Automatic pharmacy

Abstract

The invention discloses an automatic pharmacy which comprises a medicine storage cabinet, an express delivery cabinet and a bag throwing mechanical arm. A plurality of storage positions for storing boxed medicines are arranged in the medicine storage cabinet, and the express delivery cabinet is divided into a plurality of rows and a plurality of columns of storage bins; the medicine storage cabinet is provided with a packaging machine, and the packaging machine can be used for packaging medicine through self-sealing bags. A manipulator is arranged in the medicine storage cabinet and can receive medicines and put the medicines into the storage positions; the mechanical arm can grab medicine from the storage position, then the medicine is packaged into a package through the packaging machine, the package is conveyed into the bag throwing mechanical arm, and the bag throwing mechanical arm can convey the package into a storage bin in an express cabinet. According to the automatic pharmacy, automatic medicine supplementing, dispensing and packaging can be achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of medicine storage, and in particular to an automated pharmacy. Background Art

[0002] With the continuous advancement of medical technology, automated pharmacies have gradually been widely used in hospitals and have become an indispensable part of the modern medical system. The main functions of automated pharmacies include the warehousing, storage, management and distribution of drugs. The automation of these functions not only improves the efficiency of drug management, but also reduces the occurrence of human errors, thereby improving the overall quality of medical services. Among them, boxed drugs, as a common form of drug packaging, have become the main management object in automated pharmacies because they are easy to store and distribute.

[0003] It is understandable that if automated pharmacies can automate the preparation and distribution of medicines, it will greatly enhance the user experience. Summary of the invention

[0004] In view of this, the main object of the present invention is to provide an automated pharmacy.

[0005] In order to achieve one of the above-mentioned purposes of the invention, an embodiment of the present invention provides a method for image registration for trains, comprising the following steps: an automated pharmacy, comprising: a medicine storage cabinet, an express cabinet and a packaging machine; the medicine storage cabinet is provided with a plurality of storage locations for storing medicines, the medicine storage cabinet can receive medicines, and put the received medicines into the storage locations, and can also grab medicines from the storage locations and deliver them; the express cabinet is divided into storage bins of several rows and columns; the packaging machine can receive medicines from the medicine storage cabinet and pack them into packages, and can deliver the packages into the storage bins.

[0006] As an improvement of an embodiment of the present invention, the medicines include at least: boxed medicines, injections and solvents; and also include: a bag-throwing robot; the “ability to deliver the package into the storage bin” specifically includes: the baler is able to deliver the package into the bag-throwing robot, and the bag-throwing robot is able to receive the package delivered by the medicine storage cabinet and put it into the storage bin; the medicine storage cabinet is provided with a medicine-loading device, and a main body of the medicine-loading device is provided with a plurality of medicine-loading grooves extending vertically, the openings of the medicine-loading grooves face forward, and the tops of the medicine-loading grooves extend upward until they penetrate the main body; a push plate is provided in the medicine-loading groove, and the push plate is perpendicular to the left inner side and the right inner side of the medicine-loading groove in which it is located; in the push plate, the front end is higher than the rear end; a first driving module is also provided in the main body, and the first driving module can drive the push plate to move along the medicine-loading groove in which it is located, and can move to the top of the medicine-loading groove; a conveyor belt is provided at the rear of the main body, and the boxed medicine dropped from the top of the medicine-loading groove can fall to the first end of the conveyor belt.

[0007] As an improvement of the embodiment of the present invention, in the upper medicine groove, the top is inclined backward relative to the bottom.

[0008] As an improvement of an embodiment of the present invention, the upper medicine trough is inclined to the right, and at the top of the upper medicine trough, the bottom surface of the upper medicine trough is provided with a flange inclined backward, and the right side of the flange is lower than the left side; at the top of the upper medicine trough, the left inner side surface and the right inner side surface of the upper medicine trough are extended to the upper right to form a side panel; for each upper medicine trough, a first vertical plate and a second vertical plate are correspondingly arranged above the conveyor belt, and the first and second vertical plates are parallel to each other and symmetrically arranged; the medicine applying device can drive the first and second vertical plates to approach or move away from each other.

[0009] As an improvement on an embodiment of the present invention, the automated pharmacy is further provided with a first control device, and a box-loaded medicine detection device is provided at the first end of the conveyor belt, and the conveyor belt includes a first end and a second end that are relatively arranged; the first vertical plate is located on the right side of the second vertical plate; when the first control device receives a medicine-loading instruction, it controls the first vertical plate to be located on the right side of the right inner side surface of the corresponding medicine-loading groove, and controls the second vertical plate to be located on the left side of the left inner side surface of the corresponding medicine-loading groove; thereafter, it controls the first driving module to drive the push plate to move along the medicine-loading groove where it is located until it moves to the top of the medicine-loading groove; when the first control device determines that the box-loaded medicine detection device detects the box-loaded medicine, it controls the first and second vertical plates to approach each other until the first and second vertical plates both abut against the box-loaded medicine, and thereafter, it controls the first and second vertical plates to move away from each other until the first vertical plate is located on the right side of the right inner side surface of the corresponding medicine-loading groove, and the second vertical plate is located on the left side of the left inner side surface of the corresponding medicine-loading groove; thereafter, it controls the conveyor belt to transport the box-loaded medicine at the first end to the second end.

[0010] As an improvement of the embodiment of the present invention, a preparation outlet and a manual input port are further provided on the outer side of the medicine storage cabinet.

