Carrying device and carrying method for medicines

Abstract

The invention relates to the technical field of automatic medicine taking and placing, in particular to a medicine carrying device which comprises a mounting frame, a conveying belt is arranged above the mounting frame, and a stepping motor used for driving the conveying belt to move and two swing frames are arranged on the mounting frame. A first adjusting rod and a second adjusting rod are rotationally mounted on the front side and the rear side of each swing frame respectively, the side view outlines of the first adjusting rods and the second adjusting rods are both in an L shape, adjusting motors are fixedly mounted on the front side and the rear side of the first mounting frame, and the adjusting motors are used for adjusting the distance between the swing frames and the middle of the mounting frame; wherein clamping parts are arranged on the sides, facing each other, of the two swing frames, each clamping part comprises a clamping rod, the two clamping rods on the two swing frames act together to clamp the medicine, the positions, clamping the medicine, of the two clamping rods can be adjusted through the conveying belt, the medicine can be placed at the farther position through the clamping rods, and therefore the medicine can be placed more conveniently and rapidly. And the medicines can be conveniently stacked on the goods shelf.

Description

Technical Field

[0001] This invention relates to the field of automatic drug handling technology, specifically to a drug handling device and method. Background Technology

[0002] Many medicines or medicine containers (such as vials, ampoules, glass bottles, special packaging boxes, etc.) are fragile, susceptible to contamination, susceptible to vibration, or have varying shapes and sizes, which places extremely high demands on the reliability, adaptability, and gentleness of handling devices.

[0003] Currently, common automated handling methods mainly employ either grippers mounted on the end effector of robotic arms or fixed conveyor belts. While robotic arm grippers offer high flexibility, they are expensive, complex to program, and relatively inefficient in handling high-speed, high-volume assembly line operations. They are also not convenient for storing and stacking pharmaceuticals (robotic arm grippers cannot easily reach into the shelving compartments to move). Fixed conveyor belts, while enabling continuous transport, have limited functionality and cannot actively grasp, position, or place pharmaceuticals, making it difficult to perform complex tasks such as transferring pharmaceuticals from one conveyor line to another or accurately loading pharmaceuticals into shelves. Summary of the Invention

[0004] Technical problems to be solved In view of the above-mentioned shortcomings of the existing technology, the present invention provides a pharmaceutical handling device that can effectively solve the problems of the existing technology, which, although the use of robotic arms to grip pharmaceuticals is highly flexible, is expensive, has complex programming, and is relatively inefficient when dealing with high-speed, large-volume assembly line operations; and the fixed conveyor belt, although it can achieve continuous conveying, has a single function and cannot actively grasp, position, and place pharmaceuticals, making it difficult to complete complex tasks such as transferring pharmaceuticals from one conveyor line to another or accurately loading pharmaceuticals into shelves.

[0005] Technical solution To achieve the above objectives, the present invention provides the following technical solution: This invention provides a pharmaceutical handling device, including a mounting frame, a conveyor belt disposed above the mounting frame, and a stepper motor for driving the conveyor belt to move on the mounting frame, and further comprising: Two swing frames are provided, with a first adjusting rod and a second adjusting rod rotatably mounted on the front and rear sides of each swing frame, respectively. The side view outlines of the first adjusting rod and the second adjusting rod are both L-shaped. An adjusting motor is fixedly mounted on both the front and rear sides of the first mounting frame. The adjusting motor is used to adjust the distance from the swing frame to the middle of the mounting frame. Each of the two swing frames has a clamping component on one side facing each other. The clamping component includes a clamping rod. The two clamping rods on the two swing frames work together to clamp the drug.

[0006] Furthermore, a guide rod is provided on the swing frame along its length, a slide table is slidably mounted on the guide rod, a sliding motor is fixedly mounted on the slide table, an intermediate gear is provided on the sliding motor, a fixed gear row for meshing with the intermediate gear is provided on the side of the slide table away from the center of the mounting frame, and the clamping rod is located on the side of the intermediate gear away from the fixed gear row.

