A medicine taking device and method

Abstract

The present application relates to a kind of medicine taking device and method in the field of initiating explosive, and the medicine taking device includes: metering module, metering module includes: first metering piece, cavity is formed in first metering piece;Second metering piece, second metering piece is movably arranged in cavity;The medicine taking device further includes first fixing mechanism, second driving mechanism, the medicine taking device designs fast change mode metering module, the first metering piece and the second metering piece in metering module can be replaced as required, realize the cavity has "sieve", "quantity", "change" three functions, can realize single charge weight error within milligram level, and medicine is taken by metering piece, can avoid some potential hazards caused by friction static electricity between grain or powder.The metering piece has "sieve", "quantity", "change" three functions, utilizes the electrostatic effect at the same time, removes the security risk brought by electrostatic effect, and improves medicine taking efficiency and production data management quality.

Description

Technical Field

[0001] This invention relates to the field of pyrotechnics technology, and in particular to a device and method for dispensing pyrotechnic drugs. Background Technology

[0002] In the field of pyrotechnics, the production of high-precision explosives is still mainly done manually. During the manual handling process, the electrostatic effect between the explosive particles causes them to agglomerate, affecting the measurement accuracy. They are also prone to accidentally adhering to the workers, resulting in low production efficiency, low quality of production data management, and 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 safety hazards caused by the existing manual operation-based drug dispensing method, and to provide a drug dispensing device and method.

[0004] This invention aims to design a medicine dispensing device, including a replaceable metering module, the metering module comprising:

[0005] A first measuring element has a cavity, the cavity having a drug dispensing port, the drug dispensing port and the cavity having a structure adapted to the target drug particle;

[0006] The second measuring element has one end movably disposed within the cavity of the first measuring element and forms a volume-controllable measuring chamber with the inner wall of the cavity to adapt to the set amount of medicine to be dispensed; the other end of the second measuring element extends out of the cavity.

[0007] The medicine dispensing device also includes:

[0008] A first fixing mechanism is used to fix and release the first measuring element;

[0009] 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. The second fixing mechanism is used to fix and release the second metering element, and the moving mechanism is used to drive the second fixing mechanism to move, thereby driving the second metering element to move so that its feeding stroke matches the set feeding amount.

[0010] In some embodiments, the dispensing device further includes a connecting component and a first driving mechanism. The first fixing mechanism and the second driving mechanism are both disposed on the connecting component. The connecting component is drivenly connected to the first driving mechanism. The first driving mechanism is at least capable of driving the connecting component, together with the metering module, the first fixing mechanism, and the second driving mechanism, to move up and down and rotate around a horizontal axis.

[0011] In some embodiments, the first drive mechanism includes a robotic arm and a rotating component, the rotating component being rotatably connected to the robotic arm, and the connecting component being 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, and the moving mechanism is an electric cylinder. The electric cylinder includes an electric cylinder body, a lead screw, and a servo motor. The electric cylinder body is connected to the connecting component, the power input end of the lead screw is driven and connected to the servo motor, and the power output end is connected to the fixing end of the second pneumatic clamping mechanism.

[0014] In some embodiments, the first fixing mechanism includes a locking mechanism that is pressure-controlled to switch between a locked state and a released state. In the locked state, the locking mechanism fixes the first measuring element, and in the released state, the first measuring element can be detached from the locking mechanism to disengage from the locking mechanism.

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

[0016] The locking mechanism further includes: a first drive system that applies force to the first end of the sliding pin to move the sliding pin in the slide groove along a first direction to lock the first measuring element; and a second drive system that applies force to the second end of the sliding pin to move the sliding pin in the slide groove along a second direction to release the first measuring element.

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

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

[0019] In some embodiments, the first drive system includes a first connector, a first channel, and a first external medium source. The first connector is disposed on the first cylinder 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 connector, a second channel, and a second external medium source. The second connector is disposed on the first cylinder and communicates with the second channel for connecting to the output end of the second external medium source.

[0021] Each of the slide groove and the slide pin is provided, and a clamping block is provided at the end of the slide pin near the first measuring element. The clamping block is constructed as an elastic block.

[0022] The slide groove is provided with a first connection port and a second connection port;

[0023] The output end of the first channel in the first drive system is connected to the first connection port of the slide, and the output end of the second channel in the second drive system is connected to the second connection port of the slide.

[0024] In the first drive system, the first external medium source enters the first channel and the first connection port of the slide groove through the first connector, driving the sliding pin in the slide groove to move, so that the clamping block on the sliding pin can approach the fixed part of the cylinder body and lock the first metering element. In the second drive system, the second external medium source enters the second channel and the second connection port of the slide groove through the second connector, driving the sliding pin in the slide groove to move, so that the clamping block on the sliding pin can move away from the fixed part of the cylinder body and release the first metering element.

[0025] In some embodiments, the first drive system includes a first connector, a first channel, and a first external medium source. The first connector is disposed on the first cylinder and communicates with the first channel for connecting to the output end of the first external medium source.

[0026] The second drive system includes a second connector, a second channel, and a second external medium source. The second connector is disposed on the first cylinder and communicates with the second channel for connecting to the output end of the second external medium source.

[0027] Multiple slides and multiple slide pins are provided, and the multiple slides and multiple slide pins correspond one to one. Each slide pin is provided with a clamping block at one end near the first measuring component. The clamping block is constructed as an elastic block.

[0028] Each of the multiple sliding grooves is provided with a first connection port and a second connection port;

[0029] The plurality of slides include a first slide and a second slide. The output end of the first channel in the first drive system is connected to the first connection port of the first slide and the first connection port of the second slide. The output end of the second channel in the second drive system is connected to the second connection port of the first slide and the second connection port of the second slide.

