Integrated all-drug robot intelligent pharmacy and method of using the same

Abstract

The application discloses an integrated full-medicine robot intelligent pharmacy and a use method thereof. The intelligent pharmacy comprises a pharmacy body, a medicine shelf for placing medicines is arranged in the pharmacy body, a plurality of medicine storage baskets are placed on the medicine shelf, an X-axis transmission device moving along an 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 taking and storing device and an electric mechanical hand are arranged on the Z-axis transmission device, a scanning mechanism for identifying the traceability code of the medicines in the medicine storage baskets is arranged on the medicine taking and storing device, 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 in communication with the outside of the pharmacy body. The electric mechanical hand, the medicine taking and storing device are driven by the X-axis transmission device and the Z-axis transmission device to move to the medicine shelf to take and place the medicines, and the first medicine dispensing device, the second medicine dispensing device and the medicine supplementing device are cooperated to realize automatic identification, dispensing and supplementing of the full medicines, so that the phenomenon of medicine clamping and medicine taking error is avoided.

Description

Integrated All-Pharmaceutical Robot Smart Pharmacy and Its Usage Methods Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to an integrated all-pharmacy robot smart pharmacy and its usage method. Background Technology

[0002] With the advancement of social science and technology, the medical industry has also developed rapidly, especially in the area of ​​pharmacy dispensing machines. Various automated devices have greatly improved the work efficiency of pharmacy staff and provided tremendous assistance in many aspects, such as dispensing accuracy and drug management systems.

[0003] The automated equipment currently used in hospital pharmacies and convenience pharmacies mainly falls into two categories: chute-type and robotic arm-type. Chute-type automated pharmacies are prone to medication jamming during dispensing, and may experience slippage, stacking, or spillage during dispensing. Robotic arm-type automated pharmacies can only dispense some boxed medications. Furthermore, neither of these types of automated pharmacies can scan and identify the traceability codes on the dispensed medications. After the medications are retrieved, the traceability codes still need to be manually entered. Manual entry of traceability codes is time-consuming and prone to errors, leading to inaccurate traceability information and ultimately affecting the effectiveness of medication traceability. Summary of the Invention

[0004] To address the aforementioned problems, this invention provides an integrated smart pharmacy with a fully automated drug delivery robot and its usage method, thereby solving the issues of existing automated pharmacies such as drug card jams, drug dispensing errors, the ability to automatically dispense only some boxed drugs, and the inability to automatically identify drug traceability codes.

[0005] This invention is implemented as follows:

[0006] An integrated smart pharmacy using robotic pharmacy includes a pharmacy body. Inside the pharmacy body are medicine shelves for placing medicines, with multiple medicine storage baskets on the shelves. One side of the medicine shelves is equipped with an X-axis transmission device that moves along the X direction. A Z-axis transmission device slides vertically on the X-axis transmission device. The Z-axis transmission device is equipped with a medicine retrieval and storage device and an electric robotic arm. The medicine retrieval and storage device is equipped with a scanning mechanism for identifying traceability codes of the medicines in the storage baskets. The pharmacy body also includes a refill device and a first dispensing device. A second dispensing device is connected to the outside of the pharmacy body.

[0007] Furthermore, the X-axis transmission device includes an X-up guide rail and an X-down guide rail located at the top and bottom of the pharmacy body, respectively. A Z-axis guide rail is slidably arranged between the X-up guide rail and the X-down guide rail. A first transmission belt is rotatably arranged on the X-down guide rail, and a second transmission belt is rotatably arranged on the X-up guide rail. One side of the first transmission belt is fixedly connected to the bottom of the Z-axis guide rail through a first connector, and one side of the second transmission belt is fixedly connected to the top of the Z-axis guide rail through a second connector. The Z-axis transmission device includes a third transmission belt rotatably arranged on the Z-axis guide rail.

[0008] Furthermore, the drug dispensing and storage device includes a drug storage mechanism, which is fixedly connected to one side of the third transmission belt. The drug storage mechanism is equipped with a drug dispensing mechanism, and a scanning mechanism is fixedly installed on the drug dispensing side of the drug dispensing mechanism. The scanning mechanism includes a first frame fixedly installed on the drug storage mechanism, and a number of barcode scanners are arranged on the first frame. The barcode scanners are used to scan and identify the traceability code of the drug.

[0009] Furthermore, the electric manipulator includes a connecting frame, which is connected to one side of the third transmission belt. The connecting frame has two telescopic trays positioned opposite each other, and both telescopic trays are slidably connected to the connecting frame through a transmission mechanism.

[0010] Furthermore, the transmission mechanism includes a first drive motor fixedly mounted on the connecting frame. The output shaft of the first drive motor is fixedly connected to a first gear. Two second gears are meshed on both sides of the first gear. Both second gears are rotatably connected to the connecting frame. The connecting frame is also provided with a first slide. A first rack is fixedly mounted at the bottom of the first slide. The first rack meshes with the second gears. The connecting frame is provided with a fourth transmission belt and a ninth transmission belt. The upper sides of the fourth transmission belt and the ninth transmission belt are fixedly connected to both ends of the telescopic tray, respectively. The lower sides of the fourth transmission belt and the ninth transmission belt are fixedly connected to both ends of the connecting frame, respectively.

[0011] Furthermore, a fifth transmission belt is rotatably mounted on the connecting frame. The fifth transmission belt includes a first side transmission belt and a second side transmission belt that are disposed opposite to each other at both ends of the connecting frame. Two first claws are fixedly connected to the inner and outer sides of the first side transmission belt, and two second claws are fixedly connected to the inner and outer sides of the second side transmission belt. When the fifth transmission belt rotates, it drives the two first claws and the two second claws to move closer to each other or further away from each other. The moving direction of the first claws and the second claws is perpendicular to the moving direction of the telescopic tray.

[0012] Furthermore, the second dispensing device includes a first conveyor belt that is rotatably mounted and a spiral dispensing channel connected to its output end. The input end of the first conveyor belt is connected to the interior of the pharmacy body, and the output end of the first conveyor belt is connected to the input end of the spiral dispensing channel. The output end of the spiral dispensing channel is provided with a second dispensing port.

[0013] Furthermore, a dispensing window is provided on one side of the pharmacy body, and a door for opening or closing the dispensing window is provided above the first conveyor belt. The door is slidably connected to the dispensing window through a window opening and closing device. The window opening and closing device includes a first fixed frame, which is fixedly set above the first conveyor belt and located inside the pharmacy body. A second drive motor is fixedly set on the first fixed frame, and a third gear is fixedly connected to the output shaft of the second drive motor. A second rack is fixedly set on one side of the door, and the third gear meshes with the second rack. A vertical slide rail is fixedly set on the outer side of the first fixed frame, and a vertical slider is correspondingly set on one side of the door. The vertical slider is slidably connected to the vertical slide rail.

[0014] Furthermore, the first dispensing device includes a first dispensing rack located inside the pharmacy body. A medicine basket placement platform is horizontally slidable on the first dispensing rack. The sliding direction of the medicine basket placement platform is parallel to the length direction of the first dispensing rack. A first dispensing port is provided at one end of the first dispensing rack near the outside of the pharmacy body.

