Automatic medicine taking and supplementing robot

Abstract

The invention discloses an automatic medicine taking and supplementing robot, and belongs to the technical field of medical equipment. The medicine taking and supplementing robot comprises a control system, a fixed frame, a medicine storage unit arranged on the fixed frame, and a medicine supplementing unit arranged on the side, corresponding to the medicine storage unit, of the fixed frame. The manipulator unit is arranged at the position, corresponding to the upper portion of the medicine storage unit, of the fixed frame, and the medicine taking unit is arranged at the position, corresponding to one side of the manipulator unit, of the fixed frame. According to the automatic medicine taking and supplementing robot, through cooperative work of the control system, the medicine supplementing unit, the medicine storage unit, the mechanical arm unit and the medicine taking unit, the automatic process of medicine taking and medicine supplementing can be achieved, so that medicine is rapidly positioned and grabbed, the medicine taking waiting time of a patient is shortened, the problems of long queuing and long waiting time in a hospital pharmacy are solved, the hospital working efficiency is improved, and the medical cost is reduced. And the problem of wrong medicine taking caused by fatigue, negligence and other factors during manual medicine taking can be avoided, and the medication safety of the patient is guaranteed.

Description

Technical Field

[0001] This application relates to the technical field of medical equipment, and specifically to an automatic medicine dispensing and replenishing robot. Background Art

[0002] The daily patient admission volume of major general hospitals always remains at a high level and is in a continuous busy operation state. Among them, the outpatient pharmacy is the last stop for patients to seek medical treatment. When patients pick up their medicines at the pharmacy, problems such as long queues and low waiting efficiency are prominent.

[0003] However, the traditional pharmacy operation mode mainly relies on pharmacists to manually complete the entire process of prescription review, medicine dispensing, and distribution. However, due to the fact that there are thousands of drug specifications managed in the pharmacy and there are different management requirements for different dosage forms, specifications, and batches, this service mode that highly depends on manual operation not only requires pharmacists to compare and select one by one among a large number of drugs, resulting in a long processing time for a single prescription, but also makes manual work vulnerable to factors such as fatigue and environmental interference, leading to medicine dispensing errors. In addition, the traditional way of storing drugs in fixed shelves makes the drugs scattered and the space not fully utilized, further reducing the operation efficiency of the pharmacy.

[0004] Therefore, this application provides an automatic medicine dispensing and replenishing robot to solve the above problems. Summary of the Invention

[0005] This application provides an automatic medicine dispensing and replenishing robot, aiming to solve the problems in the background art that the existing pharmacy operation mode depends on pharmacists to complete the entire process manually. Facing the differentiated management requirements of thousands of drugs, the processing time for a single prescription by pharmacists is long, and it is vulnerable to fatigue and environmental interference, resulting in medicine dispensing errors. In addition, the traditional fixed-shelf storage method makes the drugs scattered and the space utilization rate low, thereby reducing the operation efficiency of the pharmacy.

[0006] To achieve the above object, this application provides the following technical solution: An automatic medicine dispensing and replenishing robot, including a control system, a fixed frame, a medicine storage unit arranged on the fixed frame, a medicine replenishing unit arranged on one side of the fixed frame corresponding to the medicine storage unit, a manipulator unit arranged at a position above the medicine storage unit on the fixed frame, and a medicine picking unit arranged on one side of the fixed frame corresponding to the manipulator unit;

[0007] The medicine storage unit includes a sprocket transmission assembly arranged on the fixed frame and medicine storage boxes arranged on the sprocket transmission assembly and distributed in an annular array;

[0008] The tonic unit includes a tonic box, a belt drive assembly disposed on one side of the fixed frame for moving the tonic box closer to or farther away from the medicine storage box, and a medicine pushing assembly disposed on the tonic box for pushing the medicine into the medicine storage box;

[0009] The medicine fetching unit includes a medicine fetching box disposed on one side of the fixed frame and a lifting assembly disposed on the fixed frame for lifting the medicine fetching box;

[0010] The manipulator unit includes a medicine sucking assembly disposed on the fixed frame for sucking the medicine in a plurality of the medicine storage boxes and a translation assembly disposed on the fixed frame for horizontally moving the medicine sucking assembly closer to or farther away from the medicine fetching box;

[0011] The sprocket drive assembly, the belt drive assembly, the medicine pushing assembly, the translation assembly and the lifting assembly are all connected to the output end of the control system, and the medicine sucking assembly is bidirectionally connected to the control system; through the collaborative work of the control system, the tonic unit, the medicine storage unit, the manipulator unit and the medicine fetching unit, an automated process of fetching and replenishing medicine can be realized, so as to quickly locate and grab the medicine, reduce the waiting time of patients for fetching medicine, solve the problems of long queues and long waiting times in hospital pharmacies, improve the work efficiency of the hospital, and also avoid the problem of taking the wrong medicine caused by factors such as fatigue and negligence during manual medicine fetching, ensuring the medication safety of patients. At the same time, the medicine storage unit adopts a sprocket drive assembly and a design of medicine storage boxes distributed in a circular array. Compared with traditional fixed shelves, it can make more reasonable use of the pharmacy space. This compact storage method increases the storage capacity of medicines, makes full use of the pharmacy space, avoids waste of space, and also helps with the classification management and quick search of medicines, further improving the operation efficiency of the pharmacy.

