Dispensing equipment and method

Abstract

The invention discloses dispensing equipment and method, and relates to the technical field of intelligent medical equipment, and the dispensing equipment comprises a box body, a suction device, a medicine bin device, a medicine discharging device, a first detection device and a control device; the medicine bin device is installed on the box body and comprises a medicine bin assembly and a medicine bin driving mechanism. The medicine bin assembly comprises a medicine bin body. The medicine bin driving mechanism is used for driving the medicine bin body to rotate; a plurality of chambers are arranged on the medicine bin body around the rotating center line of the medicine bin body, and the medicine bin device or the medicine bin assembly is further provided with a medicine outlet. The first detection device is used for detecting the medicine amount in the bin; the suction device comprises a suction manipulator and an air supply assembly connected with the suction manipulator. The suction manipulator is located above the medicine bin body during operation and used for sucking the medicine in the bin chamber and releasing the sucked medicine through the medicine outlet. The medicine outlet device is used for bearing the medicine released through the medicine outlet. By means of the design, the precise and automatic medicine dispensing function can be achieved.

Description

Technical Field

[0001] This application relates to the field of intelligent medical equipment technology, and in particular to a drug dispensing device and method. Background Technology

[0002] Existing home medication dispensing tools (ordinary pillboxes, manual pill breakers, measuring cups) can only achieve basic dispensing or auxiliary operations, failing to solve core issues such as accurate medication dispensing and automatic reminders. While some smart pillboxes on the market have medication reminder functions, they lack automatic medication dispensing, and their dosage detection functions cannot meet actual needs. With an aging population (the proportion of the global population aged 60 and over continues to rise) and a surge in patients with chronic diseases (such as the more than 270 million hypertension patients in China), the demand for long-term medication at home is increasing, making the pain points of traditional medication dispensing methods increasingly prominent.

[0003] Therefore, there is an urgent need to design a home medication dispensing device that integrates precision and automatic dispensing to solve the pain points of traditional medication dispensing. Summary of the Invention

[0004] In view of this, the purpose of this application is to provide a drug dispensing device and method to solve the technical problem that traditional drug dispensing methods cannot meet actual needs.

[0005] To achieve the above-mentioned technical objectives, this application provides a drug dispensing device, including a housing, a suction device, a drug storage device, a drug dispensing device, a first detection device, and a control device;

[0006] The medicine container device is installed in the housing and includes a medicine container assembly and a medicine container drive mechanism;

[0007] The drug storage assembly includes a drug storage body;

[0008] The medicine container drive mechanism is used to drive the medicine container body to rotate;

[0009] The medicine storage body has multiple compartments arranged around its own rotation center line;

[0010] The medicine storage device or the medicine storage assembly is also provided with a medicine outlet;

[0011] The first detection device is installed in the housing and is used to detect the amount of drug in the compartment;

[0012] The suction device is installed in the housing and includes a suction robot and an air supply assembly connected to the suction robot.

[0013] The suction robot arm operates above the drug compartment body, and is used to suction the drug in the compartment and release the suctioned drug through the drug outlet;

[0014] The drug dispensing device is installed in the housing and is used to carry the drug released through the drug dispensing port;

[0015] The control device is installed in the housing and is communicatively connected to the medicine storage device, the suction device, the first detection device, and the control device.

[0016] Furthermore, the drug compartment assembly also includes a sealing cover and a clamping assembly;

[0017] The sealing cover is rotatably mounted on the top of the medicine compartment body and has at least one through-hole corresponding to the compartment.

[0018] The clamping assembly is connected to the sealing cover and the medicine container body, and provides the sealing cover to press tightly against the medicine container body.

[0019] Furthermore, it also includes limiting components;

[0020] The limiting component cooperates with the sealing cover plate to limit the rotation angle of the sealing cover plate.

[0021] Furthermore, the compartment is equipped with a container that can float along the depth direction of the compartment.

[0022] Furthermore, the first detection device includes a first weighing device, which is disposed below the main body of the medicine container;

[0023] The container rotates with the main body of the medicine container, allowing its lower surface to reach above the first weighing part of the first weighing device.

[0024] Furthermore, a first positioning structure is provided on the lower surface of the compartment;

[0025] The first weighing part is provided with a second positioning structure;

[0026] The first positioning structure can be engaged with or disengaged from the second positioning structure as the medicine container body rotates.

[0027] Furthermore, it also includes a second detection device that is communicatively connected to the control device;

[0028] The second detection device is used to detect the rotation angle of the medicine container body.

[0029] Furthermore, the medicine storage device also includes a vibration mechanism;

[0030] The vibration mechanism includes a vibration driver and a vibrating component;

[0031] One end of the vibrating element is connected to the vibration driver, and the other end extends to the bottom of one of the compartments and can contact the compartment box;

[0032] The vibration actuator is used to drive the vibrating element to vibrate the contacting bin.

[0033] Furthermore, the suction robot includes a suction drive mechanism and a suction head;

[0034] The suction drive mechanism is connected to the suction head and is used to drive the suction head to extend into or out of the chamber;

[0035] The suction head is connected to the gas supply assembly.

[0036] Furthermore, it also includes a third detection device that is communicatively connected to the control device;

[0037] The third detection device is used to detect the air pressure in the pipeline connecting the suction head and the air supply assembly and / or to detect the movement position of the suction head.

[0038] Furthermore, the drug dispensing device includes a drug dispensing base and a drug dispensing box;

[0039] The side wall of the box is provided with a pull-out opening for the medicine box to move in and out.

[0040] The dispensing base is fixed inside the box and located at the bottom edge of the pull-out opening, serving to support the dispensing box.

[0041] Furthermore, it also includes a fourth detection device that is communicatively connected to the control device;

[0042] The fourth detection device is used to detect whether there is medicine in the dispensing box based on a visual algorithm.

[0043] Furthermore, the enclosure includes a shell;

[0044] The shell is provided with a cavity;

[0045] The shell cavity is provided with spacers and covers arranged vertically from bottom to top, which are used to divide the shell cavity into a first cavity, a second cavity and a third cavity from top to bottom in the vertical direction;

[0046] The box shell is provided with a box opening;

[0047] The first cavity is provided with a feeding chamber that connects the box opening and the second cavity;

[0048] The third cavity is provided with a drug outlet cavity that connects to the second cavity.

[0049] Furthermore, it also includes a refrigeration device that is communicatively connected to the control device;

[0050] The refrigeration device is used to refrigerate the interior of the box;

[0051] The refrigeration device includes refrigeration elements;

[0052] The hot end face of the cooling chip is connected to a first heat-conducting structure;

[0053] The first heat-conducting structure is located outside the housing;

[0054] The cold end face of the cooling element is located inside the housing.

[0055] This application also discloses a detection method applied to the aforementioned dispensing equipment, comprising the following steps:

[0056] The control device acquires pre-absorption detection data of the preset compartment for drug dispensing through the first detection device;

[0057] The control device controls the suction device to suction the medicine in the chamber;

[0058] The control device acquires the post-absorption detection data of the preset compartment for drug extraction through the first detection device, and compares it with the pre-absorption detection data.

[0059] When the comparison result meets the preset threshold, the suction device is deemed to have successfully suctioned the sample.

[0060] This application also discloses a drug preparation method applied to the aforementioned drug preparation equipment, comprising the following steps:

[0061] When the suction device is determined to have successfully suctioned the drug, the control device controls the suction device to release the suctioned drug, so that the drug falls into the dispensing device through the dispensing port.

[0062] As can be seen from the above technical solutions, the drug dispensing equipment designed in this application has the following beneficial effects:

[0063] 1. The amount of medicine in the compartment is detected by the first detection device. Combined with the precise suction action of the suction robot (with air supply component), the amount of medicine dispensed each time is accurate, which solves the problem that traditional medicine dispensing methods cannot accurately dispense medicine.

[0064] 2. The main body of the medicine container has multiple compartments (which can store a variety of drugs). The medicine container drive mechanism drives the main body of the medicine container to rotate, which can automatically switch to the compartment corresponding to the target drug. The suction device sucks up the drug and releases it to the dispensing device through the dispensing port, realizing the automatic distribution of different drugs. There is no need to manually change the medicine container or the drug, which solves the problem of lack of automatic drug dispensing in traditional drug dispensing methods.

[0065] 3. By coordinating the operation of the drug storage drive mechanism, suction device, first detection device and drug dispensing device through the control device, the entire process from drug storage, switching, suction, detection and output is fully automated, reducing manual intervention by the user, and is especially suitable for the needs of the elderly and patients with chronic diseases who need long-term medication. Attached Figure Description

[0066] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0067] Figure 1 This is a perspective view of a dispensing device provided in this application;

[0068] Figure 2 This is an overall sectional view of a dispensing device provided in this application;

[0069] Figure 3 This is a partial structural cross-sectional view of a drug dispensing device provided in this application, involving a drug storage unit;

[0070] Figure 4 This is a partial three-dimensional structural view of the medicine storage device of a dispensing equipment provided in this application;

[0071] Figure 5 This is a perspective view of the medicine compartment body of a dispensing device provided in this application;

[0072] Figure 6 This is a partial three-dimensional view of a sealing cover plate involved in a dispensing device provided in this application;

[0073] Figure 7 A perspective view of a diaphragm for a dispensing device provided in this application, involving a limiting component;

[0074] Figure 8 This is a partial three-dimensional view of the drug dispensing equipment provided in this application, involving a drug storage drive mechanism;

[0075] Figure 9 This is a partial three-dimensional view of the first weighing device involved in a dispensing device provided in this application;

[0076] Figure 10 This is a first perspective view of the compartment of a dispensing device provided in this application;

[0077] Figure 11 A perspective view of the first weighing device of a dispensing apparatus provided in this application;

[0078] Figure 12 This is a second perspective view of the compartment of a dispensing device provided in this application;

