 is a partial top view of the electric manipulator of the present invention; Figure 7 is a three-dimensional structural diagram of a second medicine dispensing device of the present invention; Figure 8 It is a schematic diagram of the three-dimensional structure of the first medicine dispensing device of the present invention; Fig. 9 is a schematic diagram of the three-dimensional structure of the medicine tonic device of the present invention; Fig.10 is a front view of the medicine tonic device of the present invention; Fig.11 It is a front view of the lifting frame in the medicine replenishing device of the present invention; Fig.12 For the present invention Fig. 9 A partial enlarged view of part A in the middle.

[0017] Description of reference numerals: 1. Pharmacy body; 2. Medicine rack; 20. Storage space; 201. Support bar; 202. Fork; 21. Medicine storage basket; 3. X-axis transmission device; 31. X upward guide rail; 32. X downward guide rail; 33. Z guide rail; 34. first connecting member; 35. first slider; 36. first transmission motor; 37. second connecting member; 38. second slider; 39. second transmission motor; 4. Z-axis transmission device; 41. third transmission motor; 42. third slide block; 5. Medicine dispensing and storage device; 6. Electric manipulator; 61. Connecting frame; 611. Lower plate; 62. Ninth transmission belt; 63. Telescopic tray; 64, transmission mechanism; 641, first drive motor; 642, first gear; 643, second gear; 65, first carriage; 651, first rack; 652, pulley; 66, fourth transmission belt; 67, fifth transmission belt; 671, first side transmission belt; 672, second side transmission belt; 673, first clamping claw; 674, fourth slider; 675, second clamping claw; 676, fifth slider; 677, first guide rail; 678, second guide rail; 7. Medicine replenishing device; 71. Medicine replenishing rack; 72. Counting component; 721. Protective cover; 73, seventh transmission belt; 731, L-shaped plate; 732, adjusting bolt; 733, adjusting nut; 734, fifth driving wheel; 735, fifth driven wheel; 736, first transmission shaft; 737, second transmission shaft; 74. First tonic component; 741. First support frame; 742. First tonic placement table; 75, second tonic component; 751, second support frame; 7511, guide sleeve; 752, lifting frame; 7520, nut; 7521, screw rod; 7522, fifth drive motor; 7523, seventh driving wheel; 7524, seventh driven wheel; 7525, eighth transmission belt; 7526, top plate; 7527, bottom plate; 7528, guide rod; 753, second tonic placement table; 76, first driving assembly; 761, fourth driving motor; 762, sixth driving wheel; 763, sixth driven wheel; 764, driving belt; 8. First medicine dispensing device; 81. First medicine dispensing rack; 811. Third guide rail; 82. Medicine basket placement platform; 821. Seventh slide block; 83. First medicine dispensing port; 84. Position limiting baffle; 85. Second slide frame; 851. Sixth slide block; 852. Fourth guide rail; 853. Fourth driving wheel; 854. Fourth driven wheel; 855. Sixth transmission belt; 86. Third driving motor; 87. First drag chain; 88. Second drag chain; 9. Second medicine dispensing device; 91. First conveyor belt; 92. Spiral medicine dispensing channel; 93. Second medicine dispensing port; 94. Door; 95. Window opening and closing device; 951. First fixed frame; 952. Second driving motor; 953. Third gear; 954. Second rack; 955. Vertical slider. DETAILED DESCRIPTION

[0018] The technical scheme in the embodiment of the present invention is described clearly and completely below in conjunction with the accompanying drawings in the embodiment of the present invention. In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention can also be implemented in other ways different from those described herein, and those skilled in the art can make similar generalizations without violating the connotation of the present invention, so the present invention is not limited by the specific embodiments disclosed below.

[0019] like Figure 1 The figure shows the integrated all-drug robot smart pharmacy of the present invention, including a pharmacy body 1, which can clearly display the structure of each component inside the pharmacy body 1. Figure 1The pharmacy body 1 in the figure only shows part of its frame mechanism, and its shell, part of the frame and part of the medicine rack are hidden here. The pharmacy body 1 is a rectangular parallelepiped structure, and a medicine rack 2 for placing medicines is arranged inside the pharmacy body 1, and a plurality of medicine storage baskets 21 are placed on the medicine rack 2. An X-axis transmission device 3 moving along the X direction is arranged on one side of the medicine rack 2, and a Z-axis transmission device 4 is arranged vertically sliding on the X-axis transmission device 3. A medicine taking and storing device 5 and an electric manipulator 6 are arranged on the Z-axis transmission device 4. The medicine taking and storing device 5 is provided with a scanning mechanism (not marked in the figure) for identifying the traceability code of the medicines in the medicine storage basket 21. A medicine replenishing device 7 and a first medicine dispensing device 8 are also arranged inside the pharmacy body 1, and a second medicine dispensing device 9 is connected to the outside of the pharmacy body 1.

[0020] like Figure 1 The three-dimensional structural schematic diagram of only part of the medicine rack 2 is shown. The medicine rack 2 is used to store medicines and is located inside the pharmacy body 1. In this embodiment, medicine racks 2 are provided on both sides of the inside of the pharmacy body 1, and the two medicine racks 2 are arranged opposite to each other. Each medicine rack 2 is composed of a plurality of bins 20, and the plurality of bins 20 are arranged along the length direction and the height direction of the pharmacy body 1, and are arranged in a rectangular array. Each bin 20 is composed of two vertically arranged supporting rods 201, and the two supporting rods 201 are symmetrically arranged on both sides of the medicine storage basket 21, and a plurality of forks 202 are correspondingly fixed on the two supporting rods 201, and the plurality of forks 202 are arranged at intervals along the height direction of the supporting rods 201. The positions of the plurality of forks 202 on the two supporting rods 201 are relatively matched, and the space enclosed between each two oppositely arranged forks 202 on the two supporting rods 201 is used to place the medicine storage basket 21, and the medicine storage basket 21 contains medicines.