[0012] Preferably, in order to improve the efficiency and accuracy of medicine fetching, the medicine fetching and replenishing robot further includes a touch screen connected to the input end of the control system; the design of the touch screen enables the control system to quickly respond and drive the rotation and positioning of the medicine on the medicine storage unit to grab the medicine after the patient only inputs the medicine on the prescription on the touch input screen. Compared with manual medicine dispensing, the speed is greatly increased, the medicine fetching time is greatly shortened, the work efficiency of the pharmacy is improved, and further the waiting time of patients is reduced. It also avoids possible writing errors or information transmission mistakes when manually recording prescription information, ensuring the accuracy of medicine fetching information and further guaranteeing the medication safety of patients.

[0013] Preferably, for the convenience of medicine replenishment, the belt drive assembly includes a mounting bracket fixedly installed on one side of the fixed frame corresponding to the sprocket drive assembly, a synchronous pulley symmetrically and rotatably connected to the fixed frame on the side of the mounting bracket away from the sprocket drive assembly, a synchronous belt disposed on the two synchronous pulleys, and a servo motor fixedly installed on the fixed frame and connected to the output end of the control system for driving one of the synchronous pulleys to rotate. The medicine replenishment box is slidably connected to the mounting bracket, and the medicine replenishment box is fixedly connected to the synchronous belt. The two synchronous pulleys are connected by the synchronous belt to transmit power. By driving the synchronous pulley to rotate through the servo motor, the synchronous belt drives the medicine replenishment box to slide on the mounting bracket, and the position of the medicine replenishment box approaching or moving away from the medicine storage box can be accurately controlled, ensuring the accuracy of the medicine replenishment action.

[0014] Preferably, to further improve the accuracy of the medicine replenishment action, limit switches fixedly installed at both ends of the mounting bracket and connected to the input end of the control system for contacting the medicine replenishment box are provided. The limit switches are installed at both ends of the mounting bracket. When the medicine replenishment box moves to the accurate position, it will contact the corresponding limit switch. The limit switch can feedback the signal to the control system, so that the control system will stop the operation of the belt drive assembly in time, preventing the medicine replenishment box from moving excessively, improving the accuracy of the equipment operation, and ensuring the stable and reliable medicine replenishment process.

[0015] Preferably, for the convenience of replenishing the medicine in the medicine replenishment box to the medicine storage box, the medicine pushing assembly includes a push plate slidably connected in the medicine replenishment box and a servo electric cylinder fixedly installed on the side of the medicine replenishment box away from the sprocket drive assembly and connected to the output end of the control system for driving the push plate to move. By driving the push plate to move in the medicine replenishment box through the servo electric cylinder, the medicine can be smoothly and accurately pushed into the medicine storage box, ensuring the smooth progress of medicine replenishment and maintaining the medicine reserve of the medicine storage unit.

[0016] Preferably, for the convenience of the manipulator unit to pick up medicine, the sprocket drive assembly includes a first support shaft rotatably connected to the fixed frame, a second support shaft rotatably connected to the fixed frame at a position above the first support shaft, two first sprockets and two second sprockets respectively fixedly connected to both ends of the first support shaft and the second support shaft, a chain disposed on the first sprocket and the second sprocket on the same side, mounting blocks respectively fixedly installed on both chains at positions corresponding to both sides of the medicine storage box, a connecting shaft rotatably connected to the mounting block and fixedly connected to the side surface of the medicine storage box, and a rotary motor fixedly installed on the fixed frame and connected to the output end of the control system for driving the first support shaft to rotate. The first sprocket and the second sprocket on the same side are connected and transmit power through the chain. By driving the first support shaft to rotate by the rotary motor and through the transmission of the first sprocket, the chain and the second sprocket, multiple medicine storage boxes can be driven to rotate to the position of the manipulator unit in sequence, facilitating the rotation of the required medicine to a position convenient for the manipulator unit to grasp and improving the medicine picking efficiency.

[0017] Preferably, for the purpose of realizing medicine picking, the medicine suction assembly includes a bearing plate disposed at the top of the fixed frame, a suction cup disposed at the bottom of the bearing plate and at a position above the second support shaft, a mounting seat slidably connected to the top of the bearing plate, a servo motor fixedly installed on one side of the bearing plate and connected to the output end of the control system, a first connecting rod fixedly connected to the output shaft of the servo motor, a second connecting rod disposed on the mounting seat and rotatably connected to one end of the first connecting rod away from the output shaft of the servo motor and the top of the mounting seat at both ends, and an electric telescopic rod passing through the bearing plate and fixedly connected to the bottom of the mounting seat and the top of the suction cup at both ends. The electric telescopic rod is connected to the output end of the control system. By driving the first connecting rod and the second connecting rod by the servo motor to drive the mounting seat to slide on the bearing plate, and the electric telescopic rod can drive the suction cup to move up and down, the position of the suction cup can be flexibly adjusted, enabling the suction cup to accurately suck medicines at different positions in the medicine storage box.

