Automatic medicine dispensing method and device

Abstract

The invention provides an automatic medicine dispensing method and equipment, and the method can respond to a dispensing instruction, determine an obtaining tool corresponding to a to-be-dispensed medicine as an alternative tool, and update the alternative tool and dispense the corresponding medicine based on the currently used obtaining tool when the currently used obtaining tool is included in the alternative tool. The tool is replaced after the dispensing of the medicine corresponding to the current tool is completed, and the step of dispensing the medicine is repeatedly executed until the dispensing of all the medicines is completed. According to the scheme provided by the invention, the tool for dispensing the medicine can be used and updated according to the actual situation, the flexibility is relatively high, the time required by the medicine dispensing process is shortened through an automatic process, errors and omissions which are easy to occur in the manual operation process are avoided by reducing manual operation and judgment, and the efficiency of dispensing the medicine is improved. Particularly, under the conditions of various types of medicines and complicated dispensing tools, the accuracy and efficiency of dispensing the medicines can be more effectively ensured.

Description

Technical Field

[0001] The present invention belongs to the technical field of medical article management, and in particular relates to a method and device for automatically dispensing medicines. Background Art

[0002] When seeking medical treatment, medical personnel will prescribe medicines based on the patient's condition, diagnosis and treatment needs. The prescription will list the name of the medicine, dosage, usage, time of use and precautions during use. Patients can go to the pharmacy to obtain the corresponding medicine with the prescription, but the dispensing of medicines in the pharmacy is usually done manually by staff, which is cumbersome and prone to errors.

[0003] As the medical industry's requirements for drug management are gradually increasing, the use of automated drug dispensing systems to replace manual dispensing has been applied to a certain extent. Automated drug dispensing systems can save manpower and improve the accuracy of drug dispensing.

[0004] However, since medicines come in many different types, the dispensing system often needs to use multiple tools to dispense all medicines at a time. When dealing with multiple interactions between multiple medicines and dispensing tools, the system often uses the wrong tools, dispenses medicines repeatedly, or misses medicines, affecting the accuracy and reliability of medicine dispensing.

[0005] In addition, the matching of drugs and tools in the drug dispensing system is usually static, and effective tool scheduling and management cannot be achieved. Manual or semi-automatic means are usually required to confirm and switch the dispensing tools, which increases the complexity and workload of the operation. Moreover, during the dispensing process of multiple drugs, frequent tool replacement will also lead to a significant decrease in drug dispensing efficiency. Summary of the invention

[0006] In order to overcome the above-mentioned defects of the prior art, the present invention proposes a method for automatically dispensing medicines, the method comprising:

[0007] In response to the dispensing instruction, the drug to be dispensed is determined as a first drug and all the acquisition tools corresponding to each of the first drugs are determined as candidate tools, and it is determined whether the currently used acquisition tool is included in the candidate tools;

[0008] If the currently used acquisition tool is included in the candidate tools, the currently used acquisition tool is determined as the dispensing tool and the candidate tools are updated, and the first drug corresponding to the dispensing tool is re-determined as the second drug, so as to dispense the second drug based on the dispensing tool;

[0009] Replacing the currently used acquisition tool based on the acquisition tool corresponding to each first drug and the alternative tool, and repeatedly executing the step of "determining the currently used acquisition tool as the dispensing tool and updating the alternative tool" until all drugs to be dispensed are dispensed;

[0010] If the currently used acquisition tool is not included in the alternative tools, the step of "replacing the currently used acquisition tool based on the acquisition tools and the alternative tools corresponding to each first drug" is performed.

[0011] Specifically, the “issuing the second drug based on the dispensing tool” includes:

[0012] determining whether there are a plurality of second drugs stored in the same drug storage container;

[0013] If there are multiple second drugs stored in the same drug storage container, mark the second drugs stored in the same drug storage container as a group of associated drug groups, and determine a dispensing order based on the second drugs not stored in the same drug storage container and the associated drug groups, so that the dispensing tool dispenses the second drugs based on the dispensing order;

[0014] If there are not a plurality of second drugs stored in the same drug storage container, a dispensing order is determined based on each of the second drugs, so that the dispensing tool dispenses the second drugs based on the dispensing order.

[0015] Specifically, the “replacing the currently used acquisition tool based on the acquisition tool and the alternative tool corresponding to each first drug” includes:

[0016] Taking each of the first drugs as a path node, and establishing a plurality of paths based on the path nodes based on the alternative tools corresponding to each of the first drugs; each of the paths has two endpoints, and the first endpoints of each of the paths are consistent and the second endpoints are consistent;

[0017] Establishing an optimal total loop passing through each of the path nodes at least once based on each of the path nodes and each of the paths;

[0018] The candidate tools corresponding to the paths included in the optimal total loop are replaced with the currently used acquisition tools in sequence.

