Digitization-based hospital medicine taking and placing device and management system

Abstract

The invention discloses a hospital medicine taking and placing device and management system based on digitization, the hospital medicine taking and placing device comprises two transverse moving rails and a longitudinal moving rail, and the two transverse moving rails are respectively arranged at the top end and the bottom end of the longitudinal moving rail; transverse driving assemblies are installed at the top end and the bottom end of the longitudinal moving rail correspondingly and clamped to the transverse moving rail. A driving screw rod is arranged in the middle of the longitudinal moving rail, a longitudinal driving assembly is arranged at the bottom end of the longitudinal moving rail, and the output end of the longitudinal driving assembly is connected with the driving screw rod; a mounting frame is connected to the driving screw rod, an electric push rod is arranged in the mounting frame, a mounting plate is arranged at the output end of the electric push rod, and an electric suction cup is arranged at the bottom of the mounting plate. Through a medicine storage optimization algorithm and a pick-and-place path planning algorithm, medicine storage positions can be reasonably distributed, the optimal pick-and-place path can be planned, the time of medicine pick-and-place is greatly shortened, and the working efficiency of a hospital pharmacy is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of drug management, and in particular to a digital-based hospital drug taking and placing device and management system. Background Art

[0002] In the daily operation of hospitals, drug management is a vital and complex task. The traditional way of taking and placing drugs mainly relies on manual operation. Staff need to find the required drugs in a large number of drug storage racks, which not only consumes a lot of time and energy, but also easily leads to the wrong drugs, which brings potential risks to patients' medication safety. In addition, when manually managing drug inventory, it is difficult to accurately grasp the quantity, expiration date and other information of drugs in real time, which can easily lead to drug backlogs or out-of-stock phenomena. Drug backlogs will increase the cost of hospitals, and the use of expired drugs may also cause serious harm to patients. With the continuous development of information technology, some hospitals have begun to try to introduce digital drug management systems.

[0003] For example, a Chinese invention patent with publication number CN108831543B discloses a comprehensive hospital drug management system, including a data server for storing and analyzing hospital drug data; the purchasing-end server is used to collect and store drug procurement information, and send the information to the data server; the diagnosis and treatment-end server is used to collect and store drug usage information, and send the information to the data server, and a backup server is used to backup the data server, the purchasing-end server and the diagnosis and treatment-end server.

[0004] The hospital drug integrated management system provided by the above patent simplifies the data processing process, improves the intuitiveness of data analysis results, and facilitates the corresponding processing commands for the management of hospital drugs. However, the existing drug management system does not have the relevant drug storage and access process, and cannot cooperate with the drug storage and access mechanism to store or take drugs, making it difficult to achieve the integration of drug storage and management. Summary of the invention

[0005] The purpose of the present invention is to provide a digital hospital drug retrieval device and management system, aiming to improve the problem that the existing drug management system has no drug storage and retrieval process, cannot cooperate with the drug storage and retrieval mechanism to store or take the drugs, and is difficult to achieve integrated drug retrieval and management.

[0006] The present invention is achieved in that:

[0007] In order to achieve the above-mentioned purpose, according to one aspect of the present invention, the present invention provides a digital-based hospital drug picking and placing device, including a transverse track and a longitudinal track, wherein two transverse tracks are provided, and the two transverse tracks are respectively provided at the top and bottom of the longitudinal track; transverse drive components are installed at the top and bottom of the longitudinal track, and the transverse drive components are engaged on the transverse track; a driving screw is provided in the middle of the longitudinal track, and a longitudinal drive component is provided at the bottom end of the longitudinal track, and the output end of the longitudinal drive component is connected to the driving screw; an installation frame is connected to the driving screw, an electric push rod is provided inside the installation frame, a mounting plate is provided at the output end of the electric push rod, and an electric suction cup is provided at the bottom of the mounting plate.

[0008] Preferably, a boss is provided in the middle of the upper surface of the transverse track, and a plurality of countersunk holes are evenly provided along both sides of the boss on the transverse track, and a splicing groove is provided at one end of the transverse track and a splicing plug is provided at the other end;

[0009] A guide opening is provided in the middle of the longitudinal movement track, and clamps are provided at the top and bottom of the longitudinal movement track. The clamps are provided with a first bearing along the middle of the guide opening, and third bearings are provided on both sides of the clamps; a second bearing is provided on one side of the clamp at the bottom of the longitudinal movement track.

[0010] Preferably, the lateral drive assembly includes a first motor and a driving wheel, a plurality of mounting feet are provided at one end of the first motor that is in contact with the clamping head, mounting holes are provided on the mounting feet, and a driving plug shaft is provided at the output end of the first motor; the driving wheel is installed on the inner side of the clamping head, and side wheels are provided on both sides of the driving wheel, the two side wheels are clamped on both sides of the boss, and the bottom of the side wheels is against the longitudinal movement track, and rubber strips are evenly provided on the sides of the side wheels; transfer shafts are provided in the middle of both ends of the side wheels, the transfer shafts are interference connected with the third bearing, and the driving plug shaft is plugged into the transfer shaft.

