Medicine taking device and method

Abstract

The invention relates to a medicine taking device and method in the technical field of initiating explosive devices, the medicine taking device comprises a metering module, the metering module comprises a first metering piece, and a second metering piece, the second metering part is movably arranged in the cavity; the medicine taking device further comprises a first fixing mechanism and a second driving mechanism, the medicine taking device is provided with a metering module in a quick-change mode, a first metering piece and a second metering piece in the metering module can be replaced according to needs, the three functions of screening, measuring and changing of a cavity are achieved, the weight error of single-time medicine filling can be within the milligram level, and the medicine taking device is convenient to use. And the medicine is taken through the metering piece, so that some potential hazards caused by friction static electricity generated among the medicine particles or the medicine powder can be avoided. The metering piece has the three functions of screening, measuring and changing, the electrostatic effect is utilized, meanwhile, potential safety hazards caused by the electrostatic effect are removed, and the medicine taking efficiency and the production data management quality are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of initiators, and particularly to a medicine-taking device and method. Background Art

[0002] In the related technical field of initiators, the production of high-precision and high-explosive explosives still mainly relies on manual operations. During the manual medicine-taking process, due to the electrostatic effect between medicine particles, the medicine particles agglomerate, affecting the metering accuracy. It is also easy to accidentally adhere to the staff, resulting in low production efficiency, low quality of production data management, and potential safety hazards. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to overcome the problems of low production efficiency, low quality of production data management, and potential safety hazards caused by the existing medicine-taking method mainly relying on manual operations, and to provide a medicine-taking device and method.

[0004] The present invention aims to design a medicine-taking device, including a replaceable metering module, and the metering module includes:

[0005] A first metering member, the first metering member has a cavity, the cavity has a medicine-taking port, and the medicine-taking port and the cavity have structures adapted to the target medicine particles;

[0006] A second metering member, one end of the second metering member is movably arranged in the cavity of the first metering member and forms a metering bin with a controllable volume with the inner wall of the cavity to adapt to the set medicine-taking amount, and the other end of the second metering member extends out of the cavity;

[0007] The medicine-taking device further includes:

[0008] A first fixing mechanism for fixing and releasing the first metering member;

[0009] A second driving mechanism, the second driving mechanism includes a second fixing mechanism and a moving mechanism, the second fixing mechanism and the moving mechanism are connected together and can move synchronously, wherein the second fixing mechanism is used for fixing and releasing the second metering member, and the moving mechanism is used for driving the second fixing mechanism to move, and further driving the second metering member to move so that its pushing and feeding stroke is adapted to the set medicine-taking amount.

[0010] In some embodiments, the medicine-taking device further includes a connecting component and a first driving mechanism. The first fixing mechanism and the second driving mechanism are both arranged on the connecting component. The connecting component is drivingly connected to the first driving mechanism, and the first driving mechanism can at least drive the connecting component together with the metering module, the first fixing mechanism, and the second driving mechanism to perform up and down movements and rotational movements around the horizontal axis.

[0011] In some embodiments, the first driving mechanism includes a robotic arm and a rotating component, the rotating component is rotatably connected to the robotic arm, and the connecting component is fixedly connected to the rotating component;

[0012] The first fixing mechanism includes a first pneumatic clamping mechanism, and the fixed end of the first pneumatic clamping mechanism is connected to the connecting component;

[0013] The second fixing mechanism includes a second pneumatic clamping mechanism, the moving mechanism is an electric cylinder, the electric cylinder includes an electric cylinder body, a lead screw and a servo motor, wherein the electric cylinder body is connected to the connecting component, the power input end of the lead screw is drivingly connected to the servo motor, and the power output end is connected to the fixed end of the second pneumatic clamping mechanism.

[0014] In some embodiments, the first fixing mechanism includes a locking mechanism that switches between a locked state and a released state under pressure control. In the locked state, the locking mechanism fixes the first measuring piece, and in the released state, the first measuring piece can be disassembled from the locking mechanism to disengage from the locking mechanism.

[0015] In some embodiments, the locking mechanism includes: a first cylinder body, a chute and a sliding pin, the chute is formed in the first cylinder body, and the sliding pin is slidably disposed in the chute;

[0016] The locking mechanism further includes: a first driving system that applies a force to the first end of the sliding pin to move the sliding pin in the chute along a first direction so as to lock the first measuring piece, and a second driving system that applies a force to the second end of the sliding pin to move the sliding pin in the chute along a second direction so as to release the first measuring piece.

[0017] In some embodiments, the first driving system is designed to introduce a fluid into the chute and the first end of the sliding pin to apply a pressure to the first end of the sliding pin;

[0018] The second driving system is designed to introduce a fluid into the chute and the second end of the sliding pin to apply a pressure to the second end of the sliding pin, and / or the second driving system is designed as an elastic mechanism, one end of the elastic mechanism abuts against the chute and the other end abuts against the second end of the sliding pin.

[0019] In some embodiments, the first driving system includes a first joint, a first channel and a first external medium source, the first joint is disposed on the first cylinder body and communicates with the first channel for connecting to the output end of the first external medium source;

[0020] The second drive system includes a second joint, a second channel, and a second external medium source. The second joint is disposed on the first cylinder body and communicates with the second channel, and is used to connect to the output end of the second external medium source;

[0021] There is one of each of the chute and the sliding pin. A clamping block is provided at one end of the sliding pin close to the first measuring member, and the clamping block is configured as an elastic block;

[0022] A first connection port and a second connection port are formed on the chute;

[0023] The output end of the first channel in the first drive system communicates with the first connection port of the chute, and the output end of the second channel in the second drive system communicates with the second connection port of the chute;

[0024] Wherein, the first external medium source in the first drive system enters the first channel and the first connection port of the chute through the first joint, drives the sliding pin in the chute to move, so that the clamping block on the sliding pin can approach the fixed part of the cylinder body to lock the first measuring member, and the second external medium source in the second drive system enters the second channel and the second connection port of the chute through the second joint, drives the sliding pin in the chute to move, so that the clamping block on the sliding pin can move away from the fixed part of the cylinder body to release the first measuring member.