[0019] Furthermore, the “establishing a plurality of paths based on the path nodes based on the alternative tools corresponding to the first drugs” includes:

[0020] A plurality of paths of the same length are established based on the path nodes based on the candidate tools corresponding to the first drugs; the optimal total loop includes the total loop containing the least number of the paths;

[0021] Or, based on the alternative tools corresponding to each of the first drugs, several paths are established on the basis of the path nodes, and the lengths of the paths are associated with the number of path nodes that need to be passed, the replacement time of the corresponding alternative tools, and the operation time of the corresponding alternative tools; the optimal total loop includes the total loop with the shortest length, or the total loop with the shortest length and the least number of paths.

[0022] Furthermore, the method further comprises:

[0023] After all the drugs to be dispensed are dispensed, the last used acquisition tool is marked as a standby tool, so that when responding to a dispensing instruction again, the standby tool is determined as the currently used acquisition tool.

[0024] The present invention also proposes an automatic drug dispensing device for implementing the method described above, the device comprising a control device, a driving device connected to the control device, and a dispensing device, the driving device comprising a linear driving mechanism and a rotational driving mechanism, the control device is used to control the dispensing device to translate, lift and / or rotate through the driving device;

[0025] The dispensing device includes a quick-change disk and a plurality of acquisition tools detachably connected to the quick-change disk, one of the quick-change disk and the acquisition tool is movably provided with a first positioning piece, and the other is provided with a first positioning port corresponding to the first positioning piece, so that the first positioning piece can be controlled by the control device to be placed in the first positioning port to fix the connection between the acquisition tool and the quick-change disk; or, the first positioning piece can be controlled by the control device to be detached from the first positioning port to release the connection between the acquisition tool and the quick-change disk.

[0026] Specifically, the dispensing device also includes a first pneumatic mechanism controlled by the control device, and the quick-change disk is provided with an air port connected to the first pneumatic mechanism, so that the first positioning member can be placed in the first positioning port or the first positioning member can be detached from the first positioning port based on the action of the first pneumatic mechanism.

[0027] Preferably, the acquisition tool comprises a connection part connected to the quick-change disk and an acquisition part for acquiring medicines, and the acquisition tool further comprises a first sensor connected to the control device by signal, the first sensor being arranged on the acquisition part and being used to acquire contact information of the acquisition part and transmit a corresponding signal to the control device;

[0028] The dispensing device also includes a vacuum pump and an air release valve controlled by the control device. A pipeline is opened inside the acquisition tool, one side of the pipeline is connected to the vacuum pump, and the other side is connected to the acquisition part, so that the control device opens the vacuum pump and closes the air release valve based on the signal transmitted by the first sensor, and provides negative pressure to the acquisition part through the pipeline so that the acquisition part can acquire the medicine; or, turns off the vacuum pump and opens the air release valve to eliminate the negative pressure in the pipeline to dispense the medicine acquired by the acquisition part.

[0029] Specifically, the dispensing device further comprises a moving mechanism for moving the medicine storage container, a second positioning member matched with a second positioning port provided on the medicine storage container is arranged on the upper side of the moving mechanism, and the moving mechanism is controlled by the control device, so that the moving mechanism is moved by the control device and the second positioning member is placed in the second positioning port to connect the moving mechanism with the medicine storage container; or, the moving mechanism is moved by the control device and the second positioning member is disengaged from the second positioning port to release the connection between the moving mechanism and the medicine storage container;

[0030] The mobile mechanism comprises a second sensor and a third sensor connected to the control device by signal, wherein the second sensor is arranged at the front end of the mobile mechanism, and is used to obtain contact information of the front end of the mobile mechanism and transmit a corresponding signal to the control device; the third sensor and the second positioning member are arranged at the same side of the mobile mechanism, and are used to obtain weight information carried by the mobile mechanism and transmit a corresponding signal to the control device;

[0031] The control device is used to determine the current moving position of the moving mechanism based on the signal transmitted by the second sensor, and to determine the connection state between the moving mechanism and the medicine storage container based on the third sensor, thereby controlling the movement of the moving mechanism.

[0032] Optionally, the acquisition tool includes a gripper, a claw, a suction cup, a clamp and / or a magnetic attraction.