[0011] Preferably, both ends of the driving screw are provided with mounting shafts, the mounting shafts are interference-connected with the first bearing, and the bottom end of the mounting shaft passes through a chuck and is provided with a transmission gear;

[0012] The longitudinal drive assembly includes a second motor and a driving gear. A plurality of connecting feet are provided at one end of the second motor that is in contact with the chuck. A connecting hole is provided in the middle of the connecting feet. A connecting shaft is provided in the middle of the top end of the driving gear. The connecting shaft is interference-connected with the second bearing, and a connecting slot is provided at the top end of the connecting shaft. The output end of the second motor is plug-connected with the connecting slot, and the driving gear is meshed and connected with the transmission gear.

[0013] Preferably, a mounting opening is provided in the middle of the mounting frame, and a connecting column is provided on one side of the mounting frame, a threaded hole is provided in the middle of the connecting column, and the threaded hole is connected to the driving screw thread;

[0014] The electric push rod is inserted into the installation frame from the installation opening, and a telescopic rod is provided at the output end of the electric push rod, a limit plate is provided at the end of the telescopic rod, a stud is provided in the middle of the limit plate, and a pressure cap is provided at one end of the stud passing through the installation plate.

[0015] Preferably, the mounting plate is L-shaped, and a through hole is provided at one end of the mounting plate, a limiting groove is provided around the through hole, and a bayonet is provided at the other end of the mounting plate;

[0016] A support is provided on the top of the electric suction cup, a nut is provided on the support, the support is engaged with the inner side of the bayonet, the nut is pressed tightly on the mounting plate, a control host is provided on the top of the support, a first wire is provided on the top of the control host, and a first plug connector is provided at the end of the first wire.

[0017] Preferably, it also includes a barcode scanner, a fixing hole is provided on the mounting plate, a mounting column is provided on the top of the barcode scanner, a fixing column is provided on the top of the mounting column, the fixing column is arranged through the through hole, and a fixing cap is provided on one end of the fixing column passing through the through hole; a second wire is provided on the top of the fixing column, and a second plug connector is provided on the end of the second wire.

[0018] According to a second aspect of the present invention, there is provided a digital hospital drug management system, comprising a database for storing basic information, inventory information and expiration date information of drugs;

[0019] Algorithm module, which includes drug storage optimization algorithm, pick-and-place path planning algorithm and inventory early warning algorithm;

[0020] A control module, which is used to control the operation of the pick-and-place device according to the calculation results of the algorithm module;

[0021] The positioning module is used to locate and record the location information of each medicine, so as to facilitate the control of the picking and placing device to accurately pick and place the medicine.

[0022] Preferably, the drug storage optimization algorithm in the algorithm module is as follows: define the comprehensive priority P of the drug, and the calculation formula is:

[0023]

[0024] Among them, F is the frequency of drug use, which is obtained by counting the number of times the drug is taken within a certain period of time; V is the volume of the drug, V max It is the largest storage compartment in the medicine cabinet; T exp is the expiration date of the drug, T nowis the current time; α, β, γ are weight coefficients, and α+β+γ=1; the drugs are sorted according to their comprehensive priority P, and the drugs with high priority are preferentially allocated to the storage compartments close to the access port.

[0025] Preferably, the pick-and-place path planning algorithm in the algorithm module selects the optimal path by evaluating the cost function f(n) of each node, and the calculation formula of the cost function f(n) is:

[0026] f(n)=g(n)+h(n)

[0027] Among them, g(n) is the actual cost from the starting node to the current node n, that is, the distance moved by the longitudinal track; h(n) is the estimated cost from the current node n to the target node, which is estimated using Manhattan distance;

[0028] The inventory warning algorithm in the algorithm module is used to monitor the inventory quantity of drugs in real time, and issue a warning in time when the drug inventory is lower than the set threshold; the specific formula is:

[0029]

[0030] Among them, S wnrning is the inventory warning threshold, is the average usage of a drug within a certain period of time, and λ is the early warning coefficient, which is adjusted according to factors such as the importance of the drug and the stability of supply.

[0031] Compared with the prior art, the present invention has the following beneficial effects:

[0032] 1. The present invention can reasonably allocate drug storage locations and plan the optimal picking and placing path through the drug storage optimization algorithm and the picking and placing path planning algorithm, which greatly shortens the time for picking and placing drugs and improves the work efficiency of the hospital pharmacy; at the same time, with the cooperation of the transverse track and the longitudinal track, the mounting frame cooperates with the structure of the electric push rod to move back and forth in front of the medicine cabinet, and the medicines inside the medicine cabinet can be picked and placed under the action of the electric push rod and the electric suction cup, so that it is convenient to pick and place the drugs in the fastest way through the management system.

[0033] 2. The present invention ensures the accurate acquisition and processing of drug information through the combination of a barcode scanner and a digital management system, reduces the risk of taking wrong drugs due to manual operation, and ensures the safety of medication for patients.