[0015] This invention also provides a method for using an integrated, fully automated, robotic smart pharmacy, which includes both medication dispensing and refilling; wherein the medication dispensing process includes the following steps:

[0016] S1. According to the drug sampling list, the drug dispensing and storage device and the electric robot are moved to the drug storage area on the drug shelf by the X-axis transmission device and the Z-axis transmission device. If the drugs in the drug dispensing list are boxed drugs (drugs placed in the boxed drug storage basket are defined as boxed drugs), then proceed to step S2; if the drugs in the drug dispensing list are non-boxed drugs (drugs placed in the non-boxed drug storage basket are defined as non-boxed drugs), then proceed to step S4.

[0017] S2. The dispensing mechanism in the dispensing and storage device takes out the corresponding medicine. During the dispensing process, the barcode scanner on the scanning mechanism scans and identifies the traceability code on the medicine. Then, the medicine is placed in the storage mechanism. According to the medicine sampling list, repeat steps S1 and S2 until all the boxed medicines that need to be taken out are placed in the storage mechanism. Then, step S3 is executed.

[0018] S3. The X-axis and Z-axis transmission devices drive the medicine dispensing and storage device to move above the first conveyor belt of the second dispensing device, and the medicine falls onto the first conveyor belt. The door moves to open the dispensing window. The medicine passes through the dispensing window under the conveyor belt and moves towards the entrance of the spiral dispensing channel. It then slides down the spiral dispensing channel to the second dispensing port. The staff takes the medicine from the second dispensing port, thus completing the dispensing of boxed medicines.

[0019] S4. The telescopic tray of the electric manipulator extends to the bottom of the medicine storage basket that needs to be taken out, so that the medicine storage basket is placed on the telescopic tray. Then the telescopic tray drives the medicine storage basket to retract and the two first jaws and two second jaws approach each other and clamp the medicine storage basket. Step S5 is executed.

[0020] S5. The electric manipulator and medicine storage basket are moved to the medicine basket placement platform of the first dispensing device by the X-axis transmission device and the Z-axis transmission device. The two first jaws and the two second jaws move away from each other and release the medicine storage basket. The telescopic tray extends and places the medicine storage basket on the medicine basket placement platform. Then the telescopic tray retracts, the medicine basket placement platform moves and carries the non-boxed medicines in the medicine storage basket to the first dispensing port. The staff takes the non-boxed medicines from the first dispensing port. According to the medicine sampling list, steps S4 and S5 are repeated until all non-boxed medicines are taken.

[0021] When it is necessary to replenish medications in the pharmacy, follow these steps:

[0022] S6. According to the replenishment list, the electric robot is driven by the X-axis and Z-axis transmission devices to move to the medicine storage basket on the medicine shelf where the medicines to be replenished are stored. The electric robot takes the medicine storage basket from the medicine shelf and moves it to the replenishment device. The replenishment device then transports the medicine storage basket to the replenishment area for staff to replenish the medicines in the medicine storage basket.

[0023] S7. After the staff replenishes the medicine in the medicine storage basket, the electric robotic arm places the medicine storage basket containing the medicine onto its telescopic tray, clamps the medicine storage basket with two first jaws and two second jaws, and then moves the electric robotic arm and medicine storage basket to the corresponding position on the medicine shelf through the X-axis transmission device and Z-axis transmission device. After releasing the medicine storage basket with two first jaws and two second jaws, it is placed back on the medicine shelf, completing the medicine replenishment.

[0024] The beneficial effects of this invention are:

[0025] This invention relates to an integrated robotic smart pharmacy for all medicines and its usage method. Through X-axis and Z-axis transmission devices, an electric robotic arm and a medicine retrieval and storage device are moved to the medicine rack to retrieve and place medicines. In conjunction with a first dispensing device, a second dispensing device, and a replenishment device, it achieves automatic identification, dispensing, and replenishment of all medicines, resulting in high efficiency and avoiding medication jams or retrieval errors. During the automatic medicine retrieval process, a scanning mechanism quickly identifies the medicine traceability code, eliminating the need for manual scanning and significantly saving labor costs, time, and effort, while also improving the accuracy of traceability information entry. The second dispensing device is used for retrieving and placing boxed medicines, while the first dispensing device is used for retrieving and placing medicines in non-boxed storage baskets; their combination enables the retrieval and placement of all medicines. The replenishment device, through a counting component located above the replenishment rack, can photograph the medicines in the storage baskets of the first and second replenishment components, thereby automatically identifying and counting the medicines. This replaces manual counting, saving time and effort, and improving counting accuracy and efficiency. Attached Figure Description

[0026] Figure 1 is a three-dimensional structural diagram of the pharmacy body of the present invention without the outer shell;

[0027] Figure 2 is a three-dimensional structural diagram of the X-axis transmission device and the Z-axis transmission device inside the pharmacy body of the present invention.

[0028] Figure 3 is a three-dimensional structural diagram of the electric manipulator of the present invention;

[0029] Figure 4 is a three-dimensional structural diagram of the electric manipulator of the present invention from another perspective;

[0030] Figure 5 is a perspective structural diagram of some components of the electric manipulator of the present invention;

[0031] Figure 6 is a partial top view of the electric manipulator of the present invention;

[0032] Figure 7 is a perspective structural diagram of the second drug dispensing device of the present invention;

[0033] Figure 8 is a three-dimensional structural schematic diagram of the first drug dispensing device of the present invention;

[0034] Figure 9 is a three-dimensional structural schematic diagram of the tonic device of the present invention;

[0035] Figure 10 is a front view of the tonic device of the present invention;

[0036] Figure 11 is a front view of the lifting frame in the medicine-preparing device of the present invention;

[0037] Figure 12 is a partial enlarged view of part A in Figure 9 of the present invention.

[0038] Explanation of reference numerals in the attached figures:

[0039] 1. The pharmacy itself;

[0040] 2. Medicine rack; 20. Storage compartment; 201. Support rod; 202. Forklift; 21. Medicine storage basket;

[0041] 3. X-axis transmission device; 31. X-axis upward guide rail; 32. X-axis downward guide rail; 33. Z-axis guide rail; 34. First connecting piece; 35. First slider; 36. First drive motor; 37. Second connecting piece; 38. Second slider; 39. Second drive motor;

[0042] 4. Z-axis transmission device; 41. Third transmission motor; 42. Third slider;

[0043] 5. Medicine dispensing and storage device;

[0044] 6. Electric robotic arm; 61. Connecting frame; 611. Lower shelf; 62. Ninth transmission belt; 63. Telescopic pallet;

[0045] 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;

[0046] 67. Fifth transmission belt; 671. First side transmission belt; 672. Second side transmission belt; 673. First gripper; 674. Fourth slider; 675. Second gripper; 676. Fifth slider; 677. First guide rail; 678. Second guide rail;

[0047] 7. Medication replenishment device; 71. Medication replenishment rack; 72. Counting component; 721. Protective cover;