[0021] An X-axis transmission device 3 is provided on one side of the medicine rack 2 for moving along the X direction, and a Z-axis transmission device 4 is provided on the X-axis transmission device 3 for vertical sliding movement. Figure 2As shown, in this embodiment, two medicine racks 2 are arranged inside the pharmacy body 1, and the X-axis transmission device 3 and the Z-axis transmission device 4 are located between the two medicine racks 2. The X-axis transmission device 3 includes an X-upward guide rail 31 and an X-downward guide rail 32 respectively located at the top and bottom of the pharmacy body 1, and the length direction of the X-upward guide rail 31 and the X-downward guide rail 32 is parallel to the length direction of the pharmacy body 1. A Z-guide rail 33 is slidably arranged between the X-upward guide rail 31 and the X-downward guide rail 32, that is, the Z-guide rail 33 reciprocates along the length direction of the X-upward guide rail 31 and the X-downward guide rail 32. A first transmission belt (not shown in the figure) is rotatably arranged on the X-downward guide rail 32, and one side of the first transmission belt is fixedly connected to the bottom of the Z-guide rail 33 through a first connecting member 34, that is, one side of the first connecting member 34 is fixedly connected to one side of the first transmission belt. A first slider 35 is also fixedly provided at the bottom of the first connecting member 34. The first slider 35 is sleeved on the outside of the X-downward guide rail 32 and slides along its length direction. The first slider 35 and the X-downward guide rail 32 are arranged in cooperation so that the Z-direction guide rail 33 can move smoothly along the X-direction. Specifically, a first transmission motor 36 is provided on the X-downward guide rail 32. A first driving wheel (not shown in the figure) is fixedly provided on the output shaft of the first transmission motor 36. The first driving wheel is arranged near one end of the X-downward guide rail 32. A first driven wheel (not shown in the figure) is rotatably provided at the other end of the X-downward guide rail 32. The first transmission belt is sleeved on the outside of the first driving wheel and the first driven wheel. A second transmission belt (not shown in the figure) is rotatably provided on the X-upward guide rail 31. One side of the second transmission belt is fixedly connected to the top of the Z-direction guide rail 33 through a second connecting member 37, that is, one side of the second connecting member 37 is fixedly connected to one side of the second transmission belt. A second slider 38 is fixedly provided on the top of the second connecting member 37. The second slider 38 is sleeved on the outside of the X-upward guide rail 31 and slides along its length direction. The second slider 38 and the X-upward guide rail 31 are arranged in cooperation to ensure that the Z-direction guide rail 33 moves smoothly along the X-direction. Similarly, a second transmission motor 39 is provided on the X-upward guide rail 31. A second driving wheel (not shown in the figure) is fixedly provided on the output shaft of the second transmission motor 39. The second driving wheel is arranged near one end of the X-upward guide rail 31. A second driven wheel (not shown in the figure) is rotatably provided at the other end of the X-upward guide rail 31. The second transmission belt is sleeved on the outside of the second driving wheel and the second driven wheel. The first transmission motor 36 and the second transmission motor 39 are forward and reverse motors and both start and stop synchronously to drive the first transmission belt and the second transmission belt to rotate synchronously, thereby driving the Z-direction guide rail 33 to move back and forth along the X-direction.

[0022] like Figure 1 and Figure 2As shown, the Z-axis transmission device 4 includes a third transmission belt (not shown in the figure) rotatably arranged on the Z-direction guide rail 33, a third transmission motor 41 is fixedly arranged on the Z-direction guide rail 33, the output shaft of the third transmission motor 41 is fixedly connected to the third driving wheel (not shown in the figure), a third driven wheel (not shown in the figure) is arranged in the Z-direction guide rail 33, and the third transmission belt is sleeved on the outer side of the third driving wheel and the third driven wheel. A third slider 42 is slidably sleeved on the outer side of the Z-direction guide rail 33, and the third slider 42 moves up and down along the length direction of the Z-direction guide rail. The Z-axis transmission device 4 is provided with a medicine taking and storage device 5 and an electric manipulator 6, that is, the medicine taking and storage device 5 and the electric manipulator 6 are both fixedly arranged on one side of the third transmission belt. Start the third transmission motor 41, the output shaft of the third transmission motor 41 rotates to drive the third driving wheel to rotate, and the third driving wheel drives the third transmission belt and the third driven wheel to rotate, so as to drive the medicine taking and storage device 5 and the electric manipulator 6 to move up and down along the Z direction with the rotation of the third transmission belt, thereby moving the medicine taking and storage device 5 and the electric manipulator 6 to a specified height.

[0023] like Figure 1 As shown, the Z-axis transmission device 4 is provided with a drug taking and storage device 5, which is a prior art, and the patent number may be referred to: 2024226002500, and the patent name is: A drug taking device for automatically identifying drug traceability codes, and its specific structure and working principle will not be repeated here. The drug taking and storage device 5 includes a drug storage mechanism, which is fixedly connected to one side of the third transmission belt, wherein a drug taking mechanism is provided on the drug storage mechanism, and a scanning mechanism is fixedly arranged on the drug taking side of the drug taking mechanism, and the scanning mechanism includes a first frame fixedly arranged on the drug storage mechanism, and a plurality of scanners are arranged on the first frame, and the scanner is used to scan and identify the traceability code of the drug. The drug that needs to be taken out of the drug storage basket 21 is taken out by the drug taking mechanism and placed in the drug storage mechanism, and the scanner scans and identifies the traceability code of the drug during the drug taking process of the drug taking mechanism.