[0034] 3. The present invention can monitor drug inventory in real time through an inventory warning algorithm, issue warnings in a timely manner, avoid drug backlogs or shortages, and reduce the hospital's drug management costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1It is a schematic diagram of the overall structure of the present invention;

[0036] Figure 2 It is a structural schematic diagram of the transverse track of the present invention;

[0037] Figure 3 It is a structural schematic diagram of the longitudinal movement track of the present invention;

[0038] Figure 4 is a schematic structural diagram of a lateral drive assembly of the present invention;

[0039] Figure 5 It is a structural schematic diagram of the driving screw of the present invention;

[0040] Figure 6 is a schematic structural diagram of a longitudinal drive assembly of the present invention;

[0041] Figure 7 It is a structural schematic diagram of the installation frame of the present invention;

[0042] Figure 8 It is a structural schematic diagram of the electric push rod of the present invention;

[0043] Fig. 9 It is a structural schematic diagram of the mounting plate of the present invention;

[0044] Fig.10 It is a structural schematic diagram of the electric suction cup of the present invention;

[0045] Fig.11 It is a structural schematic diagram of the code scanner of the present invention;

[0046] Fig.12 It is a structural block diagram of the drug management system of the present invention.

[0047] In the figure: 1, transverse track; 11, boss; 12, countersunk hole; 13, splicing groove; 14, splicing plug; 2, longitudinal track; 21, guide port; 22, clamp; 23, first bearing; 24, second bearing; 25, third bearing; 3, transverse drive assembly; 31, first motor; 311, mounting foot; 312, mounting hole; 313, drive plug shaft; 32, drive wheel; 321, side wheel; 322, rubber strip; 323, adapter shaft; 4, drive screw; 41, mounting shaft; 42, transmission gear; 5, longitudinal drive assembly; 51, second motor; 511, connecting foot; 512, connecting hole; 52 , driving gear; 521, connecting shaft; 522, connecting slot; 6, mounting frame; 61, mounting port; 62, connecting column; 63, threaded hole; 7, electric push rod; 71, telescopic rod; 72, limiting plate; 73, stud; 74, pressing cap; 8, mounting plate; 81, perforation; 82, limiting groove; 83, fixing hole; 84, bayonet; 9, electric suction cup; 91, pillar; 92, nut; 93, control host; 94, first wire; 95, first plug connector; 10, barcode scanner; 101, mounting column; 102, fixing column; 103, fixing cap; 104, second wire; 105, second plug connector. DETAILED DESCRIPTION

[0048] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0049] The following is a further description with reference to the accompanying drawings and specific embodiments:

[0050] Example 1

[0051] like Figure 1As shown, a digitalized hospital drug picking and placing device includes a transverse track 1 and a longitudinal track 2. Two transverse tracks 1 are provided, and the two transverse tracks 1 are respectively provided at the top and bottom of the longitudinal track 2; the two transverse tracks 1 can be laid at the top and bottom of the medicine cabinet, respectively, so that the longitudinal track 2 can be guided, and the longitudinal track 2 can be conveniently moved to a designated position according to the use requirements. Transverse drive components 3 are installed at the top and bottom of the longitudinal track 2, and the transverse drive components 3 are engaged on the transverse track 1; the transverse drive component 3 is convenient for driving the longitudinal track 2 to move along the transverse track 1. A driving screw 4 is provided in the middle of the longitudinal track 2, and a longitudinal drive component 5 is provided at the bottom of the longitudinal track 2, and the output end of the longitudinal drive component 5 is connected to the driving screw 4; this structure is convenient for driving the driving screw 4 to rotate through the longitudinal drive component 5. The driving screw 4 is connected to a mounting frame 6, inside which an electric push rod 7 is arranged, an mounting plate 8 is arranged at the output end of the electric push rod 7, and an electric suction cup 9 is arranged at the bottom of the mounting plate 8; the rotation of the driving screw 4 can drive the mounting frame 6 and the electric push rod 7 to move up and down, making it convenient for the electric push rod 7 to cooperate with the mounting plate 8 and the electric suction cup 9 to take and place the corresponding medicines.

[0052] like Figure 2 As shown, a boss 11 is provided in the middle of the upper surface of the traverse track 1, and the boss 11 is convenient for cooperating with the traverse drive assembly 3, so that the traverse drive assembly 3 can be stably connected to the traverse track 1. The traverse track 1 is evenly provided with multiple countersunk holes 12 along both sides of the boss 11, and the countersunk holes 12 are convenient for fixing the traverse track 1 with bolts. A splicing groove 13 is provided at one end of the traverse track 1, and a splicing plug 14 is provided at the other end; when the splicing groove 13 cooperates with the splicing plug 14, multiple traverse tracks 1 can be spliced ​​with each other;

[0053] like Figure 3 As shown, a guide opening 21 is provided in the middle of the longitudinal track 2, and the guide opening 21 is convenient for installing the drive screw 4 and facilitating the rotation of the drive screw 4. A clamp 22 is provided at the top and bottom of the longitudinal track 2, and the clamp 22 is convenient for the longitudinal track 2 to be clamped on the transverse track 1. At the same time, the clamp 22 is also convenient for installing the transverse drive assembly 3 and the longitudinal drive assembly 5. The clamp 22 is provided with a first bearing 23 along the middle of the guide opening 21, and the first bearing 23 is convenient for rotational connection with the drive screw 4. A third bearing 25 is provided on both sides of the clamp 22; the third bearing 25 is convenient for rotational connection with the transverse drive assembly 3. A second bearing 24 is provided on one side of the clamp 22 at the bottom of the longitudinal track 2, and the second bearing 24 is convenient for rotational connection with the longitudinal drive assembly 5.