[0025] In some embodiments, the first drive system includes a first joint, a first channel, and a first external medium source. The first joint is disposed on the first cylinder body and communicates with the first channel, and is used to connect to the output end of the first external medium source;

[0026] The second drive system includes a second joint, a second channel, and a second external medium source. The second joint is disposed on the first cylinder body and communicates with the second channel, and is used to connect to the output end of the second external medium source;

[0027] There are a plurality of the chutes and the sliding pins, and the plurality of chutes and the plurality of sliding pins correspond to each other one by one. A clamping block is provided at one end of each sliding pin close to the first measuring member, and the clamping block is configured as an elastic block;

[0028] A first connection port and a second connection port are formed on each of the plurality of chutes;

[0029] The multiple chutes include a first chute and a second chute. The output end of the first channel in the first driving system is communicated with the first connection port of the first chute and the first connection port of the second chute. The output end of the second channel in the second driving system is communicated with the second connection port of the first chute and the second connection port of the second chute;

[0030] Wherein, the first external medium source in the first driving system enters the first channel, the first connection port of the first chute and the first connection port of the second chute through the first joint, drives the sliding pins in the first chute and the second chute to approach each other, so that the clamping blocks on the two sliding pins can lock the first metering member. The second external medium source in the second driving system enters the second channel, the second connection port of the first chute and the second connection port of the second chute through the second joint, drives the sliding pins in the first chute and the second chute to move away from each other, so that the clamping blocks on the two sliding pins can loosen the first metering member.

[0031] In some embodiments, the chute has a straight sliding cavity. A part of the side wall of the sliding pin abuts against the inner side wall of the chute where it is located, and a gap is formed between the other part of the side wall and the inner side wall of the chute where it is located. One end of the sliding pin far from the first metering member is located in the first sliding cavity of the chute where it is located. The first connection port is communicated with the first sliding cavity, and the second connection port is communicated with the gap;

[0032] The elastic member is sleeved on the sliding pin, and the elastic member is located at the gap. One end of the elastic member abuts against the sliding pin, and the other end abuts against one end of the straight sliding cavity close to the first metering member.

[0033] In some embodiments, a medicine taking method is provided, which is applied to the above-mentioned medicine taking device;

[0034] The medicine taking method includes:

[0035] Controlling the first fixing mechanism to fix the first metering member, controlling the second fixing mechanism to fix the second metering member, controlling the moving mechanism to drive the second fixing mechanism to move, and then driving the second metering member to move to cooperate with the first metering member to form a metering chamber;

[0036] Controlling the first driving mechanism to drive the metering module, so that the metering chamber inserts into the medicine for medicine taking, controlling the first driving mechanism to drive the metering module to the medicine discharging position, controlling the moving mechanism to drive the second fixing mechanism to move, and then driving the second metering member to move to push out the medicine in the metering chamber to the medicine discharging position.

[0037] The solution provided by the present invention has the following beneficial effects compared with the prior art:

[0038] The dosing device is designed with a quick-change mode metering part. Both the first metering part and the second metering part in the metering part can be replaced as needed, enabling the metering bin to have three functions: "screening", "measuring", and "changing". It can achieve a single-dose filling weight error within the milligram level. Moreover, by using the metering part for drug taking, some potential hazards caused by frictional static electricity between drug granules or powders can be avoided. The metering part has three functions: "screening", "measuring", and "changing". While utilizing the electrostatic effect, it eliminates the safety hazards brought by the electrostatic effect and improves the drug-taking efficiency and the quality of production data management. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The drawings, as part of the present invention, are used to provide a further understanding of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention, but do not constitute an improper limitation to the present invention. Obviously, the drawings in the following description are only some embodiments. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings. In the drawings:

[0040] Figure 1 is a cross-sectional view of the drug-taking device shown in the embodiment of the present invention;

[0041] Figure 2 is Figure 1 the enlarged view at A in

[0042] Figure 3 is Figure 1 the cross-sectional view in the B-B direction in

[0043] In the figure: 1 - first metering part, 101 - metering bin, 102 - drug-taking port, 2 - second metering part, 3 - first fixing mechanism, 301 - first cylinder body, 302 - chute, 3021 - first chute, 3022 - second chute, 303 - channel, 3031 - first channel, 3032 - second channel, 304 - sliding pin, 305 - joint, 3051 - first joint, 3052 - second joint, 306 - first connection port, 307 - second connection port, 308 - clamping block, 309 - elastic part, 4 - second driving mechanism, 401 - electric cylinder main body, 402 - second fixing mechanism, 403 - cylinder lead, 404 - cylinder connection block, 5 - first driving mechanism, 501 - robotic arm, 502 - connecting component, 5021 - first connection end, 5022 - second connection end, 5023 - connecting side wall, 503 - rotating component, 6 - isolation sleeve, 7 - sealing screw, 8 - first sliding cavity.

[0044] It should be noted that these drawings and textual descriptions are not intended to limit the scope of the concept of the present invention in any way, but to illustrate the concept of the present invention to those skilled in the art by referring to specific embodiments. Detailed Embodiments

[0045] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by terms such as "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is 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 thus should not be construed as a limitation to the present invention.

[0046] In the description of the present invention, it should be noted that unless otherwise clearly specified and defined, the terms "installed", "connected", "connected", "contacted", "communicated" 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 directly connected or indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0047] In the related technical field of initiating explosive devices, the production of high-precision and high-explosive charge is still mainly manual. During the manual medicine-taking process, due to the electrostatic effect between medicine particles, the medicine particles agglomerate, affecting the metering accuracy. It is also easy to accidentally adhere to the staff, resulting in low production efficiency, low quality of production data management, and potential safety hazards.

[0048] Based on this, the following embodiments are proposed:

[0049] Embodiment 1

[0050] As Figure 1 、 2 shown, this embodiment provides a medicine-taking device, including a replaceable metering module, and the metering module includes:

[0051] A first metering member 1, the first metering member 1 has a cavity, the cavity has a medicine-taking port 102, and the medicine-taking port 102 and the cavity have a structure adapted to the target medicine particles;

[0052] A second metering member 2, one end of the second metering member 2 is movably arranged in the cavity of the first metering member and forms a metering bin 101 with a controllable volume with the inner wall of the cavity to be adapted to the set medicine-taking amount, and the other end of the second metering member 2 extends out of the cavity;

[0053] The medicine-taking device further includes:

[0054] The first fixing mechanism 3 is used to fix and release the first metering member 1;

[0055] The second driving mechanism 4, the second driving mechanism 4 includes a second fixing mechanism 402 and a moving mechanism, the second fixing mechanism 402 is connected to the moving mechanism and can move synchronously, wherein the second fixing mechanism 402 is used to fix and release the second metering member 2, and the moving mechanism is used to drive the second fixing mechanism 402 to move, and then drive the second metering member 2 to move so that its pushing stroke is adapted to the set medicine taking amount.