[0024] like Figure 1 , Figure 3 to Figure 6As shown, the electric manipulator 6 includes a connecting frame 61, the connecting frame 61 is connected to one side of the third transmission belt, one side of the connecting frame 61 is fixedly connected to the third slider 42 slidably mounted on the Z-direction guide rail 33, and the third slider 42 and the Z-direction guide rail 33 are arranged in coordination to ensure that the electric manipulator 6 moves smoothly up and down along the Z direction. The connecting frame 61 is provided with lower plates 611 at the top and bottom, respectively, and the lower plates 611 are fixedly connected to the upper and lower parts of the connecting frame 61, respectively, and the lower plates 611 are U-shaped plates with the opening upward. The connecting frame 61 is provided with two telescopic trays 63 at the top and bottom, and the two telescopic trays 63 are slidably connected to the connecting frame 61 through a transmission mechanism 64, and the sliding direction of the two telescopic trays 63 is along the Y direction, so that the medicine storage basket 21 on the medicine rack 2 can be taken and placed by extending and contracting the telescopic trays 63. The transmission mechanism 64 includes a first drive motor 641 fixedly mounted on the connecting frame 61, the output shaft of the first drive motor 641 is fixedly connected to a first gear 642, two second gears 643 are meshedly connected to both sides of the first gear 642, and the two second gears 643 are both rotatably connected to the connecting frame 61. A first slide 65 is also disposed on the connecting frame 61, and a first rack 651 is fixedly disposed at the bottom of the first slide 65, and the first rack 651 is meshedly connected to the first gear 642. Figure 5 As shown, the connecting frame 61 is provided with a fourth transmission belt 66 and a ninth transmission belt 62, and the first slide 65 is rotatably provided with two pulleys 652, and the two pulleys 652 are respectively arranged at the two ends of the first slide 65. The fourth transmission belt 66 and the ninth transmission belt 62 are respectively wound around the two pulleys 652, and the fourth transmission belt 66 and the ninth transmission belt 62 are both open belts, and the upper sides of the fourth transmission belt 66 and the ninth transmission belt 62 are respectively fixedly connected to the two ends of the telescopic tray 63 (in order to clearly express the structural diagram of each component, Figure 5(only a part of the telescopic tray 63 is shown in the figure instead of the whole), the lower sides of the fourth transmission belt 66 and the ninth transmission belt 62 are respectively fixedly connected to the two ends of the lower plate 611. Specifically, one end of the upper side of the fourth transmission belt 66 is fixedly connected to the left end of the telescopic tray 63, and the other end of the lower side of the fourth transmission belt 66 is fixedly connected to the left end of the lower plate 611. One end of the upper side of the ninth transmission belt 62 is fixedly connected to the right end of the telescopic tray 63, and the other end of the lower side of the ninth transmission belt 62 is fixedly connected to the right end of the lower plate 611. The first drive motor 641 is started to drive the first gear 642 fixed on its output shaft to rotate, and the first gear 642 rotates to drive the two second gears 643 meshing with it to rotate, and the two second gears 643 rotate to drive the first rack 651 meshing with it to move, and the first rack 651 moves to drive the first slide 65 fixedly connected with it to move, and the first slide 65 moves to drive the fourth transmission belt 66 or the ninth transmission belt 62 to rotate during the movement of the first slide 65, and then drives the telescopic tray 63 to move, so as to achieve its double-stroke movement. The first drive motor 641 is a forward and reverse motor, and its forward and reverse rotation drives the telescopic tray 63 to extend or retract. When the telescopic tray 63 is extended, it extends to the bottom of the medicine storage basket 21 to support it, and when it retracts, it drives the medicine storage basket 21 placed on the upper part to leave the medicine rack 2. The two pulleys 652, the fourth transmission belt 66 and the ninth transmission belt 62 are set so that when the first drive motor 641 rotates forward and reversely, the telescopic tray 62 can move in two opposite directions to complete the reversal.

[0025] like Figure 4 and Figure 6As shown, the connecting frame 61 is also rotatably provided with a fifth transmission belt 67, which is driven to rotate by a motor and wound around a plurality of guide wheels. The fifth transmission belt 67 includes a first side transmission belt 671 and a second side transmission belt 672 which are relatively arranged at two ends of the connecting frame 61, and the first side transmission belt 671 and the second side transmission belt 672 form a ring-shaped fifth transmission belt 67. The inner side and the outer side of the first side transmission belt 671 are respectively fixedly connected with two first claws 673, and the two first claws 673 are respectively fixedly connected to the two sides of the first side transmission belt 671 through two fourth sliders 674. The inner side and the outer side of the second side transmission belt 672 are respectively fixedly connected with two second claws 675, and the two second claws 675 are respectively fixedly connected to the two sides of the second side transmission belt 672 through two fifth sliders 676. The connecting frame 61 is also fixed with a first guide rail 677 and a second guide rail 678, which are arranged horizontally and in parallel. The two fourth sliders 674 are respectively sleeved on the first guide rail 677 and slidably connected thereto, and the two fifth sliders 676 are respectively sleeved on the second guide rail 678 and slidably connected thereto. It should be noted that the two fourth sliders 674 and the two fifth sliders 676 move toward or away from each other, respectively, so that the two fourth sliders 674 and the two fifth sliders 676 are respectively moved toward or away from each other. Therefore, when the fifth transmission belt 67 rotates, the two first claws 673 and the two second claws 675 are driven to move toward or away from each other, and the moving directions of the first claws 673 and the second claws 675 are perpendicular to the moving direction of the telescopic tray 63. When the two first claws 673 and the two second claws 675 are close to each other, the medicine storage basket 21 placed on the telescopic tray 63 is clamped to prevent it from falling or sliding off the telescopic tray 63 during the movement. When the two first claws 673 and the two second claws 675 move away from each other, the medicine storage basket 21 placed on the telescopic tray 63 is no longer clamped and is in a free placement state, which is convenient for removing the medicine storage basket 21 from the telescopic tray 63 later.

[0026] like Figure 7 As shown, the second medicine dispensing device 9 includes a first conveyor belt 91 that is rotatably arranged and a spiral medicine dispensing channel 92 connected to its output end. The first conveyor belt 91 is arranged horizontally and is driven to rotate by a driving motor and a pulley. This technology is a prior art, and its specific connection structure and working principle are not repeated here. The input end of the first conveyor belt 91 is connected to the inside of the pharmacy body 1, and the output end of the first conveyor belt 91 is connected to the input end of the spiral medicine dispensing channel 92. The output end of the spiral medicine dispensing channel 92 is provided with a second medicine dispensing port 93. The input end of the first conveyor belt 91 is located in the pharmacy body 1, so that the medicine taken out by the medicine storage device 5 can be placed in the input end of the first conveyor belt 91.

[0027] A medicine dispensing window (not shown in the figure) is provided on one side of the pharmacy body 1, and a door 94 for opening or closing the medicine dispensing window is provided above the first conveyor belt 91, and the door 94 is slidably connected to the medicine dispensing window through a window opening and closing device 95. The window opening and closing device 95 includes a first fixed frame 951, which is fixedly arranged above the first conveyor belt 91 and located inside the pharmacy body 1, a second drive motor 952 is fixedly arranged on the first fixed frame 951, and a third gear 953 is fixedly connected to the output shaft of the second drive motor 952, and a second rack 954 is fixedly arranged on one side of the door 94, and the third gear 953 is meshedly connected with the second rack 954. Among them, the third gear 953 and the second rack 954 are respectively located on both sides of the first fixed frame 951, and a notch (not shown in the figure) is provided on the first fixed frame 951, and the third gear 953 passes through the notch to mesh with the second rack 954 on the other side. A vertical slide rail (not shown) is fixedly arranged on the outer side of the first fixed frame 951, and a vertical slider 955 is correspondingly arranged on one side of the door 94, and the vertical slider 955 is slidably connected to the vertical slide rail. In this embodiment, the number of vertical slide rails and vertical slider 955 is two and they are arranged correspondingly, and the two vertical slide rails are respectively located on both sides of the second rack 954, and the length direction of the two vertical slide rails is parallel to the length direction of the second rack 954. The vertical slide rails located on both sides of the second rack 954 and the vertical slider 955 are arranged in coordination to ensure that the door 94 runs smoothly when it is lifted up and down along the Z direction.