[0011] As an improvement of an embodiment of the present invention, a cabinet is divided into storage bins in several rows and columns, each storage bin has an opening on the left surface of the cabinet, and a door body is provided at each opening, the door body is used to open and close the corresponding storage bin, and a first through hole is provided on the right inner side surface of each storage bin; an inclined plate is provided in each storage bin, the inclined plate is placed in the left and right directions, and passes through the first through hole in the storage bin where it is located, and the right end is higher than the left end; the bag throwing robot is provided on the right side of the cabinet, and the bag throwing robot includes: a second driving device and a medicine dispensing box, the second driving device can drive the medicine dispensing box to move to the right side of any storage bin; the medicine dispensing box can put the medicine therein into the upper surface of the right end portion of the inclined plate in the storage bin on its left, and finally slide into the storage bin.

[0012] As an improvement to the embodiment of the present invention, a third through hole is provided on the inclined plate.

[0013] As an improvement to an embodiment of the present invention, the second driving device includes: a first horizontal slide rail and a second horizontal slide rail, the second horizontal slide rail is located directly above the first horizontal slide rail, and the first and second horizontal slide rails are parallel to each other; a vertical slide rail is arranged between the first and second horizontal slide rails, the vertical slide rail can slide horizontally along the first and second horizontal slide rails, and the medicine dispensing box can slide up and down along the vertical slide rail; the medicine dispensing box includes: a box body with an opening facing upward, a first motor and a second motor, the box body is surrounded by a left vertical plate, a rear vertical plate, a right vertical plate, a front vertical plate and a bottom plate, and the internal space has an upward opening, the left vertical plate of the box body can slide up and down, and the right vertical plate can move left and right in the internal space; the first motor can drive the right vertical plate to move left and right, and the second motor can drive the left vertical plate to slide up and down.

[0014] As an improvement to an embodiment of the present invention, the right vertical plate of the box body is provided with a second through hole, and a fan is provided on the right side surface of the box body, and the fan can generate wind from right to left; a partition plate is provided on the left surface of the right vertical plate of the box body, and each partition plate extends to the left.

[0015] As an improvement of an embodiment of the present invention, the automated pharmacy is further provided with a second control device; the second control device is also used for: when receiving a medicine picking task, obtaining a target storage bin, controlling the medicine storage cabinet to send out all medicines corresponding to the medicine picking task, controlling the packaging machine to receive all medicines from the medicine storage cabinet and pack them into packages, and delivering the packages into the bag-feeding robot, and then controlling the second driving device to drive the medicine dispensing box to move to the right side of the target storage bin and align with the first through hole of the target storage bin; then, controlling the second motor to drive the left vertical plate to slide downward until the left vertical plate is located below the box body, and controlling the first motor to drive the right vertical plate to move to the left, and controlling the fan to generate wind from right to left.

[0016] As an improvement of an embodiment of the present invention, the baler includes: a frame, on which a winding roller, a tensioning device, a bag-stretching mechanism and a roll cutting mechanism are arranged; the winding roller is used to wind the ziplock bag roll, and the tensioning device is used to tighten the ziplock bag roll extending from the winding roller; the bag-stretching mechanism can stretch open the bag opening of the ziplock bag roll extending from the tensioning device; the roll cutting mechanism can cut the ziplock bag roll extending from the bag-stretching mechanism.

[0017] As an improvement to an embodiment of the present invention, the bag-supporting mechanism includes: a horizontal rod and a vertical rod, the horizontal rod extends in the front-to-back direction, and the top end of the vertical rod is fixedly connected to the front end of the horizontal rod; a third vertical plate and a fourth vertical plate are arranged below the horizontal rod, the third and fourth vertical plates are symmetrically and parallelly arranged in the left direction, and the third and fourth vertical plates can move away from or approach each other; two rotating wheels distributed in the left-to-right direction are arranged below the third and fourth vertical plates, the rotating shafts of the two rotating wheels both extend in the front-to-back direction, and the outer side surfaces of the two rotating wheels abut against each other.

[0018] As an improvement to the embodiment of the present invention, both rotating wheels are made of elastic material.

[0019] As an improvement to an embodiment of the present invention, an annular groove is provided on the outer side surface of the rotating wheel, the annular groove surrounds the outer side surface of the rotating wheel, and the annular grooves on the two rotating wheels are symmetrically distributed along the left-right direction.

[0020] As an improvement of the embodiment of the present invention, the bag-supporting mechanism includes: an inflation device, which is located below the horizontal rod and behind the vertical rod.

[0021] As an improvement of an embodiment of the present invention, the tape cutting mechanism includes: a driving device, a first cutting module and a second cutting module distributed along the left and right directions, the driving device can drive the first and second cutting modules to approach or move away from each other, and the first and second cutting modules can abut against each other; the first cutting module is provided with a heating unit on the side facing the second cutting module, and the second cutting module is provided with a blade on the side facing the first cutting module, and the blade edge faces the first cutting module.