[0007] Furthermore, the clamping rod is slidably installed along the length of the mounting frame, and a clamping tooth row is provided on the side of the clamping rod facing the intermediate gear. The clamping tooth row meshes with the intermediate gear. When the intermediate gear rotates, the slide table and the intermediate gear move along the length of the swing frame, and drive the clamping rod to slide on the swing frame.

[0008] Furthermore, the side view of the mounting frame is U-shaped, and mounting grooves are provided on both the front and rear sides of the mounting frame, with the conveyor belt drive installed inside the mounting grooves.

[0009] Furthermore, guide rails are provided vertically at both ends of the mounting bracket, with the two guide rails staggered vertically. Sliders are provided on the first and second adjusting rods, and each slider is semi-enclosed and fitted on the outside of the corresponding guide rail. The two adjusting motors are used to adjust the left and right first and second adjusting rods to move closer or further apart from each other.

[0010] Furthermore, support plates are fixedly installed on the opposite sides of the two swing frames, and drag chains are provided on the support plates to protect the wires.

[0011] Furthermore, a base plate is provided in the middle of the mounting frame, the stepper motor is fixedly mounted on the base plate, a drive roller is driven on one side of the stepper motor, the conveyor belt passes around the drive roller, and the drive roller is used to drive the conveyor belt to move synchronously.

[0012] Furthermore, a support frame is fixedly installed on the upper end of the mounting frame, and a position sensor is detachably installed on the support frame. The position sensor is used to detect the position of the items on the conveyor belt.

[0013] A method for handling pharmaceuticals includes the following steps: Step 1: Start the stepper motor to drive the conveyor belt to move along the mounting frame and transport the medicine to be transported to the designated workstation; Step 2: Start the two adjusting motors to drive the two swing frames closer to the center of the mounting frame, so as to adjust the distance between the two clamping rods and clamp the medicine. Step 3: Start the sliding motor to drive the intermediate gear to rotate. Through meshing with the fixed gear row, the slide table slides along the guide rod. At the same time, the intermediate gear meshes with the clamping gear row, pushing the clamping rod to move along the length of the swing frame, and transporting the medicine to the corresponding shelf. Step 4: After clamping is complete, adjust the motor to control the two swing frames to move away from each other, and release the medicine to the corresponding placement position.

[0014] Beneficial effects The technical solution provided by this invention has the following advantages compared with known public technologies: 1. This invention provides a conveyor belt in the middle of the mounting frame and swing frames on both sides of the mounting frame. During use, multiple medicines to be retrieved can be placed on the conveyor belt, which serves as a transfer station for medicine storage. The position of the two clamping rods holding the medicine can also be adjusted by the conveyor belt, so that the clamping rods can place the medicine at a farther position, which is convenient for stacking medicines on the shelf.

[0015] 2. In this invention, by setting a guide rod and a slide on the swing frame, when it is necessary to adjust the position of the clamping rod, the intermediate gear can be rotated by the sliding motor, which can drive the slide to move in the length direction of the swing frame. This allows the clamping rod to be easily moved from one end of the swing frame to the other end. Without needing to rotate the mounting frame, the medicine can be moved across the mounting frame to the other side.

[0016] 3. In this invention, by setting two guide rails at the front and rear ends of the mounting frame and distributing them vertically, and by setting sliders on the first and second adjusting rods, the first and second adjusting rods can slide parallel to each other in the width direction of the mounting frame, making the left and right swing frames more stable when they move closer or further apart. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are merely some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without any creative effort.

[0018] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a top view of the present invention; Figure 3 This is a schematic diagram of the bottom structure of the present invention; Figure 4 This is a schematic diagram of the internal structure of the mounting bracket of the present invention; Figure 5 This is an exploded view of the present invention; Figure 6 This is a schematic diagram of the overall structure of the swing frame of the present invention; Figure 7 This is a schematic diagram of the overall structure of the conveyor belt of the present invention.