[0056] In this embodiment, the medicine taking device can realize unmanned medicine taking. The whole medicine taking device is controlled by a PLC. The PLC controller controls the first fixing mechanism 3 and the second driving mechanism 4, so as to realize the refinement of the medicine granule packaging of the medicine taking device. Both the first metering member 1 and the second metering member 2 in the metering member can be replaced as needed. The metering member with a quick change mode is designed to realize that the metering bin 101 has three functions of "screening", "measuring" and "changing". The weight error of a single charge can be within the milligram level. And by taking medicine through the metering member, some potential hazards caused by frictional static electricity between medicine granules or powders can be avoided. For example, frictional static electricity in the process of manual medicine taking will cause the medicine particles to agglomerate, affecting the metering accuracy, and it is also easy to accidentally adhere to the staff, resulting in low production efficiency.

[0057] Wherein, the first metering member 1 is configured as a tubular structure with through ports at both ends, and the second metering member 2 is configured as a cylindrical structure;

[0058] More specifically, the "screening" function, that is, the screening function, selects suitable medicine granules through the structure of the metering bin 101 itself. Only the corresponding medicine granules can be taken during medicine taking. The mass of the particles with electrostatic effect is much smaller than the mass of the selected corresponding medicine granules. That is, the metering bin 101 has a fixed bin diameter. When the first driving mechanism 5 drives the metering member and makes the metering bin 101 actively insert into the medicine, in this state, the medicine is extruded by the metering bin 101 and is pressed into the metering bin 101, so that the metering bin 101 is filled with the medicine. Through the design of the metering member, for medicine granules with too large single particle mass, the metering bin 101 can prevent the medicine granule mass from exceeding the target accuracy, that is, the bin diameter of the metering bin 101 can be relatively quantified according to the mass of the selected medicine granules, so as to ensure that the mass of a single medicine taking is within the milligram level.

[0059] And the electrostatic effect between medicine granules makes the medicine granules adhere to the metering bin 101. The electrostatic effect will not only not affect the metering, but also the metering member makes full use of this electrostatic effect, so that the metering member can avoid the dropping of the medicine during the movement of the medicine.

[0060] The "measurement" refers to the quantification function. According to the bulk density of the drug, the metering bin 101 relatively quantifies the maximum mass of a single drug taking and the mass of a single drug granule, and then achieves precise mass control through a precise drug granule conveying method. Even particles with electrostatic effects can be quantified.

[0061] "Change": According to the different physical and chemical properties of different drug types and different drug batches, the metering bin 101 can be replaced. One-to-one consumable metering bins 101 can be designed. The metering bin 101 with too many electrostatic effects can also be replaced regularly and quantitatively, that is, the first metering part 1 and the second metering part 2 are replaced simultaneously. When there are too many electrostatic effects, a lot of adhered drugs will be generated on the inner wall of the first metering part. At this time, the first metering part 1 and the second metering part 2 need to be replaced.

[0062] Quick-change modular metering part: It consists of a first metering part 1 and a second metering part 2 to form a first-order double-track slideway and a front and rear equal-diameter vertical core tube measurement section. The second metering part 2 is driven by a moving mechanism. When the second metering part 2 is in the first position, it can push out the drug in the metering bin 101. When the second metering part 2 is in the second position, it can form at least part of the metering bin 101 with the first metering part 1. The second driving mechanism 4 can be an electro-pneumatic servo driver, and the second metering part 2 is directly driven by the electro-pneumatic servo driver to move;

[0063] The metering part has three functions: "screening", "measuring" and "changing". While utilizing the electrostatic effect, it eliminates the potential safety hazards brought by the electrostatic effect, and improves the drug taking efficiency and the quality of production data management.

[0064] The drug taking process of the drug taking device is as follows: Obtain the drug taking position information and the drug placing position information, and control the first driving mechanism 5 to move to near the drug taking position according to the drug taking position information;

[0065] Control the first fixing mechanism 3 to fix the first metering part 1, and control the second driving mechanism 4 to drive the second metering part 2 to move to the second position. At this time, the first metering part 1 forms at least part of the metering bin 101;

[0066] Preferably, the first driving mechanism 5 for driving the metering module to take drugs includes: the first driving mechanism 5 drives the metering module so that the metering bin 101 can insert drugs.

[0067] Control the first driving mechanism 5 to drive the metering member, so that the metering bin 101 actively inserts into the medicine to pick up the medicine. After the medicine is located in the metering bin 101, under the action of the extrusion force, the medicine is pressed into the metering bin 101. At this time, control the first driving mechanism 5 to rotate so that the metering bin 101 is horizontal or tilted upward. At this time, the medicine in the metering bin 101 is not easily affected by gravity and static electricity and will not fall. Then control the first driving mechanism 5 to drive the metering member to a position close to the medicine discharging position, and control the second driving mechanism 4 to drive the second metering member 2 to move to the first position, and push the medicine in the metering bin 101 to the medicine discharging position. In the whole medicine picking process of the medicine picking device, with the design of a simple metering member combined with movement and the first fixing mechanism, the screening and metering of the medicine are realized. Compared with the negative pressure adsorption type medicine picking method, there is no need to provide an additional air source for negative pressure adsorption, and the required amount of medicine can be taken out more stably and completely, with accurate metering and convenience.

[0068] The following is an example to illustrate the quantization function of the medicine picking device:

[0069] Select a high-rigidity micro electric cylinder as the driving part, and its performance parameters are as follows: maximum stroke: 50mm; screw lead: 2mm; maximum handling mass when used vertically: 2.5kg; repeatability accuracy: ±0.01mm; minimum displacement: 0.01mm; minimum speed: 2mm / min;

[0070] The electric cylinder is a modular product with an integrated design of a servo motor and a lead screw, which converts the rotational motion of the servo motor into a linear motion. At the same time, the best advantages of the servo motor - precise speed control, precise revolution control, and precise torque control - are converted into - precise speed control, precise position control, and precise thrust control; realizing high-precision linear motion.

[0071] Calculated with the metering bin 101 having an inner diameter d = 0.5mm, the formula for the displacement medicine picking mass is:

[0072] M = ρ m times x times πr 2

[0073] In the formula:

[0074] M: single - time minimum displacement medicine picking mass mg

[0075] ρ m : maximum bulk density of the medicine mg / mm 3

[0076] x: minimum displacement of the micro electric cylinder mm

[0077] r: radius of the metering bin 101 mm

[0078] From the known conditions of manual tests, calculated according to the maximum bulk density:

[0079] ρ m = 1.075

[0080] x = 0.01 mm

[0081] r = 0.25 mm

[0082] M = 1.075 × 0.01 × 3.14 × 0.25 2 = 0.002 mg

[0083] From the calculation results, it can be seen that the mass of the drug taken once at the minimum displacement of the micro electric cylinder is much smaller than the minimum mass of the powder that can be taken in the manual test, which is 0.2 - 0.6 mg. In actual operation, the displacement of the electric cylinder can be appropriately set to meet the requirements of milligram-level accuracy.