[0079] Figure 13 This is a partial three-dimensional view of a vibration mechanism involved in a drug dispensing device provided in this application;

[0080] Figure 14 This is a first partial perspective view of the suction robot arm of a drug dispensing device provided in this application;

[0081] Figure 15 This is a partial three-dimensional view of the gas supply component involved in a drug dispensing device provided in this application;

[0082] Figure 16 A perspective view of the suction head of a dispensing device provided in this application;

[0083] Figure 17 This is a partial perspective view of the suction manipulator of a drug dispensing device provided in this application;

[0084] Figure 18 This is a third partial perspective view of the suction robot arm of a dispensing device provided in this application;

[0085] Figure 19 This is a fourth partial perspective view of the suction robot arm of a drug dispensing device provided in this application;

[0086] Figure 20 A perspective view of the dispensing device of a drug dispensing equipment provided in this application;

[0087] Figure 21 This is an overall cross-sectional view of the dispensing device of a drug dispensing equipment provided in this application;

[0088] Figure 22 This is a first partial perspective view of the dispensing device of a drug dispensing equipment provided in this application;

[0089] Figure 23 This is a second partial perspective view of the dispensing device of a drug dispensing equipment provided in this application;

[0090] Figure 24 This is a third partial perspective view of the dispensing device of a drug dispensing equipment provided in this application;

[0091] Figure 25 This is a partial three-dimensional view of the box structure of a drug dispensing device provided in this application;

[0092] Figure 26 This is a partial structural cross-sectional view of the housing of a dispensing device provided in this application;

[0093] Figure 27 for Figure 26 Enlarged diagram of position A in the diagram;

[0094] Figure 28 This is a partial three-dimensional view of the diaphragm structure of a dispensing device provided in this application;

[0095] Figure 29 This is a partial three-dimensional view of the partition structure of a dispensing device provided in this application;

[0096] Figure 30 This is a partial three-dimensional view of the mounting bracket involved in a drug dispensing device provided in this application;

[0097] Figure 31 This is a first partial perspective view of a refrigeration device involved in a drug dispensing equipment provided in this application;

[0098] Figure 32 This is a partial structural cross-sectional view of a refrigeration device involved in a drug dispensing equipment provided in this application;

[0099] Figure 33 This is a second partial perspective view of a refrigeration device involved in a drug dispensing device provided in this application;

[0100] Figure 34 This is a perspective view of a refrigeration device for a dispensing equipment provided in this application;

[0101] Figure 35 This is a flowchart illustrating a drug preparation method provided in this application;

[0102] Figure 36 This is another flowchart illustrating a drug dispensing method provided in this application;

[0103] In the diagram: 100, Box body; 101, Box shell; 1011, Box opening; 1012, Pull-out opening; 1013, First cavity; 1014, Second cavity; 1015, Third cavity; 1016, Upper shell; 1017, Lower shell; 1018, Bottom shell; 1019, First support connection; 1020, Support step; 102, Partition; 1021, Dosing port; 1022, First dispensing / removing port; 1023, First baffle; 102 4. Optical channel; 1025. Mounting slot; 103. Spacer; 1031. Second medicine dispensing / removing port; 1032. Second baffle; 1033. Connecting air port; 104. Feeding hopper; 1041. Second support connection; 105. Box cover; 1051. Touch panel; 106. Germicidal lamp; 107. Mounting bracket; 1071. Clamp assembly; 1072. Movable clamp; 1073. Fixed clamp; 108. Indicator light; 109. Refrigeration slot;

[0104] 200. Medicine container device; 201. Medicine container body; 2011. Container chamber; 2012. Medicine outlet; 2013. First rotating connection structure; 2014. Slot; 202. Sealing cover plate; 2021. Through port; 2022. Second rotating limiting structure; 2023. Second rotating connection structure; 203. Clamping assembly; 2031. Fastener; 2032. Clamping elastic element; 204. Limiting assembly; 2041. First rotating limiting structure; 205. Container box; 2051. First extension; 2052. First positioning structure; 2053. Positioning recess; 2054. First guide part; 2055 2056. Drug-collecting recess; 207. Guide structure; 208. Drug compartment fixing base; 209. Drug compartment drive assembly; 2071. Drug compartment driver; 2072. Transmission assembly; 2073. First drive gear; 2074. Gear ring; 208. First micro switch; 209. First weighing device; 2091. First weighing part; 2092. Second positioning structure; 2093. Positioning protrusion; 2094. Second guide part; 210. Vibration mechanism; 2111. Vibration driver; 2112. Vibrating component; 2113. Contact point; 2114. Limiting shaft; 2115. Positioning block; 2116. Motor frame;

[0105] 300. Suction device; 301. Suction drive mechanism; 302. Suction fixing frame; 3021. Suction guide rod; 303. First suction displacement drive assembly; 3031. First suction displacement driver; 3032. Second drive gear; 3033. Rack; 304. Air supply assembly; 305. Suction head; 3051. Suction connection structure; 3052. Suction main body structure; 3053. Suction covering structure; 3054. Pleated body; 3055. Conical body; 306. Suction carrier; 3061. Movable hole; 3062. Suction guide hole; 307. Movable part; 3071. First limiting structure; 3072. Second limiting structure; 3073. Impact mating part; 308. Reset elastic element; 309. Impact mechanism; 3091. Impact driver; 3092. Cam;

[0106] 400. Dispensing device; 401. Dispensing box; 4011. Side panel; 4012. Tray; 4013. Measuring port; 4014. Floating plate; 4015. Second extension; 4016. Handle; 4017. Limiting plate; 4018. Third positioning structure; 4019. Locking engagement part; 4020. Fixing ring; 402. Dispensing base; 4021. Locking port; 4022. Fixing groove; 403. Second weighing device; 4031. Second weighing part; 4032. Fourth positioning structure; 404. Locking actuator; 405. Lock; 406. Second micro switch;

[0107] 500. Control device;

[0108] 600, Refrigeration device; 601, Refrigeration element; 602, First heat-conducting structure; 603, First fan; 604, Second heat-conducting structure; 605, Second fan; 606, First mounting shell; 6061, Mounting block; 6062, Top pressure component; 607, Second mounting shell; 6071, Air outlet; 6072, Mounting port; 608, Shell cover. Detailed Implementation

[0109] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the embodiments of this application.

[0110] In the description of the embodiments of this application, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of this application 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 limitations on the embodiments of this application. In addition, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0111] In the description of the embodiments of this application, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a replaceable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this application based on the specific circumstances.

[0112] This application discloses a drug dispensing device.

[0113] Please see Figure 1 One embodiment of a dispensing device provided in this application includes:

[0114] The container 100, the suction device 300, the medicine storage device 200, the medicine dispensing device 400, the first detection device, and the control device 500 are included.

[0115] The medicine storage device 200 is installed on the housing 100 and includes a medicine storage assembly and a medicine storage drive mechanism. The medicine storage assembly includes a medicine storage body 201. The medicine storage drive mechanism is connected to the medicine storage body 201 and is used to drive the medicine storage body 201 to rotate. The medicine storage body 201 has multiple compartments 2011 arranged around its own rotation center line. The medicine storage device 200 or the medicine storage assembly is provided with a medicine outlet 2012, for example, the medicine storage body 201 is provided with a medicine outlet 2012. Of course, it is not necessarily set on the medicine storage body 201, but can be set in other positions. The specific setting position can be changed and adjusted according to actual needs and is not limited.

[0116] Taking the example of setting a dispensing port 2012 on the medicine container body 201, the dispensing port 2012 can be designed at the bottom of a compartment 2011, or at the rotation center of the medicine container body 201, or at other locations. If it is set at the bottom of the compartment 2011, the dispensing port 2012 can be aligned with the suction device 300 by rotating the medicine container body 201. If it is set at the rotation center of the medicine container body 201, the suction device 300 is configured to move to align with the dispensing port 2012. In actual use, it is preferred to design it at the bottom of the compartment 2011. Those skilled in the art can change the design according to actual needs without limitation.

[0117] Taking the design at the bottom of the compartment 2011 as an example, it is possible to set only one compartment 2011 with a drug outlet 2012, while the other compartments 2011 are used to store drugs. Those skilled in the art can make appropriate design changes based on this, without any restrictions.

[0118] The first detection device is installed in the housing 100 to detect the amount of medicine in compartment 2011. The first detection device transmits the detected medicine quantity information to the control device 500 in real time. Upon receiving this information, the control device 500 can perform corresponding processing. When the amount of medicine in a compartment 2011 is detected to be lower than a preset threshold, the control device 500 can issue an alarm signal to remind staff to replenish the medicine in time. Simultaneously, the control device 500 can also determine whether the suction robot has successfully suctioned the medicine based on changes in the medicine quantity, avoiding over-sucking or under-sucking.

[0119] Furthermore, the control device 500 can store drug quantity information in a database for subsequent data analysis and statistics. By analyzing drug usage, the rate of drug consumption can be predicted, allowing for advance planning of drug procurement and storage, thereby improving the operational efficiency and management level of the dispensing equipment.

[0120] The suction device 300 is installed on the housing 100 and includes a suction robot and an air supply assembly 304 connected to the suction robot. During operation, the suction robot is positioned above the drug storage unit 201 and is used to suction the drug from the storage chamber 2011 and release the suctioned drug through the drug outlet 2012. The air supply assembly 304 provides the necessary air pressure for the suction robot to suction and release the drug. With the assistance of the air supply assembly 304, the suction robot can accurately suction the drug from the storage chamber 2011 of the drug storage unit 201 and accurately release it into the drug dispensing device 400.

[0121] The dispensing device 400 is installed in the housing 100 and located below the drug container body 201, and is used to carry the drug released through the dispensing port 2012.

[0122] The control device 500 is installed in the housing 100 and is communicatively connected to the medicine storage device 200, the suction device 300, the first detection device and the control device 500.