[0028] Start the second drive motor 952. The output shaft of the second drive motor 952 rotates to drive the third gear 953 to rotate. The third gear 953 rotates to drive the second rack 954 meshing with it to move along the Z direction, thereby ensuring that the door 94 moves up and down along the Z direction. The second drive motor 952 rotates forward and reversely to move the door 94 up and down along the Z direction. When the door 94 moves upward, the medicine dispensing window on the pharmacy body 1 is opened. Driven by the first conveyor belt 91, the medicine passes through the medicine dispensing window and moves to the entrance of the spiral medicine dispensing channel 92. It slides freely downward through the spiral medicine dispensing channel 92 and falls into the second medicine dispensing port 93 for the staff to take the medicine.

[0029] It should be noted that the second medicine dispensing device 9 is mainly used to dispense boxed medicines. The boxed medicines will slide freely along the spiral medicine dispensing channel 92 to the second medicine dispensing port 93 without damaging the medicines in the box.

[0030] like Figure 1 and Figure 8As shown, two first medicine dispensing devices 8 are arranged inside the pharmacy body 1, and the two first medicine dispensing devices 8 are arranged at one end of the pharmacy body 1. The number and the location of the first medicine dispensing devices 8 are not limited to the number and location of the present embodiment. The number of the first medicine dispensing devices 8 can be one or more, and the location of the first medicine dispensing devices 8 can be located at one end of the pharmacy body 1, one side of the pharmacy body 1, or the middle of the pharmacy body 1. The specific number and location can be designed according to actual needs, and are all within the protection scope of the present invention. The first medicine dispensing device 8 includes a first medicine dispensing rack 81, which is located inside the pharmacy body 1. A medicine basket placement platform 82 is horizontally slidably provided on the first medicine dispensing rack 81. The medicine basket placement platform 82 is used to place the medicine storage basket 21. The sliding direction of the medicine basket placement platform 82 is parallel to the length direction of the first medicine dispensing rack 81. A first medicine dispensing port 83 is provided at one end of the first medicine dispensing rack 81 close to the outside of the pharmacy body 1, and a limit baffle 84 is provided at the first medicine dispensing port 83.

[0031] A second slide 85 is horizontally slidably provided on the first medicine dispensing rack 81, and the length direction of the second slide 85 is parallel to the length direction of the first medicine dispensing rack 81. A sixth slider 851 is fixedly provided at the bottom of the second slide 85, and a third guide rail 811 is fixedly provided at the top of the first medicine dispensing rack 81. The sixth slider 851 is sleeved on the third guide rail 811 and slidably connected thereto, thereby ensuring that the second slide 85 slides along the length direction of the first medicine dispensing rack 81. A fourth guide rail 852 is fixedly provided on the top of the second slide 85, and the length direction of the fourth guide rail 852 is parallel to the length direction of the second slide 85. A seventh slider 821 is fixedly provided at the bottom of the medicine basket placement platform 82, and the seventh slider 821 is sleeved on the fourth guide rail 852 and slidably connected thereto, thereby ensuring that the medicine basket placement platform 82 slides along the length direction of the second slide 85. The first medicine dispensing rack 81 is fixedly provided with a third driving motor 86, and a fourth driving wheel 853 is fixedly connected to the output shaft of the third driving motor 86. A fourth driven wheel 854 is rotatably provided on the second slide 85. The fourth driving wheel 853 and the fourth driven wheel 854 are respectively located at the two ends of the second slide 85. The outer sides of the fourth driving wheel 853 and the fourth driven wheel 854 are sleeved with a sixth transmission belt 855, and the medicine basket placement platform 82 is fixedly connected to one side of the sixth transmission belt 855. The medicine basket placement platform 82 is connected to the second slide 85 through a first drag chain 87, that is, one end of the first drag chain 87 is fixedly connected to one side of the medicine basket placement platform 82, and the other end of the first drag chain 87 is fixedly connected to one side of the second slide 85. The second slide 85 is connected to the first medicine dispensing rack 81 through a second drag chain 88, that is, one end of the second drag chain 88 is fixedly connected to one side of the second slide 85, and the other end of the second drag chain 88 is fixedly connected to one side of the first medicine dispensing rack 81.

[0032] The third drive motor 86 is started, and the third drive motor 86 drives the fourth driving wheel 853 to rotate. The rotation of the fourth driving wheel 853 drives the sixth transmission belt 855 and the fourth driven wheel 854 to rotate. During the rotation of the sixth transmission belt 855, it drives the medicine basket placement platform 82 to move. During the movement of the medicine basket placement platform 82, the second slide 85 is driven to move through the connection of the first drag chain 87 and the second drag chain 88. The second slide 85 and the medicine basket placement platform 82 move together, thereby realizing the double-stroke movement of the medicine basket placement platform 82, so that the medicine basket placement platform 82 drives the medicine storage basket 21 to move to the first medicine dispensing port 83, and is limited by the limit baffle 84, so that the staff can take medicine at the first medicine dispensing port 83.

[0033] It should be particularly noted that the first medicine dispensing device 8 is mainly used to dispense non-boxed medicines. The non-boxed medicines in the medicine storage basket 21 are smoothly moved to the first medicine dispensing port 83 driven by the medicine basket placement platform 82, and will not cause damage or injury to the non-boxed medicines.

[0034] like Figure 1 , Figures 9 to 11 As shown, the tonic device 7 of the present invention is two, and the tonic devices 7 of the present invention are arranged at the other end of the pharmacy body 1, and are arranged opposite to the first medicine dispensing device 8. However, in actual use, the number of tonic devices 7 can be one or more, and the setting position thereof can be designed according to actual needs, and can be arranged at one side of the pharmacy body 1, at one end of the pharmacy body 1, or in the middle of the pharmacy body 1. The number and setting position thereof are not limited thereto, and different numbers and setting positions of the tonic devices 7 are all within the protection scope of the present invention. The tonic device 7 includes a tonic rack 71, and a tonic assembly is arranged on the tonic rack 71. A counting assembly 72 is also fixed above the tonic rack 71. The counting assembly 72 includes a protective cover 721 fixedly arranged above the tonic rack 71, and a camera (not shown in the figure) is arranged inside the protective cover 721. The shooting direction of the camera is toward the medicine placed in the tonic assembly.