[0084] Optionally, in an implementation manner of this embodiment, as Figure 1 , 3 shown,

[0085] The first fixing mechanism 3 includes a locking mechanism that is controlled by pressure to switch between a locking state and a releasing state. In the locking state, the locking mechanism fixes the first measuring member 1, and in the releasing state, the first measuring member 1 can be detached from the locking mechanism to disengage from the locking mechanism.

[0086] More specifically, the locking mechanism includes: a first cylinder body 301 and a sliding pin 304. A sliding groove 302 and a channel 303 that communicate with each other are formed in the first cylinder body 301;

[0087] The sliding pin 304 is slidably connected in the sliding groove 302, and the channel 303 is communicated with an external medium source. The external medium source is used to introduce a medium into the channel 303 and the sliding groove 302 to apply pressure to the sliding pin 304, so that the sliding pin 304 can lock or release the first measuring member 1.

[0088] In this embodiment, when the first measuring member 1 is in the working state and is locked and fixed, the external medium source introduces a medium into the sliding groove 302 through one of the channels 303, thereby pressing the sliding pin 304 to move and pressing the first measuring member 1 tightly. When the first measuring member 1 needs to be replaced, the external medium source can introduce a medium into the sliding groove 302 through the other channel 303, thereby pressing the sliding pin 304 to move reversely and reset, and releasing the first measuring member 1.

[0089] Preferably, the external medium source can be an external air source.

[0090] Preferably, the sliding groove 302 has an opening, and a sealing screw 7 is provided at the opening of the sliding groove 302. The sealing screw 7 is used to open and seal the opening respectively, facilitating the installation of the sliding pin 304 in the sliding groove 302.

[0091] Optionally, in one implementation of this embodiment, as Figure 3 shown,

[0092] The first drive system includes a first joint 3051, a first channel 3031, and a first external medium source. The first joint 3051 is disposed on the first cylinder block 301 and communicates with the first channel 3031 for connecting to the output end of the first external medium source;

[0093] The second drive system includes a second joint 3052, a second channel 3032, and a second external medium source. The second joint 3052 is disposed on the first cylinder block 301 and communicates with the second channel 3032 for connecting to the output end of the second external medium source;

[0094] There is one each of the chute 302 and the sliding pin 304. A clamping block 308 is provided at one end of the sliding pin 304 close to the first measuring member 1, and the clamping block 308 is configured as an elastic block;

[0095] A first connection port 306 and a second connection port 307 are formed on the chute 302;

[0096] The output end of the first channel 3031 in the first drive system communicates with the first connection port 306 of the chute 302, and the output end of the second channel 3032 in the second drive system communicates with the second connection port 307 of the chute 302;

[0097] Wherein, the first external medium source in the first drive system enters the first channel 3031 and the first connection port 306 of the chute 302 through the first joint 3051 to drive the sliding pin 304 in the chute 302 to move, so that the clamping block 308 on the sliding pin 304 can approach the fixed part of the cylinder block 301 to lock the first measuring member 1. The second external medium source in the second drive system enters the second channel 3032 and the second connection port 307 of the chute 302 through the second joint 3052 to drive the sliding pin 304 in the chute 302 to move, so that the clamping block 308 on the sliding pin 304 can move away from the fixed part of the cylinder block 301 to release the first measuring member 1; or,

[0098] There are multiple chutes 302 and multiple sliding pins 304, and the multiple chutes 302 and the multiple sliding pins 304 correspond one by one. A clamping block 308 is provided at one end of each sliding pin 304 close to the first measuring member 1, and the clamping block 308 is configured as an elastic block;

[0099] A first connection port 306 and a second connection port 307 are formed in each of the plurality of sliding grooves 302;

[0100] The plurality of sliding grooves 302 include a first sliding groove 3021 and a second sliding groove 3022. The output end of the first channel 3031 in the first driving system is in communication with the first connection port 306 of the first sliding groove 3021 and the first connection port 306 of the second sliding groove 3022. The output end of the second channel 3032 in the second driving system is in communication with the second connection port 307 of the first sliding groove 3021 and the second connection port 307 of the second sliding groove 3022;

[0101] Wherein, the first external medium source in the first driving system enters the first channel 3031, the first connection port 306 of the first sliding groove 3021 and the first connection port 306 of the second sliding groove 3022 through the first joint 3051, driving the sliding pins 304 in the first sliding groove 3021 and the second sliding groove 3022 to approach each other, so that the clamping blocks 308 on the two sliding pins 304 can lock the first measuring member 1. The second external medium source in the second driving system enters the second channel 3032, the second connection port 307 of the first sliding groove 3021 and the second connection port 307 of the second sliding groove 3022 through the second joint 3052, driving the sliding pins 304 in the first sliding groove 3021 and the second sliding groove 3022 to move away from each other, so that the clamping blocks 308 on the two sliding pins 304 can release the first measuring member 1.

[0102] In this embodiment, it is described by taking two chutes 302 and two sliding pins 304 as an example. The two chutes 302 include a first chute 3021 and a second chute 3022. Preferably, the first chute 3021 and the second chute 3022 are arranged radially along the cylinder body in the first cylinder body 301 and are located on the same straight line. The first connection port 306 is located at one end of the sliding pin 304, and the second connection port 307 is located at the other end of the sliding pin 304. The output end of the external medium source is communicated with the joint 305, and gas is input into the channel 303 and the chute 302 through the joint 305. The specific process is as follows: When the first measuring member 1 needs to be fixed, the external air source works, and gas is input into the first channel 3031, the first chute 3021, and the second chute 3022 through the first joint 3051, so that the two oppositely arranged sliding pins 304 move, and the two oppositely arranged sliding pins 304 approach each other, thereby fixing the first measuring member 1 located between the two by the extrusion force. The two sliding pins 304 located on the same straight line can make the clamping force received by the first measuring member 1 more uniform, so as to stably and firmly fix the first measuring member 1; When the first measuring member 1 needs to be replaced, the external air source works, and gas is input into the second channel 3032, the first chute 3021, and the second chute 3022 through the second joint 3052, so that the two oppositely arranged sliding pins 304 move, and the two oppositely arranged sliding pins 304 move away from each other, thereby eliminating the extrusion fixation of the first measuring member 1. At this time, the first measuring member 1 can be taken out for replacement;

[0103] The above structural design of the first fixing mechanism 3, that is, by connecting the output ends of the two channels to different positions of the two chutes and controlling the displacement of the two sliding pins in different directions, realizes the fixed and non-fixed states of the first measuring member 1. Through the simple design of the channels, chutes and sliding pins, the first fixing mechanism 3 as a whole has a relatively simple structure, which is more suitable for establishing a connection relationship with the first driving mechanism 5 and moving synchronously with the first driving mechanism 5.