[0030] In the first driving system, the first external medium source enters the first channel, the first connection port of the first slide groove, and the first connection port of the second slide groove through the first connector, driving the sliding pins in the first and second slide grooves to move closer to each other, so that the clamping blocks on the two sliding pins can lock the first measuring element. In the second driving system, the second external medium source enters the second channel, the second connection port of the first slide groove, and the second connection port of the second slide groove through the second connector, driving the sliding pins in the first and second slide grooves to move away from each other, so that the clamping blocks on the two sliding pins can release the first measuring element.

[0031] In some embodiments, the slide has a flat slide cavity, a portion of the sidewall of the sliding pin abuts against the inner sidewall of the slide where it is located, and another portion of the sidewall forms a gap between it and the inner sidewall of the slide where it is located. The end of the sliding pin away from the first measuring element is located in the first slide cavity of the slide where it is located. The first connection port communicates with the first slide cavity, and the second connection port communicates with the gap.

[0032] The elastic element is sleeved on the sliding pin and is located in the gap. One end of the elastic element abuts against the sliding pin, and the other end abuts against the end of the straight sliding cavity near the first measuring element.

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

[0034] The method for obtaining the medicine includes:

[0035] The first fixing mechanism is controlled to fix the first measuring component, the second fixing mechanism is controlled to fix the second measuring component, and the moving mechanism is controlled to drive the second fixing mechanism to move, thereby driving the second measuring component to move and cooperate with the first measuring component to form a measuring chamber.

[0036] The first driving mechanism is controlled to drive the metering module, so that the metering chamber is inserted to dispensing the drug. The first driving mechanism is controlled to drive the metering module to the drug dispensing position. The moving mechanism is controlled to drive the second fixing mechanism to move, thereby driving the second metering element to move and push the drug in the metering chamber to the drug dispensing position.

[0037] The solution provided by this invention has the following advantages compared with the prior art:

[0038] The dispensing device features a quick-change metering unit, where both the first and second metering units can be replaced as needed. This allows the metering chamber to perform three functions: sieving, measuring, and variable measurement. It ensures that the weight error of a single dispensing is within the milligram level. Furthermore, dispensing medication through the metering unit avoids potential hazards caused by frictional static electricity between drug granules or powders. The metering unit's three functions—sieving, measuring, and variable measurement—utilize the electrostatic effect while eliminating its safety hazards, and improve dispensing efficiency and the quality of production data management. Attached Figure Description

[0039] The accompanying drawings, as part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments and descriptions of the invention are used to explain the invention, but do not constitute an undue limitation of the invention. Obviously, the drawings described below are merely some embodiments, and those skilled in the art can obtain other drawings based on these drawings without creative effort. In the drawings:

[0040] Figure 1 This is a cross-sectional view of the medicine dispensing device shown in an embodiment of the present invention;

[0041] Figure 2 yes Figure 1 Enlarged view of point A in the middle;

[0042] Figure 3 yes Figure 1 Sectional view along the BB direction.

[0043] In the diagram: 1-First measuring element, 101-Measuring chamber, 102-Dispensing port, 2-Second measuring element, 3-First fixing mechanism, 301-First cylinder, 302-Slide groove, 3021-First slide groove, 3022-Second slide groove, 303-Channel, 3031-First channel, 3032-Second channel, 304-Sliding pin, 305-Connector, 3051-First connector, 3052-Second connector, 306-First connection port, 307-The 2-Connecting port, 308-Clamping block, 309-Elastic element, 4-Second driving mechanism, 401-Electric cylinder body, 402-Second fixing mechanism, 403-Cylinder lead, 404-Cylinder connecting block, 5-First driving mechanism, 501-Mechanical arm, 502-Connecting component, 5021-First connecting end, 5022-Second connecting 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 accompanying drawings and textual descriptions are not intended to limit the scope of the invention in any way, but rather to illustrate the concept of the invention to those skilled in the art by referring to specific embodiments. Detailed Implementation

[0045] In the description of this invention, it should be noted that the terms "inner" and "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0046] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," "contact," and "communication" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0047] In the field of pyrotechnics, the production of high-precision explosives is still mainly done manually. During the manual handling process, the electrostatic effect between the explosive particles causes them to agglomerate, affecting the measurement accuracy. They are also prone to accidentally adhering to the workers, resulting in low production efficiency, low quality of production data management, and safety hazards.

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

[0049] Example 1

[0050] like Figure 1 , 2 As shown, this embodiment provides a medicine dispensing device, including a replaceable metering module, the metering module comprising:

[0051] A first measuring element 1 has a cavity, the cavity having a drug dispensing port 102, the drug dispensing port 102 and the cavity having a structure adapted to the target drug particle;

[0052] The second measuring element 2 has one end movably disposed in the cavity of the first measuring element and forms a volume-controllable measuring chamber 101 with the inner wall of the cavity to adapt to the set amount of medicine to be dispensed; the other end of the second measuring element 2 extends out of the cavity.

[0053] The medicine dispensing device also includes:

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

[0055] 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. The second fixing mechanism 402 is used to fix and release the second metering element 2. The moving mechanism is used to drive the second fixing mechanism 402 to move, thereby driving the second metering element 2 to move so that its feeding stroke matches the set feeding amount.

[0056] In this embodiment, the drug dispensing device can achieve unmanned drug dispensing. The entire drug dispensing device is controlled by a PLC. The PLC controller controls the first fixed mechanism 3 and the second driving mechanism 4 to achieve precise dispensing of drug granules. The first metering component 1 and the second metering component 2 in the metering components can be replaced as needed. The metering components are designed with a quick-change mode, so that the metering chamber 101 has three functions: "sieving", "measuring", and "changing". It can achieve a single drug filling weight error within the milligram level. Furthermore, drug dispensing through the metering components can avoid some potential hazards caused by frictional static electricity generated between drug granules or powders. For example, frictional static electricity during manual drug dispensing can cause drug granules to agglomerate, affecting the metering accuracy, and can also easily adhere to the workers' bodies, resulting in low production efficiency.