[0123] As can be seen from the above technical solutions, the drug dispensing equipment designed in this application has the following beneficial effects:

[0124] 1. The amount of medicine in the chamber 2011 is detected by the first detection device. Combined with the precise suction action of the suction robot (with air supply component 304), the amount of medicine dispensed each time is accurate, which solves the problem that traditional medicine dispensing methods cannot dispense medicine accurately.

[0125] 2. The main body 201 of the medicine container is equipped with multiple compartments 2011 (which can store a variety of drugs). The medicine container drive mechanism drives the main body 201 of the medicine container to rotate, and can automatically switch to the compartment 2011 corresponding to the target drug. The suction device 300 sucks up the drug and releases it to the dispensing device 400 through the dispensing port 2012, realizing the automatic distribution of different drugs. There is no need to manually change the medicine container or the drug, which solves the problem of lack of automatic drug dispensing in traditional drug dispensing methods.

[0126] 3. By coordinating the operation of the drug storage drive mechanism, the suction device 300, the first detection device and the drug dispensing device 400 through the control device 500, the entire process from drug storage, switching, suction, detection and output is fully automated, reducing manual intervention by the user, and is especially suitable for the needs of the elderly and patients with chronic diseases who need long-term medication.

[0127] The above is Embodiment 1 of a drug dispensing device provided in this application. The following is Embodiment 2 of a drug dispensing device provided in this application. Please refer to the following for details. Figures 1 to 34 .

[0128] Based on the solution of Embodiment 1 above:

[0129] Further research by the applicant revealed that in the design of the above-mentioned Embodiment 1, while the suction robot is waiting for the dispensing port 2012 to rotate after completing the drug suction operation in the current compartment 2011, the other compartments it passes through are all in a non-sealed state. This could result in residual drug powder or small particles after the suction robot has suctioned the drug, or the suctioned drug falling into other compartments 2011 it passes through below, causing cross-contamination between different drugs and posing a risk to the user's medication safety. To address the above shortcomings, this application further designs as follows:

[0130] The medicine compartment assembly also includes a sealing cover 202, a clamping assembly 203, and a limiting assembly 204; wherein at least one compartment 2011 has a medicine outlet 2012.

[0131] The sealing cover 202 is rotatably mounted on the top of the medicine compartment body 201 and has at least one through port 2021 that corresponds to and communicates with the compartment 2011. The through port 2021 is adapted to the shape and size of the opening of the compartment 2011 to ensure that the suction device 300 can smoothly take medicine from the compartment 2011 through the through port 2021.

[0132] The clamping assembly 203 is connected to the sealing cover 202 and the medicine container body 201, and provides the sealing cover 202 to press tightly against the medicine container body 201 to ensure sealing.

[0133] By using a rotatable sealing cover 202 and a clamping assembly 203 that provides pressure to ensure the sealing cover 202 adheres tightly to the medicine container body 201, the sealing cover 202 can be rotatably and securely fitted onto the medicine container body 201. Compared to traditional fixed sealing structures, this design allows the suction robot to remove medicine from a compartment 2011 located in the pick-and-place area. By rotating the sealing cover 202, the guide opening 2021 on the sealing cover 202 is moved out of the pick-and-place area, thus sealing the compartment 2011 that has passed through the pick-and-place area. This prevents any residual powder or small particles from the suction robot after removing the medicine, or prevents the removed medicine from falling into the compartment 2011 it has passed through.

[0134] Moreover, the sealing cover 202 can form an individual seal for each compartment 2011, preventing the medicine from falling into the compartment of other medicines due to unexpected situations such as power outages during the medicine preparation process.

[0135] The above design can prevent cross-contamination of medicines during the dispensing process by rotating the sealing cover 202, ensuring medication safety, and at the same time prevent the medicine from falling into the compartment 2011 of other medicines due to unexpected situations such as power outages during the dispensing process.

[0136] Furthermore, the rotation control of the sealing cover 202 can be either active or passive.

[0137] Furthermore, taking active control as an example, a cover plate driver (such as a rotary motor) can be added. The cover plate driver is connected to the sealing cover 202 and is used to drive the sealing cover 202 to rotate.

[0138] Furthermore, taking passive control as an example, the medicine container body 201 can rotate by utilizing the contact friction between itself and the sealing cover 202, thereby causing the sealing cover 202 to rotate. It can be understood that the force provided by the clamping component 203 creates a certain friction between the sealing cover 202 and the medicine container body 201. This friction allows the medicine container body 201 to rotate, thereby causing the sealing cover 202 to rotate. Based on this, a limiting component 204 is designed. The limiting component 204 cooperates with the sealing cover 202 to limit the rotation angle of the sealing cover 202. The range of rotation angles can be varied according to actual needs, as long as the angle range is sufficient to move the guide port 2021 on the sealing cover 202 away from the loading / unloading area; no restriction is imposed. Taking the case where the connecting port 2021 is located in the retrieval area, and the sealing cover 202 is at its maximum rotation angle in the first rotation direction (i.e., the sealing cover 202 cannot rotate when the medicine container body 201 rotates in the first rotation direction), as an example, when the medicine container body 201 rotates in the second rotation direction opposite to the first rotation direction, it can normally drive the sealing cover 202 to rotate. At this time, the maximum rotation angle in the second rotation direction must at least satisfy the condition that the sealing cover 202 leaves the retrieval area when the maximum rotation angle in the second rotation direction is reached. After reaching the maximum rotation angle in the second rotation direction, the sealing cover 202 no longer follows the rotation of the medicine container body 201 in the second rotation direction. When the medicine container body 201 rotates until the medicine outlet 2012 is connected to the connecting port 2021, it can rotate in the opposite direction in the first rotation direction, at which point it can drive the sealing cover 202 to rotate again, so that the connecting port 2021 and the medicine outlet 2012 return to the retrieval area together.

[0139] The pick-and-place area referred to in this application is the preset area for the suction device 300 to pick up and place drugs. After the suction robot performs drug retrieval work on a certain compartment 2011 located in the pick-and-place area, the drug compartment body 201 starts to rotate. At this time, the sealing cover 202 can rotate accordingly so that the guide port 2021 on the sealing cover 202 moves out of the pick-and-place area, thereby keeping the compartment 2011 that has passed through the pick-and-place area in a sealed state, preventing residual drug powder or small particles that may remain after the suction robot has picked up the drugs, or preventing the picked-up drugs from falling into the compartment 2011 that has passed through.

[0140] When the sealing cover 202 rotates to its maximum rotation angle, the limiting component 204 prevents it from rotating with the medicine container body 201. At this time, the medicine container body 201 rotates independently. When it rotates to the point where the chamber 2011 with the medicine outlet 2012 is connected to the guide port 2021, it rotates in the opposite direction. At this time, it can drive the sealing cover 202 to rotate, so that the guide port 2021 and the chamber 2011 with the medicine outlet 2012 return to the pick-up and drop-off area together. The robotic arm can then release the medicine and send it out from the medicine outlet 2012, completing the medicine dispensing operation.

[0141] The passive control method designed above relies on the dynamic follow-up achieved by the physical structure. It does not require an additional power source to control the rotation of the sealing cover 202. The structure is simple, the cost is lower, and it is more conducive to the promotion and use of the equipment.

[0142] Furthermore, the rotation center line of the sealing cover 202 coincides with the rotation center line of the medicine container body 201; such as Figure 5 as well as Figure 6 As shown, the medicine container body 201 is provided with a first rotating connection structure 2013; the sealing cover plate 202 is provided with a second rotating connection structure 2023 that is rotatably connected to the first rotating connection structure 2013; the second rotating connection structure 2023 and the first rotating connection structure 2013 can be relatively displaced along the rotation center line of the medicine container body 201; the pressing component 203 is connected between the first rotating connection structure 2013 and the sealing cover plate 202, or between the second rotating connection structure 2023 and the medicine container body 201, or between the first rotating connection structure 2013 and the second rotating connection structure 2023, for providing a force for the sealing cover plate 202 to adhere tightly to the medicine container body 201 in the rotation center line direction of the medicine container body 201.

[0143] The above structural design allows the sealing cover 202 and the medicine container body 201 to maintain relative rotation, and the clamping component 203 can ensure a tight fit between the two, so that the sealing cover 202 can be stably driven to rotate when the medicine container body 201 rotates.

[0144] There are multiple ways to rotate the connection between the first rotating connection structure 2013 and the second rotating connection structure 2023, such as the first method:

[0145] The first rotating connection structure 2013 is a rotating rod, and the second rotating connection structure 2023 is a rotating hole through which the rotating rod moves. This combination of rotating rod and rotating hole is simple and easy to implement. The rotating rod can rotate smoothly within the rotating hole, ensuring relative rotational flexibility between the sealing cover 202 and the medicine container body 201. Simultaneously, the rotating rod and rotating hole can slide relative to each other along the rotation centerline, allowing the clamping assembly 203 to better provide the sealing cover 202 with the force needed to press tightly against the medicine container body 201, ensuring a close fit and effectively driving the sealing cover 202 to rotate when the medicine container body 201 rotates.

[0146] For example, the second method:

[0147] Conversely, the first rotating connection structure 2013 is a rotating hole, and the second rotating connection structure 2023 is a rotating rod that moves through the rotating hole.

[0148] Furthermore, such as Figure 3 as well as Figure 6 As shown, the clamping assembly 203 includes a clamping elastic element 2032 and a fastener 2031. Taking the second rotating connection structure 2023 as an example, the fastener 2031 is fixed to the second rotating connection structure 2023. One end of the clamping elastic element 2032 contacts and abuts against the fastener 2031, and the other end contacts and abuts against the cartridge body 201. In this design, the clamping elastic element 2032 is compressed between the fastener 2031 and the cartridge body 201, thereby generating an elastic force along the rotation centerline of the cartridge body 201. This elastic force allows the sealing cover 202 to fit tightly against the cartridge body 201, ensuring close contact between the two. When the cartridge body 201 rotates, the friction generated by this close contact allows the sealing cover 202 to rotate with the cartridge body 201 at a limited angle.