[0033] The present invention has at least the following beneficial effects:

[0034] The method proposed by the present invention can reduce manual intervention in the drug dispensing process and avoid human errors through an automated and orderly drug dispensing process. By continuously updating the alternative tools and dynamically adjusting the dispensing tools according to the currently used acquisition tools, it can ensure that drugs can still be smoothly dispensed under different conditions, thereby adapting to a variety of situations, avoiding pauses or delays caused by selecting the wrong tool, etc., and significantly improving the drug dispensing efficiency.

[0035] Furthermore, the method can effectively determine the order of dispensing by marking the drugs stored in the same drug storage container, further optimizing the drug dispensing process, and by mapping the drugs and tools to path nodes and paths, selecting the best total loop, thereby being able to determine the tool to be used to maximize the saving of working time, improving the adaptability of the equipment when handling multiple drugs, reducing unnecessary time consumption and tool switching, and enhancing the flexibility and stability of the system. By recording the last used tool as the standby tool, the method can directly determine the connected tool when dispensing the drug next time;

[0036] Correspondingly, the design of the positioning parts and the positioning ports in the dispensing device of the equipment proposed in the present invention makes the connection between the acquisition tool and the quick-change disk more stable and convenient. The use in conjunction with the starting mechanism improves the stability and convenience of the equipment, and facilitates the rapid adjustment of the configuration under the drug dispensing task that requires switching the use of tools. The vacuum pump and the air release valve are used to provide negative pressure for the acquisition tool so that the acquisition tool can adsorb the medicine, which effectively improves the acquisition accuracy of the medicine, especially for smaller or difficult-to-pick medicines, which can avoid the loss or waste of medicines caused by improper operation. The use of a mobile mechanism can adjust the position of the container to ensure the accurate acquisition and dispensing of medicines. The two sensors arranged on the mobile mechanism effectively reduce the potential errors and failures that are prone to occur during the use of the mobile mechanism.

[0037] Therefore, the present invention proposes a method and device for automatic drug dispensing. The scheme proposed by the present invention can use and update the tools for dispensing drugs according to actual conditions, has strong flexibility, speeds up the time required for the drug dispensing process through automated processes, and avoids errors and omissions that are prone to occur in the manual operation process by reducing manual operations and judgments. Especially in the case of a wide variety of drugs and complex dispensing tools, the accuracy and efficiency of drug dispensing can be more effectively guaranteed. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0039] Figure 1 This is a schematic diagram of the overall process of the automatic drug dispensing method provided in Example 1;

[0040] Figure 2 An example diagram of the method flow when the alternative tool includes a gripper and a suction cup;

[0041] Figure 3A flow chart of a method for dispensing a second drug based on a dispensing tool;

[0042] Figure 4 A flowchart of a method for replacing an acquisition tool;

[0043] Figure 5 A schematic diagram of the overall structure of the automatic drug dispensing device provided in Example 2;

[0044] Figure 6 Schematic diagram of the module structure set up for automatic drug distribution;

[0045] Figure 7 (a) and Figure 7 (b) are partial structural schematic diagrams of the automatic drug dispensing device;

[0046] FIG8(a) and FIG8(b) are both structural example diagrams of a quick-change disk and an acquisition tool;

[0047] FIG9(a) and FIG9(b) are diagrams showing examples of the connection structure between the quick-change plate and the acquisition tool at different angles;

[0048] Fig.10 The figure is an example of the structure of the fork.

[0049] Reference numerals

[0050] 1-control device; 2-driving device; 3-dispensing device; 21-linear driving mechanism; 22-rotating driving mechanism; 31-quick-change plate; 32-acquisition tool; 33-first pneumatic mechanism; 34-second pneumatic mechanism; 35-fork; 41-drawer; 311-positioning marbles; 312-air port; 321-positioning groove; 322-connecting part; 323-acquisition part; 324-pipeline; 325-first sensor; 341-vacuum pump; 342-air release valve; 351-second positioning member; 352-second sensor; 353-third sensor; 411-second positioning port. DETAILED DESCRIPTION

[0051] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0052] Hereinafter, various embodiments of the present invention will be described more fully. The present invention may have various embodiments, and adjustments and changes may be made therein. However, it should be understood that there is no intention to limit the various embodiments of the present invention to the specific embodiments disclosed herein, but the present invention should be understood to cover all adjustments, equivalents and / or alternatives falling within the spirit and scope of the various embodiments of the present invention.

[0053] Hereinafter, the term "include" or "may include" used in various embodiments of the present invention indicates the presence of disclosed functions, operations or elements, and does not limit the addition of one or more functions, operations or elements. In addition, as used in various embodiments of the present invention, the terms "include", "have" and their cognates are intended only to indicate specific features, numbers, steps, operations, elements, components or combinations of the foregoing items, and should not be understood as first excluding the presence of one or more other features, numbers, steps, operations, elements, components or combinations of the foregoing items or the possibility of adding one or more features, numbers, steps, operations, elements, components or combinations of the foregoing items.