[0057] The first measuring element 1 is constructed as a tubular structure with openings at both ends, and the second measuring element 2 is constructed as a cylindrical structure.

[0058] More specifically, "screening" refers to the screening function, where the metering chamber 101 itself filters out suitable drug particles. When taking the drug, only the corresponding drug particles can be taken. The mass of the particles due to electrostatic effect is much smaller than the mass of the selected corresponding drug particles. That is, the metering chamber 101 has a fixed chamber diameter. When the first driving mechanism 5 drives the metering component, the metering chamber 101 actively inserts the drug. In this state, the drug is squeezed into the metering chamber 101 by the metering component, so that the metering chamber 101 is filled with drug. Through the design of the metering component, for drug particles with too large a single particle mass, the metering chamber 101 can prevent the drug particle mass from being too large and exceeding the target precision. That is, the chamber diameter of the metering chamber 101 can relatively quantify the mass of the selected drug particles, thereby ensuring that the mass of a single drug take-out is at the milligram level.

[0059] The electrostatic effect between the drug particles causes them to adhere to the metering chamber 101. This electrostatic effect not only does not affect the metering, but the metering device also makes full use of this effect, preventing the drug from falling off during the movement of the metering device.

[0060] "Quantity" refers to the quantification function. Based on the drug bulk density, the metering chamber 101 quantifies the maximum mass of a single drug dispensing and the mass of a single drug particle. Then, the precision drug particle delivery method achieves accurate quality control. Particles with electrostatic effects can also be quantified.

[0061] "Change": Depending on the different types of drugs and the different physicochemical properties of different drug batches, the metering chamber 101 can be replaced. A one-to-one consumable metering chamber 101 can be designed. The metering chamber 101 that generates too much electrostatic effect can also be replaced at regular intervals and in quantitative quantities. That is, the first metering element 1 and the second metering element 2 can be replaced at the same time. When there is too much electrostatic effect, a lot of drug will be attached to the inner wall of the first metering element. At this time, the first metering element 1 and the second metering element 2 need to be replaced.

[0062] Quick-change modular metering component: The first metering component 1 and the second metering component 2 form a first-order double-track slide, with equal diameter vertical core tube measuring sections at the front and rear. The second metering component 2 is driven to move by a moving mechanism. When the second metering component 2 is in the first position, it can push out the drug in the metering chamber 101. When the second metering component 2 is in the second position, it can form at least part of the metering chamber 101 with the first metering component 1. The second driving mechanism 4 can be an electro-pneumatic servo drive, which directly drives the second metering component 2 to move.

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

[0064] The process of the drug dispensing device is as follows: acquire drug dispensing location information and drug release location information, and control the first drive mechanism 5 to move close to the drug dispensing location based on the drug dispensing location information;

[0065] The first fixing mechanism 3 is controlled to fix the first measuring element 1, and the second driving mechanism 4 is controlled to drive the second measuring element 2 to move to the second position. At this time, the first measuring element 1 constitutes at least part of the measuring chamber 101.

[0066] Preferably, the first driving mechanism 5 is used to drive the metering module to dispensing medicine, including: the first driving mechanism 5 drives the metering module so that the metering chamber 101 can be inserted with medicine.

[0067] The first drive mechanism 5 drives the metering element, causing the metering chamber 101 to actively insert the drug for dispensing. After the drug is placed in the metering chamber 101, it is pressed into the metering chamber 101 under the action of extrusion force. At this time, the first drive mechanism 5 is controlled to rotate, so that the metering chamber 101 is horizontal or tilted upward. At this time, the drug is not easily affected by gravity and static electricity in the metering chamber 101 and will not fall out. Then, the first drive mechanism 5 drives the metering element to near the drug dispensing position, and the second drive mechanism 4 drives the second metering element 2 to move to the first position, pushing the drug in the metering chamber 101 to the drug dispensing position. The entire drug dispensing process of the drug dispensing device, with its simple metering element combined with the design of the moving and first fixed mechanisms, realizes the screening and metering of drugs. Compared with the negative pressure adsorption drug dispensing method, it does not require an additional negative pressure adsorption gas source, and can more stably and completely extract the required amount of drug, with accurate and convenient metering.

[0068] The following example illustrates the quantification function of the medicine dispensing device:

[0069] A high-rigidity miniature electric cylinder was selected as the driving component, and its performance parameters are as follows: maximum stroke: 50mm; screw lead: 2mm; maximum handling weight when used vertically: 2.5kg; repeatability: ±0.01mm; minimum displacement: 0.01mm; minimum speed: 2mm / min.

[0070] Electric cylinders are modular products that integrate servo motors and lead screws, converting the rotary motion of servo motors into linear motion. They also transform the best advantages of servo motors—precise speed control, precise revolution control, and precise torque control—into precise speed control, precise position control, and precise thrust control, thus achieving high-precision linear motion.

[0071] Using metering chamber 101 with an inner diameter d = 0.5 mm, the formula for calculating the mass of medicine taken by displacement is:

[0072] M = ρ m Multiply x by πr 2

[0073] In the formula:

[0074] M: Minimum drug mass taken in a single displacement (mg)

[0075] ρ m Maximum bulk density of the agent (mg / mm³) 3

[0076] x: Minimum displacement of the miniature electric cylinder (mm)

[0077] r: Metering chamber radius (mm)

[0078] Based on the known conditions from the artificial experiment, the calculation is based on the maximum bulk density:

[0079] ρ m =1.075

[0080] x = 0.01mm

[0081] r = 0.25mm

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

[0083] The calculations show that the minimum drug dispensing mass at the minimum displacement of the miniature electric cylinder is significantly smaller than the minimum powder dispensing mass of 0.2–0.6 mg that can be achieved manually. In actual operation, the displacement of the electric cylinder can be appropriately adjusted to meet milligram-level accuracy requirements.