[0018] Preferably, for the convenience of medicine picking and improving the accuracy of medicine picking, a camera for identifying the medicines in the medicine storage box is fixedly installed at the bottom of the suction cup and connected to the input end of the control system. The design of connecting the camera to the control system can identify the medicines in the medicine storage box, providing guarantee for accurately sucking medicines by the suction cup and avoiding sucking the wrong medicines.

[0019] Preferably, to facilitate the delivery of drugs, the translation component includes a first lead screw that penetrates the bottom of the corresponding side of the bearing plate where the electric telescopic rod is located and is rotatably connected to the top of the fixed frame, and a drive motor that is fixedly installed on one side of the fixed frame and is connected to the output end of the control system for driving the first lead screw to rotate. The bearing plate is screwed to the first lead screw, and the bearing plate is slidably connected to the top of the fixed frame. By driving the first lead screw to rotate with the drive motor, the suction cup on the bearing plate can be driven to move horizontally on the top of the fixed frame, so that the drugs sucked by the suction cup can be moved above the medicine collection box, realizing the accurate delivery of drugs, ensuring that the drugs can smoothly enter the medicine collection box, and improving the medicine collection process.

[0020] Preferably, to facilitate drug collection, the lifting component includes a second lead screw that is rotatably connected to the side of the fixed frame away from the drive motor and penetrates one side of the medicine collection box, a guide rod that is fixedly installed on the fixed frame and penetrates the other side of the medicine collection box, and a stepping motor that is fixedly installed on the fixed frame and is connected to the output end of the control system for driving the second lead screw to rotate. The medicine collection box is screwed to the second lead screw, and the medicine collection box is slidably connected to the guide rod; by driving the second lead screw to rotate with the stepping motor, the height of the medicine collection box can be adjusted to receive the drugs sucked by the suction cup, realizing the seamless transfer of drugs from the medicine storage unit to the medicine collection unit, ensuring the smoothness of the medicine collection process, improving the overall medicine collection efficiency, and at the same time facilitating patients to collect drugs from the medicine collection box.

[0021] Through the collaborative work of the control system, the medicine replenishment unit, the medicine storage unit, the manipulator unit and the medicine collection unit, this automatic medicine collection and replenishment robot can realize the automatic process of medicine collection and replenishment, so as to quickly locate and grab drugs, reduce the waiting time of patients for medicine collection, solve the problems of long queues and long waiting times in hospital pharmacies, improve the work efficiency of hospitals, and avoid the problem of taking the wrong medicine caused by factors such as fatigue and negligence during manual medicine collection, ensuring the medication safety of patients;

[0022] By adopting a sprocket transmission component and a design of medicine storage boxes distributed in a circular array, this automatic medicine collection and replenishment robot can make more reasonable use of the pharmacy space compared with traditional fixed shelves. This compact storage method increases the storage capacity of drugs, makes full use of the pharmacy space, avoids waste of space, and at the same time helps with the classification management and quick search of drugs, further improving the operation efficiency of the pharmacy;

[0023] Through the design of the touch screen, the automatic medicine dispensing and replenishing robot enables patients to simply input the medicines on the prescription through the touch input screen. Then, the control system can respond quickly, drive the medicines on the medicine storage unit to rotate and position for grasping. Compared with manual medicine dispensing, the speed is greatly increased, the medicine dispensing time is significantly shortened, the work efficiency of the pharmacy is improved, and the waiting time of patients is reduced. It also avoids the possible writing errors or information transmission mistakes when manually recording prescription information, ensures the accuracy of medicine dispensing information, and further guarantees the medication safety of patients.

[0024] Through the design of connecting the camera to the control system, the automatic medicine dispensing and replenishing robot can identify the medicines in the medicine storage box, providing guarantee for accurately sucking the medicines by the suction cup and avoiding sucking the wrong medicines. Description of the Drawings

[0025] Figure 1 It is a schematic structural diagram of an automatic medicine dispensing and replenishing robot;

[0026] Figure 2 It is a schematic structural diagram of the medicine replenishing unit in an automatic medicine dispensing and replenishing robot;

[0027] Figure 3 It is a schematic structural diagram of the medicine storage unit in an automatic medicine dispensing and replenishing robot;

[0028] Figure 4 It is a schematic structural diagram of the manipulator unit in an automatic medicine dispensing and replenishing robot;

[0029] Figure 5 It is a schematic structural diagram of the medicine sucking component in an automatic medicine dispensing and replenishing robot;

[0030] Figure 6 It is a schematic structural diagram of the medicine dispensing unit in an automatic medicine dispensing and replenishing robot.