[0054] In various embodiments of the present invention, the expression "or" or "at least one of A or / and B" includes any combination or all combinations of the words listed at the same time. For example, the expression "A or B" or "at least one of A or / and B" may include A, may include B, or may include both A and B.

[0055] The expressions (such as "first", "second", etc.) used in various embodiments of the present invention may modify the various constituent elements in various embodiments, but may not limit the corresponding constituent elements. For example, the above expressions do not limit the order and / or importance of the elements. The above expressions are only used for the purpose of distinguishing an element from other elements. For example, the first user device and the second user device indicate different user devices, although both are user devices. For example, without departing from the scope of various embodiments of the present invention, the first element may be referred to as the second element, and similarly, the second element may also be referred to as the first element.

[0056] It should be noted that in the present invention, unless otherwise clearly specified and defined, the terms such as "installation", "connection", "fixation" 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 communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0057] In the present invention, those skilled in the art need to understand that the terms indicating orientation or positional relationship herein are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0058] The terms used in various embodiments of the present invention are only used for the purpose of describing specific embodiments and are not intended to limit various embodiments of the present invention. As used herein, the singular form is intended to also include the plural form, unless the context clearly indicates otherwise. Unless otherwise limited, all terms used here (including technical terms and scientific terms) have the same meaning as the meaning generally understood by those of ordinary skill in the art to which the various embodiments of the present invention belong. The terms (such as the terms defined in the dictionary generally used) will be interpreted as having the same meaning as the contextual meaning in the relevant technical field and will not be interpreted as having an idealized meaning or an overly formal meaning, unless clearly defined in various embodiments of the present invention.

[0059] Example 1

[0060] This embodiment proposes a method for automatically dispensing drugs, which is used to reasonably plan the dispensing method of drugs, thereby saving the time of dispensing drugs. Figure 1 , the method comprising:

[0061] S100: In response to a dispensing instruction, the drug to be dispensed is determined as a first drug and all acquisition tools corresponding to each first drug are determined as candidate tools, and it is determined whether the currently used acquisition tool is included in the candidate tools.

[0062] It should be noted that the dispensing instruction includes information about the drugs to be dispensed, which may include but is not limited to drug type information, storage location information, and quantity information of the drugs to be dispensed. Any drug to be dispensed corresponds to at least one acquisition tool, and one drug to be dispensed may correspond to multiple acquisition tools, that is, the dispensing device may use any acquisition tool corresponding to the drug to be dispensed to perform the dispensing process of the drug to be dispensed; acquisition tools may include but are not limited to grippers, claws, suction cups, clamps, and magnetic suction parts.

[0063] Preferably, the acquisition tools corresponding to the medicines stored in the same medicine storage container are the same, so that the method proposed in this embodiment can determine the acquisition tool corresponding to the medicine to be distributed through the medicine storage container where the medicine is located; optionally, the medicine storage container may include but is not limited to a medicine box, a medicine box, a medicine bottle, a tray, a sealed bag, and a drawer.

[0064] If the acquisition tool currently in use is included in the candidate tools, step S200 is executed; if the acquisition tool currently in use is not included in the candidate tools, step S300 is executed.

[0065] S200: Determine the currently used acquisition tool as the dispensing tool and update the alternative tool, re-determine the first drug corresponding to the dispensing tool as the second drug, so as to dispense the second drug based on the dispensing tool.

[0066] S300: replacing the currently used acquisition tool based on the acquisition tools and alternative tools corresponding to each first drug, and repeating step S200 until all drugs to be distributed are distributed.

[0067] It should be noted that after the drug dispensing is completed in step S300, the method proposed in this embodiment will mark the last used acquisition tool as a standby tool, so that when responding to the dispensing instruction again, that is, when the method proposed in this embodiment needs to be executed again, the standby tool will be determined as the acquisition tool currently used in step S100.

[0068] Exemplarily, when the drug is a boxed drug, the drug can be stored in a medicine box, and the acquisition tool corresponding to the drug stored in the medicine box includes a suction cup; and when the drug is an injection drug, the drug can be stored in a tray, and the acquisition tool corresponding to the drug stored in the tray includes a gripper. Figure 2 , where alternative tools include grippers and suction cups.