[0019] The labels in the diagram represent: 1. Mounting bracket; 101. Mounting slot; 11. Support frame; 12. Position sensor; 13. Base plate; 14. Guide rail; 2. Conveyor belt; 21. Stepper motor; 3. Clamping component; 31. Clamping rod; 32. Clamping gear; 33. Sliding motor; 34. Slide table; 35. Intermediate gear; 4. Swing frame; 41. First adjusting rod; 42. Second adjusting rod; 43. Guide rod; 44. Fixed gear; 45. Slider; 46. Support plate; 5. Adjusting motor. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0021] The present invention will be further described below with reference to embodiments.

[0022] Example: A pharmaceutical handling device, such as Figure 1 - Figure 3 As shown, the device includes a mounting frame 1, a conveyor belt 2 mounted above the mounting frame 1, and a stepper motor 21 mounted on the mounting frame 1 for driving the conveyor belt 2. It also includes: Two swing frames 4, each swing frame 4 has a first adjusting rod 41 and a second adjusting rod 42 rotatably mounted on its front and rear sides respectively. The side view outlines of the first adjusting rod 41 and the second adjusting rod 42 are both L-shaped. An adjusting motor 5 is fixedly mounted on both the front and rear sides of the first mounting frame 1. The adjusting motor 5 is used to adjust the distance from the swing frame 4 to the middle of the mounting frame 1. Each of the two swing frames 4 has a clamping component 3 on one side facing each other. The clamping component 3 includes a clamping rod 31. The two clamping rods 31 on the two swing frames 4 work together to clamp the drug.

[0023] In this invention, by setting a conveyor belt 2 in the middle of the mounting frame 1 and setting swing frames 4 on both sides of the mounting frame 1, multiple medicines to be picked up can be placed on the conveyor belt 2 during use, and the conveyor belt 2 can be used as a transfer station for storing medicines. The position of the two clamping rods 31 holding the medicines can also be adjusted by the conveyor belt 2, so that the clamping rods 31 can place the medicines at a farther position, which is convenient for stacking medicines on the shelf.

[0024] Furthermore, such as Figure 4 and Figure 5 As shown, a guide rod 43 is provided along the length direction on the swing frame 4, a slide table 34 is slidably mounted on the guide rod 43, a sliding motor 33 is fixedly mounted on the slide table 34, an intermediate gear 35 is provided on the sliding motor 33, and a fixed gear row 44 for meshing with the intermediate gear 35 is provided on the side of the slide table 34 away from the middle of the mounting frame 1, and the clamping rod 31 is located on the side of the intermediate gear 35 away from the fixed gear row 44.

[0025] By setting guide rod 43 and slide table 34 on swing frame 4, when the position of clamping rod 31 needs to be adjusted, the intermediate gear 35 can be rotated by sliding motor 33, which can drive slide table 34 to move in the length direction of swing frame 4. This allows clamping rod 31 to be moved from one end of swing frame 4 to the other end in the length direction. Without needing to rotate mounting frame 1, medicine can be moved across mounting frame 1 to the other side.

[0026] Furthermore, such as Figure 4 and Figure 5 As shown, the clamping rod 31 is slidably installed along the length direction of the mounting frame 1. A clamping tooth row 32 is provided on the side of the clamping rod 31 facing the intermediate gear 35. The clamping tooth row 32 meshes with the intermediate gear 35. When the intermediate gear 35 rotates, the slide table 34 and the intermediate gear 35 move along the length direction of the swing frame 4, and drive the clamping rod 31 to slide on the swing frame 4.

[0027] By setting a clamping gear row 32 on one side of the clamping rod 31, the intermediate gear 35 can not only drive the slide table 34 to move in the length direction of the swing frame 4 during rotation, but also drive the clamping rod 31 to move relative to the slide table 34. This allows the clamping rod 31 to move from one end of the swing frame 4 to the other end more quickly, making the moving speed of the clamping rod 31 twice that of the slide table 34.