[0048] 73. Seventh transmission belt; 731. L-shaped plate; 732. Adjusting bolt; 733. Adjusting nut; 734. Fifth driving pulley; 735. Fifth driven pulley; 736. First transmission shaft; 737. Second transmission shaft;

[0049] 74. First tonic component; 741. First support frame; 742. First tonic placement platform;

[0050] 75. Second medicine replenishment assembly; 751. Second support frame; 7511. Guide sleeve; 752. Lifting frame; 7520. Nut; 7521. Lead screw; 7522. Fifth drive motor; 7523. Seventh drive wheel; 7524. Seventh driven wheel; 7525. Eighth transmission belt; 7526. Top plate; 7527. Bottom plate; 7528. Guide rod; 753. Second medicine replenishment placement platform;

[0051] 76. First drive assembly; 761. Fourth drive motor; 762. Sixth drive pulley; 763. Sixth driven pulley; 764. Drive belt;

[0052] 8. First dispensing device; 81. First dispensing rack; 811. Third guide rail; 82. Medicine basket placement platform; 821. Seventh slider; 83. First dispensing port; 84. Limiting baffle; 85. Second carriage; 851. Sixth slider; 852. Fourth guide rail; 853. Fourth drive wheel; 854. Fourth driven wheel; 855. Sixth transmission belt; 86. Third drive motor; 87. First cable chain; 88. Second cable chain;

[0053] 9. Second dispensing device; 91. First conveyor belt; 92. Spiral dispensing channel; 93. Second dispensing port; 94. Door; 95. Window opening and closing device; 951. First fixing frame; 952. Second drive motor; 953. Third gear; 954. Second rack; 955. Vertical slider. Detailed Implementation

[0054] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Those skilled in the art can make similar extensions without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0055] Figure 1 shows the integrated all-medicine robot smart pharmacy of the present invention, including a pharmacy body 1. To clearly show the structure of each component inside the pharmacy body 1, only part of the frame structure is shown in Figure 1, and the shell, part of the frame, and part of the medicine racks are hidden. The pharmacy body 1 has a cuboid structure. Inside the pharmacy body 1, there is a medicine rack 2 for placing medicines. Multiple medicine storage baskets 21 are placed on the medicine rack 2. An X-axis transmission device 3 that moves along the X direction is provided on one side of the medicine rack 2. A Z-axis transmission device 4 is vertically slidable on the X-axis transmission device 3. A medicine retrieval and storage device 5 and an electric manipulator 6 are provided on the Z-axis transmission device 4. The medicine retrieval and storage device 5 is equipped with a scanning mechanism (not shown in the figure) for identifying the traceability code of the medicines in the medicine storage baskets 21. The pharmacy body 1 also has a refill device 7 and a first dispensing device 8. A second dispensing device 9 is connected to the outside of the pharmacy body 1.

[0056] Figure 1 shows a partial three-dimensional structural diagram of the medicine shelf 2. The medicine shelf 2 is used to store medicines and is located inside the pharmacy body 1. In this embodiment, medicine shelves 2 are provided on both sides inside the pharmacy body 1, and the two medicine shelves 2 are arranged opposite each other. Each medicine shelf 2 consists of multiple compartments 20, which are arranged in a rectangular array along the length and height of the pharmacy body 1. Each compartment 20 includes two vertically arranged support rods 201, which are symmetrically arranged on both sides of the medicine storage basket 21. Multiple forks 202 are fixedly provided on the two support rods 201, and the multiple forks 202 are arranged at intervals along the height of the support rods 201. The positions of the multiple forks 202 on the two support rods 201 are arranged in a relatively coordinated manner, and the space enclosed between every two oppositely arranged forks 202 on the two support rods 201 is used to place the medicine storage basket 21, which contains medicines.

[0057] An X-axis transmission device 3 that moves 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, as shown in Figure 2. In this embodiment, two medicine shelves 2 are provided 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 shelves 2. The X-axis transmission device 3 includes an X-up guide rail 31 and an X-down guide rail 32 located at the top and bottom of the pharmacy body 1, respectively. The length direction of the X-up guide rail 31 and the X-down guide rail 32 is parallel to the length direction of the pharmacy body 1. A Z-axis guide rail 33 is slidably provided between the X-up guide rail 31 and the X-down guide rail 32, that is, the Z-axis guide rail 33 reciprocates along the length direction of the X-up guide rail 31 and the X-down guide rail 32. A first transmission belt (not shown in the figure) is rotatably provided on the X-down guide rail 32. One side of the first transmission belt is fixedly connected to the bottom of the Z-axis 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 fixedly mounted on the bottom of the first connecting member 34. The first slider 35 is sleeved on the outside of the X-down guide rail 32 and slides along its length. The first slider 35 and the X-down guide rail 32 are configured to cooperate so that the Z-guide rail 33 can move smoothly in the X direction. Specifically, a first drive motor 36 is mounted on the X-down guide rail 32. A first driving wheel (not shown in the figure) is fixedly mounted on the output shaft of the first drive motor 36. The first driving wheel is located near one end of the X-down guide rail 32, and a first driven wheel (not shown in the figure) is rotatably mounted on the other end of the X-down guide rail 32. A 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 mounted on the X-up guide rail 31. One side of the second transmission belt is fixedly connected to the top of the Z-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 mounted on the top of the second connecting member 37. The second slider 38 is sleeved on the outside of the X-axis guide rail 31 and slides along its length. The second slider 38 and the X-axis guide rail 31 are configured to cooperate to ensure that the Z-axis guide rail 33 moves smoothly in the X direction. Similarly, a second drive motor 39 is mounted on the X-axis guide rail 31. A second drive wheel (not shown in the figure) is fixedly mounted on the output shaft of the second drive motor 39. The second drive wheel is positioned near one end of the X-axis guide rail 31, and a second driven wheel (not shown in the figure) is rotatably mounted on the other end of the X-axis guide rail 31. A second transmission belt is sleeved on the outside of the second drive wheel and the second driven wheel. The first drive motor 36 and the second drive motor 39 are reversible motors and start and stop synchronously to drive the first and second transmission belts to rotate synchronously, thereby driving the Z-axis guide rail 33 to reciprocate in the X direction.

[0058] As shown in Figures 1 and 2, the Z-axis transmission device 4 includes a third transmission belt (not shown) rotatably mounted on a Z-axis guide rail 33. A third transmission motor 41 is fixedly mounted on the Z-axis guide rail 33, and the output shaft of the third transmission motor 41 is fixedly connected to a third driving wheel (not shown). A third driven wheel (not shown) is located inside the Z-axis guide rail 33, and the third transmission belt is sleeved on the outside of the third driving wheel and the third driven wheel. A third slider 42 is slidably mounted on the outside of the Z-axis guide rail 33, and the third slider 42 moves up and down along the length direction of the Z-axis guide rail. The Z-axis transmission device 4 is equipped with a medicine retrieval and storage device 5 and an electric manipulator 6, both of which are fixedly mounted on one side of the third transmission belt. When the third transmission motor 41 is started, the output shaft of the third transmission motor 41 rotates, driving the third driving wheel to rotate. The third driving wheel drives the third transmission belt and the third driven wheel to rotate, thereby causing the medicine retrieval and storage device 5 and the electric manipulator 6 to move up and down along the Z-axis as the third transmission belt rotates, thus moving the medicine retrieval and storage device 5 and the electric manipulator 6 to a specified height.