[0069] In practical applications, the same drug storage container may have multiple channels, and each channel may store a type of drug, that is, multiple different drugs may be stored in the same drug storage container;

[0070] When dispensing medicines, if medicine storage container A contains medicine A1 and medicine A2, and medicine storage container B contains medicine B1 and medicine B2, it is possible that medicine storage container A is first adjusted to the dispensing state to dispense medicine A1, and after medicine A1 is dispensed, medicine storage container A is adjusted to the non-dispensing state and medicine storage container B is adjusted to the dispensing state to dispense medicine B1. After medicine B1 is dispensed, medicine storage container B is adjusted to the non-dispensing state and medicine storage container A is adjusted to the dispensing state to dispense medicine A2, resulting in the cross-replacement of medicine storage containers to achieve the dispensing order of A1-B1-A2-B2, which is a waste of time. Please refer to Figure 3 To solve this problem, the “issuing the second drug based on the dispensing tool” in step S200 includes:

[0071] S210: Determine whether there are a plurality of second drugs stored in the same drug storage container.

[0072] If there are multiple second drugs stored in the same drug storage container, execute step S220; if there are no multiple second drugs stored in the same drug storage container, execute step S230.

[0073] S220: Mark the second drugs stored in the same drug storage container as a group of associated drugs.

[0074] S230: Determine a dispensing sequence so that the dispensing tool dispenses the second drug based on the dispensing sequence.

[0075] It should be noted that if there are multiple second drugs stored in the same drug storage container, step S230 will determine the dispensing order based on the second drugs and associated drug groups that are not stored in the same drug storage container; if there are not multiple second drugs stored in the same drug storage container, step S230 will determine the dispensing order based on each second drug.

[0076] Through steps S210 to S230, the method proposed in this embodiment can ensure that the medicines stored in the same medicine storage container can be sorted in sequence in the dispensing order, thereby avoiding the situation where the medicine storage container is replaced back and forth during the dispensing process using the same dispensing tool.

[0077] In a specific embodiment, each drug can be bound with a label to determine the drug information. For example, the label bound to meloxicam tablets can be set to 0-1-5-2, where 0 represents that the meloxicam tablets are stored in the inner medicine slot, 1 and 5 represent that the meloxicam tablets are stored in the drawer in the fifth column of the first layer, and 2 represents that the meloxicam tablets are stored in the second channel of the drawer; the label bound to Lianhua Qingwen capsules is set to 0-1-5-1, where 0, 1 and 5 have the same meaning as the label of meloxicam tablets, and 3 represents that the Lianhua Qingwen capsules are stored in the third channel of the drawer. The method proposed in this embodiment can determine that the meloxicam tablets and Lianhua Qingwen capsules are stored in the same drawer through the first three digits of the label, i.e., 0-1-5.

[0078] Specifically, please refer to Figure 4 The step S300 of “replacing the currently used acquisition tool based on the acquisition tool and the alternative tool corresponding to each first drug” includes:

[0079] S310: Taking each first drug as a path node, and establishing a plurality of paths based on the path nodes based on the alternative tools corresponding to each first drug.

[0080] Specifically, each path has two endpoints, and the first endpoint of each path is consistent and the second endpoint of each path is consistent; the method can also set the first endpoint and the second endpoint of each path to be the same endpoint.

[0081] In this embodiment, the path lengths corresponding to the candidate tools are the same; in another embodiment, the number of path nodes to be passed is proportional. If the path lengths corresponding to the candidate tools are proportional to the number of path nodes to be passed, then when another previous path passes through the path node, the length of the path will be shortened accordingly.

[0082] Furthermore, the method proposed in this embodiment can also adjust the corresponding path lengths based on the replacement time and operation time of the candidate tools corresponding to the paths, that is, the candidate tools that require longer replacement time and operation time correspond to longer paths, and the candidate tools that require shorter replacement time and operation time correspond to shorter paths;

[0083] Exemplarily, if a plurality of medicines corresponding to an alternative tool are stored in the same medicine storage container, the path length corresponding to the alternative tool can be shortened by saving the time required to move the medicine storage container.

[0084] S320: Establishing an optimal total loop that passes through each path node at least once based on each path node and each path.

[0085] Specifically, if the path lengths corresponding to the candidate tools in step S310 are the same, then the optimal total loop determined in step S320 may be a total loop that passes through each path node at least once and contains the least number of paths;

[0086] If the path lengths corresponding to the alternative tools in step S310 are different, and the corresponding path lengths are adjusted accordingly based on the replacement time and operation time of the alternative tools, then the optimal total loop determined in step S320 can be a total loop that passes through each path node at least once and has the shortest length, or a total loop that passes through each path node at least once, has the shortest length and contains the least number of paths.