[0028] Furthermore, such as Figure 5As shown, the side view of the mounting frame 1 is U-shaped. Mounting grooves 101 are provided on both the front and rear sides of the mounting frame 1. The conveyor belt 2 is driven and installed inside the mounting grooves 101. The conveyor rollers of the conveyor belt 2 are installed in parallel rotation inside the two mounting grooves 101. The structure of the conveyor belt 2 is a common technical solution in the prior art, so the relevant structure and principle will not be described in detail here.

[0029] Furthermore, such as Figure 5 and Figure 6 As shown, guide rails 14 are arranged vertically at both ends of the mounting bracket 1, with the two guide rails 14 staggered vertically. Slider 45 is provided on the first adjusting rod 41 and the second adjusting rod 42. Each slider 45 is semi-enclosed and fitted on the outside of the corresponding guide rail 14. The two adjusting motors 5 are used to adjust the left and right first adjusting rods 41 and the left and right second adjusting rods 42 to move closer or further apart from each other.

[0030] Specifically, by setting two guide rails 14 at the front and rear ends of the mounting frame 1 respectively, and making the two guide rails 14 (front or rear end) distributed vertically, and by setting sliders 45 on the first adjusting rod 41 and the second adjusting rod 42, the first adjusting rod 41 and the second adjusting rod 42 can slide parallel to each other in the width direction of the mounting frame 1, so that the left and right swing frames 4 can be more stable when they move closer or further apart.

[0031] In addition, an adjustment motor 5 is set at the front and back respectively. When it is necessary to clamp the innermost medicine on the shelf (without moving the outer medicine), by controlling the swing frame 4 away from the medicine to move away from each other, and at the same time controlling the swing frame 4 close to the medicine to move closer to each other, the two clamping rods 31 can be adjusted from a parallel state to a figure-eight shape (top view), which can facilitate the clamping of the innermost medicine.

[0032] Furthermore, such as Figure 5 and Figure 6 As shown, support plates 46 are fixedly installed on the opposite sides of the two swing frames 4. A drag chain is provided on the support plate 46. The drag chain is used to protect the wire. By setting the drag chain, the wire can be placed inside the drag chain for protection when the wire is installed. When the slide table 34 moves, the wire will move with the drag chain.

[0033] Furthermore, such as Figure 5 As shown, a base plate 13 is provided in the middle of the mounting frame 1, and the stepper motor 21 is fixedly mounted on the base plate 13. A drive roller is driven on one side of the stepper motor 21, and the conveyor belt 2 passes around the drive roller. The drive roller is used to drive the conveyor belt 2 to move synchronously, which allows for a more compact installation of the stepper motor 21.

[0034] Furthermore, such as Figure 1 As shown, a support frame 11 is fixedly installed on the upper end of the mounting frame 1, and a position sensor 12 is detachably installed on the support frame 11. The position sensor 12 is used to detect the position of the items on the conveyor belt 2.

[0035] A method for handling pharmaceuticals includes the following steps: Step 1: Start the stepper motor 21 to drive the conveyor belt 2 to move along the mounting frame 1 and transport the medicine to be transported to the predetermined work station; Step 2: Start the two adjusting motors 5 to drive the two swing frames 4 to move closer to the center of the mounting frame 1, so as to adjust the distance between the two clamping rods 31 and clamp the medicine. Step 3: Start the sliding motor 33 to drive the intermediate gear 35 to rotate. Through meshing with the fixed gear row 44, the slide table 34 is driven to slide along the guide rod 43. At the same time, the intermediate gear 35 meshes with the clamping gear row 32, pushing the clamping rod 31 to move along the length of the swing frame 4, and transporting the medicine to the corresponding shelf. Step 4: After clamping is completed, adjust the motor 5 to control the two swing frames 4 to move away from each other, and release the medicine to the corresponding placement position.

[0036] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions will not cause the essence of the corresponding technical solutions to deviate from the protection scope of the technical solutions of the embodiments of the present invention.