[0054] like Figure 4As shown, the transverse drive assembly 3 includes a first motor 31 and a driving wheel 32. A plurality of mounting feet 311 are provided at one end of the first motor 31 that fits the clamp 22. The mounting feet 311 are provided with mounting holes 312. The mounting feet 311 and the mounting holes 312 are convenient for fixing the first motor 31 by bolts. A driving plug shaft 313 is provided at the output end of the first motor 31; the driving plug shaft 313 is convenient for the output end of the first motor 31 and the driving wheel 32 to rotate. The driving wheel 32 is installed on the inner side of the clamp 22, and side wheels 321 are provided on both sides of the driving wheel 32. The two side wheels 321 are clamped on both sides of the boss 11, and the bottom of the side wheels 321 is against the longitudinal track 2. The side of the side wheels 321 is evenly provided with rubber strips 322; this structure is convenient for the driving wheel 32 to be clamped on the transverse track 1, and convenient for the driving wheel 32 to be stably used with the transverse track 1. A transfer shaft 323 is provided in the middle of both ends of the side wheel 321, and the transfer shaft 323 is interference-connected with the third bearing 25, and the transfer shaft 323 cooperates with the third bearing 25 to rotate the driving wheel 32. The driving plug shaft 313 is plugged and connected with the transfer shaft 323, so that the first motor 31 can drive the driving wheel 32 to rotate.

[0055] like Figure 5 As shown, both ends of the driving screw 4 are provided with a mounting shaft 41, and the mounting shaft 41 is interference-connected with the first bearing 23 to facilitate the rotation of the driving screw 4. The bottom end of the mounting shaft 41 passes through the clamp 22 and is provided with a transmission gear 42, which is convenient for cooperating with the longitudinal driving assembly 5 to facilitate the longitudinal driving assembly 5 to drive the driving screw 4 to rotate;

[0056] like Figure 6 As shown, the longitudinal drive assembly 5 includes a second motor 51 and a driving gear 52. A plurality of connecting feet 511 are provided at one end of the second motor 51 that fits the clamp 22. A connecting hole 512 is provided in the middle of the connecting foot 511. The connecting foot 511 and the connecting hole 512 are convenient for fixing the second motor 51 by bolts, so as to ensure that the second motor 51 can be used stably. A connecting shaft 521 is provided in the middle of the top of the driving gear 52. The connecting shaft 521 is interference-connected with the second bearing 24. This structure is convenient for the driving gear 52 to rotate and be used stably. A connecting slot 522 is provided at the top of the connecting shaft 521. The output end of the second motor 51 is plug-connected with the connecting slot 522. The driving gear 52 is meshed and connected with the transmission gear 42. The second motor 51 drives the driving gear 52 to rotate, and the driving gear 52 drives the transmission gear 42 and the driving screw 4 to rotate.

[0057] like Figure 7 As shown, the middle of the mounting frame 6 is provided with a mounting opening 61, and the mounting opening 61 is convenient for installing the electric push rod 7. A connecting column 62 is provided on one side of the mounting frame 6, and a threaded hole 63 is provided in the middle of the connecting column 62, and the threaded hole 63 is threadedly connected to the driving screw 4; the cooperation between the connecting column 62 and the threaded hole 63 is convenient for the mounting frame 6 to be threadedly connected to the driving screw 4.

[0058] like Figure 8 As shown, the electric push rod 7 is inserted into the installation frame 6 from the installation opening 61 to ensure that the electric push rod 7 is stably inside the installation frame 6. A telescopic rod 71 is provided at the output end of the electric push rod 7, a limit plate 72 is provided at the end of the telescopic rod 71, a stud 73 is provided in the middle of the limit plate 72, and a pressure cap 74 is provided at one end of the stud 73 passing through the installation plate 8; this structure facilitates the installation plate 8 to be stably connected to the telescopic rod 71, ensuring that the installation plate 8 can be used stably.

[0059] like Fig. 9 As shown, the mounting plate 8 is L-shaped, and a through hole 81 is provided at one end of the mounting plate 8, and a limiting groove 82 is provided around the through hole 81. The through hole 81 is convenient for the stud 73 to pass through, and the limiting groove 82 is convenient for sleeve installation on the limiting plate 72. A bayonet 84 is provided at the other end of the mounting plate 8, and the bayonet 84 is convenient for installing the electric suction cup 9, facilitating the stable installation and use of the electric suction cup 9;

[0060] like Fig.10 As shown, a support 91 is provided on the top of the electric suction cup 9, a nut 92 is provided on the support 91, the support 91 is engaged with the inner side of the bayonet 84, and the nut 92 is pressed against the mounting plate 8, and this structure can ensure that the electric suction cup 9 is stably mounted on the mounting plate 8. A control host 93 is provided on the top of the support 91, a first wire 94 is provided on the top of the control host 93, and a first plug connector 95 is provided at the end of the first wire 94; the control host 93 cooperates with the first wire 94 and the first plug connector 95 to facilitate the installation and use of the control host 93, and to facilitate the control of the opening and closing of the electric suction cup 9 by the control host 93.