[0149] Furthermore, such as Figure 6 As shown, the clamping elastic element 2032 can be a compression spring, which is fitted onto the second rotating connection structure 2023, i.e., the rotating rod. Compression springs have advantages such as simple structure, good elasticity, and long service life, and can stably provide the required elastic force. At the same time, the design of fitting it onto the rotating rod also makes the installation and replacement of the compression spring more convenient.

[0150] Furthermore, to facilitate adjustment of the force applied by the clamping assembly 203, an external thread structure can be provided on the second rotary connection structure 2023, i.e., the rotating rod; the fastener 2031 is sleeved on the second rotary connection structure 2023 and has an internal thread structure that is threadedly connected to the external thread structure. By rotating the fastener 2031, its position on the rotating rod can be changed, thereby adjusting the compression amount of the elastic element, and thus changing the force applied by the sealing cover 202 against the medicine tank body 201, to ensure that the sealing cover 202 can rotate with the medicine tank body 2011. When the elastic force provided by the compression spring is insufficient, the elastic element 2032 can be further compressed to provide sufficient elastic force, ensuring that the sealing cover 202 is tightly fitted against the medicine tank body 201.

[0151] Fastener 2031 can be a nut, or a wing nut for easy rotation, but there are no specific restrictions.

[0152] Furthermore, such as Figure 7 As shown, the main structure of the limiting component 204 can be adjusted according to the actual equipment shape, spatial layout, etc., such as being integrally formed on the cover 102 mentioned below, or having a part of the structure formed on the cover 102 to be used as the limiting component 204, without any specific restrictions.

[0153] The limiting component 204 has a first rotation limiting structure 2041, such as Figure 4 As shown, the sealing cover plate 202 is provided with a second rotation limiting structure 2022; the limiting component 204 is rotated and limited by the first rotation limiting structure 2041 and the second rotation limiting structure 2022 to limit the rotation angle of the sealing cover plate 202.

[0154] Furthermore, the first rotation limiting structure 2041 is a limiting groove; the second rotation limiting structure 2022 is a limiting protrusion that extends into the limiting groove and rotates with the limiting groove.

[0155] The design employs a combination of a limiting groove and a limiting protrusion, resulting in a simple structure and reliable limiting effect. When the sealing cover 202 rotates, the limiting protrusion slides within the limiting groove. Upon reaching the end of the limiting groove, it is blocked and cannot continue rotating, thus limiting the rotation angle of the sealing cover 202. This design allows for flexible adjustment of the arc length of the limiting groove according to actual needs, thereby changing the rotation angle range of the sealing cover 202 to meet different usage scenarios and medication dispensing requirements.

[0156] For example, the first rotation limiting structure 2041 is a limiting protrusion; the second rotation limiting structure 2022 is a limiting groove into which the limiting protrusion extends and rotates in coordination with the limiting protrusion. This design can also achieve the purpose of limiting the rotation angle of the sealing cover 202. It is similar in principle to the previous method, but the structure is reversed. It can be selected according to the specific equipment structure and installation requirements.

[0157] The limiting groove can be an arc-shaped groove, as long as it can constrain the rotation angle of the limiting protrusion, there are no specific restrictions.

[0158] To improve the reliability of the limiting fit, there can be multiple limiting protrusions and multiple corresponding limiting grooves. One limiting protrusion can fit with one limiting groove, or multiple limiting protrusions can fit with one limiting groove. The attached drawings of this application illustrate an example where three limiting protrusions are designed in a triangular arrangement, with two of them fitting with one limiting groove and the third fitting with another limiting groove.

[0159] Alternatively, two limiting protrusions can be designed to cooperate with a limiting groove. When one limiting protrusion contacts one end of the limiting groove, the maximum rotation angle for that direction is reached; when the other limiting protrusion contacts the other end of the limiting groove, the maximum rotation angle for the opposite direction is reached. Compared to a design with three limiting protrusions, this design saves on the number of limiting protrusions and limiting grooves, simplifying the structure.

[0160] Furthermore, to detect the rotational state of the sealing cover 202, a magnet is installed on the sealing cover 202 around its rotation center line. A Hall sensor is then designed to detect the magnet to determine the rotation angle of the sealing cover 202. By detecting the magnet through the Hall sensor, the real-time rotational position of the sealing cover 202 can be accurately sensed, providing accurate position feedback information for automated control. For example, when the Hall sensor detects that the magnet has rotated to a specific position, it can determine whether the through-hole 2021 is aligned with the target compartment 2011, or whether the sealing cover 202 has rotated to its limit position, thereby achieving precise control of the rotation of the medicine compartment body 201 and ensuring the accuracy and reliability of actions such as medicine retrieval and dispensing. This non-contact detection method has advantages such as fast response speed, high accuracy, and long lifespan, effectively improving the intelligence level and operational stability of the sealed medicine compartment assembly.

[0161] Furthermore, such as Figure 4 as well as Figure 6As shown, the sealing cover 202 may have two through ports 2021; the two through ports 2021 are arranged symmetrically at the center. One through port 2021 is used for dispensing or retrieving medicine, and the other through port 2021 can be used for adding medicine to the compartment 2011. By symmetrically arranging the two through ports 2021, the two through ports 2021 are staggered at the maximum angle, thereby staggering the distribution of medicine addition and dispensing, optimizing the overall layout, and avoiding mutual interference.

[0162] Furthermore, such as Figure 8 As shown, the design of the drug dispensing drive mechanism includes a drug dispensing base 206 and a drug dispensing drive assembly 207; the drug dispensing body 201 is rotatably mounted on the drug dispensing base 206. The drug dispensing base 206 provides a stable support and rotational foundation for the drug dispensing body 201. It ensures that the drug dispensing body 201 will not shake or shift during rotation, further improving the working stability and reliability of the dispensing equipment.

[0163] The pharmacy drive assembly 207 includes a pharmacy driver 2071 and a transmission assembly 2072. The transmission assembly 2072 includes a gear ring 2074 and a first drive gear 2073. The gear ring 2074 is fitted onto the outer circumferential surface of the pharmacy body 201, and the first drive gear 2073 is fixed to the output shaft of the pharmacy driver 2071 and meshes with the gear ring 2074. The pharmacy driver 2071 can be a common forward and reverse rotating power device such as a servo motor.

[0164] After the medicine compartment driver 2071 is activated, it drives the first drive gear 2073 to rotate. Since the first drive gear 2073 meshes with the gear ring 2074, the gear ring 2074 will drive the medicine compartment body 201 to rotate along with the rotation of the first drive gear 2073. This gear transmission method can ensure the stability and accuracy of the rotation of the medicine compartment body 201, so that the medicine compartment body 201 can be precisely rotated to the preset position, so that the corresponding compartment 2011 is in the pick-up and drop-off area or connected to the guide port 2021.

[0165] The transmission assembly 2072 is designed not only to achieve efficient power transmission, but also to adjust the transmission ratio according to actual needs. For example, by changing the gear ratio between the first drive gear 2073 and the gear ring 2074, the rotation speed of the medicine container body 201 can be changed to adapt to different dispensing work rhythms.

[0166] Meanwhile, the medicine compartment drive mechanism is communicatively connected to the control device 500. The control device 500 can precisely control the start, stop, and rotation direction of the medicine compartment drive 2071 according to the needs of medicine dispensing. When medicine needs to be retrieved, the control device 500 will control the medicine compartment drive 2071 to rotate the medicine compartment body 201, so that the preset medicine compartment 2011 is located in the retrieval area; when medicine needs to be dispensed, it will control the medicine compartment body 201 to rotate to a suitable position, so that the compartment 2011 with the medicine outlet 2012 is in the retrieval area.

[0167] In addition, to ensure the long-term stable operation of the medicine tank drive mechanism, a lubrication device can be installed at the rotating connection between the medicine tank fixed base 206 and the medicine tank body 201 to reduce friction and wear during rotation and extend the service life of the equipment.

[0168] Furthermore, taking the example where the medicine outlet 2012 is located in the chamber 2011, the chamber 2011 without the medicine outlet 2012 is equipped with a container box 205 that can float along the depth direction of the chamber 2011. The floating container box 205 design makes it convenient to remove the container box 205 for cleaning or replacement and maintenance during cleaning.

[0169] Furthermore, such as Figure 9 As shown, the first detection device includes a first weighing device 209, which is located below the medicine container body 201, specifically on the partition 103 mentioned below; the container 205 rotates with the medicine container body 201 so that its lower surface reaches the first weighing part 2091 of the first weighing device 209. Specifically, the container 205 may be provided with a first extension 2051 extending out of the bottom of the container 2011 (e.g., Figures 3 to 5 It is also shown that the first extension 2051 can rest on, or contact with, or be fully supported on the first weighing part 2091 of the first weighing device 209.

[0170] As the main body 201 of the medicine container rotates, the first extension 2051 of the container 205 rotates accordingly. When the first extension 2051 reaches above the first weighing part 2091 of the first weighing device 209, the first weighing device 209 can weigh the medicine inside the container 205. Since the container 205 can float along the depth direction of the compartment 2011, it can ensure that the weight is accurately transferred to the first weighing device 209 under different drug quantities, thus improving the accuracy of drug quantity detection.

[0171] Before being picked up, the medicine-containing container 205 can first go to the first weighing device 209 for weighing. After the medicine in the container 205 is picked up by the suction robot, the container 205 can go to the first weighing device 209 again for re-weighing. The change in the weight value before and after can be used to determine whether the suction robot has successfully completed the medicine pickup.