[0031] In the figure:

[0032] 1. Fixed frame;

[0033] 2. Medicine replenishing unit; 21. Medicine replenishing box; 22. Belt drive assembly; 221. Mounting frame; 222. Synchronous belt pulley; 223. Synchronous belt; 224. Servo motor; 225. Limit switch; 23. Medicine pushing assembly; 231. Pushing plate; 232. Servo electric cylinder;

[0034] 3. Medicine storage unit; 31. Sprocket drive assembly; 311. First support shaft; 312. Second support shaft; 313. First sprocket; 314. Second sprocket; 315. Chain; 316. Mounting block; 317. Connecting shaft; 318. Rotating motor; 32. Medicine storage box;

[0035] 4. Manipulator unit; 41. Medicine suction component; 411. Suction cup; 412. Carrier plate; 413. Mounting seat; 414. Steering gear; 415. First connecting rod; 416. Second connecting rod; 417. Electric telescopic rod; 418. Camera; 42. Translation component; 421. First lead screw; 422. Driving motor;

[0036] 5. Medicine fetching unit; 51. Medicine fetching box; 52. Lifting component; 521. Second lead screw; 522. Guide rod; 523. Stepping motor. Detailed implementation manners

[0037] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0038] This embodiment provides an automatic medicine fetching and replenishing robot, as Figures 1 - 6 shown. This medicine fetching and replenishing robot includes a control system, a fixed frame 1, a medicine storage unit 3 arranged on the fixed frame 1, a medicine replenishing unit 2 arranged on one side of the fixed frame 1 corresponding to the medicine storage unit 3, a manipulator unit 4 arranged at a position above the medicine storage unit 3 on the fixed frame 1, and a medicine fetching unit 5 arranged on one side of the fixed frame 1 corresponding to the manipulator unit 4; the medicine storage unit 3 includes a sprocket transmission assembly 31 arranged on the fixed frame 1 and medicine storage boxes 32 arranged on the sprocket transmission assembly 31 and distributed in an annular array; the medicine replenishing unit 2 includes a medicine replenishing box 21, a belt transmission assembly 22 arranged on one side of the fixed frame 1 for moving the medicine replenishing box 21 closer to or farther away from the medicine storage box 32, and a medicine pushing assembly 23 arranged on the medicine replenishing box 21 for pushing medicines into the medicine storage box 32; the medicine fetching unit 5 includes a medicine fetching box 51 arranged on one side of the fixed frame 1 and a lifting assembly 52 arranged on the fixed frame 1 for lifting the medicine fetching box 51; the manipulator unit 4 includes a medicine suction component 41 arranged on the fixed frame 1 for sucking medicines in multiple medicine storage boxes 32 and a translation component 42 arranged on the fixed frame 1 for horizontally moving the medicine suction component 41 closer to or farther away from the medicine fetching box 51; the sprocket transmission assembly 31, the belt transmission assembly 22, the medicine pushing assembly 23, the translation component 42, and the lifting assembly 52 are all connected to the output end of the control system, and the medicine suction component 41 is bidirectionally connected to the control system.

[0039] Among them, in order to improve the efficiency and accuracy of medicine dispensing, the medicine replenishment robot for dispensing also includes a touch screen connected to the input end of the control system; the design of the touch screen enables the control system to quickly respond and drive the rotation and positioning of the medicines on the medicine storage unit 3 to grab them after the patient only inputs the medicines on the prescription on the touch input screen. Compared with manual medicine dispensing, the speed is greatly improved, the medicine dispensing time is greatly shortened, the working efficiency of the pharmacy is improved, the waiting time of patients is reduced, and the writing errors or information transmission mistakes that may occur when manually recording prescription information are avoided, ensuring the accuracy of medicine dispensing information and further guaranteeing the medication safety of patients.