[0035] A seventh transmission belt 73 is rotatably provided on the medicine tonic rack 71, and the medicine tonic assembly includes a first medicine tonic assembly 74 and a second medicine tonic assembly 75. The upper side of the seventh transmission belt 73 is fixedly connected to the first medicine tonic assembly 74, and the lower side of the seventh transmission belt 73 is fixedly connected to the second medicine tonic assembly 75. The initial positions of the first medicine tonic assembly 74 and the second medicine tonic assembly 75 are relatively arranged on both sides of the length direction of the medicine tonic rack 71. A counting assembly 72 is also fixedly provided above the medicine tonic rack 71. The counting assembly 72 identifies and counts the number of medicines in the first medicine tonic assembly 74 and the second medicine tonic assembly 75 moved thereunder.

[0036] The medicine replenishing rack 71 is rotatably provided with a seventh transmission belt 73, and the number of the seventh transmission belts 73 is two, and the two seventh transmission belts 73 are arranged in parallel along the width direction of the medicine replenishing rack 71. In this embodiment, each seventh transmission belt 73 is an open toothed belt, such as Fig.12 As shown, both ends of the seventh transmission belt 73 are fixedly connected with L-shaped plates 731, and the two L-shaped plates 731 are connected by adjusting bolts 732 and adjusting nuts 733. The distance between the two L-shaped plates 731 is adjusted by rotating the adjusting bolts 732, so as to tighten the seventh transmission belt 73. Each seventh transmission belt 73 is sleeved with a fifth driving wheel 734 and a fifth driven wheel 735. The fifth driving wheel 734 and the fifth driven wheel 735 are both rotatably connected to the medicine supplement rack 71. The two fifth driving wheels 734 are fixedly connected by a first transmission shaft 736, and the two fifth driven wheels 735 are fixedly connected by a second transmission shaft 737. The first driving assembly 76 is also included. The first driving assembly 76 includes a fourth driving motor 761 fixedly arranged on the medicine supplement rack 71, and the output shaft of the fourth driving motor 761 is transmission-connected to the first transmission shaft 736. Specifically, a sixth driving wheel 762 is fixedly connected to the output shaft of the fourth driving motor 761 , a sixth driven wheel 763 is also fixedly connected to the first transmission shaft 736 , and a driving belt 764 is sleeved on the outer sides of the sixth driving wheel 762 and the sixth driven wheel 763 .

[0037] The fourth drive motor 761 is started, and the output shaft of the fourth drive motor 761 rotates to drive the sixth driving wheel 762 fixedly connected thereto to rotate. The sixth driving wheel 762 rotates to drive the sixth driven wheel 763 to rotate via the driving belt 764. The sixth driven wheel 763 rotates to drive the first transmission shaft 736 fixed thereto to rotate, thereby driving the two fifth driving wheels 734 fixed on the first transmission shaft 736 to rotate. The two fifth driving wheels 734 rotate to drive the two fifth driven wheels 735 to rotate via the two seventh transmission belts 73, thereby achieving synchronous rotation of the two seventh transmission belts 73.

[0038] A first medicine supplement component 74 is fixedly connected to the upper side of the seventh transmission belt 73. The first medicine supplement component 74 includes a first support frame 741, and the bottom of the first support frame 741 is fixedly connected to the upper side of the seventh transmission belt 73. A first medicine supplement placement table 742 for accommodating the medicine storage basket 21 is provided at the top of the first support frame 741, and the first support frame 741 is in a U-shaped structure. A second medicine supplement component 75 is fixedly connected to the lower side of the seventh transmission belt 73. The second medicine supplement component 75 includes a second support frame 751, and the second support frame 751 is fixedly connected to the lower side of the seventh transmission belt 73. The first medicine supplement component 74 and the second medicine supplement component 75 are oppositely arranged on both sides of the medicine supplement rack 71 in the length direction. That is, in the initial state, the first support frame 741 and the second support frame 751 are oppositely arranged at both ends of the seventh transmission belt 73. When the seventh transmission belt 73 rotates, it drives the first support frame 741 and the second support frame 751 to approach or move away from each other until the positions of the first support frame 741 and the second support frame 751 are exchanged, so that while one medicine storage basket 21 is being supplemented with medicine, the other medicine storage basket 21 can take or place medicine, enabling one to be in reserve while the other is in use, and improving the medicine supplement efficiency. It should be particularly noted that the bottom of the inner wall of the U-shaped first support frame 741 is higher than the top of the second support frame 751 and the medicine storage basket 21, and the width of the inner wall of the frame of the first support frame 741 is greater than the width of the second support frame 751 and the medicine storage basket 21, facilitating the second support frame 751 and the medicine storage basket 21 to pass through the U-shaped structure of the first support frame 741.

[0039] The second support frame 751 is vertically slidably connected with a lifting frame 752, and a second medicine replenishment placement platform 753 for accommodating the medicine storage basket 21 is fixedly provided on the top of the lifting frame 752. A ball screw is provided on the lifting frame 752, and the ball screw includes a screw rod 7521 and a nut 7520. The screw rod 7521 is vertically arranged and rotatably connected with the lifting frame 752 through a ball screw support seat, and the nut 7520 is fixedly arranged on the second support frame 751. The screw rod 7521 is coaxially penetrated in the nut 7520. The outer cylindrical surface of the screw rod 7521 and the inner cylindrical surface of the nut are respectively processed with spiral raceways, and a plurality of balls (not shown in the figure) are installed in the spiral raceways formed by the screw rod 7521 and the nut 7520. The screw rod 7521 is rotated by the second driving assembly, and the second driving assembly includes a fifth driving motor 7522 fixedly arranged on the lifting frame 752, the output shaft of the fifth driving motor 7522 is fixedly connected to the seventh driving wheel 7523, the top of the screw rod 7521 is fixedly connected to the seventh driven wheel 7524, and the outer sides of the seventh driving wheel 7523 and the seventh driven wheel 7524 are sleeved with an eighth transmission belt 7525. Among them, the lifting frame 752 includes a top plate 7526 and a bottom plate 7527 respectively located above and below the second support frame 751, and the top plate 7526 and the bottom plate 7527 are connected by a plurality of guide rods 7528, and a plurality of guide sleeves 7511 are fixedly arranged on the second support frame 751, and the plurality of guide rods 7528 are slidably inserted into the corresponding guide sleeves 7511.