[0084] Optionally, in one implementation of this embodiment, such as Figure 1 , 3 As shown,

[0085] The first fixing mechanism 3 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 element 1. In the released state, the first measuring element 1 can be detached from the locking mechanism to disengage from the locking mechanism.

[0086] More specifically, the locking mechanism includes: a first cylinder 301 and a sliding pin 304, wherein the first cylinder 301 has a sliding groove 302 and a channel 303 that are interconnected.

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

[0088] In this embodiment, when the first measuring element 1 is in working condition and locked, an external medium source is introduced into the slide groove 302 through one of the channels 303, thereby pressing the sliding pin 304 to move and pressing the first measuring element 1. When the first measuring element 1 needs to be replaced, an external medium source can be introduced into the slide groove 302 through another channel 303, thereby pressing the sliding pin 304 to move in the opposite direction to reset and release the first measuring element 1.

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

[0090] Preferably, the slide groove 302 has an opening, and a sealing screw 7 is provided at the opening of the slide groove 302. The sealing screw 7 is used to open and separate the opening, so as to facilitate the installation of the sliding pin 304 in the slide groove 302.

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

[0092] The first drive system includes a first connector 3051, a first channel 3031, and a first external medium source. The first connector 3051 is disposed on the first cylinder 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 connector 3052, a second channel 3032, and a second external medium source. The second connector 3052 is disposed on the first cylinder 301 and communicates with the second channel 3032 for connecting to the output end of the second external medium source.

[0094] Each of the slide groove 302 and the slide pin 304 is provided. The slide pin 304 is provided with a clamping block 308 at one end near the first measuring element 1. The clamping block 308 is constructed as an elastic block.

[0095] The slide 302 is provided with a first connection port 306 and a second connection port 307.

[0096] The output end of the first channel 3031 in the first drive system is connected to the first connection port 306 of the slide 302, and the output end of the second channel 3032 in the second drive system is connected to the second connection port 307 of the slide 302.

[0097] In the first drive system, the first external medium source enters the first channel 3031 and the first connection port 306 of the slide groove 302 through the first connector 3051, driving the sliding pin 304 in the slide groove 302 to move, so that the clamping block 308 on the sliding pin 304 can approach the fixed part of the cylinder 301 and lock the first metering element 1. In the second drive system, the second external medium source enters the second channel 3032 and the second connection port 307 of the slide groove 302 through the second connector 3052, driving the sliding pin 304 in the slide 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 301 and release the first metering element 1; or...

[0098] Multiple slide grooves 302 and multiple slide pins 304 are provided, and the multiple slide grooves 302 and multiple slide pins 304 correspond one-to-one. Each slide pin 304 is provided with a clamping block 308 at one end near the first measuring component 1. The clamping block 308 is constructed as an elastic block.

[0099] Each of the multiple sliding grooves 302 is provided with a first connection port 306 and a second connection port 307;

[0100] The plurality of slides 302 include a first slide 3021 and a second slide 3022. The output end of the first channel 3031 in the first drive system is connected to the first connection port 306 of the first slide 3021 and the first connection port 306 of the second slide 3022. The output end of the second channel 3032 in the second drive system is connected to the second connection port 307 of the first slide 3021 and the second connection port 307 of the second slide 3022.

[0101] In the first driving system, the first external medium source enters the first channel 3031, the first connection port 306 of the first slide groove 3021, and the first connection port 306 of the second slide groove 3022 through the first connector 3051, driving the sliding pins 304 in the first slide groove 3021 and the second slide groove 3022 to move closer to each other, so that the clamping blocks 308 on the two sliding pins 304 can lock the first measuring element 1. In the second driving system, the second external medium source enters the second channel 3032, the second connection port 307 of the first slide groove 3021, and the second connection port 307 of the second slide groove 3022 through the second connector 3052, driving the sliding pins 304 in the first slide groove 3021 and the second slide 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 element 1.

[0102] In this embodiment, two slide grooves 302 and two slide pins 304 are provided as an example. The two slide grooves 302 include a first slide groove 3021 and a second slide groove 3022. Preferably, the first slide groove 3021 and the second slide groove 3022 are arranged radially within 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 slide pin 304, and the second connection port 307 is located at the other end of the slide pin 304. The output end of the external medium source is connected to the connector 305, and air is supplied to the channel 303 and the slide groove 302 through the connector 305. The specific process is as follows: when the first metering element 1 needs to be fixed, the external air source works, supplying air to the first channel 3031, the first slide groove 3021, and the second slide groove 302 through the first connector 3051. The internal air supply to 022 causes the two opposing sliding pins 304 to move closer together, thereby fixing the first metering component 1 located between them by compression. The two sliding pins 304 located on the same straight line can make the clamping force on the first metering component 1 more uniform, thereby stably and firmly fixing the first metering component 1. When the first metering component 1 needs to be replaced, the external air source is activated, and air is supplied to the second channel 3032, the first sliding groove 3021, and the second sliding groove 3022 through the second connector 3052, causing the two opposing sliding pins 304 to move away from each other, thereby eliminating the compression fixing of the first metering component 1. At this time, the first metering component 1 can be taken out for replacement.

[0103] The above structural design of the first fixing mechanism 3 is to connect the output ends of the two channels to different positions of the two slides and control the displacement of the two sliding pins in different directions to achieve the fixed and non-fixed states of the first measuring component 1. The simple channel, slide and sliding pin design makes the first fixing mechanism 3 have a relatively simple structure, which is more suitable for establishing a connection with the first driving mechanism 5 and moving synchronously with the first driving mechanism 5.