[0059] As shown in Figure 1, the Z-axis transmission device 4 is equipped with a medicine dispensing and storage device 5. This device is existing technology and can be found in patent number 2024226002500, entitled "A Medicine Dispensing Device for Automatically Identifying Medicine Traceability Codes." Its specific structure and working principle are not detailed here. The medicine dispensing and storage device 5 includes a medicine storage mechanism, which is fixedly connected to one side of the third transmission belt. The medicine storage mechanism has a dispensing mechanism, and a scanning mechanism is fixedly installed on the dispensing side of the mechanism. The scanning mechanism includes a first frame fixedly installed on the storage mechanism, on which several barcode scanners are arranged. These scanners are used to scan and identify the traceability codes of the medicines. The medicine to be taken from the medicine storage basket 21 is removed through the dispensing mechanism and placed into the storage mechanism. During the dispensing process, the barcode scanners scan and identify the traceability codes of the medicines.

[0060] As shown in Figures 1 and 3-6, the electric manipulator 6 includes a connecting frame 61, which is connected to one side of the third transmission belt. One side of the connecting frame 61 is fixedly connected to a third slider 42 that is slidably mounted on the Z-guide rail 33. The cooperation between the third slider 42 and the Z-guide rail 33 ensures that the electric manipulator 6 moves smoothly up and down along the Z-axis. The connecting frame 61 has lower plates 611 at both the top and bottom, respectively, which are fixedly connected to the upper and lower parts of the connecting frame 61. The lower plates 611 are U-shaped plates with their openings facing upwards. The connecting frame 61 has two telescopic trays 63 positioned opposite each other, both of which are slidably connected to the connecting frame 61 via a transmission mechanism 64. The sliding direction of the two telescopic trays 63 is along the Y-axis, allowing the extension and retraction of the telescopic trays 63 to pick up and place medicine storage baskets 21 on the medicine rack 2. The transmission mechanism 64 includes a first drive motor 641 fixedly mounted on a connecting frame 61. A first gear 642 is fixedly connected to the output shaft of the first drive motor 641. Two second gears 643 are meshed on both sides of the first gear 642, and both 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 mounted at the bottom of the first slide 65, and the first rack 651 meshes with the first gear 642. As shown in Figure 5, a fourth transmission belt 66 and a ninth transmission belt 62 are provided on the connecting frame 61. Two pulleys 652 are rotatably mounted on the first slide 65, and the two pulleys 652 are respectively located at both ends of the first slide 65. The fourth transmission belt 66 and the ninth transmission belt 62 are respectively wound around two pulleys 652, and both the fourth transmission belt 66 and the ninth transmission belt 62 are open belts. The upper sides of the fourth transmission belt 66 and the ninth transmission belt 62 are fixedly connected to both ends of the telescopic tray 63 (for clarity, only a part of the telescopic tray 63 is shown in Figure 5, not its entirety). The lower sides of the fourth transmission belt 66 and the ninth transmission belt 62 are fixedly connected to both ends of the lower shelf 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 shelf 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 shelf 611. The first drive motor 641 is started, which drives the first gear 642 fixed on its output shaft to rotate. The rotation of the first gear 642 drives the two second gears 643 meshing with it to rotate. The rotation of the two second gears 643 drives the first rack 651 meshing with it to move. The movement of the first rack 651 drives the first slide 65 fixedly connected to it to move. During the movement of the first slide 65, it drives the fourth transmission belt 66 or the ninth transmission belt 62 to rotate, thereby driving the telescopic tray 63 to move, so as to achieve its double stroke movement.The first drive motor 641 is a reversible motor. Its forward and reverse rotation drives the telescopic tray 63 to extend or retract. When the telescopic tray 63 extends, it extends to the bottom of the medicine storage basket 21 to support it. When it retracts, it drives the medicine storage basket 21 placed on top of it to move away from the medicine rack 2. The arrangement of the two pulleys 652, the fourth transmission belt 66, and the ninth transmission belt 62 enables the telescopic tray 62 to move in two opposite directions when the first drive motor 641 rotates in both directions, thereby completing the reversal.

[0061] As shown in Figures 4 and 6, a fifth transmission belt 67 is rotatably mounted on the connecting frame 61. The fifth transmission belt 67 is driven to rotate by a motor and is wound around multiple guide wheels. The fifth transmission belt 67 includes a first-side transmission belt 671 and a second-side transmission belt 672 positioned opposite each other at both ends of the connecting frame 61, forming a ring-shaped fifth transmission belt 67. Two first-side transmission belts 671 are fixedly connected to their inner and outer sides respectively, and the two first-side transmission belts 673 are fixedly connected to both sides of the first-side transmission belt 671 via two fourth sliders 674. Two second-side transmission belts 672 are fixedly connected to their inner and outer sides respectively, and the two second-side transmission belts 675 are fixedly connected to both sides of the second-side transmission belt 672 via two fifth sliders 676. The connecting frame 61 is also fixedly equipped with a first guide rail 677 and a second guide rail 678, which are arranged horizontally and parallelly. Two fourth sliders 674 are respectively sleeved on the first guide rail 677 and slidably connected thereto, and two fifth sliders 676 are respectively sleeved on the second guide rail 678 and slidably connected thereto. It is particularly important to note that the two fourth sliders 674 and the two fifth sliders 676 move towards or away from each other, causing them to move closer or further apart. Therefore, when the fifth transmission belt 67 rotates, it drives the two first jaws 673 and the two second jaws 675 to move closer or further apart. The direction of movement of the first jaws 673 and the second jaws 675 is perpendicular to the direction of movement of the telescopic tray 63. When the two first jaws 673 and the two second jaws 675 move closer together, they clamp the medicine storage basket 21 placed on the telescopic tray 63 to prevent it from falling or slipping off the telescopic tray 63 during movement. When the two first clamping claws 673 and the two second clamping 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 position, making it convenient to remove the medicine storage basket 21 from the telescopic tray 63 later.

[0062] As shown in Figure 7, the second dispensing device 9 includes a first conveyor belt 91 that is rotatably mounted and a spiral dispensing channel 92 connected to its output end. The first conveyor belt 91 is horizontally mounted and is driven to rotate by a drive motor and pulleys. This technology is existing technology, and its specific connection structure and working principle will not be described in detail here. The input end of the first conveyor belt 91 is connected to the interior of the pharmacy body 1, and the output end of the first conveyor belt 91 is connected to the input end of the spiral dispensing channel 92. The output end of the spiral dispensing channel 92 is provided with a second dispensing port 93. The input end of the first conveyor belt 91 is located inside the pharmacy body 1 to facilitate the placement of medicines taken out by the medicine storage device 5 into the input end of the first conveyor belt 91.