[0172] Furthermore, such as Figure 10 As shown, a first positioning structure 2052 is provided on the lower surface of the storage box 205 (specifically, for example, the first extension 2051); as Figure 11 As shown, the first weighing part 2091 is provided with a second positioning structure 2092; the first positioning structure 2052 can engage or disengage with the second positioning structure 2092 as the medicine container body 201 rotates. The positioning engagement between the first positioning structure 2052 of the first extension 2051 and the second positioning structure 2092 of the first weighing part 2091 accurately positions the relative position of the container 205 and the first weighing part 2091, restricts the movement of the container 205 during weighing, improves weighing stability, and further enhances weighing accuracy.

[0173] Furthermore, such as Figure 10 As shown, the first positioning structure 2052 is provided with a first guide portion 2054; as Figure 11 As shown, the second positioning structure 2092 is provided with a second guide part 2094; the first guide part 2054 can be relatively displaced with the second guide part 2094 as the medicine container body 201 rotates.

[0174] The relative displacement design of the first guide portion 2054 and the second guide portion 2094 plays a guiding role during the engagement of the first positioning structure 2052 and the second positioning structure 2092. When the drug cartridge body 201 rotates and the first positioning structure 2052 gradually approaches the second positioning structure 2092, the interaction between the first guide portion 2054 and the second guide portion 2094 ensures smooth engagement. For example, during the process of the first positioning structure 2052 approaching the second positioning structure 2092, the inclined or curved surfaces of the first guide portion 2054 and the second guide portion 2094 can guide the first positioning structure 2052 to accurately engage with the second positioning structure 2092, avoiding misalignment or jamming, thereby improving the efficiency and accuracy of positioning. Correspondingly, the cooperation between the first guide portion 2054 and the second guide portion 2094 also makes the separation movement between the first positioning structure 2052 and the second positioning structure 2092 smoother.

[0175] Furthermore, the first guide part 2054 and the second guide part 2094 can also play a buffering role during relative displacement. When the bin 205 rotates with the medicine bin body 201 above the first weighing part 2091, there may be a certain inertia and impact force. The cooperation of the first guide part 2054 and the second guide part 2094 can disperse and buffer this impact force, reduce damage to the positioning structure and the weighing device, and extend the service life of the equipment.

[0176] In practical applications, the shape and size of the first guide portion 2054 and the second guide portion 2094 can be optimized according to specific design requirements. For example, the first guide portion 2054 can be designed as a slope with a certain angle, and the second guide portion 2094 can be designed as a matching slope, so that positioning and engagement can be achieved more smoothly during relative displacement. At the same time, in order to ensure the guiding effect, the surfaces of the first guide portion 2054 and the second guide portion 2094 can be smoothed to reduce friction and make relative displacement easier.

[0177] Further, the first positioning structure 2052 includes at least one positioning protrusion 2093, and the second positioning structure 2092 includes at least one positioning recess 2053 corresponding to the positioning protrusion 2093; or, the first positioning structure 2052 includes at least one positioning recess 2053, and the second positioning structure 2092 includes at least one positioning protrusion 2093 corresponding to the positioning recess 2053.

[0178] The combination of the positioning protrusion 2093 and the positioning recess 2053 further enhances the positioning stability between the bin 205 and the first weighing part 2091. The number of positioning protrusions 2093 and positioning recesses 2053 can be set as needed. Taking the combination of multiple spaced positioning protrusions 2093 and positioning recesses 2053 as an example, the bin 205 can be positioned from different positions to prevent the bin 205 from shaking or shifting during the weighing process. For example, when a heavy item is placed inside the bin 205, the multiple positioning points can evenly distribute the weight of the item, avoiding weighing errors caused by single-point force.

[0179] Furthermore, the one-to-one correspondence between the positioning protrusions 2093 and the positioning recesses 2053 makes the positioning process more precise. When the medicine container body 201 rotates, as long as the positioning protrusions 2093 accurately engage with the corresponding positioning recesses 2053, the relative position of the container 205 and the first weighing part 2091 remains fixed. In actual manufacturing, high-precision machining processes can ensure the dimensional and positional accuracy of the positioning protrusions 2093 and the positioning recesses 2053, thereby improving the reliability of the entire rotary weighing device.

[0180] Meanwhile, to facilitate the smooth insertion of the positioning protrusion 2093 into the positioning recess 2053, the top of the positioning protrusion 2093 can be designed with a smooth shape, such as a hemisphere or a cone, and its arc surface or spherical surface can form the first guide portion 2054. This allows the positioning protrusion 2093 to slide more easily into the positioning recess 2053 when it approaches, reducing resistance during the positioning process. The internal shape of the positioning recess 2053 can also be adapted to the shape of the positioning protrusion 2093, and its arc surface or spherical surface can form the second guide portion 2094, ensuring a tight fit between the two.

[0181] Furthermore, the number and distribution of the positioning protrusions 2093 and positioning recesses 2053 can be adjusted according to the specific application scenario and design requirements of the rotary weighing device. If higher positioning accuracy and stability are required, the number of positioning protrusions 2093 and positioning recesses 2053 can be appropriately increased; if there are strict requirements on the space occupied by the device, the number of positioning points can be reduced while ensuring the positioning effect. Taking the distribution of two positioning protrusions 2093 as an example, they can be spaced apart along the radial direction of the medicine tank body 201. Of course, other directions are also possible, and there are no specific restrictions.

[0182] Furthermore, to prevent the positioning protrusions 2093 and positioning recesses 2053 from wearing down during long-term use and affecting the positioning effect, their surfaces can be specially treated. For example, the positioning protrusions 2093 and positioning recesses 2053 can be made of materials with higher hardness, or a coating can be applied to their surfaces to improve their wear resistance and corrosion resistance. This can extend the service life of the positioning structure and ensure the stability and accuracy of the rotary weighing device during long-term operation.

[0183] In this application, the first detection device and the suction robot can be positioned opposite each other. For example, if the first detection device is located on the left side of the housing 100, then the suction robot can be located on the right side. Of course, this is just one distribution method, and it can be changed and adjusted according to actual needs without limitation.

[0184] Furthermore, such as Figure 12 As shown, a drug-aggregating recess 2055 is provided on the bottom surface inside the storage box 205; the bottom surface inside the storage box 205 is provided with a drainage slope from all sides towards the drug-aggregating recess 2055; a guide structure 2056 is provided on the top edge of the drug-aggregating recess 2055.

[0185] By using the drainage slope set from all sides of the bottom surface of the storage box 205 towards the drug-gathering recess 2055, the drugs can be guided to converge into the drug-gathering recess 2055, which solves the problem of the robot arm taking empty retrieval due to the scattered distribution of a small amount of drugs, and improves the success rate of drug retrieval.

[0186] Moreover, compared to the existing inverted cone-shaped bottom structure, the design that guides the medicine to converge into the medicine-gathering recess 2055 by only the bottom slope avoids the shrinkage of the entire bottom, effectively retains most of the storage volume of the box 205, reduces the frequency of medicine addition by users, and improves the user experience.

[0187] The guide structure 2056 at the top edge of the drug-gathering depression 2055 can further guide the drug to flow smoothly into the depression, avoid the drug getting stuck at the edge of the depression, enhance the drug gathering effect, and ensure the reliability of drug retrieval.

[0188] During the design process, when the storage box 205 rotates to the pick-up and drop-off area, the drug-collecting recess 2055 is aligned with the suction end of the suction robot to facilitate the suction robot's drug collection.

[0189] Furthermore, the guide structure 2056 is either an inclined surface or a curved surface. Designing the guide structure 2056 as an inclined surface or a curved surface better conforms to the flow characteristics of the drug. The inclined surface design allows the drug to smoothly slide down the relatively smooth slope into the drug-aggregating depression 2055 under the action of gravity, reducing resistance and jamming during the sliding process. The curved surface provides a smoother transition, allowing the drug to flow into the drug-aggregating depression 2055 with a more natural trajectory. The advantages of the curved guide structure 2056 are particularly obvious for some irregularly shaped drugs. Those skilled in the art can vary and choose according to actual needs without limitation.

[0190] Furthermore, the arrangement of the drug storage body 201 in this application can be horizontal or at a certain angle, so as... Figure 2 Taking the arrangement at a certain angle as an example, the drug-gathering recess 2055 can be set at one end of the bottom surface of the container 205. Compared with the central placement, this arrangement can utilize the tilt setting of the drug container body 201 so that when the container 205 reaches the absorption area, its recess is at the lowest position of the tilted container 205. The tilt setting can better allow the drug to gather in the drug-gathering recess 2055.

[0191] Furthermore, it also includes a second detection device that is communicatively connected to the control device 500; the second detection device is used to detect the rotation angle of the medicine container body 201.

[0192] The second detection device transmits the detected rotation angle information of the medicine compartment body 201 to the control device 500 in real time. Based on this information, the control device 500 can accurately determine whether the medicine compartment body 201 has rotated to the preset position. For example, in the medicine dispensing or adding process, the control device 500 can precisely control the operation of the medicine compartment driver 2071 according to the rotation angle information to ensure that the medicine compartment body 201 accurately rotates the corresponding compartment 2011 to the dispensing area or the adding area, etc.

[0193] In practical applications, the second detection device may include an angle sensor connected to the pharmacy cartridge driver 2071 to detect the rotation angle of the driver 2071, thereby detecting the rotation of the pharmacy cartridge body 201. It may also include other devices capable of detecting rotation angles, such as encoders. Angle sensors or encoders can acquire the rotation information of the pharmacy cartridge driver 2071 in real time and accurately, thereby calculating the rotation angle of the pharmacy cartridge body 201. These detection devices feature high precision and good stability, and can adapt to the long-term, high-frequency operation requirements of dispensing equipment.