[0087] It should be noted that step S320 can be used as another form of Hamiltonian problem and traveling salesman problem to establish a total loop. Specifically, the total loop can be established by calculation methods such as greedy algorithm, linear programming algorithm and minimum path covering algorithm.

[0088] S330: sequentially replacing the candidate tools corresponding to the paths included in the optimal total loop with the currently used acquisition tools.

[0089] It should be noted that if the judgment result of step S100 is that the currently used acquisition tool is included in the candidate tools, the method proposed in this embodiment can simultaneously execute steps S310 to S330 when executing step S200 to maximize the saving of calculation time.

[0090] Example 2

[0091] See also Figure 5-Figure 10This embodiment proposes an automatic drug dispensing device, which is used to implement the method proposed in Example 1. The automatic drug dispensing device proposed in this embodiment includes a control device 1, a driving device 2 connected to the control device 1, and a dispensing device 3;

[0092] The dispensing device 3 includes a quick-change disk 31 and a plurality of acquisition tools 32 detachably connected to the quick-change disk 31. The acquisition tools 32 may include but are not limited to grippers, hooks, suction cups, clamps, and magnetic suction parts. One of the quick-change disk 31 and the acquisition tool 32 is movably provided with a first positioning member, and the other of the quick-change disk 31 and the acquisition tool 32 is provided with a first positioning port corresponding to the first positioning member, so as to fix the connection between the acquisition tool 32 and the quick-change disk 31 by placing the first positioning member in the first positioning port, or to release the connection between the acquisition tool 32 and the quick-change disk 31 by disengaging the first positioning member from the first positioning port.

[0093] In a specific embodiment, the first positioning member includes a positioning marble 311 movably disposed on the quick-change disk 31 , and a positioning groove 321 cooperating with the positioning marble 311 is correspondingly disposed at the connection between each acquisition tool 32 and the quick-change disk 31 .

[0094] In this embodiment, the driving device 2 includes a linear driving mechanism 21 and a rotary driving mechanism 22. The linear driving mechanism 21 can drive the dispensing device 3 to perform translational movement and lifting movement, and the rotary driving mechanism can drive the dispensing device 3 to perform rotational movement. The control device 1 will calculate the optimal rotation angle and speed according to the characteristics of the medicine and the dispensing requirements, and achieve precise control through the motor driver.

[0095] Further, the dispensing device 3 further comprises a first pneumatic mechanism 33 controlled by the control device 1, and the quick-change disk 31 is provided with an air port 312 connected to the first pneumatic mechanism 33, so that the first positioning member is placed in the first positioning port or the first positioning member is separated from the first positioning port based on the action of the first pneumatic mechanism 33; optionally, the first pneumatic mechanism 33 may comprise an air bottle and / or an air pump;

[0096] In this embodiment, when the quick-change disk 31 and the acquisition tool 32 need to be connected, the control device 1 controls the first pneumatic mechanism 33 to blow air to adsorb the positioning marble 311 to the positioning groove 321 of the acquisition tool 32, thereby fixing the connection between the quick-change disk 31 and the acquisition tool 32; when the quick-change disk 31 and the acquisition tool 32 need to be contacted and connected, the control device 1 controls the first pneumatic mechanism 33 to suck air to disengage the positioning marble 311 from the positioning groove 321, thereby releasing the connection between the quick-change disk 31 and the acquisition tool 32.

[0097] The acquisition tool 32 can be divided into a connection part 322 for connecting with the quick-change disk 31 and an acquisition part 323 for acquiring drugs. Preferably, a pipeline 324 is provided inside the acquisition tool 32. The dispensing device 3 further includes a second pneumatic mechanism 34 communicated with one side of the pipeline 324 of the acquisition tool 32. The other side of the pipeline 324 is arranged in the acquisition part 323. In this embodiment, the second pneumatic mechanism 34 includes a vacuum pump 341 and a gas release valve 342. The control device 1 is connected to the second pneumatic mechanism 34. When the device proposed in this embodiment grabs drugs through the acquisition tool 32, the vacuum pump 341 in the second pneumatic mechanism 34 is controlled to extract the gas inside the pipeline 324 to reduce the air pressure inside the pipeline 324, so that the grabbing part of the acquisition tool 32 adsorbs the drugs that the acquisition tool 32 needs to grab.

[0098] When the acquisition tool 32 needs to dispense the acquired drugs, the control device 1 will control the gas release valve 342 in the second pneumatic mechanism 34 to open to allow external air to enter the pipeline 324, so that the air pressure inside the pipeline 324 returns to the normal state, and thus the grabbing part of the acquisition tool 32 dispenses the acquired drugs.