[0104] In this embodiment, the first measuring member 1 is fixedly clamped by the clamping block 308. The clamping block 308 is an elastic block, and there is elastic contact with the first measuring member 1, which has a buffering effect and avoids squeezing and damaging the first measuring member 1. Moreover, there is a large frictional force between the first measuring member 1 and the elastic block, and the elastic block fixes the first measuring member 1 more firmly.

[0105] The end of the sliding pin 304 is provided with a thread, and the clamping block 308 is threadedly connected to the sliding pin 304 for fixation.

[0106] Optionally, in an implementation manner of this embodiment, as Figure 3 shown,

[0107] The chute 302 has a straight sliding cavity. A part of the side wall of the sliding pin 304 abuts against the inner side wall of the chute 302 where it is located, and a gap is formed between the other part of the side wall and the inner side wall of the chute 302 where it is located. One end of the sliding pin 304 away from the first metering member 1 is located in the first sliding cavity 8 of the chute 302 where it is located. The first connection port 306 communicates with the first sliding cavity 8, and the second connection port 307 communicates with the gap.

[0108] An elastic member 309 is sleeved on the sliding pin 304, and the elastic member 309 is located at the gap. One end of the elastic member 309 abuts against the sliding pin 304, and the other end abuts against one end of the straight sliding cavity close to the first metering member 1.

[0109] In this embodiment, preferably, the elastic member 309 is a spring. The setting of the spring enables the sliding pin 304 to be in a relatively stable state when it is located in the corresponding chute 302, avoiding frequent changes in the position of the sliding pin 304 as the medicine-taking device moves. At the same time, the spring has a small elasticity and is only used to fix the position of the sliding pin 304, and will not affect the normal movement of the sliding pin 304 driven by air pressure.

[0110] The position design of the first connection port 306 and the second connection port 7 enables the relative driving movement and the away driving movement of the two sliding pins 304 to be carried out simultaneously through the same external medium source.

[0111] Optionally, in an implementation manner of this embodiment, as Figures 1-3 shown,

[0112] The medicine-taking device further includes a connecting member 502 and a first driving mechanism 5. The first fixing mechanism 3 and the second driving mechanism 4 are both arranged on the connecting member 502. The connecting member 502 is drivingly connected to the first driving mechanism 5. The first driving mechanism 5 can at least drive the connecting member 502 together with the metering module, the first fixing mechanism 3, and the second driving mechanism 4 to perform up-and-down movement and rotational movement around a horizontal axis.

[0113] Further, the first driving mechanism 5 includes a robotic arm 501 and a rotating member 503. The rotating member 503 is rotatably connected to the robotic arm 501, and the connecting member 502 is fixedly connected to the rotating member 503 together.

[0114] The first fixing mechanism 3 includes a first pneumatic clamping mechanism, and the fixed end of the first pneumatic clamping mechanism is connected to the connecting member 502.

[0115] The second fixing mechanism 402 includes a second pneumatic clamping mechanism, the moving mechanism is an electric cylinder, and the electric cylinder includes an electric cylinder body 401, a lead screw and a servo motor. Among them, the electric cylinder body 401 is connected to the connecting component 502, the power input end of the lead screw is drivingly connected to the servo motor, and the power output end is connected to the fixed end of the second pneumatic clamping mechanism.

[0116] In this embodiment, the second pneumatic clamping mechanism is a pneumatic gripper. The gripper has a connecting end and a grasping end. The connecting end is connected to the output end of the electric cylinder body 401, and the grasping end is used to grasp and fix the second measuring member 2. The electric cylinder body 401 drives the gripper to move so that the gripper drives the second measuring member 2 to move in the measuring bin 101.

[0117] The gripper is configured as a flexible gripper. The gripper grasps and fixes the second measuring member 2. By the operation of the electric cylinder body 401, it drives the gripper to move in the vertical direction, so that the gripper synchronously drives the second measuring member 2 to move in the first measuring member 1. Thus, through the cooperation between the first fixing mechanism 3 and the second driving mechanism 4, the fixing and moving cooperation of the first measuring member 1 and the second measuring member 2 in the measuring member is jointly realized.

[0118] Specifically, a cylinder body lead 403 is provided at the lower end of the electric cylinder body 401, a cylinder body connection block 404 is provided at the lower end of the cylinder body lead 403, and the gripper is screwed to the cylinder body connection block 404. The electric cylinder body 401 uses an electric cylinder, and the gripper is externally connected to a gas source. When the gas is turned on, the gripper is loosened, and when the gas is turned off, the second measuring member 2 is grasped tightly. The cylinder body lead 403 is the electric cylinder lead, and the cylinder body connection block 404 is the electric cylinder connection block;

[0119] The medicine-taking device system is initialized;

[0120] The gripper acts to clamp the second measuring member 2 through air pressure;

[0121] The first fixing mechanism 3 acts to clamp the first measuring member 1 through air pressure;

[0122] The electric cylinder body 401 acts to drive the gripper and the second measuring member 2 to move upward through the cylinder body connection block 404 connected to the moving end of the electric cylinder, so that the second measuring member 2 and the first measuring member 1 form a measuring bin 101.

[0123] The first driving mechanism 5 includes a robotic arm 501 and a rotating component 503. The connecting component 502 has a first connecting end 5021, a second connecting end 5022 and a connecting side wall 5023;

[0124] The robotic arm 501 is rotatably connected to the first connection end 5021 through the rotating member 503. The second connection end 5022 is fixedly connected to the first fixing mechanism 3, and the connection side wall 5023 is fixedly connected to the second driving mechanism 4;

[0125] The robotic arm 501 drives the first fixing mechanism 3 and the metering member to pick up medicine by driving the connection member 502 and / or the rotating member 503, and the robotic arm 501 drives the first fixing mechanism 3 and the metering member to deliver medicine by driving the connection member 502 and / or the rotating member 503.

[0126] In this embodiment, the rotating member 503 is an electric rotating member, the connection member 502 is a connecting plate, the electric cylinder main body 401 is connected to the side of the connection member 502, the rotating member 503 is connected to the output end of the robotic arm 501, and the first cylinder body 301 is connected to the lower end of the connection member 402. Thus, the second driving mechanism 4 and the first driving mechanism 5 together form a high-sensitivity triple execution unit. Among them, the robotic arm 501, the rotating member 503 and the electric cylinder main body 401 form a triple motion module of X / Y / Z, rotation angle φ, and stroke ɑ, and the spatial positioning accuracy < 0.05 mm, completing the spatial positioning and medicine picking and pushing of the metering bin 101;

[0127] The medicine picking device includes a robotic arm 501, a rotating member 503, a connection member 502, a first fixing mechanism 3, an electric cylinder main body 401, an isolation sleeve 6, a cylinder connection block 404, a clamping jaw, a cylinder lead 403, a rubber gasket sleeve, a first metering member 1, and a second metering member 2.