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

[0105] The end of the sliding pin 304 is threaded, and the clamping block 308 is threadedly connected to the sliding pin 304 to fix it.

[0106] Optionally, in one implementation of this embodiment, such as Figure 3 As shown,

[0107] The slide groove 302 has a straight sliding cavity. A portion of the sidewall of the sliding pin 304 abuts against the inner sidewall of the slide groove 302 where it is located, and another portion of the sidewall forms a gap between it and the inner sidewall of the slide groove 302 where it is located. The end of the sliding pin 304 away from the first measuring element 1 is located in the first sliding cavity 8 of the slide groove 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 element 309 is sleeved on the sliding pin 304, and the elastic element 309 is located at the gap. One end of the elastic element 309 abuts against the sliding pin 304, and the other end abuts against the end of the straight sliding cavity near the first measuring element 1.

[0109] In this embodiment, preferably, the elastic element 309 is a spring. The spring ensures that the sliding pin 304 is in a relatively stable state when it is located in the corresponding groove 302, preventing the position of the sliding pin 304 from changing frequently as the medicine dispensing device moves. At the same time, the spring has low elasticity and is only used to fix the position of the sliding pin 304, without affecting the normal movement of the sliding pin 304 driven by air pressure.

[0110] The positional design of the first connection port 306 and the second connection port 7 allows for relative driving movement and distance driving movement of the two sliding pins 304 simultaneously through the same external medium source.

[0111] Optionally, in one implementation of this embodiment, such as Figure 1-3 As shown,

[0112] The medicine dispensing device also includes a connecting component 502 and a first driving mechanism 5. The first fixing mechanism 3 and the second driving mechanism 4 are both disposed on the connecting component 502. The connecting component 502 is drivenly connected to the first driving mechanism 5. The first driving mechanism 5 is at least able to drive the connecting component 502 together with the metering module, the first fixing mechanism 3 and the second driving mechanism 4 to move up and down and rotate around the horizontal axis.

[0113] Furthermore, the first drive mechanism 5 includes a robotic arm 501 and a rotating component 503, the rotating component 503 being rotatably connected to the robotic arm 501, and the connecting component 502 being fixedly connected to the rotating component 503.

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

[0115] The second fixing mechanism 402 includes a second pneumatic clamping mechanism. The moving mechanism is an electric cylinder. The electric cylinder includes an electric cylinder body 401, a lead screw, and a servo motor. The electric cylinder body 401 is connected to the connecting component 502. The power input end of the lead screw is driven and connected to the servo motor, and the power output end is connected to the fixing 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. The grasping end is used to grasp and fix the second measuring element 2. The electric cylinder body 401 drives the gripper to move, so that the gripper drives the second measuring element 2 to move within the measuring chamber 101.

[0117] The gripper is constructed as a flexible gripper. The gripper grasps and fixes the second measuring element 2. The electric cylinder body 401 works to drive the gripper to move in the vertical direction, so that the gripper synchronously drives the second measuring element 2 to move within the first measuring element 1. Thus, through the cooperation between the first fixing mechanism 3 and the second driving mechanism 4, the fixation and movement of the first measuring element 1 and the second measuring element 2 in the measuring element are achieved in a coordinated manner.

[0118] Specifically, the lower end of the electric cylinder body 401 is provided with a cylinder lead 403, and the lower end of the cylinder lead 403 is provided with a cylinder connecting block 404. The gripper is screwed to the cylinder connecting block 404. The electric cylinder body 401 adopts an electric cylinder. The gripper is connected to an external air source. When the air is turned on, the gripper is released. When the air is turned off, the second metering element 2 is gripped. The cylinder lead 403 is the electric cylinder lead, and the cylinder connecting block 404 is the electric cylinder connecting block.

[0119] Initialize the medication dispensing device system;

[0120] The gripper action clamps the second measuring element 2 using air pressure.

[0121] The first fixing mechanism 3 is activated, clamping the first measuring element 1 with air pressure;

[0122] When the electric cylinder body 401 moves, the cylinder connecting block 404 connected to the moving end of the electric cylinder drives the gripper and the second measuring element 2 to move upward, so that the second measuring element 2 and the first measuring element 1 form a measuring chamber 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 sidewall 5023.

[0124] The robotic arm 501 is rotatably connected to the first connecting end 5021 via the rotating component 503, the second connecting end 5022 is fixedly connected to the first fixing mechanism 3, and the connecting sidewall 5023 is fixedly connected to the second driving mechanism 4.

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

[0126] In this embodiment, the rotating component 503 is an electric rotating component, the connecting component 502 is a connecting plate, the electric cylinder body 401 is connected to the side of the connecting component 502, the rotating component 503 is connected to the output end of the robotic arm 501, and the first cylinder 301 is connected to the lower end of the connecting component 402. Thus, the second drive mechanism 4 and the first drive mechanism 5 together form a high-sensitivity triple execution unit. The robotic arm 501, the rotating component 503 and the electric cylinder body 401 form a triple motion module with X / Y / Z, rotation angle φ and stroke α. The spatial positioning accuracy is <0.05mm, which completes the spatial positioning of the metering chamber 101 and the picking and pushing of medicine.

[0127] The medicine dispensing device comprises a robotic arm 501, a rotating component 503, a connecting component 502, a first fixing mechanism 3, an electric cylinder body 401, an isolation sleeve 6, a cylinder connecting block 404, grippers, a cylinder lead 403, a rubber gasket, a first measuring element 1, and a second measuring element 2.