[0040] The fifth drive motor 7522 is started, and the output shaft of the fifth drive motor 7522 rotates to drive the seventh driving wheel 7523 fixedly connected thereto to rotate. The seventh driving wheel 7523 rotates to drive the eighth transmission belt 7525 and the seventh driven wheel 7524 to rotate. The seventh driven wheel 7524 rotates to drive the screw rod 7521 fixedly connected thereto to rotate. Due to the coordinated arrangement of the screw rod 7521, the nut 7520 and the ball, the screw rod 7521 moves up and down, thereby driving the lifting frame 752 to move up and down. The up and down movement of the lifting frame 752 drives the second tonic medicine placement table 753 and the medicine storage basket 21 fixed on its top to move up and down synchronously.

[0041] Preferably, the fifth drive motor 7522 and the fourth drive motor 761 are both forward and reverse motors. The fifth drive motor 7522 rotates forward and reversely to drive the lifting frame 752 to rise and fall. The fourth drive motor 761 rotates forward and reversely to drive the seventh transmission belt 73 to rotate clockwise and counterclockwise.

[0042] The counting component 72 includes a protective cover 721 fixedly arranged above the medicinal supplement rack 71. The protective cover 721 is arranged at one end close to the medicinal supplement rack 71. The protective cover 721 is a cuboid structure with a hollow interior and an open bottom. A camera (not shown in the figure) and a lighting lamp (not shown in the figure) are arranged inside the protective cover 721. The shooting direction of the camera faces the medicines placed in the medicinal supplement component. The lighting lamp is arranged close to the camera. The camera is used to take pictures of the medicines in the medicine storage baskets 21 placed on the first medicinal supplement component 74 and the second medicinal supplement component 75, and the lighting lamp is used to provide light source for the camera. The counting component 72 in this embodiment further includes an image processor (not shown in the figure) and a display screen (not shown in the figure). The image processor is signal-connected to the display screen and the camera respectively. Specifically, the camera is signal-connected to the image processor in a wired or wireless manner, and the camera sends the captured image data to the image processor. The image processor is used to receive the image data captured by the camera, perform image processing and analysis, and realize the identification and counting of medicines. The image processor can be connected to the display screen through a video output interface (such as HDMI, VGA, etc.), or can be connected in other ways, which is not limited here, so as to realize the real-time display of images. The connection mode between each electrical component can be wired or wireless connection, and the specific connection mode is not limited here and can be set according to actual needs.

[0043] After replenishing the medicines in the medicine storage basket 21 of the first support frame 741, start the fifth driving motor 7522. The output shaft of the fifth driving motor 7522 rotates and drives the lead screw 7521 to rotate through the eighth transmission belt 7525, and then drives the lifting frame 752 to descend to a predetermined lower position. Start the fourth driving motor 761. The output shaft of the fourth driving motor 761 rotates and drives the sixth driving wheel 762 to rotate, and drives the fifth driving wheel 734 to rotate through the driving belt 764, and then drives the seventh transmission belt 73 and the fifth driven wheel 735 to rotate. During the rotation of the seventh transmission belt 73, the medicine storage baskets 21 on the first support frame 741 and the second support frame 751 move closer to each other until the positions of the first support frame 741 and the second support frame 751 are interchanged. Since the lifting frame 752 on the second support frame 751 descends when the seventh transmission belt 73 rotates and drives the medicine storage basket 21 placed thereon to descend, the second support frame 751 can smoothly pass through the frame of the U-shaped structure of the first support frame 741. At this time, the first support frame 741 is located directly below the counting component 72. The camera takes pictures of the medicines in the medicine storage basket 21 thereon and sends the captured image data to the image processor. After being processed and analyzed by the image processor, the identification and counting of medicines are realized, and the quantity of medicines is displayed in real time through the display screen, ensuring the accuracy and real-time of medicine counting. At the same time, the medicine storage basket 21 on the second support frame 751 moves to the medicine replenishing station, which is convenient for medicine replenishment and improves the medicine replenishing efficiency.

[0044] like Figure 1 As shown, an electric control cabinet (not shown in the figure) is also provided inside the pharmacy body 1, and a controller is provided in the electric control cabinet. The controller is electrically connected or signal-connected with the above-mentioned electrical components. The specific connection method and control method are all existing technologies and will not be repeated here.