[0040] During use, the patient first inputs the drug information on the prescription on the touch screen. At this time, the control system will receive the drug-taking information from the touch screen, send a drug-taking instruction to the drug storage unit 3, and analyze whether the drugs required by the patient are in the drug storage unit 3. If not, the control system will promptly start the belt drive assembly 22 to drive the medicine replenishment box 21 to move away from the medicine storage box 32. Then, after the medical staff puts the required drugs into the medicine replenishment box 21, when the control system detects that there are drugs in the medicine replenishment box 21, it will start the reverse movement of the belt drive assembly 22 to make the medicine replenishment box 21 move closer to the medicine storage box 32 until it reaches the position of the drug storage unit 3. Immediately afterwards, the control system will send a command to start the medicine pushing assembly 23 through the feedback of the position where the belt drive assembly 22 drives the medicine replenishment box 21 to reach, so that the medicine pushing assembly 23 pushes the drugs in the medicine replenishment box 21 into the required medicine storage box 32. After the drugs are pushed into the medicine storage box 32, when the control system detects that there are drugs required by the patient in the drug storage unit 3, it will send a command to start the sprocket drive assembly 31, so that the sprocket drive assembly 31 drives the medicine storage box 32 containing the required drugs to rotate under the medicine suction assembly 41 of the manipulator unit 4. When the drugs reach the designated position, the medicine suction assembly 41 captures the information of the required drugs and sends a command to the control system, and the control system will start the medicine suction assembly 41 to suck the required drugs in the medicine storage box 32 according to the information fed back by the captured drugs. After the medicine suction assembly 41 sucks the drugs, the control system will send a command to start the translation assembly 42 to drive the medicine suction assembly 41 and the sucked drugs to move above the medicine collection box 51 according to the information fed back by the medicine suction assembly 41 sucking the drugs. When the medicine suction assembly 41 and the sucked drugs move above the medicine collection box 51, the control system will send a command to start the lifting assembly 52 to drive the medicine collection box 51 to rise according to the position feedback information of the medicine suction assembly 41, so that the medicine collection box 51 can receive the drugs sucked by the medicine suction assembly 41. After the drugs are put into the medicine collection box 51, the lifting assembly 52 is started again to drive the medicine collection box 51 to descend for the medical staff or the patient to take the drugs; However, when the patient first inputs the drug information on the prescription on the touch screen, the control system receives the drug-taking information from the touch screen, sends a drug-taking instruction to the drug storage unit 3, and analyzes that there are drugs required by the patient in the drug storage unit 3, the control system will directly start the sprocket drive assembly 31, so that the sprocket drive assembly 31 drives the medicine storage box 32 containing the required drugs to rotate under the medicine suction assembly 41 of the manipulator unit 4 for the subsequent medicine suction and drug-taking process as described above.

[0041] Specifically, the belt drive assembly 22 includes a mounting bracket 221 fixedly installed on one side of the fixed frame 1 corresponding to the sprocket drive assembly 31, a synchronous pulley 222 symmetrically and rotatably connected to the fixed frame 1 on the side of the mounting bracket 221 away from the sprocket drive assembly 31, a synchronous belt 223 provided on the two synchronous pulleys 222, and a servo motor 224 fixedly installed on the fixed frame 1 and connected to the output end of the control system for driving one of the synchronous pulleys 222 to rotate. The medicine replenishment box 21 is slidably connected to the mounting bracket 221, and the medicine replenishment box 21 is fixedly connected to the synchronous belt 223. The two synchronous pulleys 222 are connected and transmit power through the synchronous belt 223. Limit switches 225 fixedly installed at both ends of the mounting bracket 221 and connected to the input end of the control system are used to contact the medicine replenishment box 21;

[0042] When the patient first inputs the drug information on the prescription on the touch screen, and the control system detects that the required drugs in the drug storage unit 3 are insufficient or not available according to the feedback drug information, the control system will send an instruction to start the servo motor 224. At this time, the servo motor 224 will drive the connected belt drive assembly 22 to rotate. Since the two synchronous pulleys 222 are connected and transmit power through the synchronous belt 223, the other synchronous pulley 222 will also rotate synchronously. The medicine replenishment box 21 is fixedly connected to the synchronous belt 223 and is slidably connected to the mounting bracket 221. When the synchronous belt 223 moves with the rotation of the synchronous pulley 222, the medicine replenishment box 21 will move along the mounting bracket 221 towards or away from the medicine storage box 32. When the medicine replenishment box 21 moves to a position close to the medicine storage box 32 with the movement of the synchronous belt 223, the medicine replenishment box 21 will contact the corresponding limit switch 225 on the mounting bracket 221. At this time, the limit switch 225 will feedback a signal to the control system. After receiving the signal, the control system will promptly send an instruction to stop the operation of the servo motor 224, thereby stopping the operation of the belt drive assembly 22. At the same time, the control system will send an instruction to start the translation assembly 42 to push the drugs in the medicine replenishment box 21 into the corresponding medicine storage box 32. On the contrary, when the medicine replenishment box 21 moves away from the medicine storage box 32 with the movement of the synchronous belt 223 and contacts the corresponding limit switch 225, similarly, the limit switch 225 will also feedback a signal to the control system. After receiving the signal, the control system will promptly send an instruction to stop the operation of the servo motor 224, causing the medicine replenishment box 21 to stop, facilitating the medical staff to put the required drugs into the medicine replenishment box 21 for subsequent medicine replenishment operations.