[0022] Compared with the prior art, the technical effect of the present invention is as follows: the embodiment of the present invention discloses an automated pharmacy, including: a medicine storage cabinet, a courier cabinet and a bag-dropping manipulator; the medicine storage cabinet is provided with a plurality of storage locations for storing boxed medicines, the medicine storage cabinet can receive medicines, and put the received boxed medicines into the storage locations, and can also grab the boxed medicines from the storage locations and send them out; the courier cabinet is divided into storage bins of several rows and columns, and the bag-dropping manipulator can receive the boxed medicines sent out by the medicine storage cabinet and put them into the storage bins. The automated pharmacy can thus realize automated drug entry and distribution. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1A and Figure 1B A structural diagram of an automated pharmacy provided by an embodiment of the present invention;

[0024] Figure 2 and Figure 3 A structural diagram of a medicine feeding device provided in an embodiment of the present invention;

[0025] Figure 4 A structural diagram of a courier cabinet provided in an embodiment of the present invention;

[0026] Figure 5 A structural diagram of a bag throwing robot provided in an embodiment of the present invention;

[0027] Figure 6 , Figure 7 and Figure 8 A structural diagram of a medicine dispensing box provided by an embodiment of the present invention;

[0028] Fig. 9 A structural diagram of a drug packaging device provided by an embodiment of the present invention;

[0029] Fig.10 and Fig.11 A structural diagram of a bag-supporting mechanism provided in an embodiment of the present invention;

[0030] Fig.12 for Fig.11 Magnified view of area A in the middle. DETAILED DESCRIPTION

[0031] The present invention will be described in detail below in conjunction with the embodiments shown in the accompanying drawings. However, the embodiments do not limit the present invention, and any structural, methodological, or functional changes made by a person skilled in the art based on the embodiments are all within the protection scope of the present invention.

[0032] The following description and accompanying drawings fully illustrate the specific embodiments of this article so that those skilled in the art can practice them. Parts and features of some embodiments may be included in or replace parts and features of other embodiments. The scope of the embodiments of this article includes the entire scope of the claims, as well as all available equivalents of the claims. Herein, the terms "first", "second", etc. are only used to distinguish one element from another, without requiring or implying any actual relationship or order between these elements. In fact, the first element can also be called the second element, and vice versa. Moreover, the terms "include", "comprise" or any other variant thereof are intended to cover non-exclusive inclusion, so that the structure, device or equipment including a series of elements includes not only those elements, but also other elements that are not explicitly listed, or also include elements inherent to such structure, device or equipment. In the absence of more restrictions, the elements defined by the sentence "including one..." do not exclude the existence of other identical elements in the structure, device or equipment including the elements. Each embodiment is described in a progressive manner herein, and each embodiment focuses on the differences from other embodiments, and the same and similar parts between the embodiments can be referred to each other.

[0033] The terms "longitudinal", "lateral", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc. in this document indicate the orientation or position relationship based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing this document and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In the description of this document, unless otherwise specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a mechanical connection or an electrical connection, it can also be the internal communication of two elements, it can be a direct connection, or it can be indirectly connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0034] The embodiment of the present invention provides an automated pharmacy, such as Figure 1A and Figure 1B As shown, including:

[0035] A medicine storage cabinet 1, an express cabinet 3 and a packaging machine 4; the medicine storage cabinet 1 is provided with a plurality of storage locations for storing medicines, the medicine storage cabinet 1 can receive medicines, and put the received medicines into the storage locations, and can also grab medicines from the storage locations and deliver them; the express cabinet 3 is divided into storage bins 31 of several rows and columns; the packaging machine 4 can receive medicines from the medicine storage cabinet 1 and pack them into packages, and can deliver the packages into the storage bins 31.

[0036] Here, a manipulator is provided in the medicine storage cabinet 1. After receiving medicines (e.g., boxed medicines, injections, and solvents, etc.), the manipulator will grab these medicines and put them into the storage position; when the automated pharmacy receives a prescription, the manipulator will grab the corresponding medicines and then send them to the packing machine 4. The packing machine 4 packs these medicines and obtains a package. A conveyor belt is provided below the packing machine. The conveyor belt can transport the package to the express cabinet 3. Then, the package is placed in a storage bin 31. Then, the user can take the package from the storage bin 31. Thus, automated medication and distribution of medicines can be realized.

[0037] In this embodiment, Figure 1A , Figure 1B , Figure 2 and Figure 3 As shown, the medicines at least include: boxed medicines, injections and solvents; and also include: a bag-throwing robot 5; the “ability to deliver the package into the storage bin 31” specifically includes: the baler 4 is able to deliver the package into the bag-throwing robot 5, and the bag-throwing robot 5 is able to receive the package delivered by the medicine storage cabinet 1 and put it into the storage bin 31; the medicine storage cabinet 1 is provided with a medicine feeding device 2, and a plurality of medicine feeding grooves 21 extending vertically are provided on the main body of the medicine feeding device 2, the opening of the medicine feeding groove 21 faces forward, and the top of the medicine feeding groove 21 extends upward until it penetrates Passing through the main body; a push plate 211 is arranged in the upper medicine groove 21, and the push plate 211 is perpendicular to the left inner side surface and the right inner side surface of the upper medicine groove 21; in the push plate 21, the front end portion is higher than the rear end portion; a first driving module is also arranged in the main body, and the first driving module can drive the push plate 211 to move along the upper medicine groove 21, and can move to the top of the upper medicine groove 21; a conveyor belt 23 is arranged at the rear of the main body, and the boxed medicine dropped from the top of the upper medicine groove 21 can fall to the first end portion of the conveyor belt 23.

[0038] Here, if Figure 2 and Figure 3As shown, the main body can be a frame, and the upper medicine trough 21 is arranged in the frame. A baffle 213 is arranged at the bottom of the upper medicine trough 21, but the top extends upward until it passes through the main body, that is, there is no baffle at the top. Since the front end of the push plate 211 is higher than the rear end, when a box of medicine is placed on the push plate 211, when the push plate 211 moves upward, the box of medicine will eventually fall from the top of the upper medicine trough 21 to the rear of the upper medicine trough 21, and finally fall to the first end of the conveyor belt 23.