[0063] A dispensing window (not shown in the figure) is provided on one side of the pharmacy body 1. A door 94 for opening or closing the dispensing window is provided above the first conveyor belt 91. The door 94 is slidably connected to the dispensing window via a window opening and closing device 95. The window opening and closing device 95 includes a first fixing frame 951, which is fixedly installed above the first conveyor belt 91 and located inside the pharmacy body 1. A second drive motor 952 is fixedly installed on the first fixing 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 installed on one side of the door 94. The third gear 953 is meshed with the second rack 954. The third gear 953 and the second rack 954 are located on opposite sides of the first fixing frame 951. A notch (not shown in the figure) is provided on the first fixing frame 951, through which the third gear 953 passes to mesh with the second rack 954 on the other side. A vertical slide rail (not shown in the figure) is fixed to the outer side of the first fixed frame 951, and a vertical slider 955 is correspondingly provided on one side of the door 94. The vertical slider 955 is slidably connected to the vertical slide rail. In this embodiment, there are two vertical slide rails and two vertical sliders 955, which are arranged correspondingly. The two vertical slide rails are 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 cooperation between the vertical slide rails and the vertical sliders 955 located on both sides of the second rack 954 ensures that the door 94 moves smoothly up and down along the Z direction.

[0064] The second drive motor 952 is started. The output shaft of the second drive motor 952 rotates, driving the third gear 953 to rotate. The rotation of the third gear 953 drives the second rack 954, which is meshed 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 reverse, thereby making the door 94 move up and down along the Z direction. When the door 94 moves up, the dispensing window on the pharmacy body 1 opens. The medicine is driven by the first conveyor belt 91 to pass through the dispensing window and move to the entrance of the spiral dispensing channel 92. It slides freely down through the spiral dispensing channel 92 and falls into the second dispensing port 93 for staff to take the medicine.

[0065] It should be noted that the second dispensing device 9 is mainly for dispensing boxed medicines. The boxed medicines will not be damaged or harmed as they slide freely down the spiral dispensing channel 92 to the second dispensing port 93.

[0066] As shown in Figures 1 and 8, the pharmacy body 1 is equipped with two first dispensing devices 8, which are located at one end of the pharmacy body 1. The number and location of the first dispensing devices 8 are not limited to the number and location in this embodiment. There can be one or more first dispensing devices 8, and their location can be at one end, one side, or the middle of the pharmacy body 1, etc. The specific number and location can be designed according to actual needs, all of which are within the protection scope of this invention. The first dispensing device 8 includes a first dispensing rack 81, which is located inside the pharmacy body 1. A medicine basket placement platform 82 is horizontally slidably provided on the first dispensing rack 81. The medicine basket placement platform 82 is used to place medicine storage baskets 21. The sliding direction of the medicine basket placement platform 82 is parallel to the length direction of the first dispensing rack 81. A first dispensing port 83 is provided at the end of the first dispensing rack 81 near the outside of the pharmacy body 1, and a limiting baffle 84 is provided at the first dispensing port 83.

[0067] A second slide 85 is horizontally slidable on the first medicine dispenser 81, with its length parallel to that of the first medicine dispenser 81. A sixth slider 851 is fixedly mounted at the bottom of the second slide 85, and a third guide rail 811 is fixedly mounted at the top of the first medicine dispenser 81. The sixth slider 851 is fitted onto and slidably connected to the third guide rail 811, thereby ensuring that the second slide 85 slides along the length of the first medicine dispenser 81. A fourth guide rail 852 is fixedly mounted at the top of the second slide 85, with its length parallel to that of the second slide 85. A seventh slider 821 is fixedly mounted at the bottom of the medicine basket placement platform 82, and is fitted onto and slidably connected to the fourth guide rail 852, thereby ensuring that the medicine basket placement platform 82 slides along the length of the second slide 85. A third drive motor 86 is fixedly mounted on the first dispensing rack 81. A fourth drive wheel 853 is fixedly connected to the output shaft of the third drive motor 86. A fourth driven wheel 854 is rotatably mounted on the second slide 85. The fourth drive wheel 853 and the fourth driven wheel 854 are located at opposite ends of the second slide 85. A sixth transmission belt 855 is fitted around the outer sides of the fourth drive wheel 853 and the fourth driven wheel 854. The medicine basket placement platform 82 is fixedly connected to one side of the sixth transmission belt 855. The medicine basket placement platform 82 and the second slide 85 are connected by a first cable chain 87, with one end of the first cable chain 87 fixedly connected to one side of the medicine basket placement platform 82 and the other end fixedly connected to one side of the second slide 85. The second slide 85 and the first dispensing rack 81 are connected by a second cable chain 88, with one end of the second cable chain 88 fixedly connected to one side of the second slide 85 and the other end fixedly connected to one side of the first dispensing rack 81.

[0068] The third drive motor 86 is started, which drives the fourth drive wheel 853 to rotate. The rotation of the fourth drive 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, the medicine basket placement platform 82 is moved. During the movement of the medicine basket placement platform 82, the second slide 85 is moved 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. The medicine basket placement platform 82 moves the medicine storage basket 21 to the first dispensing port 83 and is limited by the limiting baffle 84, so that the staff can take the medicine from the first dispensing port 83.

[0069] It should be noted that the first dispensing device 8 is mainly for dispensing non-boxed medicines. The non-boxed medicines in the medicine storage basket 21 are smoothly moved to the first dispensing port 83 by the medicine basket placement platform 82, without causing damage to the non-boxed medicines.

[0070] As shown in Figures 1 and 9-11, the present invention provides a medicine replenishment device 7. Two medicine replenishment devices 7 are provided, located at the other end of the pharmacy body 1, opposite to the first dispensing device 8. However, in actual use, the number of medicine replenishment devices 7 can be one or more, and their location can be designed according to actual needs. They can be located on one side, one end, or the middle of the pharmacy body 1. The number and location are not limited thereto, and all different numbers and locations of the medicine replenishment devices 7 are within the protection scope of the present invention. The medicine replenishment device 7 includes a medicine replenishment rack 71, on which a medicine replenishment component is provided. A counting component 72 is also fixedly provided above the medicine replenishment rack 71. The counting component 72 includes a protective cover 721 fixedly installed above the medicine replenishment rack 71. A camera (not shown in the figure) is provided inside the protective cover 721, and the camera's shooting direction is towards the medicine placed inside the medicine replenishment component.

[0071] A seventh transmission belt 73 is rotatably mounted on the medicine rack 71. The medicine assembly includes a first medicine assembly 74 and a second medicine assembly 75. The upper side of the seventh transmission belt 73 is fixedly connected to the first medicine assembly 74, and the lower side of the seventh transmission belt 73 is fixedly connected to the second medicine assembly 75. The initial positions of the first medicine assembly 74 and the second medicine assembly 75 are set opposite to each other on both sides of the length direction of the medicine rack 71. A counting component 72 is also fixedly mounted above the medicine rack 71. The counting component 72 identifies and counts the quantity of medicine in the first medicine assembly 74 and the second medicine assembly 75 that have moved below it.