[0061] Example 2

[0062] like Figure 1As shown, a digitalized hospital drug picking and placing device includes a transverse track 1 and a longitudinal track 2. Two transverse tracks 1 are provided, and the two transverse tracks 1 are respectively provided at the top and bottom of the longitudinal track 2; the two transverse tracks 1 can be laid at the top and bottom of the medicine cabinet, respectively, so that the longitudinal track 2 can be guided, and the longitudinal track 2 can be conveniently moved to a designated position according to the use requirements. Transverse drive components 3 are installed at the top and bottom of the longitudinal track 2, and the transverse drive components 3 are engaged on the transverse track 1; the transverse drive component 3 is convenient for driving the longitudinal track 2 to move along the transverse track 1. A driving screw 4 is provided in the middle of the longitudinal track 2, and a longitudinal drive component 5 is provided at the bottom of the longitudinal track 2, and the output end of the longitudinal drive component 5 is connected to the driving screw 4; this structure is convenient for driving the driving screw 4 to rotate through the longitudinal drive component 5. The driving screw 4 is connected to a mounting frame 6, inside which an electric push rod 7 is arranged, an mounting plate 8 is arranged at the output end of the electric push rod 7, and an electric suction cup 9 is arranged at the bottom of the mounting plate 8; the rotation of the driving screw 4 can drive the mounting frame 6 and the electric push rod 7 to move up and down, making it convenient for the electric push rod 7 to cooperate with the mounting plate 8 and the electric suction cup 9 to take and place the corresponding medicines.

[0063] like Figure 2 As shown, a boss 11 is provided in the middle of the upper surface of the traverse track 1, and the boss 11 is convenient for cooperating with the traverse drive assembly 3, so that the traverse drive assembly 3 can be stably connected to the traverse track 1. The traverse track 1 is evenly provided with multiple countersunk holes 12 along both sides of the boss 11, and the countersunk holes 12 are convenient for fixing the traverse track 1 with bolts. A splicing groove 13 is provided at one end of the traverse track 1, and a splicing plug 14 is provided at the other end; when the splicing groove 13 cooperates with the splicing plug 14, multiple traverse tracks 1 can be spliced ​​with each other;

[0064] like Figure 3 As shown, a guide opening 21 is provided in the middle of the longitudinal track 2, and the guide opening 21 is convenient for installing the drive screw 4 and facilitating the rotation of the drive screw 4. A clamp 22 is provided at the top and bottom of the longitudinal track 2, and the clamp 22 is convenient for the longitudinal track 2 to be clamped on the transverse track 1. At the same time, the clamp 22 is also convenient for installing the transverse drive assembly 3 and the longitudinal drive assembly 5. The clamp 22 is provided with a first bearing 23 along the middle of the guide opening 21, and the first bearing 23 is convenient for rotational connection with the drive screw 4. A third bearing 25 is provided on both sides of the clamp 22; the third bearing 25 is convenient for rotational connection with the transverse drive assembly 3. A second bearing 24 is provided on one side of the clamp 22 at the bottom of the longitudinal track 2, and the second bearing 24 is convenient for rotational connection with the longitudinal drive assembly 5.

[0065] like Figure 4As shown, the transverse drive assembly 3 includes a first motor 31 and a driving wheel 32. A plurality of mounting feet 311 are provided at one end of the first motor 31 that fits the clamp 22. The mounting feet 311 are provided with mounting holes 312. The mounting feet 311 and the mounting holes 312 are convenient for fixing the first motor 31 by bolts. A driving plug shaft 313 is provided at the output end of the first motor 31; the driving plug shaft 313 is convenient for the output end of the first motor 31 and the driving wheel 32 to rotate. The driving wheel 32 is installed on the inner side of the clamp 22, and side wheels 321 are provided on both sides of the driving wheel 32. The two side wheels 321 are clamped on both sides of the boss 11, and the bottom of the side wheels 321 is against the longitudinal track 2. The side of the side wheels 321 is evenly provided with rubber strips 322; this structure is convenient for the driving wheel 32 to be clamped on the transverse track 1, and convenient for the driving wheel 32 to be stably used with the transverse track 1. A transfer shaft 323 is provided in the middle of both ends of the side wheel 321, and the transfer shaft 323 is interference-connected with the third bearing 25, and the transfer shaft 323 cooperates with the third bearing 25 to rotate the driving wheel 32. The driving plug shaft 313 is plugged and connected with the transfer shaft 323, so that the first motor 31 can drive the driving wheel 32 to rotate.

[0066] like Figure 5 As shown, both ends of the driving screw 4 are provided with a mounting shaft 41, and the mounting shaft 41 is interference-connected with the first bearing 23 to facilitate the rotation of the driving screw 4. The bottom end of the mounting shaft 41 passes through the clamp 22 and is provided with a transmission gear 42, which is convenient for cooperating with the longitudinal driving assembly 5 to facilitate the longitudinal driving assembly 5 to drive the driving screw 4 to rotate;

[0067] like Figure 6 As shown, the longitudinal drive assembly 5 includes a second motor 51 and a driving gear 52. A plurality of connecting feet 511 are provided at one end of the second motor 51 that fits the clamp 22. A connecting hole 512 is provided in the middle of the connecting foot 511. The connecting foot 511 and the connecting hole 512 are convenient for fixing the second motor 51 by bolts, so as to ensure that the second motor 51 can be used stably. A connecting shaft 521 is provided in the middle of the top of the driving gear 52. The connecting shaft 521 is interference-connected with the second bearing 24. This structure is convenient for the driving gear 52 to rotate and be used stably. A connecting slot 522 is provided at the top of the connecting shaft 521. The output end of the second motor 51 is plug-connected with the connecting slot 522. The driving gear 52 is meshed and connected with the transmission gear 42. The second motor 51 drives the driving gear 52 to rotate, and the driving gear 52 drives the transmission gear 42 and the driving screw 4 to rotate.