[0043] Further, the medicine pushing assembly 23 includes a push plate 231 slidably connected in the medicine replenishment box 21 and a servo cylinder 232 fixedly installed on the side of the medicine replenishment box 21 away from the sprocket drive assembly 31 and connected to the output end of the control system for driving the push plate 231 to move;

[0044] When the belt drive assembly 22 moves the supplementary medicine box 21 to a position close to the medicine storage box 32, its limit switch 225 will feed back a signal to the control system. After receiving the signal, the control system will promptly issue an instruction to stop the operation of the servo motor 224, and at the same time, the control system will send an instruction to start the servo cylinder 232. At this time, the piston rod of the servo cylinder 232 will push the push plate 231 to slide within the supplementary medicine box 21. As the push plate 231 slides within the supplementary medicine box 21, the push plate 231 can push the supplementary medicine in the supplementary medicine box 21 into the medicine storage box 32 near the supplementary medicine unit 2, thus completing the supplementary of the medicine. After the translation assembly 42 completes the medicine pushing action, the control system will send an instruction to start the servo cylinder 232 to retract the push plate 231 to the initial position for the next use according to the feedback information of the medicine being pushed out.

[0045] Furthermore, the sprocket drive assembly 31 includes a first support shaft 311 rotatably connected to the fixed frame 1, a second support shaft 312 rotatably connected to the fixed frame 1 at a position above the first support shaft 311, two first sprockets 313 and two second sprockets 314 respectively fixedly connected to both ends of the first support shaft 311 and the second support shaft 312, a chain 315 disposed on the first sprocket 313 and the second sprocket 314 on the same side, mounting blocks 316 respectively fixedly installed on both sides of the medicine storage box 32 corresponding to the two chains 315, a connecting shaft 317 rotatably connected to the mounting block 316 and fixedly connected to the side surface of the medicine storage box 32, and a rotary motor 318 fixedly installed on the fixed frame 1 and connected to the output end of the control system for driving the rotation of the first support shaft 311. The first sprocket 313 and the second sprocket 314 on the same side are connected and transmit power through the chain 315;

[0046] When the control system receives the patient's medicine-taking information or detects the need for medicine replenishment information, it will send an instruction to start the rotary motor 318. The rotary motor 318 will then drive the first support shaft 311 it is connected to to rotate. Since the two ends of the first support shaft 311 are connected to the first sprockets 313, and the second support shaft 312 is connected to the second sprockets 314, and the first sprockets 313 and the second sprockets 314 on the same side are connected by a chain 315 to transmit power. Therefore, when the first support shaft 311 rotates, the two chains 315 will also move in a circular motion synchronously. When the chains 315 move downward or upward in a circular motion as the first support shaft 311 rotates, the mounting blocks 316 on the chains 315 will also move synchronously with the chains 315. Thus, the mounting blocks 316 will drive the medicine storage box 32 to rotate around the connecting shaft 317. Since the medicine storage boxes 32 are arranged in a circular array on the sprocket transmission assembly 31, this design enables the medicine storage boxes 32 at different positions to accurately rotate under the movement of the chains 315 to the position below the medicine suction assembly 41 for the medicine suction assembly 41 to take medicine, or rotate to a position close to the medicine replenishment unit 2 to facilitate replenishing the medicine in the medicine replenishment box 21 into the medicine storage box 32.

[0047] Furthermore, the medicine suction assembly 41 includes a bearing plate 412 provided at the top of the fixed frame 1, a suction cup 411 provided at the bottom of the bearing plate 412 and located above the second support shaft 312, a mounting seat 413 slidably connected to the top of the bearing plate 412, a servo motor 414 fixedly installed on one side of the bearing plate 412 and connected to the output end of the control system, a first connecting rod 415 fixedly connected to the output shaft of the servo motor 414, a second connecting rod 416 provided on the mounting seat 413 and rotatably connected to one end of the first connecting rod 415 away from the output shaft of the servo motor 414 and the top of the mounting seat 413 at both ends, and an electric telescopic rod 417 passing through the bearing plate 412 and fixedly connected to the bottom of the mounting seat 413 and the top of the suction cup 411 at both ends. The electric telescopic rod 417 is connected to the output end of the control system. A camera 418 for identifying the medicine in the medicine storage box 32 is fixedly installed at the bottom of the suction cup 411 and connected to the input end of the control system.

[0048] After the control system receives the medicine-taking information of the patient, the camera 418 at the bottom of the suction cup 411 starts to work, acquires the image information of the medicine in the medicine storage box 32, and transmits it to the control system. The control system analyzes and processes the image to identify the position of the target medicine or determines whether the required medicine is in multiple medicine storage boxes 32. If not, the control system will activate the medicine replenishment unit 2 to replenish the medicine storage unit 3. If there is medicine, it will send an instruction to activate the medicine storage unit 3 to rotate the medicine in the medicine storage box 32 containing the required medicine to the lower part of the suction cup 411. After the medicine storage box 32 reaches the lower part of the suction cup 411, the camera 418 captures the position of the medicine and feeds it back to the control system. At this time, the control system will activate the servo motor 414 to drive the first connecting rod 415 connected to its output shaft to rotate. Since the other end of the first connecting rod 415 is rotatably connected to the second connecting rod 416, and the second connecting rod 416 is also rotatably connected to the top of the mounting seat 413, the rotation of the first connecting rod 415 will drive the mounting seat 413 to slide on the top of the bearing plate 412 through the second connecting rod 416. Thus, the mounting seat 413 will drive the electric telescopic rod 417 and the suction cup 411 connected to it to move horizontally, so that the suction cup 411 can be aligned with the upper position of the target medicine. Immediately afterwards, the control system will activate the electric telescopic rod 417 to move the suction cup 411 and the camera 418 up and down in the vertical direction. During this process, the camera 418 will continuously capture the position of the medicine relative to the suction cup 411. After the suction cup 411 accurately reaches the grasping position of the target medicine, the control system will activate the suction cup 411 according to the feedback information captured by the camera 418, causing negative pressure to be generated inside the suction cup 411, and then the target medicine can be firmly sucked.