[0072] Two seventh transmission belts 73 are rotatably mounted on the medicine rack 71, arranged parallel to each other along the width of the medicine rack 71. In this embodiment, each seventh transmission belt 73 is an open toothed belt, as shown in Figure 12. L-shaped plates 731 are fixedly connected to both ends of the seventh transmission belt 73. The two L-shaped plates 731 are connected by adjusting bolts 732 and adjusting nuts 733. Rotating the adjusting bolts 732 adjusts the distance between the two L-shaped plates 731, thus tensioning the seventh transmission belt 73. Each seventh transmission belt 73 contains a fifth driving pulley 734 and a fifth driven pulley 735. Both the fifth driving pulley 734 and the fifth driven pulley 735 are rotatably connected to the medicine rack 71. The two fifth driving pulleys 734 are fixedly connected by a first transmission shaft 736, and the two fifth driven pulleys 735 are fixedly connected by a second transmission shaft 737. It also includes a first drive assembly 76, which includes a fourth drive motor 761 fixedly mounted on the medicine rack 71. The output shaft of the fourth drive motor 761 is connected to the first transmission shaft 736. Specifically, a sixth drive wheel 762 is fixedly connected to the output shaft of the fourth drive motor 761, and a sixth driven wheel 763 is fixedly connected to the first transmission shaft 736. A drive belt 764 is sleeved on the outer side of the sixth drive wheel 762 and the sixth driven wheel 763.

[0073] The fourth drive motor 761 is started, and the output shaft of the fourth drive motor 761 rotates, which drives the sixth drive wheel 762 fixedly connected to it to rotate. The rotation of the sixth drive wheel 762 drives the sixth driven wheel 763 to rotate through the drive belt 764. The rotation of the sixth driven wheel 763 drives the first transmission shaft 736 fixedly connected to it to rotate, which in turn drives the two fifth drive wheels 734 fixed on the first transmission shaft 736 to rotate. The rotation of the two fifth drive wheels 734 drives the two fifth driven wheels 735 to rotate through the two seventh transmission belts 73, thus realizing the synchronous rotation of the two seventh transmission belts 73.

[0074] A first medicine replenishment assembly 74 is fixedly connected to the upper side of the seventh transmission belt 73. The first medicine replenishment assembly 74 includes a first support frame 741, the bottom of which is fixedly connected to the upper side of the seventh transmission belt 73. The top of the first support frame 741 is provided with a first medicine replenishment placement platform 742 for accommodating the medicine storage basket 21. The first support frame 741 has a U-shaped structure. A second medicine replenishment assembly 75 is fixedly connected to the lower side of the seventh transmission belt 73. The second medicine replenishment assembly 75 includes a second support frame 751, which is fixedly connected to the lower side of the seventh transmission belt 73. The first replenishing component 74 and the second replenishing component 75 are positioned opposite each other on both sides of the length of the replenishing rack 71. Initially, the first support frame 741 and the second support frame 751 are positioned opposite each other at both ends of the seventh transmission belt 73. When the seventh transmission belt 73 rotates, it causes the first support frame 741 and the second support frame 751 to move closer or further apart until their positions are exchanged. This allows one medicine storage basket 21 to be replenished while the other can be used for taking or placing medicine, improving replenishment efficiency. It is important to note 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. The width of the inner wall 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 passage of the second support frame 751 and the medicine storage basket 21 through the U-shaped structure of the first support frame 741.

[0075] A lifting frame 752 is vertically slidably connected to the second support frame 751. A second medicine placement platform 753 for accommodating the medicine storage basket 21 is fixedly provided on the top of the lifting frame 752. The lifting frame 752 is equipped with a ball screw, which includes a screw rod 7521 and a nut 7520. The screw rod 7521 is vertically arranged and rotatably connected to the lifting frame 752 through a ball screw support seat. The nut 7520 is fixedly arranged on the second support frame 751. The screw rod 7521 is coaxially inserted into the nut 7520. The outer cylindrical surface of the screw rod 7521 and the inner cylindrical surface of the nut are respectively machined with helical raceways. Multiple balls (not shown in the figure) are installed in the helical raceways formed by the screw rod 7521 and the nut 7520. The lead screw 7521 rotates via a second drive assembly, which includes a fifth drive motor 7522 fixedly mounted on the lifting frame 752. The output shaft of the fifth drive motor 7522 is fixedly connected to a seventh drive wheel 7523, and a seventh driven wheel 7524 is fixedly connected to the top of the lead screw 7521. An eighth transmission belt 7525 is sleeved on the outer sides of the seventh drive wheel 7523 and the seventh driven wheel 7524. The lifting frame 752 includes a top plate 7526 and a bottom plate 7527 located above and below the second support frame 751, respectively. The top plate 7526 and the bottom plate 7527 are connected by multiple guide rods 7528. Multiple guide sleeves 7511 are fixedly mounted on the second support frame 751, and the multiple guide rods 7528 slide within their respective guide sleeves 7511.

[0076] The fifth drive motor 7522 is started. The output shaft of the fifth drive motor 7522 rotates, which drives the seventh drive wheel 7523 fixedly connected to it to rotate. The rotation of the seventh drive wheel 7523 drives the eighth transmission belt 7525 and the seventh driven wheel 7524 to rotate. The rotation of the seventh driven wheel 7524 drives the lead screw 7521 fixedly connected to it to rotate. Due to the cooperation of the lead screw 7521, nut 7520 and ball bearings, the lead screw 7521 moves up and down, which in turn drives the lifting frame 752 to move up and down. The up and down movement of the lifting frame 752 drives the second medicine placement platform 753 and the medicine storage basket 21 fixed on its top to move up and down synchronously.

[0077] Preferably, both the fifth drive motor 7522 and the fourth drive motor 761 are reversible motors. The fifth drive motor 7522 rotates forward and reverse, thereby driving the lifting frame 752 to rise and fall. The fourth drive motor 761 rotates forward and reverse, thereby driving the seventh transmission belt 73 to rotate clockwise and counterclockwise.

[0078] The counting component 72 includes a protective cover 721 fixedly mounted above the medicine rack 71. The protective cover 721 is positioned near one end of the medicine rack 71 and has a hollow cuboid structure with an opening at the bottom. Inside the protective cover 721 are a camera (not shown) and a light (not shown). The camera's shooting direction is towards the medicine placed inside the medicine rack, and the light is positioned close to the camera. The camera is used to photograph the medicine in the medicine storage basket 21 placed on the first medicine rack 74 and the second medicine rack 75, and the light provides a light source for the camera. In this embodiment, the counting component 72 also includes an image processor (not shown) and a display screen (not shown). The image processor is signal-connected to both the display screen and the camera. Specifically, the camera is signal-connected to the image processor via wired or wireless means, and the camera sends the captured image data to the image processor. The image processor receives the image data captured by the camera, performs image processing and analysis, and realizes the identification and counting of medicines. The image processor can be connected to the display screen via video output interfaces (such as HDMI, VGA, etc.) or other methods, without limitation, to achieve real-time image display. The connections between electrical components can be wired or wireless; the specific connection method is not limited here and can be configured according to actual needs.