[0099] Furthermore, the acquisition tool 32 further includes a first sensor 325 signal-connected to the control device 1. The first sensor 325 is arranged in the acquisition part 323 and is used to acquire the contact information of the acquisition part 323 and transmit corresponding signals to the control device 1, so that the control device 1 can correspondingly control the second pneumatic mechanism 34 based on the signals fed back by the first sensor 325.

[0100] Specifically, the dispensing device 3 further includes a moving mechanism for moving the medicine storage container. A second positioning member 351 is arranged on the upper side of the moving mechanism. The second positioning member 351 cooperates with a second positioning port 411 arranged on the medicine storage container to connect the moving mechanism and the medicine storage container by inserting the second positioning member 351 into the second positioning port 411, so that the moving mechanism can carry and move the medicine storage container, or disconnect the moving mechanism and the medicine storage container by separating the second positioning member 351 from the second positioning port 411; the control device 1 is connected to the moving mechanism to control the movement of the moving mechanism, so that the second positioning port 411 is inserted into or separated from the second positioning port 411; in this embodiment, the medicine storage container can include a drawer 41.

[0101] Further, the mobile mechanism includes a second sensor 352 and a third sensor 353 which are connected to the control device 1 by signal, wherein the second sensor 352 is arranged at the front end of the mobile mechanism, and is used to obtain the contact information of the front end of the mobile mechanism and transmit the corresponding signal to the control device 1, so that the control device 1 determines whether the current moving position of the mobile mechanism reaches the limit position; the third sensor 353 and the second positioning member 351 are arranged on the same side of the mobile mechanism, and are used to obtain the weight carried by the mobile mechanism and transmit the corresponding signal to the control device 1, so that the control device 1 determines the connection state between the mobile mechanism and the medicine storage container;

[0102] Thus, the control device 1 can control the movement of the moving mechanism based on the signals transmitted by the second sensor 352 and the third sensor 353 ; in this embodiment, the moving mechanism includes the fork 35 .

[0103] In summary, the present invention proposes a method and device for automatic drug dispensing. The solution proposed in the present invention can use and update the tools for dispensing drugs according to actual conditions, has strong flexibility, speeds up the time required for the drug dispensing process through automated processes, and avoids errors and omissions that are prone to occur in the manual operation process by reducing manual operations and judgments. Especially in the case of a wide variety of drugs and complex dispensing tools, the accuracy and efficiency of drug dispensing can be more effectively guaranteed.

[0104] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for automatically dispensing medicines, characterized in that: The method comprises: In response to the dispensing instruction, the drug to be dispensed is determined as a first drug and all the acquisition tools corresponding to each of the first drugs are determined as candidate tools, and it is determined whether the currently used acquisition tool is included in the candidate tools; If the currently used acquisition tool is included in the candidate tools, the currently used acquisition tool is determined as the dispensing tool and the candidate tools are updated, and the first drug corresponding to the dispensing tool is re-determined as the second drug, so as to dispense the second drug based on the dispensing tool; Replacing the currently used acquisition tool based on the acquisition tool and the alternative tool corresponding to each first drug, and repeatedly executing the step of "determining the currently used acquisition tool as the dispensing tool and updating the alternative tool" until all drugs to be dispensed are dispensed; If the currently used acquisition tool is not included in the alternative tools, the step of "replacing the currently used acquisition tool based on the acquisition tools and alternative tools corresponding to each first drug" is performed.

2. The automatic drug dispensing method according to claim 1, characterized in that: The “issuing a second drug based on the dispensing tool” includes: determining whether there are a plurality of second drugs stored in the same drug storage container; If there are multiple second drugs stored in the same drug storage container, mark the second drugs stored in the same drug storage container as a group of associated drug groups, and determine a dispensing order based on the second drugs not stored in the same drug storage container and the associated drug groups, so that the dispensing tool dispenses the second drugs based on the dispensing order; If there are not a plurality of second drugs stored in the same drug storage container, a dispensing order is determined based on each of the second drugs, so that the dispensing tool dispenses the second drugs based on the dispensing order.

3. The automatic drug dispensing method according to claim 1, characterized in that: The "replacing the currently used acquisition tool based on the acquisition tool and the alternative tool corresponding to each first drug" includes: Taking each of the first drugs as a path node, and establishing a plurality of paths based on the path nodes based on the alternative tools corresponding to each of the first drugs; each of the paths has two endpoints, and the first endpoints of each of the paths are consistent and the second endpoints are consistent; Based on each of the path nodes and each of the paths, an optimal total loop is established that passes through each of the path nodes at least once; The candidate tools corresponding to the paths included in the optimal total loop are replaced with the currently used acquisition tools in sequence.