[0128] Rotating component 503 is installed at the output end of robotic arm 501 / three-axis right-angle robot execution unit; connecting component 502 is screwed and fixed to rotating component 503; first cylinder 301 is screwed and fixed to connecting component 502; electric cylinder body 401 is screwed to connecting component 502; cylinder connecting block 404 is connected to cylinder lead 403; isolation sleeve 6 is connected to cylinder lead 403; cylinder connecting block 404 is clearance-fitted to first cylinder 301; outer circle of rubber pad is clearance-fitted to first cylinder 301; first metering component 1 contacts rubber pad; second metering component 2 is clearance-fitted to first metering component 1.

[0129] The drug dispensing and loading control program of the drug dispensing device's control system:

[0130] The robotic arm 501 can be an external robotic arm. When the robotic arm 501 moves, the measuring element in the drug dispensing device descends to dispense the drug.

[0131] The robotic arm 501 moves, and the measuring device in the medicine dispensing device leaves the medicine bottle;

[0132] When the rotating component 503 is activated, the measuring element in the dispensing device rotates to a horizontal position;

[0133] The robotic arm 501 moves, and the medicine dispensing device moves away from the medicine bottle;

[0134] When the electric cylinder body 401 moves, the cylinder connecting block 404 connected to the moving end of the electric cylinder body 401 drives the gripper and the second metering component 2 to move, so that the second metering component 2 pushes the drug into the mold.

[0135] Then the medicine dispensing device is reset.

[0136] Example 2

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

[0138] The method for obtaining the medicine includes:

[0139] The first fixing mechanism 3 is controlled to fix the first measuring element 1, the second fixing mechanism 402 is controlled to fix the second measuring element 2, and the moving mechanism is controlled to drive the second fixing mechanism 402 to move, thereby driving the second measuring element 2 to move and cooperate with the first measuring element 1 to form the measuring chamber 101.

[0140] The first driving mechanism 5 drives the metering module to insert the drug into the metering chamber 101 for drug dispensing. The first driving mechanism 5 drives the metering module to the drug dispensing position. The moving mechanism drives the second fixing mechanism 402 to move, thereby driving the second metering element 2 to move and push the drug in the metering chamber 101 to the drug dispensing position.

[0141] In this embodiment, the method for obtaining the drug collection location information and the drug placement location information can be the visual recognition system in the prior art. The principle of the visual recognition system to identify the position of an object is to extract the spatial information of the target object from the image or video by combining computer vision technology with deep learning algorithms, and finally determine its position in the two-dimensional or three-dimensional coordinate system.

[0142] This drug dispensing method enables unmanned drug dispensing. The entire dispensing device is controlled by a PLC. The PLC controller controls the first fixed mechanism 3, the second driving mechanism 4, and the first driving mechanism 5, thereby achieving precise dispensing of drug granules. The first metering component 1 and the second metering component 2 in the metering components can be replaced as needed. The metering components are designed with a quick-change mode, so that the metering chamber 101 has three functions: "sieving", "measuring", and "changing". It can achieve a single dispensing weight error within the milligram level. Furthermore, dispensing drugs through metering components can avoid some potential hazards caused by frictional static electricity generated between drug granules or powders. For example, frictional static electricity during manual drug dispensing can cause drug granules to agglomerate, affecting metering accuracy, and can also easily adhere to workers, resulting in low production efficiency.

[0143] More specifically, "screening" refers to the screening function, where the metering chamber 101 itself filters out suitable drug particles. When taking the drug, only the corresponding drug particles can be taken. The mass of the particles due to electrostatic effect is much smaller than the mass of the selected corresponding drug particles. That is, the metering chamber 101 has a fixed chamber diameter. When the first driving mechanism 5 drives the metering component, the metering chamber 101 actively inserts the drug. In this state, the drug is squeezed into the metering chamber 101 by the metering component, so that the metering chamber 101 is filled with drug. Through the design of the metering component, for drug particles with too large a single particle mass, the metering chamber 101 can prevent the drug particle mass from being too large and exceeding the target precision. That is, the chamber diameter of the metering chamber 101 can relatively quantify the mass of the selected drug particles, thereby ensuring that the mass of a single drug take-out is at the milligram level.

[0144] The electrostatic effect between the drug particles causes them to adhere to the metering chamber 101. This electrostatic effect not only does not affect the metering, but the metering device also makes full use of this effect, preventing the drug from falling off during the movement of the metering device.

[0145] "Quantity" refers to the quantification function. Based on the drug bulk density, the metering chamber 101 quantifies the maximum mass of a single drug dispensing and the mass of a single drug particle. Then, the precision drug particle delivery method achieves accurate quality control. Particles with electrostatic effects can also be quantified.

[0146] "Change": Depending on the different types of drugs and the different physicochemical properties of different drug batches, the metering chamber 101 can be replaced. A one-to-one consumable metering chamber 101 can be designed. The metering chamber 101 that generates too much electrostatic effect can also be replaced at regular intervals and in quantitative quantities. That is, the first metering element 1 and the second metering element 2 can be replaced at the same time. When there is too much electrostatic effect, a lot of drug will be attached to the inner wall of the first metering element. At this time, the first metering element 1 and the second metering element 2 need to be replaced.

[0147] The measuring device has three functions: "screening", "measuring" and "changing". While utilizing the electrostatic effect, it eliminates the safety hazards caused by the electrostatic effect and improves the efficiency of drug dispensing and the quality of production data management.

[0148] Compared to negative pressure adsorption-based drug extraction, it does not require an additional negative pressure adsorption gas source and can extract the required amount of drug more stably and completely, with accurate and convenient measurement.

[0149] Furthermore, methods for obtaining the medication include:

[0150] The system acquires drug retrieval location information and drug dispensing location information, and controls the first drive mechanism 5 to move close to the drug retrieval location based on the drug retrieval location information.

[0151] The external medium source is controlled to introduce medium into the channel 303 and the slide groove 302 to give pressure to the sliding pin 304, so that the sliding pin 304 fixes the first metering element 1, and the second drive mechanism 4 is controlled to drive the second metering element 2 to move to the second position.