[0079] After medicine is added to the medicine storage basket 21 of the first support frame 741, the fifth drive motor 7522 is started. The output shaft of the fifth drive motor 7522 rotates and drives the lead screw 7521 to rotate through the eighth transmission belt 7525, thereby driving the lifting frame 752 to descend to the predetermined lower position. Then, the fourth drive motor 761 is started. The output shaft of the fourth drive motor 761 rotates and drives the sixth drive wheel 762 to rotate. Through the drive belt 764, the fifth drive wheel 734 is driven to rotate, thereby driving 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, it drives the medicine storage basket 21 placed on it to descend, so that the second support frame 751 can smoothly pass through the U-shaped frame of the first support frame 741. At this time, the first support frame 741 is located directly below the counting component 72. The camera captures images of the medicines in the medicine storage basket 21 on it and sends the captured image data to the image processor. After processing and analysis by the image processor, the medicines are identified and counted. The quantity of medicines is displayed in real time on the screen, ensuring the accuracy and real-time nature of the medicine counting. At the same time, the medicine storage basket 21 on the second support frame 751 moves to the medicine replenishment station for easy medicine replenishment and improves replenishment efficiency.

[0080] As shown in Figure 1, the pharmacy body 1 is also equipped with an electrical control cabinet (not shown in the figure). The electrical control cabinet is equipped with a controller, which is electrically or signal-connected to the above-mentioned electrical components. The specific connection and control methods are existing technologies and will not be described in detail here.

[0081] This invention also provides a method for using an integrated, fully automated, robotic smart pharmacy, which includes both medication dispensing and refilling; wherein the medication dispensing process includes the following steps:

[0082] S1. According to the drug sampling list, the drug dispensing and storage device 5 and the electric manipulator 6 are moved along the X and Z directions to the drug storage location on the drug shelf 2 via the X-axis transmission device 3 and the Z-axis transmission device 4. If the drugs in the drug dispensing list are boxed drugs (drugs placed in the boxed drug storage basket 21 are defined as boxed drugs), then step S2 is executed; if the drugs in the drug dispensing list are non-boxed drugs (drugs placed in the non-boxed drug storage basket 21 are defined as non-boxed drugs), then step S4 is executed.

[0083] S2. The dispensing unit takes out the corresponding medicine. During the dispensing process, the barcode scanner scans and identifies the traceability code on the medicine. Then the medicine is placed in the storage unit. According to the medicine sampling list, steps S1 and S2 are repeated until all the boxed medicines that need to be taken out are placed in the storage unit. Then step S3 is executed.

[0084] S3. The X-axis transmission device 3 and the Z-axis transmission device 4 drive the medicine dispensing and storage device 5 to move above the first conveyor belt 91 of the second dispensing device 9, and the medicine falls onto the first conveyor belt 91. The door 94 moves to open the dispensing window. The medicine passes through the dispensing window under the conveying of the first conveyor belt 91 and moves towards the entrance end of the spiral dispensing channel 92. After passing through the spiral dispensing channel 92, it slides down to the second dispensing port 93. The staff takes the boxed medicine from the second dispensing port 93, thus completing the dispensing of the boxed medicine.

[0085] S4. The telescopic tray 63 of the electric manipulator 6 extends to the bottom of the medicine storage basket 21 that needs to be taken out, so that the medicine storage basket 21 is placed on the telescopic tray 63. Then the telescopic tray 63 drives the medicine storage basket 21 to retract and the two first claws 673 and the two second claws 675 approach each other and clamp the medicine storage basket 21, and step S5 is executed.

[0086] S5. The electric manipulator 6 and the medicine storage basket 21 are moved to the medicine basket placement platform 82 of the first dispensing device 8 by 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 and places the medicine storage basket 21 on the medicine basket placement platform 82. Then the telescopic tray 63 retracts and the medicine basket placement platform 82 moves and carries the non-boxed medicines in the medicine storage basket 21 to the first dispensing port 83. The staff takes the medicines from the non-boxed medicine storage basket 21 from the first dispensing port 83. According to the medicine sampling list, steps S4 and S5 are repeated until all non-boxed medicines are taken out.

[0087] When it is necessary to replenish medicines in pharmacy unit 1, follow these steps:

[0088] S6. According to the replenishment list, the electric robot 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 robot 6 takes the medicine storage basket 21 from the medicine shelf 2, clamps the medicine storage basket 21 with the two first jaws 673 and the second jaws 675 and moves it to the replenishment device 7. Then, the two first jaws 673 and the second jaws 675 are released, and the medicine storage basket 21 is transported to the replenishment point through the replenishment device 7 so that the staff can replenish the medicines in the medicine storage basket 21.

[0089] S7. After the staff replenishes the medicine in the medicine storage basket 21, they extend the telescopic tray 63 and place the medicine storage basket 21 on it. The electric robotic arm 6 clamps the medicine storage basket 21 on the telescopic tray 63 through two first jaws 673 and second jaws 675. Then, through the X-axis transmission device 3 and the Z-axis transmission device 4, the electric robotic arm 6 and the medicine storage basket 21 are moved to the corresponding position on the medicine shelf 2. After releasing the two first jaws 673 and second jaws 675, the medicine storage basket 21 is placed back on the medicine shelf 2, completing the medicine replenishment.

[0090] While the present invention discloses preferred embodiments to achieve the above objectives, these are not intended to limit the structural features of the invention. Anyone skilled in the art should know that any easily conceived variations or modifications are possible within the technical spirit of the invention and are covered by the claims of the present invention.

Claims

1. An integrated, fully automated, robotic smart pharmacy, characterized in that: The pharmacy includes a main body (1), inside which is a medicine shelf (2) for placing medicines. Multiple medicine storage baskets (21) are placed on the medicine shelf (2). An X-axis transmission device (3) that moves along the X-direction is provided on one side of the medicine shelf (2). A Z-axis transmission device (4) is vertically slidably mounted on the X-axis transmission device (3). A medicine retrieval and storage device (5) and an electric manipulator (6) are mounted on the Z-axis transmission device (4). The Z-axis transmission device (4) includes a third transmission belt. The medicine retrieval and storage device (5) is equipped with a scanning mechanism for identifying traceability codes of the medicines in the medicine storage baskets (21). The main body (1) is also equipped with a medicine replenishment device (7) and a first medicine dispensing device (8). A second medicine dispensing device (9) is connected to the outside of the pharmacy main body (1). The medicine dispensing and storage device (5) includes a medicine storage mechanism, which is fixedly connected to one side of the third transmission belt. The medicine storage mechanism is equipped with a medicine dispensing mechanism. The scanning mechanism is fixedly installed on the medicine dispensing side of the medicine dispensing mechanism. The scanning mechanism includes a first frame fixedly installed on the medicine storage mechanism. Several barcode scanners are arranged on the first frame. The barcode scanners are used to scan and identify the traceability code of the medicine. The electric manipulator (6) includes a connecting frame (61). The connecting frame (61) is connected to one side of the third transmission belt. The connecting frame (61) has two telescopic trays (63) arranged opposite each other. Both telescopic trays (63) are slidably connected to the connecting frame (61) through a transmission mechanism (64). 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 meshed on both sides of the first gear (642). Both second gears (643) are connected to the connecting frame. (61) Rotary connection, the connecting frame (61) is also provided with a first slide (65), the bottom of the first slide (65) is fixedly provided with a first rack (651), the first rack (651) is meshed with the second gear (643), the connecting frame (61) is provided with a fourth transmission belt (66) and a ninth transmission belt (62), the upper sides of the fourth transmission belt (66) and the ninth transmission belt (62) are respectively fixedly connected to both 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 both ends of the connecting frame (61);A fifth transmission belt (67) is rotatably mounted on the connecting frame (61). The fifth transmission belt (67) includes a first side transmission belt (671) and a second side transmission belt (672) disposed opposite to each other at both ends of the connecting frame (61). Two first claws (673) are fixedly connected to the inner and outer sides of the first side transmission belt (671), respectively. Two second claws (675) are fixedly connected to the inner and outer sides of the second side transmission belt (672), respectively. When the fifth transmission belt (67) rotates, it drives the two first claws (673) and the two second claws (675) to move closer to or further away from each other. The moving direction of the first claws (673) and the second claws (675) is perpendicular to the moving direction of the telescopic tray (63).