Claims

1. A medicine carrying device, comprising a mounting frame (1), a conveying belt (2) is arranged above the mounting frame (1), a stepping motor (21) is arranged on the mounting frame (1) and used to drive the conveying belt (2) to move, characterized in that, Also include: Two swing frames (4), the front and back of each swing frame (4) are rotatably installed with a first adjusting rod (41) and a second adjusting rod (42), the side view profile of the first adjusting rod (41) and the second adjusting rod (42) is L-shaped, the front and back of the first mounting frame (1) are fixedly installed with an adjusting motor (5), the adjusting motor (5) is used for adjusting the distance between the swing frame (4) and the middle part of the mounting frame (1); Wherein, the side of the two swing frames (4) facing each other is provided with a clamping component (3), the clamping component (3) comprises a clamping rod (31), the two clamping rods (31) on the two swing frames (4) act together to clamp the medicine.

2. The carrier of claim 1, wherein The swing frame (4) is provided with a guide rod (43) along the length direction, the guide rod (43) is slidably installed with a sliding table (34), the sliding table (34) is fixedly installed with a sliding motor (33), the sliding motor (33) is provided with an intermediate gear (35), the side of the sliding table (34) away from the middle part of the mounting frame (1) is provided with a fixed gear row (44) for engaging with the intermediate gear (35), the clamping rod (31) is located on the side of the intermediate gear (35) away from the fixed gear row (44).

3. The carrier of claim 2, wherein The clamping rod (31) is slidably installed along the length direction of the mounting frame (1), the side of the clamping rod (31) facing the intermediate gear (35) is provided with a clamping gear row (32), the clamping gear row (32) is engaged with the intermediate gear (35), when the intermediate gear (35) rotates, the sliding table (34) and the intermediate gear (35) move along the length direction of the swing frame (4), and drive the clamping rod (31) to slide on the swing frame (4).

4. The carrier of claim 3, wherein The side view profile of the mounting frame (1) is U-shaped, the front and back of the mounting frame (1) are provided with mounting grooves (101), the conveying belt (2) is drivingly installed in the mounting grooves (101).

5. The carrier of claim 4, wherein The front and back of the mounting frame (1) are provided with guide rails (14) distributed up and down, the two guide rails (14) are staggered up and down, the first adjusting rod (41) and the second adjusting rod (42) are provided with sliding blocks (45), each sliding block (45) is half-enclosed and fitted on the outside of the corresponding guide rail (14), the two adjusting motors (5) are used for adjusting the two first adjusting rods (41) and the second adjusting rods (42) to move closer to or away from each other.

6. The carrier of claim 5, wherein The side of the two swing frames (4) away from each other is fixedly installed with a support plate (46), the support plate (46) is provided with a drag chain, the drag chain is used for protecting the wire.

7. The carrier of claim 6 wherein: The middle part of the mounting frame (1) is provided with a bottom plate (13), the step motor (21) is fixedly installed on the bottom plate (13), one side of the step motor (21) is drivingly installed with a driving roller, the conveying belt (2) passes through the driving roller, the driving roller is used to drive the conveying belt (2) to move synchronously.

8. The carrier of claim 1, wherein The upper end of the mounting frame (1) is fixedly provided with a support frame (11), and a position sensor (12) is detachably arranged on the support frame (11), and the position sensor (12) is used for detecting the position of the articles on the conveying belt (2).

9. A method of handling a pharmaceutical product using the pharmaceutical product handling device according to claim 1, wherein The method comprises the following steps: Step one, start the stepping motor (21) to drive the conveying belt (2) to move along the mounting frame (1) and convey the medicine to be carried to a predetermined working position; Step two, start the two adjusting motors (5) to drive the two swing frames (4) to move towards the middle part of the mounting frame (1) to adjust the distance between the two clamping rods (31) and clamp the medicine; Step three, start the sliding motor (33) to drive the middle gear (35) to rotate, drive the sliding table (34) to slide along the guide rod (43) through the meshing with the fixed gear row (44), and at the same time, the middle gear (35) meshes with the clamping gear row (32) to drive the clamping rod (31) to move along the length direction of the swing frame (4) to convey the medicine to the corresponding shelf; Step four, after the clamping is completed, the two swing frames (4) are controlled to move away from each other through the adjusting motor (5) to release the medicine at the corresponding placing position.

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