[0128] The rotating member 503 is installed at the output end of the robotic arm 501 / three-axis right-angle robot execution unit; the connection member 502 is fixedly connected to the rotating member 503 by screws; the first cylinder body 301 is fixedly connected to the connection member 502 by screws; the electric cylinder main body 401 is connected to the connection member 502 by screws; the cylinder connection block 404 is connected to the cylinder lead 403; the isolation sleeve 6 is connected to the cylinder lead 403; the cylinder connection block 404 is in clearance fit with the first cylinder body 301; the outer circular part of the rubber gasket sleeve is in clearance fit connection with the first cylinder body 301; the first metering member 1 is in contact with the rubber gasket sleeve; the second metering member 2 is in clearance fit with the first metering member 1;

[0129] The medicine picking and loading control program of the control system of the medicine picking device:

[0130] The robotic arm 501 can be an external robotic arm. When the robotic arm 501 moves, the metering member in the medicine picking device probes down to pick up medicine;

[0131] When the robotic arm 501 moves, the metering member in the medicine picking device leaves the medicine bottle;

[0132] The rotating component 503 operates, and the metering component in the medicine-taking device rotates to the horizontal position;

[0133] The robotic arm 501 operates, and the medicine-taking device drives away from the medicine bottle;

[0134] The main body 401 of the electric cylinder operates, and drives the gripper and the second metering component 2 to move through the cylinder connection block 404 connected to the moving end of the main body 401 of the electric cylinder, so that the second metering component 2 pushes out the medicine into the mold;

[0135] Then the medicine-taking device resets.

[0136] Embodiment 2

[0137] As Figures 1-3 shown, this embodiment provides a medicine-taking method, which is applied to the medicine-taking device in Embodiment 1;

[0138] The medicine-taking method includes:

[0139] Control the first fixing mechanism 3 to fix the first metering component 1, control the second fixing mechanism 402 to fix the second metering component 2, control the moving mechanism to drive the second fixing mechanism 402 to move, and then drive the second metering component 2 to move and cooperate with the first metering component 1 to form a metering bin 101;

[0140] Control the first driving mechanism 5 to drive the metering module, so that the metering bin 101 inserts into the medicine for medicine-taking, control the first driving mechanism 5 to drive the metering module to the medicine-discharging position, control the moving mechanism to drive the second fixing mechanism 402 to move, and then drive the second metering component 2 to move and push out the medicine in the metering bin 101 to the medicine-discharging position.

[0141] In this embodiment, the acquisition method of the medicine-taking position information and the medicine-discharging position information can adopt the vision recognition system in the prior art. The principle of the vision recognition system for identifying the position of an object is to extract the spatial information of the target object from an image or video through computer vision technology combined with a deep learning algorithm, and finally determine its position in a two-dimensional or three-dimensional coordinate system.

[0142] This medicine-taking method realizes unmanned medicine-taking. The whole medicine-taking device is controlled by a PLC. The PLC controller controls the first fixing mechanism 3, the second driving mechanism 4, and the first driving mechanism 5, so as to realize the refinement of the medicine granule packaging of the medicine-taking device. Both the first measuring part 1 and the second measuring part 2 in the measuring part can be replaced as needed. The measuring part with a quick-change mode is designed to enable the measuring bin 101 to have three functions of "screening", "measuring", and "changing". The weight error of a single charge can be within the milligram level. Moreover, by taking medicine through the measuring part, some potential hazards caused by the frictional static electricity between medicine granules or powders can be avoided. For example, in the process of manual medicine-taking, frictional static electricity will cause the medicine granules to agglomerate, affecting the measurement accuracy, and it is also easy to accidentally adhere to the staff, resulting in low production efficiency.

[0143] More specifically, "screening" means the screening function. The appropriate medicine granules are screened out by the structure of the measuring bin 101 itself. Only the corresponding medicine granules can be taken during medicine-taking. The mass of the particles with the electrostatic effect is much smaller than the mass of the selected corresponding medicine granules. That is, the measuring bin 101 has a fixed bin diameter. When the first driving mechanism 5 drives the measuring part and makes the measuring bin 101 actively insert into the medicine, in this state, the medicine is extruded by the measuring bin 101 and is pressed into the measuring bin 101, so that the measuring bin 101 is filled with the medicine. Through the design of the measuring part, for the medicine granules with too large a single mass, the measuring bin 101 can prevent the medicine granule mass from exceeding the target accuracy too much, that is, the bin diameter of the measuring bin 101 can be relatively quantified according to the mass of the selected medicine granules, so as to ensure that the mass of a single medicine-taking is within the milligram level.

[0144] The electrostatic effect between the medicine granules makes the medicine granules adhere to the measuring bin 101. The electrostatic effect not only does not affect the measurement, but also the measuring part makes full use of this electrostatic effect, so that when the measuring part moves the medicine, the medicine can be prevented from falling.

[0145] "Measuring" means the quantification function. According to the bulk density of the medicine, the measuring bin 101 relatively quantifies the maximum mass of a single medicine-taking and the mass of a single medicine granule, and then achieves precise mass control through a precise medicine granule conveying method. The particles with the electrostatic effect can also be quantified.

[0146] "Changing": According to the different physical and chemical properties of different medicine types and different medicine batches, the measuring bin 101 can be replaced. A one-to-one consumable measuring bin 101 can be designed. The measuring bin 101 with too much electrostatic effect can also be replaced regularly and quantitatively, that is, the first measuring part 1 and the second measuring part 2 are replaced at the same time. When there is too much electrostatic effect, a lot of adhered medicine will be generated on the inner wall of the first measuring part. At this time, the first measuring part 1 and the second measuring part 2 need to be replaced.

[0147] The metering part has three functions: "screening", "measuring" and "changing". While utilizing the electrostatic effect, it eliminates the potential safety hazards brought by the electrostatic effect and improves the efficiency of medicine taking and the quality of production data management.

[0148] Compared with the medicine-taking method of negative pressure adsorption, it does not require an additional air source for negative pressure adsorption, and can take out the required amount of medicine more stably and completely, with accurate metering and convenience.