[0194] It can also include Hall sensors, with magnets installed at a certain angle periodically on the outer circumference of the medicine compartment body 201, and the Hall sensors are used to detect the magnets; the number of magnets is a factor or multiple of the number of compartments 2011, and is arranged periodically around the center: for example, if there are 8 compartments 2011, then there can be 4, 8, or 16 magnets, and there is no specific limitation.

[0195] like Figure 8 As shown, the second detection device may also include a first micro switch 208, which is fixed on the medicine compartment base 206. The outer circumferential surface of the medicine compartment body 201 is provided with a slot 2014 at a certain angle (specifically, the slot 2014 may be provided at the position between adjacent compartments 2011). The first micro-motion trigger part of the first micro switch 208 can be engaged or disengaged from the slot 2014 during the rotation of the medicine compartment body 201.

[0196] When the medicine container body 201 rotates, the first micro-trigger part of the first micro switch 208 engages or disengages from the slot 2014 as the slot moves. Each engagement or disengagement generates a signal, which is transmitted to the control device 500. Based on these signal changes, the control device 500 can accurately determine the rotational position and angle of the medicine container body 201. This detection method, which uses a micro switch in conjunction with the slot 2014, has the advantages of simple structure and high reliability. In actual operation, even if the medicine container body 201 experiences slight vibration or displacement during prolonged rotation, the first micro switch 208 can still accurately detect changes in the position of the slot 2014, ensuring the accuracy of the rotation angle detection.

[0197] Furthermore, to improve the overall performance of the second detection device, the first micro switch 208 can be combined with other detection sensors such as angle sensors and encoders. Multiple detection methods complement and verify each other, further improving the accuracy and reliability of the rotation angle detection of the medicine container body 201. The control device 500 can comprehensively analyze and process the information from different detection devices. When a detection device malfunctions or its detection results are abnormal, it can promptly use data from other detection devices to make judgments and corrections, ensuring the normal operation of the dispensing equipment.

[0198] Furthermore, such as Figure 13 As shown, the medicine storage device 200 also includes a vibration mechanism 210; the vibration mechanism 210 includes a vibration driver 2111 and a vibration element 2112; one end of the vibration element 2112 is connected to the vibration driver 2111, and the other end extends to the bottom of a compartment 2011 and can contact the storage box 205 (specifically, contact the first extension 2051); the vibration driver 2111 is used to drive the vibration element 2112 to move and vibrate the contacting storage box 205.

[0199] The other end of the vibration mechanism 210 can extend to the pick-up and drop-off area. When the suction robot is empty, the vibration driver 2111 is activated, driving the vibrating element 2112 to move. The vibrating element 2112 contacts the first extension 2051 of the container 205, transmitting vibration to the container 205, causing the medicine inside the container 205 to shake. This shaking can break up any adhesion or accumulation between the medicines, causing medicines that were originally scattered or stuck in corners to converge towards the medicine-gathering recess 2055.

[0200] During vibration, the inner bottom surface of the container 205 is sloped from all sides towards the drug-gathering recess 2055, allowing the drug to flow more smoothly towards the recess under the combined effects of gravity and vibration. The guide structure 2056 at the top edge of the drug-gathering recess 2055, whether sloped or curved, further guides the shaken drug to flow smoothly into the recess, thereby increasing the amount of drug gathered at the recess 2055. The vibration frequency and amplitude of the vibration mechanism 210 can be adjusted according to actual conditions. For some drugs that are prone to sticking, the vibration frequency and amplitude can be appropriately increased to enhance the vibration effect; while for some lighter, more fluid drugs, the vibration parameters can be reduced to prevent the drug from excessively shaking and overflowing from the container 205.

[0201] Furthermore, the vibration mechanism 210 is also linked with the control device 500. The control device 500 can automatically determine whether the vibration mechanism 210 needs to be activated based on the suction status of the suction robot. When the suction robot repeatedly fails to suction, the control device 500 can increase the vibration time or intensity of the vibration mechanism 210 to improve the aggregation effect of the medicine.

[0202] In practical applications, the introduction of the vibration mechanism 210 has greatly improved the success rate of drug dispensing equipment.

[0203] In addition, the vibration mechanism 210 uses a vibrating element 2112 and a vibration driver 2111 to achieve long-distance extended vibration control. Compared with the direct contact method of the vibration motor, this design using the vibrating element 2112 can avoid a large obstruction to the drug outlet 2012, ensuring that the drug can be smoothly delivered from the drug outlet 2012. This design allows vibration and drug absorption to be carried out in the same area, so that vibration can be carried out quickly when the suction is empty, thus improving efficiency (using a vibration motor in direct contact will obstruct more of the drug outlet 2012, so it needs to be set in a different position from the suction robot arm that absorbs the drug. In this way, when the suction is empty, the empty chamber 2011 needs to be rotated to the area with the vibration motor for vibration, and then rotated to the suction area for the suction robot arm to absorb it again, which is inefficient).

[0204] Furthermore, the vibration actuator 2111 is a rotary motor or a vibration motor, and can be fixed to the spacer 103 mentioned below via the motor frame 2116; the vibrating element 2112 can be a structural component with a certain length, such as a rod structure or a block structure, which is connected to the output shaft of the rotary motor; the vibrating element 2112 is provided with contact points 2113 that can contact the bin 205. The contact points 2113 can be U-shaped or other shapes, and can be designed differently according to actual needs (it should be noted that the contact points 2113 in this application are not limited to point structures, but refer to structures that can contact the bin 205). By setting the contact points 2113, when the rotary motor drives the vibrating element 2112 to rotate, the contact points 2113 can more effectively contact the bin 205 and generate vibration, thereby better dispersing the drug and placing it in the set adsorption area. At the same time, this design also increases the stability of vibration and avoids the problem of uneven vibration that may occur due to direct contact. Furthermore, since the contact area between contact point 2113 and the bin 205 is relatively small, wear that may occur due to prolonged contact is reduced, thus extending the service life of the equipment.

[0205] Furthermore, a limiting shaft 2114 is provided at the other end of the vibrating element 2112 away from the vibration driver 2111; the vibration mechanism 210 also includes a shaft positioning component; the shaft positioning component is used to position and support the limiting shaft 2114. By setting the limiting shaft 2114 and the shaft positioning component, the stability of the vibrating element 2112 during rotation can be ensured, thereby ensuring stable vibration of the bin 205.

[0206] The shaft positioning component may include two positioning blocks 2115 (the upper positioning block 2115 is shown in the attached figure, and the lower positioning block 2115 is not shown). The two positioning blocks 2115 are detachably connected and form a rotation limiting cavity for the insertion of the limiting shaft rod 2114, which facilitates disassembly and maintenance while supporting and limiting the limiting shaft rod 2114. Alternatively, a single positioning block 2115 may be detachably connected to other structures to form a rotation limiting cavity for the insertion of the limiting shaft rod 2114; no specific limitation is imposed. The lower positioning block 2115 may be integrally formed on the spacer 103 mentioned below, or may be detachably installed on the spacer 103; no limitation is imposed.

[0207] Furthermore, such as Figure 14 As shown, the suction robot includes a suction drive mechanism 301 and a suction head 305; the suction drive mechanism 301 is connected to the suction head 305 and is used to drive the suction head 305 to extend into or out of the chamber 2011; the suction head 305 is connected as follows Figure 15 The air supply component 304 shown (the air supply component 304 has an air pump, air pipe, etc., and is an existing air intake source, which will not be described in detail).

[0208] like Figure 16 As shown, the suction head 305 includes a suction connection structure 3051, a suction main structure 3052, and a suction covering structure 3053; the suction connection structure 3051 is connected to one end of the suction main structure 3052; the suction covering structure 3053 is a flexible structure, which is arranged in a ring around the other end of the suction main structure 3052, and its inner wall is coaxially connected with the adsorption hole at the other end of the suction main structure 3052.

[0209] The main absorber structure 3052 can be made of flexible or rigid materials. Taking flexible materials as an example, it can be elastically expandable and contractable along its own central axis. This elastic expansion and contraction design, combined with the flexible absorber covering structure, can achieve better absorber reliability.

[0210] The suction head 305 employs a triple-structure design. The main suction structure 3052 possesses elastic extensibility, allowing it to adaptively adjust to the shape and size of the drug during suction, ensuring full contact between the adsorption surface and the drug surface. The suction covering structure 3053 uses flexible materials and a circumferential design to create a comprehensive wrapping effect from top to bottom and from the outside in, significantly increasing the contact area between the suction head 305 and the drug. The elastic extensibility of the main suction structure 3052 provides additional deformation compensation during adsorption, effectively handling drugs of different sizes and shapes. This design not only improves adaptability to various drugs but also significantly reduces the risk of drug absorption failure and drop by increasing both friction and adsorption force.

[0211] In summary, the suction head 305 designed above solves the problems of poor adaptability and insufficient stability of traditional suction cups, realizes stable suction of various drugs, improves the working efficiency and reliability of automatic dispensing equipment, reduces drug loss and equipment failure caused by suction failure, and provides users with more accurate and safer medication services.

[0212] Furthermore, such as Figure 16 As shown, the main structure 3052 has several folds 3054, which are formed by connecting two symmetrical cones 3055.

[0213] This design, consisting of a pleated body 3054 formed by connecting two symmetrical cones 3055, makes the main suction structure 3052 more flexible and regular during elastic expansion and contraction. When the main suction structure 3052 is subjected to external force and expands or contracts, the pleated body 3054 can unfold and contract in an orderly manner, ensuring the stability and consistency of the main suction structure 3052 during the expansion and contraction process. For specific design details, please refer to existing telescopic folding tube structure designs, which will not be elaborated further.

[0214] Furthermore, the main structure 3052 is made of an elastic material. Using an elastic material to prepare the main structure allows for better utilization of its elastic and stretching properties. Elastic materials possess excellent deformation and recovery capabilities, enabling them to quickly adapt to the shape and surface characteristics of the drug during absorption, achieving a close fit. Moreover, the elastic material effectively buffers the impact force generated during absorption, reducing damage to the drug.