2. The integrated all-pharmacy robotic smart pharmacy according to claim 1, characterized in that, The X-axis transmission device (3) includes an X-up guide rail (31) and an X-down guide rail (32) located at the top and bottom of the pharmacy body (1) respectively. A Z-axis guide rail (33) is slidably arranged between the X-up guide rail (31) and the X-down guide rail (32). A first transmission belt is rotatably arranged on the X-down guide rail (32), and a second transmission belt is rotatably arranged on the X-up guide rail (31). One side of the first transmission belt is fixedly connected to the bottom of the Z-axis guide rail (33) through a first connector (34), and one side of the second transmission belt is fixedly connected to the top of the Z-axis guide rail (33) through a second connector (37). A third transmission belt is rotatably arranged on the Z-axis guide rail (33).

3. The integrated all-pharmacy robotic smart pharmacy according to claim 1, characterized in that, The second dispensing device (9) includes a first conveyor belt (91) that is rotatably arranged and a spiral dispensing channel (92) connected to its output end. The input end of the first conveyor belt (91) is connected to the interior of the pharmacy body (1), and the output end of the first conveyor belt (91) is connected to the input end of the spiral dispensing channel (92). The output end of the spiral dispensing channel (92) is provided with a second dispensing port (93).

4. The integrated all-pharmacy robotic smart pharmacy according to claim 3, characterized in that, The pharmacy body (1) has a dispensing window on one side. A door (94) for opening or closing the dispensing window is provided above the first conveyor belt (91). The door (94) is slidably connected to the dispensing window through a window opening and closing device (95). The window opening and closing device (95) includes a first fixing frame (951). The first fixing frame (951) is fixedly set above the first conveyor belt (91) and located inside the pharmacy body (1). A second drive motor (952) is fixedly set on the first fixing 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 set on one side of the door (94). The third gear (953) meshes with the second rack (954). A vertical slide rail is fixedly set on the outer side of the first fixing frame (951). A vertical slider (955) is correspondingly set on one side of the door (94). The vertical slider (955) is slidably connected to the vertical slide rail.

5. The integrated all-pharmacy robotic smart pharmacy according to claim 4, characterized in that, The first dispensing device (8) includes a first dispensing rack (81), which is located inside the pharmacy body (1). A medicine basket placement platform (82) is horizontally slidably provided on the first dispensing rack (81). The sliding direction of the medicine basket placement platform (82) is parallel to the length direction of the first dispensing rack (81). A first dispensing port (83) is provided at one end of the first dispensing rack (81) near the outside of the pharmacy body (1).

6. A method of using an integrated, fully automated, robotic smart pharmacy, comprising the integrated, fully automated, robotic smart pharmacy as described in claim 5, characterized in that... This includes medication retrieval and refilling; the medication retrieval process includes the following steps: S1, according to the medication sampling list, the medication retrieval and storage device (5) and the electric manipulator (6) are moved to the medication storage area on the medicine shelf (2) by the X-axis transmission device (3) and the Z-axis transmission device (4). If the medication in the medication retrieval list is a boxed medication, then step S2 is executed; if the medication in the medication retrieval list is a non-boxed medication, then step S4 is executed; S2, the medication retrieval mechanism in the medication retrieval and storage device (5) takes out the corresponding medication. During the medication retrieval process, the barcode scanner on the scanning mechanism scans and identifies the traceability code on the medication, and then puts the medication into the storage area. In the pharmacy, according to the drug sampling list, repeat steps S1 and S2 until all the boxed drugs to be taken out are placed in the drug storage device, and then execute step S3; S3, the drug storage device (5) is moved above the first conveyor belt (91) of the second dispensing device (9) by the X-axis transmission device (3) and the Z-axis transmission device (4), and the drugs fall on the first conveyor belt (91). The door (94) moves to open the dispensing window. The drugs pass through the dispensing window under the conveying of the first conveyor belt (91) and move towards the entrance end of the spiral dispensing channel (92) and slide down through the spiral dispensing channel (92) to the second dispensing device (9). At the dispensing port (93), staff members take medicines from the second dispensing port (93) to complete the dispensing of boxed medicines; S4, the telescopic tray (63) of the electric robotic arm (6) extends to the bottom of the medicine storage basket (21) to be dispensed, so that the medicine storage basket (21) is placed on the telescopic tray (63). Then, the telescopic tray (63) drives the medicine storage basket (21) to retract, and the two first jaws (673) and two second jaws (675) approach each other and clamp the medicine storage basket (21), thus executing step S5; S5, the electric robotic arm (6) and the medicine storage basket (21) are driven by the X-axis transmission device (3) and the Z-axis transmission device (4). Move to the medicine basket placement platform (82) of the first dispensing device (8), 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 and places 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 carries the non-boxed medicines in the medicine storage basket (21) to the first dispensing port (83), the staff takes away the non-boxed medicines from the first dispensing port (83), and repeats steps S4 and S5 according to the medicine sampling list until all non-boxed medicines are taken out;When it is necessary to replenish medicines in the pharmacy body (1), the following steps are performed: 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) off the medicine shelf (2) and moves it to the replenishment device (7). The replenishment device (7) transports the medicine storage basket (21) to the replenishment area for staff to replenish medicines in the medicine storage basket (21); S7. The staff replenish the medicine storage basket (21) After replenishing the medicine, the telescopic tray (63) extends to place the medicine storage basket (21) containing the medicine onto the electric manipulator (6). The medicine storage basket (21) is clamped by two first jaws (673) and two second jaws (675). Then, the electric manipulator (6) and the medicine storage basket (21) are moved to the corresponding position on the medicine shelf (2) by the X-axis transmission device (3) and the Z-axis transmission device (4). The medicine storage basket (21) is released by the two first jaws (673) and two second jaws (675) and placed back on the medicine shelf (2), completing the medicine replenishment.

Images