[0068] like Figure 7 As shown, the middle of the mounting frame 6 is provided with a mounting opening 61, and the mounting opening 61 is convenient for installing the electric push rod 7. A connecting column 62 is provided on one side of the mounting frame 6, and a threaded hole 63 is provided in the middle of the connecting column 62, and the threaded hole 63 is threadedly connected to the driving screw 4; the cooperation between the connecting column 62 and the threaded hole 63 is convenient for the mounting frame 6 to be threadedly connected to the driving screw 4.

[0069] like Figure 8 As shown, the electric push rod 7 is inserted into the installation frame 6 from the installation opening 61 to ensure that the electric push rod 7 is stably inside the installation frame 6. A telescopic rod 71 is provided at the output end of the electric push rod 7, a limit plate 72 is provided at the end of the telescopic rod 71, a stud 73 is provided in the middle of the limit plate 72, and a pressure cap 74 is provided at one end of the stud 73 passing through the installation plate 8; this structure facilitates the installation plate 8 to be stably connected to the telescopic rod 71, ensuring that the installation plate 8 can be used stably.

[0070] like Fig. 9 As shown, the mounting plate 8 is L-shaped, and a through hole 81 is provided at one end of the mounting plate 8, and a limiting groove 82 is provided around the through hole 81. The through hole 81 is convenient for the stud 73 to pass through, and the limiting groove 82 is convenient for sleeve installation on the limiting plate 72. A bayonet 84 is provided at the other end of the mounting plate 8, and the bayonet 84 is convenient for installing the electric suction cup 9, facilitating the stable installation and use of the electric suction cup 9;

[0071] like Fig.10 As shown, a support 91 is provided on the top of the electric suction cup 9, a nut 92 is provided on the support 91, the support 91 is engaged with the inner side of the bayonet 84, and the nut 92 is pressed against the mounting plate 8, and this structure can ensure that the electric suction cup 9 is stably mounted on the mounting plate 8. A control host 93 is provided on the top of the support 91, a first wire 94 is provided on the top of the control host 93, and a first plug connector 95 is provided at the end of the first wire 94; the control host 93 cooperates with the first wire 94 and the first plug connector 95 to facilitate the installation and use of the control host 93, and to facilitate the control of the opening and closing of the electric suction cup 9 by the control host 93.

[0072] like Fig.11 As shown, it also includes a barcode scanner 10, which is convenient for scanning the barcode on the medicine, so as to facilitate the determination of the medicine information and whether the medicine is taken and placed accurately. The mounting plate 8 is provided with a fixing hole 83, and the fixing hole 83 is convenient for the disassembly and use of the barcode scanner 10. A mounting column 101 is provided on the top of the barcode scanner 10, and a fixing column 102 is provided on the top of the mounting column 101. The fixing column 102 is set through the through hole 81, and a fixing cap 103 is provided on one end of the fixing column 102 passing through the through hole 81; this structure is convenient for the mounting column 101 to be stably connected to the mounting plate 8. A second wire 104 is provided on the top of the fixing column 102, and a second plug connector 105 is provided at the end of the second wire 104. The second wire 104 and the second plug connector 105 are convenient for connecting the barcode scanner 10, so that the barcode scanner 10 can cooperate with the entire system.

[0073] Example 3

[0074] like Figure 1As shown, a hospital drug management system based on digitization includes a database, an algorithm module, a control module and a positioning module. The database is used to store basic information, inventory information and expiration information of drugs; the algorithm module includes a drug storage optimization algorithm, a pick-and-place path planning algorithm and an inventory early warning algorithm; the control module is used to control the operation of the pick-and-place device according to the calculation results of the algorithm module; the positioning module is used to locate and record the location information of each drug, so as to facilitate the control of the pick-and-place device to accurately pick and place the drug.

[0075] The drug storage optimization algorithm in the algorithm module is as follows: define the comprehensive priority P of the drug, and the calculation formula is:

[0076]

[0077] Among them, F is the frequency of drug use, which is obtained by counting the number of times the drug is taken within a certain period of time; V is the volume of the drug, V max It is the largest storage compartment in the medicine cabinet; T exp is the expiration date of the drug, T now is the current time; α, β, γ are weight coefficients, and α+β+γ=1; the drugs are sorted according to their comprehensive priority P, and the drugs with high priority are preferentially allocated to the storage compartments close to the access port.