[0215] Furthermore, silicone material offers advantages as a preparation material for the main absorbent structure 3052. Silicone is non-toxic, odorless, and chemically stable, ensuring it will not contaminate or chemically react with the drug, thus guaranteeing its quality and safety. Simultaneously, silicone has a moderate elastic modulus, providing sufficient elasticity for expansion and contraction while also possessing sufficient strength to prevent damage and extend the lifespan of the suction tip.

[0216] Furthermore, flexible foam materials, such as sponge or foamed silicone, can be used for the absorption and encapsulation structure 3053, which also has a corresponding effect. Taking sponge as an example, sponge is soft and can better conform to the surface of the drug, forming a tight encapsulation. Moreover, sponge has good cushioning properties, which can reduce the impact on the drug during absorption and reduce the risk of drug damage.

[0217] Furthermore, it also includes a third detection device that is communicatively connected to the control device 500; the third detection device is used to detect the air pressure in the pipeline connecting the suction head 305 and the air supply assembly 304 and / or to detect the movement position of the suction head 305.

[0218] The third detection device transmits the detected pipeline air pressure information and the movement position information of the suction head 305 to the control device 500 in real time. Based on this information, the control device 500 can perform precise control in multiple aspects.

[0219] The control device 500 can determine the suction status of the suction head 305 based on the pipeline air pressure information. When an increase in pipeline air pressure is detected, it may mean that the suction head 305 has adsorbed the drug. If the air pressure decreases, it indicates that the suction head 305 is releasing the drug. Changes in air pressure can also be used to determine whether the drug is being properly drawn.

[0220] Based on the movement position information of the suction head 305, the control device 500 ensures that the suction head 305 accurately extends into and out of the compartment 2011. During the insertion of the suction head 305 into the compartment 2011, the control device 500 precisely controls the operating speed and distance of the suction drive mechanism 301 according to the movement position information, preventing excessive collisions between the suction head 305 and the compartment 2011. After the suction head 305 completes the suction operation, the control device 500 accurately moves the suction head 305 to the designated dispensing position according to the movement position information, improving the accuracy of dispensing.

[0221] In practical applications, the third detection device may include a pressure sensor and a position sensor. The pressure sensor is installed in the pipeline between the suction head 305 and the air supply assembly 304 to monitor changes in air pressure within the pipeline in real time. The position sensor may be installed on the suction drive mechanism 301 to determine the position of the suction head 305 by detecting the motion parameters of the suction drive mechanism 301, such as displacement.

[0222] The collaborative operation of the third detection device and the control device 500 further improves the intelligence level and operational reliability of the automatic dispensing equipment, providing a strong guarantee for achieving efficient and accurate dispensing operations.

[0223] Furthermore, such as Figure 17 As shown, the design of the suction robot also includes a suction carrier 306, a movable part 307, and an impact mechanism 309; the suction drive mechanism 301 is used to drive the suction head 305 to move by moving the suction carrier 306; the movable part 307 is movably mounted to the suction carrier 306; the suction head 305 is mounted on the movable part 307; the impact mechanism 309 is connected to the movable part 307 and is used to make the movable part 307 vibrate.

[0224] Through the coordinated design of the movable part 307 and the impact mechanism 309, the suction head 305 can generate vibration when adsorbing medicine. This vibration can effectively separate the medicine that is not under negative pressure and is stuck together due to adhesion, ensuring that only the target medicine under negative pressure is retained. It realizes the impact and dropping (shaking off) of the medicine that is not under negative pressure, which solves the problem that traditional air source control methods cannot release sticky medicines separately, and significantly improves the accuracy of medicine absorption and release.

[0225] Furthermore, it also includes a reset elastic element 308, which is connected between the movable part 307 and the suction carrier 306 or between the suction head 305 and the suction carrier 306. It is used to allow the movable part 307 to slide elastically. The design of the reset elastic element 308 allows the suction head 305 to have a certain extension and retraction displacement, thereby playing a buffering role. Combined with the buffer of the suction head 305 itself, multiple buffering can be achieved, which can flexibly cope with drugs of different shapes, sizes and materials, and improve the success rate of drug adsorption.

[0226] Furthermore, the impact mechanism 309 is used to provide force to the movable part 307 to drive the movable part 307 to move in the direction of compressing or stretching the reset elastic member 308. The impact mechanism 309 is also used to remove the force after the movable part 307 moves to a preset displacement, so that the movable part 307 generates reset vibration under the reset action of the reset elastic member 308.

[0227] When the impact mechanism 309 drives the movable part 307 to move in the direction of compressing the reset elastic element 308, the reset elastic element 308 accumulates elastic potential energy. After the movable part 307 moves to the preset displacement, the impact mechanism 309 removes the force, and the reset elastic element 308 releases the potential energy, causing the movable part 307 to quickly reset and generate vibration. Similarly, if the impact mechanism 309 drives the movable part 307 to move in the direction of stretching the reset elastic element 308, the reset elastic element 308 will also drive the movable part 307 to reset and vibrate after the force is removed. The combined design of the reset elastic element 308 and the impact mechanism 309 fully utilizes the physical characteristics of the mechanical structure, resulting in a simple, efficient, and economical structure.

[0228] In summary, the unique vibration separation mechanism design not only solves the problem of drug adhesion and inability to separate in existing technologies, but also improves the buffering effect, resulting in a better drug adsorption success rate. At the same time, the structure is simple and efficient, and has good economic benefits.

[0229] Furthermore, the impact mechanism 309 includes an impact driver 3091 and a cam 3092; the impact driver 3091 is mounted on the movable part 307 or the suction carrier 306, and its output shaft is connected to the cam 3092 to drive the cam 3092 to rotate; the cam 3092 can contact the movable part 307 or the suction carrier 306 to drive the movable part 307 to move.

[0230] When the impact driver 3091 drives the cam 3092 to rotate, the profile of the cam 3092 periodically contacts and disengages from the movable part 307 or the suction carrier 306. When the protruding part of the cam 3092 abuts against the contacting part, a force in one direction is applied to the movable part 307, causing the movable part 307 to move in the direction of compressing or stretching the reset elastic element 308. At this time, the reset elastic element 308 is compressed or stretched and stores elastic potential energy. As the cam 3092 continues to rotate, when the protruding part of the cam 3092 passes the contact position and disengages from the contacting part, the force applied to the movable part 307 by the impact mechanism 309 is immediately removed. At this time, the compressed or stretched reset elastic element 308 quickly releases the stored elastic potential energy, driving the movable part 307 to quickly reset in the opposite direction. This rapid reset motion will drive the suction head 305 to generate effective vibration, thereby shaking off the excess medicine adhering to the target medicine. This vibration method, which uses the cam 3092 in conjunction with the reset elastic element 308, has a compact structure and stable and reliable transmission. By adjusting the contour curve and dimensional parameters of the cam 3092 and the rotational speed of the impact driver 3091, the vibration amplitude, frequency, and impact force of the moving part 307 can be flexibly controlled, thereby adapting to the shaking requirements of drugs with different viscosities and weights, and further optimizing the drug separation effect and absorption accuracy.

[0231] The impact driver 3091 can be a servo motor capable of forward and reverse rotation, and in one embodiment illustrated in the accompanying drawings, it is mounted on the suction carrier 306.

[0232] Furthermore, the movable component 307 or the suction carrier 306 is provided with an impact engagement portion 3073; the cam 3092 is disposed on one side of the impact engagement portion 3073 along the sliding direction of the movable component 307, and can contact the impact engagement portion 3073 and undergo relative displacement to drive the movable component 307 to move. This engagement method of the cam 3092 and the impact engagement portion 3073 can convert the circular motion of the impact driver 3091 into the linear motion of the movable component 307. When the impact driver 3091 drives the cam 3092 to rotate, the contour curve of the cam 3092 contacts the impact engagement portion 3073. During the process of the impact engagement portion 3073 contacting the cam 3092 from its low point position to its high point position, it is driven by the cam 3092 to undergo displacement. Then, the cam 3092 is quickly rotated so that the high point of contact with the movable component 307 becomes the low point, realizing separation from the impact engagement portion 3073. At this time, the movable component 307 is quickly reset under the reset action of the reset elastic member 308, generating reset vibration. The rotation direction and angle of the cam 3092 can be flexibly controlled, thereby precisely controlling the movement displacement of the moving part 307 and the timing of its reset vibration. This allows the suction assembly to achieve the best impact dispensing effect when dealing with medicines of different adhesiveness and materials by adjusting the operating parameters of the impact driver 3091.

[0233] Furthermore, the movable component 307 is a hollow column, with its inner cavity allowing the connecting air tube for the suction head 305 to extend into, or serving as part of the air path connection. This hollow column design of the movable component 307 effectively integrates the air path, avoiding the structural complexity caused by additional piping, resulting in a more compact and concise overall structure for the suction assembly. The connecting air tube can directly pass through the inner cavity of the movable component 307 and connect to the suction head 305, or the inner wall of the movable component 307 itself can be sealed to directly form part of the air path, reducing the number of air path connection interfaces, lowering the risk of leakage, and ensuring the negative pressure stability of the suction head 305 during suction. Simultaneously, this design also provides ample internal space for the elastic sliding and vibration of the movable component 307, avoiding interference between the air path and the moving parts of the movable component 307, ensuring the smoothness and reliability of the suction assembly throughout the entire working process of suction, vibration, and release.

[0234] Furthermore, the movable component 307 is provided with a first limiting structure 3071 that can contact and abut against the suction carrier 306. The first limiting structure 3071 can be a flange structure, which restricts the sliding displacement of the movable component 307, while allowing the movable component 307 and the suction carrier 306 to collide during resetting, further enhancing the impact dropping effect.