[0049] In addition, the translation assembly 42 includes a first lead screw 421 that penetrates the bottom of the bearing plate 412 on the side corresponding to the electric telescopic rod 417 and is rotatably connected to the top end of the fixed frame 1, and a driving motor 422 that is fixedly installed on one side of the fixed frame 1 and is connected to the output end of the control system for driving the first lead screw 421 to rotate. The bearing plate 412 is screwed to the first lead screw 421, and the bearing plate 412 is slidably connected to the top end of the fixed frame 1;

[0050] After the suction cup 411 sucks the medicine, the control system will send an instruction to activate the driving motor 422 according to the information fed back by the suction cup 411. At this time, the driving motor 422 will drive the first lead screw 421 connected to it to rotate. Since the bearing plate 412 is screwed to the first lead screw 421, when the first lead screw 421 rotates, the bearing plate 412 screwed to it will be driven by the first lead screw 421 to move horizontally on the top end of the fixed frame 1. As the bearing plate 412 moves horizontally, the suction cup 411 connected to it and the medicine sucked by the suction cup 411 will also move to the position above the medicine-taking box 51 as the bearing plate 412 moves horizontally, in preparation for subsequent dropping the medicine into the medicine-taking box 51.

[0051] It can be understood that the lifting assembly 52 includes a second screw rod 521 rotatably connected to the side of the fixed frame 1 away from the drive motor 422 and passing through one side of the medicine dispensing box 51, a guide rod 522 fixedly mounted on the fixed frame 1 and passing through the other side of the medicine dispensing box 51, and a stepping motor 523 fixedly mounted on the fixed frame 1 and connected to the output end of the control system for driving the second screw rod 521 to rotate. The medicine dispensing box 51 is screwed to the second screw rod 521, and the medicine dispensing box 51 is slidably connected to the guide rod 522.

[0052] When the medicine box 51 is lifted up, the control system 523 starts to move upward, and the medicine is automatically lowered into the medicine box 51 by the guide rod 522.

[0053] The above is only a preferred specific implementation method of the present application, but the scope of protection of the present application is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes based on the technical solution and concept of the present application within the technical scope disclosed in the present application, and they should be covered by the scope of protection of the present application.

Claims

1. An automatic medicine dispensing and replenishing robot, characterized in that: It includes a control system, a fixed frame (1), a medicine storage unit (3) arranged on the fixed frame (1), a medicine replenishment unit (2) arranged on the fixed frame (1) on one side corresponding to the medicine storage unit (3), a manipulator unit (4) arranged on the fixed frame (1) at a position above the medicine storage unit (3), and a medicine taking unit (5) arranged on the fixed frame (1) on one side corresponding to the manipulator unit (4); The medicine storage unit (3) includes a sprocket drive assembly (31) arranged on the fixed frame (1) and medicine storage boxes (32) arranged on the sprocket drive assembly (31) and distributed in an annular array; The medicine replenishment unit (2) includes a medicine replenishment box (21), a belt drive assembly (22) arranged on one side of the fixed frame (1) for moving the medicine replenishment box (21) closer to or away from the medicine storage box (32), and a medicine pushing assembly (23) arranged on the medicine replenishment box (21) for pushing medicines into the medicine storage box (32); The medicine taking unit (5) includes a medicine taking box (51) arranged on one side of the fixed frame (1) and a lifting assembly (52) arranged on the fixed frame (1) for lifting the medicine taking box (51); The manipulator unit (4) includes a medicine suction assembly (41) arranged on the fixed frame (1) for sucking medicines in multiple medicine storage boxes (32) and a translation assembly (42) arranged on the fixed frame (1) for horizontally moving the medicine suction assembly (41) closer to or away from the medicine taking box (51); The sprocket drive assembly (31), the belt drive assembly (22), the medicine pushing assembly (23), the translation assembly (42) and the lifting assembly (52) are all connected to the output end of the control system, and the medicine suction assembly (41) is bidirectionally connected to the control system.