[0078] The pick-and-place path planning algorithm in the algorithm module selects the optimal path by evaluating the cost function f(n) of each node. The calculation formula of the cost function f(n) is:

[0079] f(n)=g(n)+h(n)

[0080] Among them, g(n) is the actual cost from the starting node to the current node n, that is, the distance moved by the longitudinal track 2 and the installation frame 6; h(n) is the estimated cost from the current node n to the target node, which is estimated using the Manhattan distance;

[0081] The inventory warning algorithm in the algorithm module is used to monitor the inventory quantity of drugs in real time. When the drug inventory is lower than the set threshold, an early warning is issued in time. The specific formula is:

[0082]

[0083] Among them, S wnrning is the inventory warning threshold, U is the average usage of the drug within a certain period of time, and λ is the warning coefficient, which is adjusted according to factors such as the importance of the drug and the stability of supply.

[0084] Working principle: first install the transverse track 1 on the top and bottom of the medicine cabinet, then connect the transverse drive assembly 3 with the longitudinal track 2, and install the drive screw 4 inside the longitudinal track 2, and install the longitudinal drive assembly 5 at the bottom of the longitudinal track 2, so that the longitudinal drive assembly 5 and the drive screw 4 are meshed. Then fix the longitudinal track 2 between the two transverse tracks 1; and install the electric push rod 7 in the installation frame 6, and then fix the electric suction cup 9 and the barcode scanner 10 with the structure of the installation plate 8 at the output end of the electric push rod 7. Build a management system, including the software installation and configuration of the database server, algorithm module, control module and positioning module. Enter the basic information of the medicine, initial inventory information, etc. into the database. Debug the system to test the movement accuracy of the longitudinal track 2 and the installation frame 6, the scanning accuracy of the barcode scanner 10, the positioning accuracy of the positioning module, and whether the various functions of the management system are normal. When there is a demand for taking and placing medicines, the management system receives the medicine collection information and determines the storage location of the medicine according to the medicine storage optimization algorithm. The control module plans the optimal pick-and-place path for the longitudinal track 2 and the electric push rod 7 according to the pick-and-place path planning algorithm, and sends control instructions to the lateral drive component 3 and the longitudinal drive component 5. The longitudinal track 2 and the electric push rod 7 move to the drug storage position according to the planned path, use the barcode scanner 10 to scan the barcode or QR code of the drug, and after confirming that the drug information is correct, the electric push rod 7 cooperates with the electric suction cup 9 to perform the pick-and-place operation. After the pick-and-place operation is completed, the management system updates the inventory information in the database and monitors the drug inventory in real time according to the inventory warning algorithm. When the drug inventory is lower than the warning threshold, the system issues a warning message to remind the staff to replenish the stock in time.

[0085] To sum up, compared with the prior art, the present application can reasonably allocate drug storage locations and plan the optimal picking and placing paths through the drug storage optimization algorithm and the picking and placing path planning algorithm, which greatly shortens the time for picking and placing drugs and improves the work efficiency of the hospital pharmacy; at the same time, with the cooperation of the transverse track 1 and the longitudinal track 2, the mounting frame 6 cooperates with the structure of the electric push rod 7 to move back and forth in front of the medicine cabinet, and the electric push rod 7 cooperates with the electric suction cup 9 to pick and place drugs inside the medicine cabinet, thereby facilitating the fastest way to pick and place drugs through the management system.

[0086] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A digitalized hospital medicine picking and placing device, comprising a transverse track (1) and a longitudinal track (2), characterized in that: Two transverse tracks (1) are provided, and the two transverse tracks (1) are respectively provided at the top and bottom of the longitudinal track (2); the top and bottom of the longitudinal track (2) are both provided with transverse drive components (3), and the transverse drive components (3) are engaged with the transverse track (1); a driving screw (4) is provided in the middle of the longitudinal track (2), and a longitudinal drive component (5) is provided at the bottom of the longitudinal track (2), and the output end of the longitudinal drive component (5) is connected to the driving screw (4); the driving screw (4) is connected with a mounting frame (6), and an electric push rod (7) is provided inside the mounting frame (6), and a mounting plate (8) is provided at the output end of the electric push rod (7), and an electric suction cup (9) is provided at the bottom of the mounting plate (8).

2. A digitalized hospital medicine picking and placing device according to claim 1, characterized in that: A boss (11) is provided in the middle of the upper surface of the transverse track (1), and a plurality of countersunk holes (12) are evenly provided along both sides of the boss (11) of the transverse track (1); a splicing groove (13) is provided at one end of the transverse track (1), and a splicing plug (14) is provided at the other end; A guide opening (21) is provided in the middle of the longitudinal track (2), and a clamping head (22) is provided at the top and bottom of the longitudinal track (2), a first bearing (23) is provided along the middle of the guide opening (21) of the clamping head (22), and third bearings (25) are provided on both sides of the clamping head (22); a second bearing (24) is provided on one side of the clamping head (22) at the bottom of the longitudinal track (2).

3. A digitalized hospital medicine picking and placing device according to claim 2, characterized in that: The transverse drive assembly (3) comprises a first motor (31) and a driving wheel (32); a plurality of mounting feet (311) are provided at one end of the first motor (31) that is in contact with the clamping head (22); a mounting hole (312) is provided on the mounting foot (311); a driving plug shaft (313) is provided at the output end of the first motor (31); the driving wheel (32) is installed on the inner side of the clamping head (22); side wheels (321) are provided on both sides of the driving wheel (32); the two side wheels (321) are clamped on both sides of the boss (11); the bottom of the side wheels (321) is against the longitudinal track (2); and rubber strips (322) are evenly provided on the side of the side wheels (321); a transfer shaft (323) is provided in the middle of both ends of the side wheels (321); the transfer shaft (323) is interference-connected with the third bearing (25); and the driving plug shaft (313) is plug-connected with the transfer shaft (323).