[0152] The first drive mechanism 5 drives the metering element, causing the metering chamber 101 to actively insert the drug for drug dispensing. After the drug is in the metering chamber 101, the first drive mechanism 5 drives the metering element to a position close to the drug dispensing position. The second drive mechanism 4 drives the second metering element 2 to move to the first position, pushing the drug in the metering chamber 101 to the drug dispensing position.

[0153] By connecting the output ends of the two channels to different positions of the two slides, the displacement of the two sliding pins in different directions can be controlled, thereby realizing the fixed and non-fixed states of the first measuring component 1. The simple channel, slide and sliding pin design makes the first fixing mechanism 3 have a relatively simple structure, which is more suitable for establishing a connection with the first driving mechanism 5 and moving synchronously with the first driving mechanism 5. It is convenient to control and easy to replace the measuring component when needed.

[0154] Furthermore, methods for obtaining the medication include:

[0155] The robot arm 501 is controlled to move the first cylinder 301, the electric cylinder body 401, the gripper and the metering component to a position close to the drug retrieval location based on the drug retrieval location information.

[0156] The first fixing mechanism 3 is controlled to fix the first measuring component 1, and the second driving mechanism 4 is controlled to drive the second measuring component 2 to move to the second position.

[0157] The robotic arm 501 drives the metering component, causing the metering chamber 101 to actively insert the drug for drug retrieval. After the drug is in the metering chamber 101, the robotic arm 501 drives the metering component to a position close to the drug release position. The electric cylinder body 401 and the gripper drive the second metering component 2 to move to the first position, pushing the drug in the metering chamber 101 to the drug release position.

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

[0159] In summary, the ingenious design of the medicine dispensing device lies in:

[0160] The metering unit is designed with a quick-change mode. Both the first and second metering components can be replaced as needed, enabling the chamber to perform three functions: sieving, measuring, and changing. This ensures that the weight error of a single dose is within the milligram level. Furthermore, dispensing medication through the metering unit avoids potential hazards caused by frictional static electricity between granules or powders. The metering unit's three functions—sieving, measuring, and changing—utilize the electrostatic effect while eliminating its safety hazards, and improve dispensing efficiency and production data management quality.

[0161] It can be further understood that in this disclosure, "multiple" refers to two or more, and other quantifiers are similar. "And / or" describes the relationship between related objects, indicating that three relationships can exist; for example, A and / or B can represent: A alone, A and B simultaneously, and B alone. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. The singular forms "a," "the," and "the" are also intended to include the plural forms unless the context clearly indicates otherwise.

[0162] It is further understood that the terms "first," "second," etc., are used to describe various types of information, but this information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another, and do not indicate a specific order or degree of importance. In fact, the expressions "first," "second," etc., are completely interchangeable. For example, without departing from the scope of this disclosure, first information can also be referred to as second information, and similarly, second information can also be referred to as first information.

[0163] It is further understood that although operations are described in a specific order in the accompanying drawings in the embodiments of this disclosure, this should not be construed as requiring these operations to be performed in the specific order or serial order shown, or requiring all of the shown operations to be performed to obtain the desired result. In certain environments, multitasking and parallel processing may be advantageous.

[0164] Other embodiments of this disclosure will readily occur 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 this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the following claims.

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

Claims

1. A medicine dispensing device, characterized in that: Includes a replaceable metering module, the metering module comprising: A first measuring element (1) has a cavity, the cavity having a drug dispensing port (102), the drug dispensing port (102) and the cavity having a structure adapted to the target drug particle; The second measuring element (2) has one end movably disposed in the cavity of the first measuring element and forms a volume controllable measuring chamber (101) with the inner wall of the cavity to adapt to the set amount of medicine taken; the other end of the second measuring element (2) extends out of the cavity. The medicine dispensing device also includes: A first fixing mechanism (3) is used to fix and release the first measuring element (1). The first fixing mechanism (3) includes a locking mechanism that is pressure-controlled to switch between a locked state and a released state. In the locked state, the locking mechanism fixes the first measuring element (1). In the released state, the first measuring element (1) can be removed from the locking mechanism to disengage from the locking mechanism. The locking mechanism includes: a first cylinder (301), a slide groove (302) and a sliding pin (304), wherein the slide groove (302) is formed in the first cylinder (301) and the sliding pin (304) is slidably disposed in the slide groove (302); The locking mechanism further includes: a first drive system that applies force to the first end of the sliding pin (304) to move the sliding pin (304) in the slide groove (302) along a first direction to lock the first measuring element (1); and a second drive system that applies force to the second end of the sliding pin (304) to move the sliding pin (304) in the slide groove (302) along a second direction to release the first measuring element (1). 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. The second fixing mechanism (402) is used to fix and release the second metering element (2). The moving mechanism is used to drive the second fixing mechanism (402) to move, thereby driving the second metering element (2) to move so that its feeding stroke matches the set feeding amount. The medicine dispensing device further includes a connecting component (502) and a first driving mechanism (5). The first fixing mechanism (3) and the second driving mechanism (4) are both disposed on the connecting component (502). The connecting component (502) is driven to connect with the first driving mechanism (5). The first driving mechanism (5) can at least drive the connecting component (502) together with the metering module, the first fixing mechanism (3) and the second driving mechanism (4) to move up and down and rotate around the horizontal axis.