2. The automatic medicine dispensing and replenishing robot according to claim 1, characterized in that: The medicine taking and replenishing robot further includes a touch screen connected to the input end of the control system.

3. The automatic medicine dispensing and replenishing robot according to claim 2, wherein: The belt drive assembly (22) includes a mounting frame (221) fixedly installed on one side of the fixed frame (1) corresponding to the sprocket drive assembly (31), synchronous belt pulleys (222) symmetrically rotatably connected to the fixed frame (1) on the side of the mounting frame (221) away from the sprocket drive assembly (31), a synchronous belt (223) arranged on the two synchronous belt pulleys (222), and a servo motor (224) fixedly installed on the fixed frame (1) and connected to the output end of the control system for driving one of the synchronous belt pulleys (222) to rotate. The medicine replenishment box (21) is slidably connected to the mounting frame (221), the medicine replenishment box (21) is fixedly connected to the synchronous belt (223), and the two synchronous belt pulleys (222) are connected and transmit power through the synchronous belt (223).

4. The automatic medicine dispensing and replenishing robot according to claim 3, characterized in that: Limit switches (225) fixedly installed at both ends of the mounting frame (221) and connected to the input end of the control system are used to contact the medicine replenishment box (21).

5. The automatic medicine dispensing and replenishing robot according to claim 3, characterized in that: The medicine pushing assembly (23) includes a push plate (231) slidably connected inside the medicine replenishing box (21), and a servo electric cylinder (232) fixedly installed on the side of the medicine replenishing box (21) away from the sprocket transmission assembly (31) and connected to the output end of the control system for driving the movement of the push plate (231).

6. The automatic medicine-taking and replenishing robot according to claim 5, wherein: The sprocket transmission assembly (31) includes a first support shaft (311) rotatably connected to the fixed frame (1), a second support shaft (312) rotatably connected to the fixed frame (1) at a position above the first support shaft (311), two first sprockets (313) and two second sprockets (314) respectively fixedly connected to both ends of the first support shaft (311) and the second support shaft (312), a chain (315) arranged on the first sprocket (313) and the second sprocket (314) on the same side, mounting blocks (316) respectively fixedly installed on both sides of the medicine storage box (32) corresponding to the two chains (315), a connecting shaft (317) rotatably connected to the mounting block (316) and fixedly connected to the side of the medicine storage box (32), and a rotary motor (318) fixedly installed on the fixed frame (1) and connected to the output end of the control system for driving the rotation of the first support shaft (311). The first sprocket (313) and the second sprocket (314) on the same side are connected by the chain (315) to transmit power.

7. The automatic medicine dispensing and replenishing robot according to claim 6, characterized in that: The medicine suction assembly (41) includes a bearing plate (412) arranged at the top of the fixed frame (1), a suction cup (411) arranged at the bottom of the bearing plate (412) and at a position above the second support shaft (312), a mounting seat (413) slidably connected to the top of the bearing plate (412), a servo motor (414) fixedly installed on one side of the bearing plate (412) and connected to the output end of the control system, a first connecting rod (415) fixedly connected to the output shaft of the servo motor (414), a second connecting rod (416) arranged on the mounting seat (413) and rotatably connected to one end of the first connecting rod (415) away from the output shaft of the servo motor (414) and the top of the mounting seat (413) at both ends, and an electric telescopic rod (417) passing through the bearing plate (412) and fixedly connected to the bottom of the mounting seat (413) and the top of the suction cup (411) at both ends. The electric telescopic rod (417) is connected to the output end of the control system.

8. The automatic medicine dispensing and replenishing robot according to claim 7, wherein: A camera (418) for identifying the medicine in the medicine storage box (32) is fixedly installed at the bottom of the suction cup (411) and connected to the input end of the control system.

9. The automatic medicine dispensing and replenishing robot according to claim 7, wherein: The translation component (42) includes a first lead screw (421) that penetrates through the bottom of the corresponding side of the bearing plate (412) on the side of the electric telescopic rod (417) and is rotatably connected to the top end of the fixed frame (1), and a drive motor (422) that is fixedly installed on one side of the fixed frame (1) and is connected to the output end of the control system for driving the first lead screw (421) to rotate. The bearing plate (412) is threadedly connected to the first lead screw (421), and the bearing plate (412) is slidably connected to the top end of the fixed frame (1).

10. The automatic medicine dispensing and replenishing robot according to claim 9, wherein: The lifting component (52) includes a second lead screw (521) that is rotatably connected to the side of the fixed frame (1) away from the drive motor (422) and penetrates through one side of the medicine taking box (51), a guide rod (522) that is fixedly installed on the fixed frame (1) and penetrates through the other side of the medicine taking box (51), and a stepping motor (523) that is fixedly installed on the fixed frame (1) and is connected to the output end of the control system for driving the second lead screw (521) to rotate. The medicine taking box (51) is threadedly connected to the second lead screw (521), and the medicine taking box (51) is slidably connected to the guide rod (522).

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