[0039] Here, if Figure 2 and Figure 3 As shown, the conveyor belt 23 is arranged along the front-to-back direction, that is, it is provided with a first end and a second end, wherein the first end faces forward and the second end faces backward, and the conveyor belt 23 can convey the box-loaded medicine between the first and second ends.

[0040] In practice, the medicine loading device 2 can be used as a part of an automated pharmacy or medicine cabinet, and is used to store boxed medicines in the automated pharmacy or medicine cabinet. The automated pharmacy or medicine cabinet is provided with a medicine storage module for storing boxed medicines and a boxed medicine grabbing module (e.g., a manipulator, etc.) for grabbing boxed medicines. When boxed medicines need to be stored in the automated pharmacy or medicine cabinet, the boxed medicines can be arranged in a pile, and then the pile of boxed medicines can be placed on the upper surface of the push plate 211, and then driven upward by the first driving module, and finally the boxed medicines will fall from the top of the medicine loading slot 21 and fall to the first end of the conveyor belt 23, and the conveyor belt 23 will convey the boxed medicines to the second end, and finally, the boxed medicine grabbing module grabs the boxed medicines from the second end and puts them into the medicine storage module.

[0041] In addition, a medicine box detection module (for example, a laser detection module, etc.) may be provided at the second end. When the medicine box detection module detects the boxed medicine, the conveyor belt 23 is controlled to stop rotating, and then the boxed medicine grabbing module is controlled to grab the boxed medicine from the second end. In addition, information such as the type and quantity of the boxed medicine deposited may be input into the automated pharmacy or medicine cabinet in advance, or a barcode scanning device may be provided in the boxed medicine grabbing module to obtain the information. In summary, the user only needs to arrange the boxed medicine into a pile, and then place the pile of boxed medicine into the upper surface of the push plate 211, and the medicine applying device 2 can automatically apply the medicine.

[0042] In this embodiment, Figure 2 As shown, in the upper medicine groove 21, the top is inclined backward relative to the bottom.

[0043] Since the top of the medicine upper groove 21 is tilted backward relative to the bottom, when the boxed medicine is at the top of the medicine upper groove 21, the boxed medicine will slide backward more easily, and then fall from the top of the medicine upper groove 21, and finally fall to the first end of the conveyor belt 23.

[0044] In this embodiment, Figure 2 and Figure 3 As shown, the upper medicine trough 21 is inclined to the right, and at the top of the upper medicine trough 21, the bottom surface of the upper medicine trough 21 is provided with a flange 214 inclined backward, and the right side of the flange 214 is lower than the left side; at the top of the upper medicine trough 21, the left inner side surface and the right inner side surface of the upper medicine trough 21 are extended to the upper right to form a side plate 215; for each upper medicine trough 21, a first vertical plate 231 and a second vertical plate 232 are correspondingly provided above the conveyor belt 23, and the first and second vertical plates are parallel to each other and symmetrically arranged; the medicine applying device 2 can drive the first and second vertical plates to approach or move away from each other.

[0045] Here, if Figure 4 As shown, since the upper medicine groove 21 is inclined to the right, the medicine in the upper medicine groove 21 will abut against the right inner side surface of the upper medicine groove 21. Since the right side of the flange 214 is lower than the left side, the boxed medicine will fall onto the conveyor belt 23 more neatly.

[0046] When in use, the first and second vertical plates can be kept away from each other, and the boxed medicine dropped from the top of the upper medicine groove 21 can be located between the first and second vertical plates. At this time, the first and second vertical plates can be made close to each other, so that the boxed medicine can be sorted and arranged in a row, which is conducive to the grabbing of the boxed medicine grabbing module.

[0047] In this embodiment, the automated pharmacy is further provided with a first control device, and a box-loaded medicine detection device is provided at the first end of the conveyor belt 23, and the conveyor belt 23 includes a first end and a second end that are arranged opposite to each other; the first vertical plate 231 is located on the right side of the second vertical plate 232; when the first control device receives a medicine loading instruction, it controls the first vertical plate 231 to be located on the right side of the right inner side surface of the corresponding medicine loading groove 21, and controls the second vertical plate 232 to be located on the left side of the left inner side surface of the corresponding medicine loading groove 21; thereafter, the first driving module is controlled to drive the push plate 211 Move along the upper medicine groove 21 until it moves to the top of the upper medicine groove 21; when the first control device determines that the boxed medicine detection device detects the boxed medicine, it controls the first and second vertical plates to approach each other until the first and second vertical plates are both against the boxed medicine, and then controls the first and second vertical plates to move away from each other until the first vertical plate 231 is located on the right side of the right inner side surface of the corresponding upper medicine groove 21, and the second vertical plate 232 is located on the left side of the left inner side surface of the corresponding upper medicine groove 21; then, control the conveyor belt 23 to transport the boxed medicine at the first end to the second end.

[0048] Here, a robot is provided in the medicine storage cabinet 1, and the robot can grab the boxed medicine from the second end of the conveyor belt 23, and then put it into the storage position; thereafter, the robot can grab the medicine from the storage position, and then pack it into a package through a packaging machine, and send the package to the bag throwing robot, and the bag throwing robot can send the package into the storage bin in the express cabinet.

[0049] In this embodiment, a preparation outlet 6 and a manual input port 7 are further provided on the outer side of the medicine storage cabinet 1 .

[0050] In addition, if Figure 1A and Figure 1B As shown, a preparation outlet 6 and a manual input port 7 are also provided on the outer side of the medicine storage cabinet 1; when the amount of medicine to be dispensed is very small, the medicine can be manually prepared through the preparation outlet 6; when the medicine is some special-shaped medicine (for example, some injections and solvents, etc.), the medicine can be manually input through the manual input port 7.