4. A digitalized hospital medicine picking and placing device according to claim 2, characterized in that: Both ends of the driving screw rod (4) are provided with mounting shafts (41), the mounting shaft (41) is interference-connected with the first bearing (23), and the bottom end of the mounting shaft (41) passes through the chuck (22) and is provided with a transmission gear (42); The longitudinal drive assembly (5) comprises a second motor (51) and a driving gear (52); a plurality of connecting feet (511) are provided at one end of the second motor (51) that is in contact with the chuck (22); a connecting hole (512) is provided in the middle of the connecting feet (511); a connecting shaft (521) is provided in the middle of the top end of the driving gear (52); the connecting shaft (521) is interference-connected with the second bearing (24); a connecting slot (522) is provided at the top end of the connecting shaft (521); an output end of the second motor (51) is plug-connected with the connecting slot (522); and the driving gear (52) is meshedly connected with the transmission gear (42).

5. A digitalized hospital medicine picking and placing device according to claim 1, characterized in that: A mounting opening (61) is provided in the middle of the mounting frame (6), and a connecting column (62) is provided on one side of the mounting frame (6). A threaded hole (63) is provided in the middle of the connecting column (62), and the threaded hole (63) is threadedly connected to the driving screw rod (4); The electric push rod (7) is inserted into the interior of the installation frame (6) from the installation opening (61), and a telescopic rod (71) is provided at the output end of the electric push rod (7), a limiting plate (72) is provided at the end of the telescopic rod (71), a stud (73) is provided in the middle of the limiting plate (72), and a pressure cap (74) is provided at one end of the stud (73) that passes through the installation plate (8).

6. A digitalized hospital medicine picking and placing device according to claim 1, characterized in that: The mounting plate (8) is L-shaped, and a through hole (81) is provided at one end of the mounting plate (8), a limiting groove (82) is provided around the through hole (81), and a bayonet (84) is provided at the other end of the mounting plate (8); The electric suction cup (9) is provided with a support (91) at the top, a nut (92) is provided on the support (91), the support (91) is engaged with the inner side of the bayonet (84), the nut (92) is pressed against the mounting plate (8), a control host (93) is provided at the top of the support (91), a first wire (94) is provided at the top of the control host (93), and a first plug connector (95) is provided at the end of the first wire (94).

7. A digitalized hospital medicine loading and unloading device according to any one of claims 1 to 6, characterized in that: It also includes a barcode scanner (10), wherein a fixing hole (83) is provided on the mounting plate (8), a mounting column (101) is provided on the top of the barcode scanner (10), a fixing column (102) is provided on the top of the mounting column (101), the fixing column (102) is arranged through the through hole (81), and a fixing cap (103) is provided on one end of the fixing column (102) passing through the through hole (81); a second wire (104) is provided on the top of the fixing column (102), and a second plug connector (105) is provided at the end of the second wire (104).

8. A digital hospital medicine management system, using the hospital medicine loading and unloading device according to any one of claims 1 to 7, characterized in that: It includes a database, which is used to store basic information, inventory information and expiration date information of drugs; Algorithm module, which includes drug storage optimization algorithm, pick-and-place path planning algorithm and inventory early warning algorithm; A control module, which is used to control the operation of the pick-and-place device according to the calculation results of the algorithm module; The positioning module is used to locate and record the location information of each medicine, so as to facilitate the control of the picking and placing device to accurately pick and place the medicine.

9. A digital hospital drug management system according to claim 8, characterized in that: The drug storage optimization algorithm in the algorithm module is as follows: define the comprehensive priority P of the drug, and the calculation formula is: Among them, F is the frequency of drug use, which is obtained by counting the number of times the drug is taken within a certain period of time; V is the volume of the drug, V max It is the largest storage compartment in the medicine cabinet; T exp is the expiration date of the drug, T now is the current time; α, β, γ are weight coefficients, and α+β+γ=1; the drugs are sorted according to their comprehensive priority P, and the drugs with high priority are preferentially allocated to the storage compartments close to the access port.

10. A digital hospital drug management system according to claim 8, characterized in that: The pick-and-place path planning algorithm in the algorithm module selects the optimal path by evaluating the cost function f(n) of each node. The calculation formula of the cost function f(n) is: f(n)=g(n)+h(n) Among them, g(n) is the actual cost from the starting node to the current node n, that is, the distance moved by the longitudinal track (2) and the installation frame (6); h(n) is the estimated cost from the current node n to the target node, which is estimated using the Manhattan distance; The inventory warning algorithm in the algorithm module is used to monitor the inventory quantity of drugs in real time, and issue a warning in time when the drug inventory is lower than the set threshold; the specific formula is: Among them, S wnrning is the inventory warning threshold, is the average usage of a drug within a certain period of time, and λ is the early warning coefficient, which is adjusted according to factors such as the importance of the drug and the stability of supply.

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