2. The medicine dispensing device according to claim 1, characterized in that, The first drive mechanism (5) includes a robotic arm (501) and a rotating component (503). The rotating component (503) is rotatably connected to the robotic arm (501), and the connecting component (502) is fixedly connected to the rotating component (503). The first fixing mechanism (3) includes a first pneumatic clamping mechanism, the fixed end of which is connected to the connecting component (502); The second fixing mechanism (402) includes a second pneumatic clamping mechanism. The moving mechanism is an electric cylinder. The electric cylinder includes an electric cylinder body (401), a lead screw, and a servo motor. The electric cylinder body (401) is connected to the connecting component (502). The power input end of the lead screw is connected to the servo motor drive, and the power output end is connected to the fixing end of the second pneumatic clamping mechanism.

3. The medicine dispensing device according to claim 1, characterized in that, The first drive system is designed to introduce fluid into the groove (302) and the first end of the sliding pin (304) to apply pressure to the first end of the sliding pin (304); The second drive system is designed to introduce fluid into the groove (302) and the second end of the sliding pin (304) to apply pressure to the second end of the sliding pin (304), and / or the second drive system is designed as an elastic mechanism, one end of which abuts against the groove (302) and the other end of which abuts against the second end of the sliding pin (304).

4. The medicine dispensing device according to claim 3, characterized in that, The first drive system includes a first connector (3051), a first channel (3031), and a first external medium source. The first connector (3051) is disposed on the first cylinder (301) and communicates with the first channel (3031) for connecting to the output end of the first external medium source. The second drive system includes a second connector (3052), a second channel (3032), and a second external medium source. The second connector (3052) is disposed on the first cylinder (301) and communicates with the second channel (3032) for connecting to the output end of the second external medium source. Both the slide groove (302) and the slide pin (304) are provided. The slide pin (304) is provided with a clamping block (308) at one end near the first measuring element (1). The clamping block (308) is constructed as an elastic block. The slide (302) is provided with a first connection port (306) and a second connection port (307); The output end of the first channel (3031) in the first drive system is connected to the first connection port (306) of the slide (302), and the output end of the second channel (3032) in the second drive system is connected to the second connection port (307) of the slide (302). In the first drive system, the first external medium source enters the first channel (3031) and the first connection port (306) of the slide groove (302) through the first connector (3051), driving the sliding pin (304) in the slide groove (302) to move, so that the clamping block (308) on the sliding pin (304) can approach the fixed part of the first cylinder (301) and lock the first metering element (1). In the second drive system, the second external medium source enters the second channel (3032) and the second connection port (307) of the slide groove (302) through the second connector (3052), driving the sliding pin (304) in the slide groove (302) to move, so that the clamping block (308) on the sliding pin (304) can move away from the fixed part of the first cylinder (301) and release the first metering element (1).

5. The medicine dispensing device according to claim 3, characterized in that, The first drive system includes a first connector (3051), a first channel (3031), and a first external medium source. The first connector (3051) is disposed on the first cylinder (301) and communicates with the first channel (3031) for connecting to the output end of the first external medium source. The second drive system includes a second connector (3052), a second channel (3032), and a second external medium source. The second connector (3052) is disposed on the first cylinder (301) and communicates with the second channel (3032) for connecting to the output end of the second external medium source. Multiple slide grooves (302) and multiple slide pins (304) are provided, and the multiple slide grooves (302) and multiple slide pins (304) correspond one-to-one. Each slide pin (304) has a clamping block (308) at one end near the first measuring element (1), and the clamping block (308) is constructed as an elastic block. Each of the multiple slides (302) is provided with a first connection port (306) and a second connection port (307); The plurality of slides (302) include a first slide (3021) and a second slide (3022). The output end of the first channel (3031) in the first drive system is connected to the first connection port (306) of the first slide (3021) and the first connection port (306) of the second slide (3022). The output end of the second channel (3032) in the second drive system is connected to the second connection port (307) of the first slide (3021) and the second connection port (307) of the second slide (3022). In the first drive system, the first external medium source enters the first channel (3031), the first connection port (306) of the first slide groove (3021), and the first connection port (306) of the second slide groove (3022) through the first connector (3051), driving the sliding pins (304) in the first slide groove (3021) and the second slide groove (3022) to move closer to each other, so that the clamps (308) on the two sliding pins (304) can lock the first measuring element (1). In the second drive system, the second external medium source enters the second channel (3032), the second connection port (307) of the first slide groove (3021), and the second connection port (307) of the second slide groove (3022) through the second connector (3052), driving the sliding pins (304) in the first slide groove (3021) and the second slide groove (3022) to move away from each other, so that the clamps (308) on the two sliding pins (304) can release the first measuring element (1).

6. The medicine dispensing device according to claim 4 or 5, characterized in that, The slide groove (302) has a straight sliding cavity. A portion of the sidewall of the sliding pin (304) abuts against the inner sidewall of the slide groove (302) where it is located, and another portion of the sidewall forms a gap between it and the inner sidewall of the slide groove (302) where it is located. The end of the sliding pin (304) away from the first measuring element (1) is located in the first sliding cavity (8) of the slide groove (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. The elastic element (309) is sleeved on the sliding pin (304) and the elastic element (309) is located in the gap. One end of the elastic element (309) abuts against the sliding pin (304) and the other end abuts against the end of the straight sliding cavity near the first measuring element (1).

7. A method for obtaining medicine, characterized in that, Applied to the drug dispensing device as described in any one of claims 1-6; The method for obtaining the medicine includes: Control the first fixing mechanism (3) to fix the first measuring element (1), control the second fixing mechanism (402) to fix the second measuring element (2), control the moving mechanism to drive the second fixing mechanism (402) to move, thereby driving the second measuring element (2) to move and cooperate with the first measuring element (1) to form a measuring chamber (101). The first driving mechanism (5) drives the metering module to insert the drug into the metering chamber (101) for drug dispensing. The first driving mechanism (5) drives the metering module to the drug dispensing position. The moving mechanism drives the second fixing mechanism (402) to move, thereby driving the second metering component (2) to move and push the drug in the metering chamber (101) to the drug dispensing position.

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