[0051] In this embodiment, Figure 2 and Figure 3 As shown, a cabinet is divided into several rows and columns of storage bins 31, each storage bin 31 has an opening on the left surface of the cabinet, and a door body 311 is arranged at each opening, and the door body 311 is used to open and close the corresponding storage bin 31, and a first through hole 313 is arranged on the right inner side surface of each storage bin 31; an inclined plate 312 is arranged in each storage bin 31, and the inclined plate 312 is placed along the left and right directions and passes through the first through hole 313 in the storage bin 31, and the right end is higher than the left end; the bag throwing robot 5 is arranged on the right side of the cabinet, and the bag throwing robot 5 includes: a second driving device 53 and a medicine dispensing box 52, the second driving device 53 can drive the medicine dispensing box 52 to move to the right side of any storage bin 31; the medicine dispensing box 52 can put the medicine therein into the upper surface of the right end of the inclined plate 312 in the storage bin 31 located on its left, and finally slide into the storage bin 31.

[0052] In practice, the express cabinet can be used as a part of an automated pharmacy or medicine cabinet for automatically distributing boxed medicines, in which a medicine storage device for storing medicines, a medicine grabbing device for grabbing boxed medicines, and a packaging device for packaging the grabbed boxed medicines are provided. When boxed medicines need to be distributed through the express cabinet, the medicine grabbing device will first grab the corresponding boxed medicines from the medicine storage device, and then the packaging device will package the grabbed boxed medicines and obtain a package, and then the package will be sent to the medicine distribution box 52, and then the second drive device 53 will be controlled to transport the medicine distribution box 52 to the right of an empty storage bin 31, and then the package will be placed in the storage bin 31 through the first through hole 313.

[0053] In the express cabinet, an identity authentication system is provided, and each storage bin 31 is provided with a door lock capable of opening and closing the door body 311. Only when the user enters an identity identification code (for example, a number of preset length, etc.) and passes the authentication of the identity authentication system, the door lock in a storage bin 31 is controlled to open the corresponding door body 311, and then it is used to take out the boxed medicine from the storage bin 31, and then close the door body 311.

[0054] In this embodiment, Figure 4 As shown, the inclined plate 312 is provided with a third through hole 3121 .

[0055] In this embodiment, Figure 5 , Figure 6 and Figure 7 As shown, the second driving device 53 includes: a first horizontal slide rail 531 and a second horizontal slide rail 532, the second horizontal slide rail 532 is located directly above the first horizontal slide rail 531, and the first and second horizontal slide rails are parallel to each other; a vertical slide rail 533 is arranged between the first and second horizontal slide rails, and the vertical slide rail 533 can slide horizontally along the first and second horizontal slide rails, and the medicine dispensing box 52 can slide up and down along the vertical slide rail 533; the medicine dispensing box 52 includes: a box body 521 with an opening facing upward, a first motor 5217 and the second motor 5218, the box body 521 is surrounded by a left vertical plate 5211, a rear vertical plate 5212, a right vertical plate 5213, a front vertical plate 5214 and a bottom plate, and the internal space has an upward opening, the left vertical plate 5211 of the box body 521 can slide in the up and down directions, and the right vertical plate 5213 can move in the left and right directions in the internal space; the first motor 5217 can drive the right vertical plate 5213 to move in the left and right directions, and the second motor 5218 can drive the left vertical plate 5211 to slide in the up and down directions.

[0056] Here, in actual use, the boxed medicines are usually packed into packages, and then placed into the internal space. Then, the medicine distribution box 52 is facing the corresponding storage bin, and then the left vertical plate 5211 is driven to move downward, and then the right vertical plate 5213 is driven to move to the left. Finally, the medicine distribution box 52 pushes the package out of the internal space, and the package falls into the storage bin, thereby completing the distribution of the boxed medicines.

[0057] In this embodiment, Figure 6 , Figure 7 and Figure 8As shown, the right vertical plate 5213 of the box body 521 is provided with a second through hole 525, and a fan 5215 is provided on the right side surface of the box body 521, and the fan 5215 can generate wind from right to left; the left surface of the right vertical plate 5213 of the box body 521 is provided with a partition plate 5216, and each partition plate 5216 extends to the left.

[0058] The package is usually packed in a plastic bag, and a low-pressure area is easily formed between the package and the right vertical plate 5213, which may "stick" to the right vertical plate 5213. Therefore, the fan 5215 can prevent a low-pressure area from being formed between the package and the right vertical plate 5213.

[0059] In this embodiment, Figure 2 As shown, a partition plate 5216 is provided on the left surface of the right vertical plate 5213 of the box body 521, and each partition plate 5216 extends to the left. The package is usually packed in a plastic bag. If there is no partition plate 5216, a low-pressure area is easily formed between the package and the right vertical plate 5213, and the package may be "stuck" to the right vertical plate 5213.

[0060] In this embodiment, the automated pharmacy is also provided with a second control device; the second control device is also used for: when receiving a medicine picking task, obtaining a target storage bin, controlling the medicine storage cabinet 1 to send out all medicines corresponding to the medicine picking task, controlling the packaging machine 4 to receive all medicines from the medicine storage cabinet 1 and pack them into packages, and sending the packages into the bag-feeding robot 5, and then controlling the second driving device 53 to drive the medicine dispensing box 52 to move to the right side of the target storage bin and align with the first through hole 313 of the target storage bin; then, controlling the second motor 5218 to drive the left vertical plate 5211 to slide downward until the left vertical plate 5211 is located below the box body 521, and controlling the first motor 5217 to drive the right vertical plate 5213 to move to the left, and controlling the fan 5215 to generate wind from right to left.