[0045] The present invention also provides a method for using the integrated all-drug robot smart pharmacy, using the aforementioned integrated all-drug robot smart pharmacy, including taking medicine and replenishing medicine; wherein the medicine taking process includes the following steps: S1. According to the drug sampling list, the drug taking and storing device 5 and the electric manipulator 6 are driven by the X-axis transmission device 3 and the Z-axis transmission device 4 to move to the drug storage place on the medicine rack 2 along the X-axis and the Z-axis. If the drugs in the drug taking list are boxed drugs (the drugs placed in the boxed drug storage basket 21 are defined as boxed drugs), step S2 is executed; if the drugs in the drug taking list are non-boxed drugs (the drugs placed in the non-boxed drug storage basket 21 are defined as non-boxed drugs), step S4 is executed; S2, the medicine dispensing mechanism takes out the corresponding medicines, and during the medicine dispensing process, the scanner scans and identifies the traceability code on the medicines, and then puts the medicines into the medicine storage mechanism, and repeats steps S1 and S2 according to the medicine sampling list until all the boxed medicines to be taken out are put into the medicine storage mechanism, and then executes step S3; S3, the medicine taking and storing device 5 is driven to move to the top of the first conveyor belt 91 of the second medicine dispensing device 9 through the X-axis transmission device 3 and the Z-axis transmission device 4, and the medicine falls on the first conveyor belt 91, the door 94 moves to open the medicine dispensing window, and the medicine passes through the medicine dispensing window under the transportation of the first conveyor belt 91 and moves to the entrance end along the spiral medicine dispensing channel 92, and slides downward through the spiral medicine dispensing channel 92 to the second medicine dispensing port 93, and the staff takes the boxed medicine from the second medicine dispensing port 93, and the boxed medicine is taken out; S4, the telescopic tray 63 of the electric manipulator 6 extends to the bottom of the medicine storage basket 21 where medicines need to be taken, so that the medicine storage basket 21 is placed on the telescopic tray 63, and then the telescopic tray 63 drives the medicine storage basket 21 to contract and the two first claws 673 and the two second claws 675 approach each other and clamp the medicine storage basket 21, and then execute step S5; S5, drive the electric manipulator 6 and the medicine storage basket 21 to move to the medicine basket placement platform 82 of the first medicine dispensing device 8 through the X-axis transmission device 3 and the Z-axis transmission device 4, the two first claws 673 and the two second claws 675 move away from each other and release the medicine storage basket 21, the telescopic tray 63 extends to place the medicine storage basket 21 on the medicine basket placement platform 82, and then the telescopic tray 63 shrinks, the medicine basket placement platform 82 moves and drives the non-boxed products in the medicine storage basket 21 to the first medicine dispensing port 83, the staff takes the medicines in the non-boxed medicine storage basket 21 from the first medicine dispensing port 83, and repeats steps S4 and S5 according to the medicine sampling list until all non-boxed medicines are taken; When it is necessary to replenish medicines in the pharmacy body 1, follow the steps below: S6. According to the replenishment medicine list, the electric manipulator 6 is driven by the X-axis transmission device 3 and the Z-axis transmission device 4 to move to the medicine storage basket 21 on the medicine shelf 2 where the medicines to be replenished are stored. The electric manipulator 6 takes the medicine storage basket 21 out of the medicine shelf 2, clamps the medicine storage basket 21 by the two first clamping claws 673 and the second clamping claws 675, and moves it to the medicine replenishment device 7. Then, the two first clamping claws 673 and the second clamping claws 675 are released, and the medicine storage basket 21 is transported to the medicine replenishment location by the medicine replenishment device 7, so that the staff can replenish the medicines in the medicine storage basket 21. S7. After the staff has replenished the medicines into the medicine storage basket 21, they extend the telescopic tray 63 and place the medicine storage basket 21 containing the medicines thereon. The electric manipulator 6 clamps the medicine storage basket 21 placed on the telescopic tray 63 through the two first claws 673 and the second claws 675. Then, the electric manipulator 6 and the medicine storage basket 21 are driven by the X-axis transmission device 3 and the Z-axis transmission device 4 to move to the corresponding positions of the medicine rack 2. After releasing the two first claws 673 and the second claws 675, the medicine storage basket 21 is placed back on the medicine rack 2 to complete the replenishment of the medicines.

[0046] Although the present invention discloses preferred specific embodiments to achieve the above-mentioned objectives, it is not intended to limit the structural features of the present invention. Any person skilled in the art should know that within the technical spirit of the present invention, any easily conceivable changes or modifications are possible and are all covered by the scope of the patent application of the present invention.

Claims

1. An integrated all-drug robot smart pharmacy, characterized by: The invention comprises a pharmacy body (1), wherein a medicine shelf (2) for placing medicines is provided inside the pharmacy body (1), a plurality of medicine storage baskets (21) are placed on the medicine shelf (2), an X-axis transmission device (3) movable along the X direction is provided on one side of the medicine shelf (2), a Z-axis transmission device (4) is vertically slidably provided on the X-axis transmission device (3), a medicine taking and storing device (5) and an electric manipulator (6) are provided on the Z-axis transmission device (4), a scanning mechanism for identifying the traceability code of the medicines in the medicine storage baskets (21) is provided on the medicine taking and storing device (5), a medicine replenishing device (7) and a first medicine dispensing device (8) are further provided inside the pharmacy body (1), and a second medicine dispensing device (9) is provided on the outside of the pharmacy body (1).

2. The integrated all-drug robot smart pharmacy according to claim 1 is characterized in that: The X-axis transmission device (3) comprises an X-upward guide rail (31) and an X-downward guide rail (32) respectively located at the top and bottom of the pharmacy body (1); a Z-guide rail (33) is slidably arranged between the X-upward guide rail (31) and the X-downward guide rail (32); a first transmission belt is rotatably arranged on the X-downward guide rail (32); a second transmission belt is rotatably arranged on the X-upward guide rail (31); one side of the first transmission belt is fixedly connected to the bottom of the Z-guide rail (33) via a first connecting member (34); one side of the second transmission belt is fixedly connected to the top of the Z-guide rail (33) via a second connecting member (37); and the Z-axis transmission device (4) comprises a third transmission belt rotatably arranged on the Z-guide rail (33).

3. The integrated all-drug robot smart pharmacy according to claim 2 is characterized in that: The medicine dispensing and storing device (5) comprises a medicine storage mechanism, the medicine storage mechanism is fixedly connected to one side of the third transmission belt, a medicine dispensing mechanism is arranged on the medicine storage mechanism, the scanning mechanism is fixedly arranged on the medicine dispensing side of the medicine dispensing mechanism, the scanning mechanism comprises a first frame fixedly arranged on the medicine storage mechanism, a plurality of barcode scanners are arranged on the first frame, and the barcode scanners are used to scan and identify the traceability code of the medicine.

4. The integrated all-drug robot smart pharmacy according to claim 2 is characterized in that: The electric manipulator (6) comprises a connecting frame (61), the connecting frame (61) being connected to one side of the third transmission belt, the connecting frame (61) being provided with two telescopic trays (63) arranged opposite to each other in the upper and lower parts, the two telescopic trays (63) being slidably connected to the connecting frame (61) via a transmission mechanism (64).

5. The integrated all-drug robot smart pharmacy according to claim 4 is characterized in that: The transmission mechanism (64) comprises a first drive motor (641) fixedly arranged on the connecting frame (61); the output shaft of the first drive motor (641) is fixedly connected to a first gear (642); two second gears (643) are meshingly connected to the two sides of the first gear (642); the two second gears (643) are rotatably connected to the connecting frame (61); a first slide (65) is also provided on the connecting frame (61); a first rack (651) is fixedly provided at the bottom of the first slide (65); the first rack (651) is meshingly connected to the second gear (643); a fourth transmission belt (66) and a ninth transmission belt (62) are provided on the connecting frame (61); the upper sides of the fourth transmission belt (66) and the ninth transmission belt (62) are respectively fixedly connected to the two ends of the telescopic tray (63); and the lower sides of the fourth transmission belt (66) and the ninth transmission belt (62) are respectively fixedly connected to the two ends of the connecting frame (61).