4. The automatic drug dispensing method according to claim 3, characterized in that: The "establishing a plurality of paths based on the path nodes based on the alternative tools corresponding to the first drugs" includes: A plurality of paths of the same length are established based on the path nodes based on the candidate tools corresponding to the first drugs; the optimal total loop includes the total loop containing the least number of the paths; Or, based on the alternative tools corresponding to each of the first drugs, several paths are established on the basis of the path nodes, and the lengths of the paths are associated with the number of path nodes that need to be passed, the replacement time of the corresponding alternative tools, and the operation time of the corresponding alternative tools; the optimal total loop includes the total loop with the shortest length, or the total loop with the shortest length and the least number of paths.

5. The automatic drug dispensing method according to claim 1, characterized in that: The method further comprises: After all the drugs to be dispensed are dispensed, the last used acquisition tool is marked as a standby tool, so that when responding to a dispensing instruction again, the standby tool is determined as the currently used acquisition tool.

6. An automatic drug dispensing device, characterized in that: Used to implement the method according to any one of claims 1 to 5, the device comprises a control device and a driving device connected to the control device, and a dispensing device, the driving device comprises a linear driving mechanism and a rotational driving mechanism, and the control device is used to control the translation, lifting and / or rotation of the dispensing device through the driving device; The dispensing device includes a quick-change disk and a plurality of acquisition tools detachably connected to the quick-change disk, one of the quick-change disk and the acquisition tool is movably provided with a first positioning piece, and the other is provided with a first positioning port corresponding to the first positioning piece, so that the first positioning piece can be controlled by the control device to be placed in the first positioning port to fix the connection between the acquisition tool and the quick-change disk; or, the first positioning piece can be controlled by the control device to be detached from the first positioning port to release the connection between the acquisition tool and the quick-change disk.

7. The automatic drug dispensing device according to claim 6, characterized in that: The dispensing device also includes a first pneumatic mechanism controlled by the control device, and the quick-change disk is provided with an air port connected to the first pneumatic mechanism, so that the first positioning member can be placed in the first positioning port or the first positioning member can be detached from the first positioning port based on the action of the first pneumatic mechanism.

8. The automatic medicine dispensing device according to claim 6 or 7, characterized in that: The acquisition tool comprises a connection part connected to the quick-change disk and an acquisition part for acquiring medicines, and the acquisition tool further comprises a first sensor connected to the control device signal, the first sensor is arranged on the acquisition part, and is used to acquire contact information of the acquisition part and transmit a corresponding signal to the control device; The dispensing device also includes a vacuum pump and an air release valve controlled by the control device. A pipeline is opened inside the acquisition tool, one side of the pipeline is connected to the vacuum pump, and the other side is connected to the acquisition part, so that the control device opens the vacuum pump and closes the air release valve based on the signal transmitted by the first sensor, and provides negative pressure to the acquisition part through the pipeline so that the acquisition part can acquire the medicine; or, turns off the vacuum pump and opens the air release valve to eliminate the negative pressure in the pipeline to dispense the medicine acquired by the acquisition part.

9. The automatic drug dispensing device according to claim 6, characterized in that: The dispensing device further comprises a moving mechanism for moving the medicine storage container, wherein a second positioning member matched with a second positioning port provided on the medicine storage container is provided on the upper side of the moving mechanism, and the moving mechanism is controlled by the control device, so that the moving mechanism is moved by the control device and the second positioning member is placed in the second positioning port to connect the moving mechanism with the medicine storage container; or, the moving mechanism is moved by the control device and the second positioning member is disengaged from the second positioning port to release the connection between the moving mechanism and the medicine storage container; The mobile mechanism comprises a second sensor and a third sensor connected to the control device by signal, wherein the second sensor is arranged at the front end of the mobile mechanism, and is used to obtain contact information of the front end of the mobile mechanism and transmit a corresponding signal to the control device; the third sensor and the second positioning member are arranged at the same side of the mobile mechanism, and are used to obtain weight information carried by the mobile mechanism and transmit a corresponding signal to the control device; The control device is used to determine the current moving position of the moving mechanism based on the signal transmitted by the second sensor, and to determine the connection state between the moving mechanism and the medicine storage container based on the third sensor, thereby controlling the movement of the moving mechanism.

10. The automatic medicine dispensing device according to claim 6 or 7, characterized in that: The acquisition tool includes a gripper, a hook, a suction cup, a clamp and / or a magnetic attraction piece.

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