[0149] Furthermore, the medicine-taking method includes:

[0150] Obtain the medicine-taking position information and the medicine-releasing position information, and control the first driving mechanism 5 to move close to the medicine-taking position according to the medicine-taking position information;

[0151] Control the external medium source to introduce the medium into the channels 303 and the chute 302 to apply pressure to the sliding pin 304, so that the sliding pin 304 fixes the first metering part 1, and control the second driving mechanism 4 to drive the second metering part 2 to move to the second position;

[0152] Control the first driving mechanism 5 to drive the metering part, so that the metering bin 101 actively inserts into the medicine for medicine taking. After the medicine is in the metering bin 101, control the first driving mechanism 5 to drive the metering part to close to the medicine-releasing position, and control the second driving mechanism 4 to drive the second metering part 2 to move to the first position, and push out the medicine in the metering bin 101 to the medicine-releasing position.

[0153] By connecting the output ends of the two channels to different positions of the two chutes and controlling the displacement of the two sliding pins in different directions, the fixed and non-fixed states of the first metering part 1 are realized. Through the simple design of the channels, chutes and sliding pins, the first fixing mechanism 3 as a whole has a relatively simple structure, which is more suitable for establishing a connection relationship with the first driving mechanism 5 and moving synchronously with the first driving mechanism 5, facilitating control and facilitating the replacement of the metering part when needed.

[0154] Even further, the medicine-taking method includes:

[0155] Obtain the medicine-taking position information and the medicine-releasing position information, and control the robotic arm 501 to drive the first cylinder body 301, the main body of the electric cylinder 401, the gripper and the metering part to move close to the medicine-taking position according to the medicine-taking position information;

[0156] Control the first fixing mechanism 3 to fix the first metering part 1, and control the second driving mechanism 4 to drive the second metering part 2 to move to the second position;

[0157] Control the robotic arm 501 to drive the metering part, so that the metering bin 101 actively inserts into the medicine for medicine taking. After the medicine is in the metering bin 101, control the robotic arm 501 to drive the metering part to close to the medicine-releasing position, and control the main body of the electric cylinder 401 and the gripper to drive the second metering part 2 to move to the first position, and push out the medicine in the metering bin 101 to the medicine-releasing position.

[0158] The high-sensitivity triple execution unit is jointly composed of the second driving mechanism 4 and the first driving mechanism 5. Among them, the robotic arm 501, the rotating component 503 and the electric cylinder body 401 form a triple motion module for X / Y / Z, rotation angle φ, and stroke ɑ. The spatial positioning accuracy is <0.05 mm, which completes the spatial positioning and medicine fetching and pushing of the metering bin 101.

[0159] In summary, the ingenious concept of the medicine fetching device lies in:

[0160] Design a quick-change mode metering part. Both the first metering part and the second metering part in the metering part can be replaced as needed, realizing that the cavity has three functions of "screening", "measuring", and "changing". The weight error of a single charge can be within the milligram level, and medicine is fetched through the metering part, which can avoid some potential hazards brought by the frictional static electricity generated between medicine grains or powders. The metering part has three functions of "screening", "measuring", and "changing". While utilizing the electrostatic effect, it removes the potential safety hazards brought by the electrostatic effect, and improves the medicine fetching efficiency and the quality of production data management.

[0161] It can be further understood that in the present disclosure, "a plurality of" means two or more, and other quantifiers are similar. "And / or" describes the association relationship of associated objects, indicating that three relationships can exist. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. The character " / " generally represents an "or" relationship between the front and rear associated objects. The singular forms of "a", "the", and "said" are also intended to include the plural forms, unless the context clearly indicates otherwise.

[0162] It can be further understood that the terms "first", "second", etc. are used to describe various information, but this information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other, and do not represent a specific order or importance. In fact, the expressions such as "first" and "second" can be used interchangeably. For example, without departing from the scope of the present disclosure, the first information can also be called the second information, and similarly, the second information can also be called the first information.

[0163] It can be further understood that although the operations are described in a specific order in the drawings in the embodiments of the present disclosure, it should not be understood as requiring these operations to be performed in the specific order shown or in a serial order, or requiring all the operations shown to obtain the desired result. In a specific environment, multitasking and parallel processing may be beneficial.

[0164] Other embodiments of the present disclosure will be readily apparent to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present disclosure that follow the general principles of the present disclosure and include known common general knowledge or conventional technical means in the technical field not disclosed in the present disclosure. The specification and examples are only to be considered as exemplary, and the true scope and spirit of the present disclosure are pointed out by the following claims.

[0165] It should be understood that the present disclosure is not limited to the exact structures described above and shown in the drawings, and various modifications and changes can be made without departing from its scope. The scope of the present disclosure is only limited by the appended claims.

Claims

1. A medicine dispensing device, characterized in that: Comprising a replaceable metering module, the metering module including: A first metering member (1), the first metering member (1) having a cavity, the cavity having a medicine-taking port (102), the medicine-taking port (102) and the cavity having a structure adapted to the target medicine granules; A second metering member (2), one end of the second metering member (2) being movably disposed within the cavity of the first metering member and forming a metering bin (101) with a controllable volume with the inner wall of the cavity to be adapted to the set medicine-taking amount, the other end of the second metering member (2) extending outside the cavity; The medicine-taking device further includes: A first fixing mechanism (3) for fixing and releasing the first metering member (1); A second driving mechanism (4), the second driving mechanism (4) including a second fixing mechanism (402) and a moving mechanism, the second fixing mechanism (402) being connected to the moving mechanism and capable of moving synchronously, wherein the second fixing mechanism (402) is used for fixing and releasing the second metering member (2), and the moving mechanism is used for driving the second fixing mechanism (402) to move, thereby driving the second metering member (2) to move so that its pushing and feeding stroke is adapted to the set medicine-taking amount.

2. The medicine-taking device according to claim 1, wherein The medicine-taking device further includes a connecting member (502) and a first driving mechanism (5), the first fixing mechanism (3) and the second driving mechanism (4) are both disposed on the connecting member (502), the connecting member (502) is drivingly connected to the first driving mechanism (5), and the first driving mechanism (5) is at least capable of driving the connecting member (502) together with the metering module, the first fixing mechanism (3), and the second driving mechanism (4) to perform vertical movement and rotational movement about a horizontal axis.

3. The medicine-taking device according to claim 2, wherein The first driving mechanism (5) includes a robotic arm (501) and a rotating member (503), the rotating member (503) being rotatably connected to the robotic arm (501), and the connecting member (502) being fixedly connected to the rotating member (503); The first fixing mechanism (3) includes a first pneumatic clamping mechanism, the fixed end of the first pneumatic clamping mechanism being connected to the connecting member (502); The second fixing mechanism (402) includes a second pneumatic clamping mechanism, the moving mechanism is an electric cylinder, the electric cylinder including an electric cylinder body (401), a lead screw, and a servo motor, wherein the electric cylinder body (401) is connected to the connecting member (502), the power input end of the lead screw is drivingly connected to the servo motor, and the power output end is connected to the fixed end of the second pneumatic clamping mechanism.