[0061] The automated pharmacy is also provided with a label printing device for printing information of boxed medicines.

[0062] In this embodiment, Fig. 9 As shown, the packaging machine 4 includes:

[0063] A frame, on which a winding roller 411, a tensioning device, a bag-supporting mechanism 42 and a web cutting mechanism 43 are arranged;

[0064] The winding roller 411 is used to wind the ziplock bag roll, and the tightening device is used to tighten the ziplock bag roll extending from the winding roller 411;

[0065] The bag-opening mechanism 42 is capable of opening the bag opening of the ziplock bag roll extending from the tightening device;

[0066] The web cutting mechanism 43 can cut the ziplock bag web extending from the bag-opening mechanism 42 .

[0067] Here, if Fig. 9 As shown, the tensioning device includes six tensioning rollers 412, and the six tensioning rollers 412 are all located above the winding roller 411, wherein the six tensioning rollers 412 are divided into two groups, wherein the first group includes four tensioning rollers 412, and the second group includes two tensioning rollers 412, the first group is located above the second group, and a slide rail 413 extending in the up and down direction is provided on the frame, and one of the tensioning rollers 412 in the second group can slide in the up and down direction along the slide rail 413, and the tensioning roller 412 can move downward along the slide rail 413 under the action of its own gravity, so that the ziplock bag roll can be tightened.

[0068] The four tensioning rollers 412 in the first group are arranged in a row in the left-right direction, and a roller is provided corresponding to the leftmost and rightmost tensioning rollers 412. The outer side surface of the roller abuts against the outer side surface of the tensioning roller 412, thereby preventing the tensioning roller 412 from rotating too fast. In addition, the roller can move in the left-right direction, thereby adjusting the degree of extrusion between the roller and the corresponding tensioning roller 412.

[0069] In this embodiment, the bag-supporting mechanism 42 includes: a horizontal rod 4211 and a vertical rod 4212, wherein the horizontal rod 4211 extends in the front-to-back direction, and the top end of the vertical rod 4212 is fixedly connected to the front end of the horizontal rod 4211;

[0070] A third vertical plate 4221 and a fourth vertical plate 4222 are disposed below the horizontal rod 4211. The third and fourth vertical plates are symmetrically and parallelly disposed in the left direction. The third and fourth vertical plates can be moved away from or close to each other.

[0071] Two rotating wheels 423 distributed along the left-right direction are arranged below the third and fourth vertical plates. The rotating shafts 4232 of the two rotating wheels 423 extend along the front-back direction, and the outer side surfaces of the two rotating wheels 423 abut against each other.

[0072] Here, if Fig.10 and Fig.11As shown, the third vertical plate 4221 is located on the right side, and the fourth vertical plate 4222 is located on the left side; a first cylinder 4281 is arranged on the right side of the third vertical plate 4221, and the first cylinder 4281 can drive the third vertical plate 4221 to move in the left and right directions; a second cylinder 4282 is arranged on the left side of the fourth vertical plate 4222, and the second cylinder 4282 can drive the fourth vertical plate 4222 to move in the left and right directions; therefore, under the drive of the first and second cylinders, the third and fourth vertical plates can move away from or close to each other.

[0073] Here, when in use, the third and fourth vertical plates are first moved closer to each other, then the mouth of the ziplock bag roll needs to be opened, the horizontal rod 4211, the vertical rod 4212, the third vertical plate 4221 and the fourth vertical plate 4222 are all placed in the bag body, and then the bag mouth is placed between the two rotating wheels 423. It can be understood that when it is necessary to package medicines, the third and fourth vertical plates can be controlled to move away from each other, thereby opening the mouth of the ziplock bag roll, and then the medicines are placed in the bag body of the ziplock bag, and then the ziplock bag roll will move downward, and under the pressure of the two rotating wheels 423, the sealing strip of the ziplock bag will be locked, and there will be medicines in the ziplock bag.

[0074] In this embodiment, the two rotating wheels 423 are both made of elastic material.

[0075] In this embodiment, the outer side surface of the rotating wheel 423 is provided with an annular groove 4231, the annular groove 4231 surrounds the outer side surface of the rotating wheel 423, and the annular grooves 4231 on the two rotating wheels 423 are symmetrically distributed along the left and right directions. Here, it can be understood that a sealing strip is provided at the bag opening of the ziplock bag, so the annular groove 4231 can accommodate the sealing strip. In actual use, the size of the annular groove 4231 can be designed according to actual needs, so that the sealing strip can be accommodated and locked.

[0076] Here, the packaging device can be composed of a frame, such as Fig.11 and Fig.12 As shown, a bottom plate 425 may be provided on the frame, and then, a left-right symmetrically distributed rotating shaft 4232 may be provided on the bottom plate 425, and two rotating wheels 423 may respectively rotate around a rotating shaft 4232.

[0077] In this embodiment, the bag-supporting mechanism 42 includes: an inflating device 427, which is located below the horizontal rod 4211 and behind the vertical rod 4212. Here, the inflating device 427 is located inside the uncut ziplock bag. When in use, the inflating device 427 blows out gas to expand the ziplock bag, making it easier to put medicine into the ziplock bag.