6. The integrated all-drug robot smart pharmacy according to claim 5 is characterized in that: A fifth transmission belt (67) is also rotatably provided on the connecting frame (61), and the fifth transmission belt (67) comprises a first side transmission belt (671) and a second side transmission belt (672) which are relatively arranged at two ends of the connecting frame (61); two first clamping claws (673) are fixedly connected to the inner side and the outer side of the first side transmission belt (671), respectively; two second clamping claws (675) are fixedly connected to the inner side and the outer side of the second side transmission belt (672), respectively; when the fifth transmission belt (67) rotates, it drives the two first clamping claws (673) and the two second clamping claws (675) to move closer to or farther from each other; the moving directions of the first clamping claws (673) and the second clamping claws (675) are perpendicular to the moving direction of the telescopic tray (63).

7. The integrated all-drug robot smart pharmacy according to claim 1 is characterized in that: The second medicine dispensing device (9) comprises a first rotatable conveyor belt (91) and a spiral medicine dispensing channel (92) connected to the output end thereof, the input end of the first conveyor belt (91) is communicated with the interior of the pharmacy body (1), the output end of the first conveyor belt (91) is connected to the input end of the spiral medicine dispensing channel (92), and the output end of the spiral medicine dispensing channel (92) is provided with a second medicine dispensing port (93).

8. The integrated all-drug robot smart pharmacy and the method of using the same according to claim 7, characterized in that: A medicine dispensing window is provided on one side of the pharmacy body (1); a door (94) for opening or closing the medicine dispensing window is provided above the first conveyor belt (91); the door (94) is slidably connected to the medicine dispensing window via a window opening and closing device (95); the window opening and closing device (95) comprises a first fixed frame (951); the first fixed frame (951) is fixedly arranged above the first conveyor belt (91) and located inside the pharmacy body (1); a second drive motor (952) is fixedly arranged on the first fixed frame (951); a third gear (953) is fixedly connected to the output shaft of the second drive motor (952); a second rack (954) is fixedly arranged on one side of the door (94); the third gear (953) is meshingly connected to the second rack (954); a vertical slide rail is fixedly arranged on the outer side of the first fixed frame (951); a vertical slide block (955) is correspondingly arranged on one side of the door (94); the vertical slide block (955) is slidably connected to the vertical slide rail.

9. The integrated all-drug robot smart pharmacy according to claim 1, characterized in that: The first medicine dispensing device (8) comprises a first medicine dispensing rack (81), the first medicine dispensing rack (81) being located inside the pharmacy body (1), a medicine basket placement platform (82) being horizontally slidably disposed on the first medicine dispensing rack (81), the sliding direction of the medicine basket placement platform (82) being parallel to the length direction of the first medicine dispensing rack (81), and a first medicine dispensing opening (83) being disposed at one end of the first medicine dispensing rack (81) close to the outside of the pharmacy body (1).

10. A method for using an integrated all-drug robot smart pharmacy, using the integrated all-drug robot smart pharmacy according to any one of claims 1 to 9, characterized in that: It includes taking medicine and replenishing medicine; wherein, the process of taking medicine includes the following steps: S1. According to the drug sampling list, the drug taking and storing device (5) and the electric manipulator (6) are driven by the X-axis transmission device (3) and the Z-axis transmission device (4) to move to the drug storage location on the drug shelf (2). If the drugs in the drug taking list are boxed drugs, step S2 is executed; if the drugs in the drug taking list are non-boxed drugs, step S4 is executed; S2, the medicine taking mechanism in the medicine taking and storing device (5) takes out the corresponding medicine, and during the medicine taking process, the code scanner on the scanning mechanism scans and identifies the traceability code on the medicine, and then puts the medicine into the medicine storage mechanism, and repeats steps S1 and S2 according to the medicine sampling list until all the boxed medicines to be taken out are put into the medicine storage mechanism, and then executes step S3; S3, driving the medicine dispensing and storing device (5) to move to the top of the first conveyor belt (91) of the second medicine dispensing device (9) through the X-axis transmission device (3) and the Z-axis transmission device (4), and causing the medicine to fall on the first conveyor belt (91), the door (94) moves to open the medicine dispensing window, and the medicine is transported by the first conveyor belt (91) through the medicine dispensing window and moves toward the entrance end of the spiral medicine dispensing channel (92) and slides downward through the spiral medicine dispensing channel (92) to the second medicine dispensing port (93), and the staff takes the medicine from the second medicine dispensing port (93), thereby completing the dispensing of the boxed medicine; S4, the telescopic tray (63) of the electric manipulator (6) is extended to the bottom of the medicine storage basket (21) from which medicines need to be taken, so that the medicine storage basket (21) is placed on the telescopic tray (63), and then the telescopic tray (63) drives the medicine storage basket (21) to contract and the two first clamping claws (673) and the two second clamping claws (675) approach each other and clamp the medicine storage basket (21), and step S5 is executed; S5, driving the electric manipulator (6) and the medicine storage basket (21) to move to the medicine basket placement platform (82) of the first medicine dispensing device (8) through the X-axis transmission device (3) and the Z-axis transmission device (4), the two first clamping claws (673) and the two second clamping claws (675) move away from each other and release the medicine storage basket (21), the telescopic tray (63) extends to place the medicine storage basket (21) on the medicine basket placement platform (82), then the telescopic tray (63) retracts, the medicine basket placement platform (82) moves and drives the non-boxed medicines in the medicine storage basket (21) to the first medicine dispensing port (83), the staff takes the non-boxed medicines from the first medicine dispensing port (83), and repeats steps S4 and S5 according to the medicine sampling list until all the non-boxed medicines are taken; When it is necessary to refill medicines in the pharmacy (1), follow the steps below: S6. According to the replenishment medicine list, the electric manipulator (6) is driven by the X-axis transmission device (3) and the Z-axis transmission device (4) to move to the medicine storage basket (21) on the medicine rack (2) where the medicine to be replenished is stored. The electric manipulator (6) takes the medicine storage basket (21) from the medicine rack (2) and moves it to the medicine replenishment device (7). The medicine replenishment device (7) transports the medicine storage basket (21) to the medicine replenishment location so that the staff can replenish the medicine in the medicine storage basket (21); S7. After the staff member has finished replenishing the medicines into the medicine storage basket (21), the staff member extends the telescopic tray (63) to place the medicine storage basket (21) containing the medicines onto the electric manipulator (6), and clamps the medicine storage basket (21) via two first clamping claws (673) and two second clamping claws (675). The electric manipulator (6) and the medicine storage basket (21) are then driven to move to corresponding positions on the medicine rack (2) via the X-axis transmission device (3) and the Z-axis transmission device (4), and the medicine storage basket (21) is released via the two first clamping claws (673) and two second clamping claws (675) and then placed back on the medicine rack (2), thereby completing the replenishment of the medicines.

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