4. The medicine-taking device according to claim 1, wherein The first fixing mechanism (3) includes a locking mechanism that is controlled by pressure to switch between a locked state and a released state. In the locked state, the locking mechanism fixes the first measuring member (1), and in the released state, the first measuring member (1) can be detached from the locking mechanism to disengage from the locking mechanism.

5. The medicine dispensing device according to claim 4, characterized in that the locking mechanism includes: a first cylinder body (301), a chute (302) and a sliding pin (304). The chute (302) is formed inside the first cylinder body (301), and the sliding pin (304) is slidably disposed inside the chute (302); the locking mechanism further includes: a first driving system that applies a force to the first end of the sliding pin (304) to move the sliding pin (304) in the first direction inside the chute (302) so as to lock the first measuring member (1), and a second driving system that applies a force to the second end of the sliding pin (304) to move the sliding pin (304) in the second direction inside the chute (302) so as to release the first measuring member (1).

6. The medicine dispensing device according to claim 5, characterized in that the first driving system is designed to introduce a fluid into the chute (302) and the first end of the sliding pin (304) to apply a pressure to the first end of the sliding pin (304); the second driving system is designed to introduce a fluid into the chute (302) and the second end of the sliding pin (304) to apply a pressure to the second end of the sliding pin (304), and / or the second driving system is designed as an elastic mechanism, one end of which abuts against the chute (302) and the other end abuts against the second end of the sliding pin (304).

7. The medicine dispensing device according to claim 6, characterized in that the first driving system includes a first joint (3051), a first channel (3031) and a first external medium source. The first joint (3051) is arranged on the first cylinder body (301) and communicated with the first channel (3031) for connecting with the output end of the first external medium source; the second driving system includes a second joint (3052), a second channel (3032) and a second external medium source. The second joint (3052) is arranged on the first cylinder body (301) and communicated with the second channel (3032) for connecting with the output end of the second external medium source; there is one chute (302) and one sliding pin (304). A clamping block (308) is arranged at one end of the sliding pin (304) close to the first measuring member (1), and the clamping block (308) is configured as an elastic block; a first connection port (306) and a second connection port (307) are formed on the chute (302); The output end of the first channel (3031) in the first driving system communicates with the first connection port (306) of the sliding groove (302), and the output end of the second channel (3032) in the second driving system communicates with the second connection port (307) of the sliding groove (302); Wherein, the first external medium source in the first driving system enters the first channel (3031) and the first connection port (306) of the sliding groove (302) through the first joint (3051), drives the sliding pin (304) in the sliding groove (302) to move, so that the clamping block (308) on the sliding pin (304) can approach the fixed part of the cylinder block (301) to lock the first metering member (1), and the second external medium source in the second driving system enters the second channel (3032) and the second connection port (307) of the sliding groove (302) through the second joint (3052), drives the sliding pin (304) in the sliding groove (302) to move, so that the clamping block (308) on the sliding pin (304) can move away from the fixed part of the cylinder block (301) to release the first metering member (1).

8. The medicine-taking device according to claim 6, wherein The first driving system includes a first joint (3051), a first channel (3031) and a first external medium source. The first joint (3051) is arranged on the first cylinder block (301) and communicates with the first channel (3031) for connecting with the output end of the first external medium source; The second driving system includes a second joint (3052), a second channel (3032) and a second external medium source. The second joint (3052) is arranged on the first cylinder block (301) and communicates with the second channel (3032) for connecting with the output end of the second external medium source; A plurality of the sliding grooves (302) and the sliding pins (304) are provided. The plurality of sliding grooves (302) and the plurality of sliding pins (304) correspond to each other one by one. A clamping block (308) is arranged at one end of each sliding pin (304) close to the first metering member (1), and the clamping block (308) is configured as an elastic block; A first connection port (306) and a second connection port (307) are formed in each of the plurality of sliding grooves (302); The plurality of sliding grooves (302) include a first sliding groove (3021) and a second sliding groove (3022). The output end of the first channel (3031) in the first driving system communicates with the first connection port (306) of the first sliding groove (3021) and the first connection port (306) of the second sliding groove (3022), and the output end of the second channel (3032) in the second driving system communicates with the second connection port (307) of the first sliding groove (3021) and the second connection port (307) of the second sliding groove (3022); Among them, the first external medium source in the first driving system enters the first channel (3031), the first connection port (306) of the first chute (3021), and the first connection port (306) of the second chute (3022) through the first joint (3051), driving the sliding pins (304) in the first chute (3021) and the second chute (3022) to approach each other, so that the clamping blocks (308) on the two sliding pins (304) can lock the first metering member (1). The second external medium source in the second driving system enters the second channel (3032), the second connection port (307) of the first chute (3021), and the second connection port (307) of the second chute (3022) through the second joint (3052), driving the sliding pins (304) in the first chute (3021) and the second chute (3022) to move away from each other, so that the clamping blocks (308) on the two sliding pins (304) can loosen the first metering member (1).

9. The medicine taking device according to claim 6, wherein The chute (302) has a straight sliding cavity. A part of the side wall of the sliding pin (304) abuts against the inner side wall of the chute (302) where it is located, and a gap is formed between the other part of the side wall and the inner side wall of the chute (302) where it is located. One end of the sliding pin (304) away from the first metering member (1) is located in the first sliding cavity (8) of the chute (302) where it is located. The first connection port (306) is communicated with the first sliding cavity (8), and the second connection port (307) is communicated with the gap; The elastic member (309) is sleeved on the sliding pin (304), and the elastic member (309) is located at the gap. One end of the elastic member (309) abuts against the sliding pin (304), and the other end abuts against one end of the straight sliding cavity close to the first metering member (1).

10. A method for dispensing medicine, characterized in that, Applied to the medicine taking device according to any one of claims 1-9; The medicine taking method includes: Controlling the first fixing mechanism (3) to fix the first metering member (1), controlling the second fixing mechanism (402) to fix the second metering member (2), and controlling the moving mechanism to drive the second fixing mechanism (402) to move, thereby driving the second metering member (2) to move and cooperate with the first metering member (1) to form a metering bin (101); Controlling the first driving mechanism (5) to drive the metering module, so that the metering bin (101) is inserted into the medicine for medicine taking, controlling the first driving mechanism (5) to drive the metering module to the medicine discharging position, and controlling the moving mechanism to drive the second fixing mechanism (402) to move, thereby driving the second metering member (2) to move and push out the medicine in the metering bin (101) to the medicine discharging position.

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