[0078] In this embodiment, the tape cutting mechanism 43 includes: a driving device, a first cutting module 431 and a second cutting module 432 distributed along the left and right directions, the driving device can drive the first and second cutting modules to approach or move away from each other, and the first and second cutting modules can abut against each other; the first cutting module 431 is provided with a heating unit 4311 on the side facing the second cutting module 432, and the second cutting module 432 is provided with a blade 4321 on the side facing the first cutting module 431, and the blade edge of the blade faces the first cutting module 431.

[0079] Here, when in use, the first and second cutting modules are controlled to be close to each other, the heating unit 4311 in the first cutting module 431 can glue the ziplock bags together, and the blade 4321 can cut the ziplock bags.

[0080] It should be understood that although this specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each implementation mode may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

[0081] The series of detailed descriptions listed above are only specific descriptions of feasible implementation methods of the present invention. They are not intended to limit the scope of protection of the present invention. Any equivalent implementation methods or changes that do not deviate from the technical spirit of the present invention should be included in the scope of protection of the present invention.

Claims

1. An automated pharmacy, characterized in that: include: Medicine storage cabinet (1), express cabinet (3) and packaging machine (4); The medicine storage cabinet (1) is provided with a plurality of storage locations for storing medicines. The medicine storage cabinet (1) is capable of receiving medicines and placing the received medicines into the storage locations, and is also capable of grabbing medicines from the storage locations and delivering them. The express cabinet (3) is divided into a plurality of storage bins (31) in a plurality of rows and columns; The packaging machine (4) is capable of receiving medicines from the medicine storage cabinet (1) and packaging them into packages, and is capable of sending the packages into a storage bin (31).

2. The automated pharmacy according to claim 1, characterized in that: The medicine at least includes: boxed medicine, injection and solvent; Also includes: a bag throwing manipulator (5); The “ability to deliver the parcel into the storage bin (31)” specifically includes: the baler (4) is capable of delivering the parcel into the bag-delivering robot (5), and the bag-delivering robot (5) is capable of receiving the parcel delivered by the medicine storage cabinet (1) and placing it into the storage bin (31); The medicine storage cabinet (1) is provided with a medicine feeding device (2), and a main body of the medicine feeding device (2) is provided with a plurality of medicine feeding grooves (21) extending vertically, the openings of the medicine feeding grooves (21) face forward, and the tops of the medicine feeding grooves (21) extend upward until they penetrate the main body; a push plate (211) is provided in the medicine feeding groove (21), and the push plate (211) is perpendicular to the left inner side surface and the right inner side surface of the medicine feeding groove (21) in which it is located; the front end of the push plate (211) is higher than the rear end; a first driving module is also provided in the main body, and the first driving module can drive the push plate (211) to move along the medicine feeding groove (21) in which it is located, and can move to the top of the medicine feeding groove (21); A conveyor belt (23) is arranged at the rear of the main body, and the boxed medicine dropped from the top of the medicine upper groove (21) can fall onto the first end of the conveyor belt (23).

3. The automated pharmacy according to claim 2, characterized in that: In the upper medicine groove (21), the top is inclined backward relative to the bottom.

4. The automated pharmacy according to claim 2, characterized in that: The upper medicine groove (21) is inclined to the right, and at the top of the upper medicine groove (21), the bottom surface of the upper medicine groove (21) is provided with a flange (214) inclined backward, and the right side of the flange (214) is lower than the left side; At the top of the upper medicine groove (21), the left inner side surface and the right inner side surface of the upper medicine groove (21) both extend upward to the right to form a side plate (215); For each medicine loading trough (21), a first vertical plate (231) and a second vertical plate (232) are correspondingly arranged above the conveyor belt (23), and the first and second vertical plates are parallel to each other and symmetrically arranged; The medicine feeding device (2) is capable of driving the first and second vertical plates to move closer to or farther from each other.

5. The automated pharmacy according to claim 4, characterized in that: The automated pharmacy is also provided with a first control device, and a boxed medicine detection device is provided at the first end of the conveyor belt (23), wherein the conveyor belt (23) comprises a first end and a second end which are arranged opposite to each other; The first vertical plate (231) is located on the right side of the second vertical plate (232); When receiving a medicine application instruction, the first control device controls the first vertical plate (231) to be located on the right side of the right inner side surface of the corresponding medicine application groove (21), and controls the second vertical plate (232) to be located on the left side of the left inner side surface of the corresponding medicine application groove (21); thereafter, the first driving module is controlled to drive the push plate (211) to move along the medicine application groove (21) where it is located until it moves to the top of the medicine application groove (21); When the first control device determines that the boxed medicine detection device detects the boxed medicine, it controls the first and second vertical plates to approach each other until the first and second vertical plates are both against the boxed medicine, and then controls the first and second vertical plates to move away from each other until the first vertical plate (231) is located on the right side of the right inner side surface of the corresponding upper medicine groove (21), and the second vertical plate (232) is located on the left side of the left inner side surface of the corresponding upper medicine groove (21); then, the conveyor belt (23) is controlled to transport the boxed medicine at the first end to the second end.

6. The automated pharmacy according to claim 1, characterized in that: A preparation outlet (6) and a manual input port (7) are also provided on the outside of the medicine storage cabinet (1).

7. The automated pharmacy according to claim 2, characterized in that: A cabinet body, the cabinet body being divided into a plurality of rows and columns of storage bins (31), each storage bin (31) having an opening on a left surface of the cabinet body, a door body (311) being provided at each opening, the door body (311) being used to open and close the corresponding storage bin (31), and a first through hole (313) being provided on the right inner side surface of each storage bin (31); An inclined plate (312) is provided in each storage bin (31), the inclined plate (312) is placed in the left-right direction and passes through the first through hole (313) in the storage bin (31) where it is located, and the right end portion is higher than the left end portion; The bag throwing robot (5) is arranged on the right side of the cabinet, and the bag throwing robot (5) comprises: a second driving device (53) and a medicine dispensing box (52), wherein the second driving device (53) can drive the medicine dispensing box (52) to move to the right side of any storage bin (31); the medicine dispensing box (52) can put the medicine therein into the upper surface of the right end portion of the inclined plate (312) in the storage bin (31) located to its left, and finally slide into the storage bin (31).

8. The automated pharmacy according to claim 7, characterized in that: The inclined plate (312) is provided with a third through hole (3121).

9. The automated pharmacy according to claim 8, characterized in that: The second driving device (53) comprises: a first horizontal slide rail (531) and a second horizontal slide rail (532), wherein the second horizontal slide rail (532) is located directly above the first horizontal slide rail (531), and the first and second horizontal slide rails are parallel to each other; A vertical slide rail (533) is provided between the first and second horizontal slide rails, and the vertical slide rail (533) can slide horizontally along the first and second horizontal slide rails, and the medicine dispensing box (52) can slide up and down along the vertical slide rail (533); The medicine dispensing box (52) comprises: a box body (521) with an opening facing upward, a first motor (5217) and a second motor (5218); the box body (521) is surrounded by a left vertical plate (5211), a rear vertical plate (5212), a right vertical plate (5213), a front vertical plate (5214) and a bottom plate, and the internal space has an opening facing upward; the left vertical plate (5211) of the box body (521) can slide in the up-down direction, and the right vertical plate (5213) can move in the left-right direction in the internal space; The first motor (5217) can drive the right vertical plate (5213) to move in the left and right directions, and the second motor (5218) can drive the left vertical plate (5211) to slide in the up and down directions.

10. The automated pharmacy according to claim 9, characterized in that: The right vertical plate (5213) of the box body (521) is provided with a second through hole (525), and a fan (5215) is provided on the right side of the box body (521), and the fan (5215) can generate wind from right to left; A partition plate (5216) is provided on the left surface of the right vertical plate (5213) of the box body (521), and each partition plate (5216) extends to the left.

11. The automated pharmacy according to claim 10, characterized in that: The automated pharmacy is also provided with a second control device; The second control device is also used to: when receiving a medicine picking task, obtain the target storage bin, control the medicine storage cabinet (1) to send out all the medicines corresponding to the medicine picking task, control the packaging machine (4) to receive all the medicines from the medicine storage cabinet (1) and pack them into packages, and send the packages into the bag-feeding robot (5); then, control the second drive device (53) to drive the medicine dispensing box (52) to move to the right side of the target storage bin and align it with the first through hole (313) of the target storage bin; then, control the second motor (5218) to drive the left vertical plate (5211) to slide downward until the left vertical plate (5211) is located below the box body (521), and control the first motor (5217) to drive the right vertical plate (5213) to move to the left, and control the fan (5215) to generate wind from right to left.

12. The automated pharmacy according to claim 1, characterized in that: The packaging machine (4) comprises: A frame, on which a winding roller (411), a tightening device, a bag-supporting mechanism (42) and a web cutting mechanism (43) are arranged; The winding roller (411) is used for winding the ziplock bag roll, and the tightening device is used for tightening the ziplock bag roll extending from the winding roller (411); The bag-opening mechanism (42) is capable of opening the bag opening of the ziplock bag roll extending from the tightening device; The roll cutting mechanism (43) is capable of cutting the self-sealing bag roll extending from the bag-supporting mechanism (42).

13. The automated pharmacy according to claim 12, characterized in that: The bag-supporting mechanism (42) comprises: a horizontal rod (4211) and a vertical rod (4212); the horizontal rod (4211) extends in the front-to-back direction; the top end of the vertical rod (4212) is fixedly connected to the front end of the horizontal rod (4211); A third vertical plate (4221) and a fourth vertical plate (4222) are arranged below the horizontal rod (4211), the third and fourth vertical plates are symmetrically and parallelly arranged in the left direction, and the third and fourth vertical plates can be moved away from or close to each other; Two rotating wheels (423) distributed in the left-right direction are arranged below the third and fourth vertical plates. The rotating shafts (4232) of the two rotating wheels (423) extend in the front-back direction, and the outer side surfaces of the two rotating wheels (423) abut against each other.

14. The automated pharmacy according to claim 13, characterized in that: Both rotating wheels (423) are made of elastic material.

15. The automated pharmacy according to claim 13, characterized in that: An annular groove (4231) is provided on the outer side surface of the rotating wheel (423), the annular groove (4231) surrounds the outer side surface of the rotating wheel (423), and the annular grooves (4231) on the two rotating wheels (423) are symmetrically distributed in the left-right direction.

16. The automated pharmacy according to claim 13, characterized in that: The bag-supporting mechanism (42) comprises: an inflation device (427), which is located below the horizontal rod (4211) and behind the vertical rod (4212).

17. The automated pharmacy according to claim 12, characterized in that: The web cutting mechanism (43) comprises: a driving device, a first cutting module (431) and a second cutting module (432) distributed in the left-right direction, wherein the driving device can drive the first and second cutting modules to move closer to or farther from each other, and the first and second cutting modules can abut against each other; The first cutting module (431) is provided with a heating unit (4311) on the side facing the second cutting module (432), and the second cutting module (432) is provided with a blade (4321) on the side facing the first cutting module (431), and the cutting edge of the blade faces the first cutting module (431).

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