[0235] Specifically, such as Figure 18As shown, the suction carrier 306 has a movable hole 3061; the movable component 307 slides through the movable hole 3061; the column section of the movable component 307 located on one side of the movable hole 3061 is connected to the suction head 305; the column section of the movable component 307 located on the other side of the movable hole 3061 is provided with a first limiting structure 3071 that can contact and abut against the suction carrier 306; the first limiting structure 3071 can be a flange structure, which restricts the sliding displacement of the movable component 307, and at the same time allows the movable component 307 and the suction carrier 306 to collide during reset, further enhancing the impact dropping effect.

[0236] The reset elastic element 308 is located on the other side of the movable hole 3061, with one end connected to the suction carrier 306 and the other end connected to the column segment of the movable component 307 located on the other side of the movable hole 3061.

[0237] Furthermore, such as Figure 19 As shown, taking the connection between the other end of the reset elastic member 308 and the movable member 307 as an example, the movable member 307 is provided with a second limiting structure 3072 on the column section on the other side of the movable hole 3061; the reset elastic member 308 is a compression spring, which is fitted on the movable member 307, and one end is in contact with the suction carrier 306, and the other end is in contact with the second limiting structure 3072.

[0238] The compression spring possesses excellent elasticity and stability, providing reliable elastic force during the movement of the movable part 307. When the impact mechanism 309 drives the movable part 307, the compression spring stores elastic potential energy; when the impact mechanism 309 separates from the movable part 307, the compression spring releases the elastic potential energy, causing the movable part 307 to quickly reset, generating a strong reset vibration. The second limiting structure 3072 further secures the elastic element, ensuring its stability during operation.

[0239] Furthermore, such as Figure 19 As shown, the second limiting structure 3072 is a gasket that is detachably installed between the movable part 307 and the suction head 305.

[0240] The second limiting structure 3072 is designed as a detachable gasket, which facilitates the installation of the movable part 307 on the suction carrier 306. It also allows for the replacement of gaskets of different thicknesses as needed to change the preload of the reset elastic element 308, thereby adjusting the intensity and frequency of the reset vibration of the movable part 307 to meet the adsorption and separation requirements of different drugs.

[0241] The suction connection structure 3051 of the suction head 305 and the movable part 307 can be threaded together. The second limiting structure 3072 is sleeved at the connection position between the suction head 305 and the movable part 307 and is clamped and fixed by the suction head 305 and the movable part 307. The specific connection is not limited.

[0242] Furthermore, such as Figure 19 As shown, the impact mating part 3073 may be connected to the first limiting structure 3071 (it can be understood that a part of the first limiting structure 3071 forms the impact mating part 3073). Correspondingly, the cam 3092 is disposed on the side of the impact mating part 3073 near the suction head 305. When the cam 3092 drives the first limiting structure 3071 to move, the movable part 307 moves in the direction of compressing the elastic element.

[0243] Furthermore, such as Figure 14 As shown, the suction drive mechanism 301 includes a suction fixing frame 302 and a first suction displacement drive assembly 303. The suction carrier 306 is slidably mounted on the fixing frame in the vertical direction. The first suction displacement drive assembly 303 is connected to the suction carrier 306 and drives the suction carrier 306 to move vertically. A movable part 307 is slidably mounted on the suction carrier 306 in the vertical direction. The suction fixing frame 302 provides a stable support structure for the movement of the suction carrier 306, ensuring smoother and more accurate movement of the suction carrier 306 in the vertical direction. The first suction displacement drive assembly 303 can precisely control the movement speed and displacement of the suction carrier 306, thereby better realizing the suction operation of the medicine.

[0244] Furthermore, such as Figure 14 As shown, a plurality of suction guide rods 3021 (for example, two rods, spaced apart) are fixed on the suction holder 302; Figure 18 As shown, the suction carrier 306 is provided with a suction guide hole 3062 through which the suction guide rod 3021 moves.

[0245] The cooperation between the suction guide rod 3021 and the suction guide hole 3062 further ensures the sliding accuracy of the suction carrier 306 in the vertical direction, preventing the suction carrier 306 from shaking or shifting during movement, making the movement of the suction carrier 306 more stable and reliable. In this way, when the suction robot arm picks up medicine, it can reach the target position more accurately, improving the accuracy of medicine suction.

[0246] Furthermore, such as Figure 14As shown, the first suction displacement drive assembly 303 includes a rack 3033, a second drive gear 3032, and a first suction displacement driver 3031. The first suction displacement driver 3031 is a servo motor capable of forward and reverse rotation. The rack 3033 is mounted vertically on the suction mounting frame 302. The first suction displacement driver 3031 is mounted on the suction carrier 306, and its shaft is connected to the second drive gear 3032. The second drive gear 3032 meshes with the rack 3033. This rack and pinion gear transmission method features high transmission efficiency and high precision, accurately transmitting the power of the first suction displacement driver 3031 to the suction carrier 306, achieving precise vertical movement of the suction head 305. By controlling the rotation direction and speed of the first suction displacement driver 3031, the lifting height and speed of the suction head 305 can be flexibly adjusted to adapt to different drug suction needs.

[0247] The first suction displacement actuator 3031 is integrated into the suction carrier 306 and its motion is controlled by the rack 3033 and the second drive gear 3032. This design makes the overall structure more compact. Of course, the first suction displacement drive assembly 303 can also be designed with other drive components, such as a lead screw, a lead screw motor, and a nut. The lead screw is rotatably mounted on the suction fixing frame 302, the nut is threaded onto the lead screw and fixedly connected to the suction carrier 306, and the lead screw motor is connected to the lead screw to drive the lead screw to rotate, thereby controlling the lifting and lowering movement of the suction carrier 306. Those skilled in the art can make variations based on this design without limitation.

[0248] Furthermore, a second suction displacement drive assembly (not shown) may be included, which is connected to the suction carrier 306 or the first suction displacement drive assembly 303, and is used to drive the suction carrier 306 to move in the first horizontal direction. This allows the suction head 305 to move not only in the vertical direction but also in the first horizontal direction, further expanding the working range of the suction head 305.

[0249] Furthermore, it may also include a third suction displacement driving component (not shown in the figure), which is connected to the suction carrier 306, the second suction displacement driving component, or the first suction displacement driving component 303, and is used to drive the suction head 305 to move in a second horizontal direction perpendicular to the first horizontal direction. By combining the first suction displacement driving component 303, the second suction displacement driving component, and the third suction displacement driving component, the suction head 305 can achieve free movement in three-dimensional space, accurately reaching any position to perform suction operations on medicines in various locations, greatly improving the flexibility and applicability of the suction device. Taking the vertical direction as the Z-axis, the first horizontal direction and the second horizontal direction can refer to the X-axis and Y-axis directions, respectively.

[0250] The second and third suction displacement drive components can be existing linear displacement modules, such as ball screw linear modules, etc., and there are no specific restrictions.

[0251] Furthermore, such as Figure 20 As shown, the dispensing device 400 includes a dispensing base 402 and a dispensing box 401. As shown, the side wall of the box 100 is provided with a pull-out opening 1012 for the dispensing box 401 to move in and out. The dispensing base 402 is fixed in the box 100 and is located at the bottom edge of the pull-out opening 1012 to support the dispensing box 401.

[0252] The design of the dispensing base 402 provides stable support for the dispensing box 401, allowing it to remain stable during the pulling process. The dispensing box 401 can be easily pulled out and pushed into the box 100 through the pull-out port 1012, facilitating the removal of prepared medicines.

[0253] Furthermore, it also includes a fourth detection device that is communicatively connected to the control device 500; such as Figure 20 as well as Figure 21 As shown, the medicine dispensing box 401 includes a side panel 4011, a tray 4012, and a floating plate 4014; the tray 4012 is fixed to the side panel 4011, and its top surface and the inner surface of the side panel 4011 form an installation cavity; the floating plate 4014 is movably installed in the installation cavity along the depth direction of the installation cavity; the top surface of the floating plate 4014 and the inner surface of the side panel 4011 form a medicine-carrying cavity for holding medicine.

[0254] The pallet 4012 is provided with a measuring port 4013 that communicates with the mounting cavity; the bottom surface of the floating plate 4014 is provided with a second extension 4015 extending out of the measuring port 4013; the fourth detection device includes a second weighing device 403, which is installed on the drug dispensing base 402, and its second weighing part 4031 is exposed on the top surface of the drug dispensing base 402 for contacting the second extension 4015 to weigh the weight of the floating plate 4014.

[0255] By incorporating a movable floating plate 4014 within the dispensing box 401, and extending a second extension 4015 from the bottom of the floating plate 4014 through the measuring port 4013 of the support plate 4012 and contacting the second load-bearing portion of the second weighing device 403 on the dispensing base 402, the second weighing device 403 can accurately weigh the floating plate 4014 and the weight of the medicine it carries. When the medicine is dispensed too little or too much, the measurement result of the second weighing device 403 will differ from the weight of the preset prescription dosage. This allows the system to promptly report any dosage issues, overcoming the limitations of existing dispensing boxes that can only hold medicine and cannot detect under- or over-dispensing, thus improving the user experience of the dispensing equipment. Furthermore, the second weighing device 403, in conjunction with the first weighing device 209, can precisely monitor the weight of the medicine throughout the entire dispensing process, further ensuring the accuracy and safety of the dispensing process. For example, the first weighing device 209 can perform preliminary detection of the weight of the absorbed medicine during the medicine absorption stage, while the second weighing device 403 can perform final confirmation of the weight of the prepared medicine during the medicine dispensing stage. The two complement each other to form a complete weight monitoring system.

[0256] Furthermore, such as Figure 21 as well as Figure 23 As shown, a limiting plate 4017 is installed on the bottom and / or side of the second extension 4015; the limiting plate 4017 can contact and abut against the bottom surface of the support plate 4012 to limit the range of movement of the floating plate 4014 in the depth direction within the mounting cavity.

[0257] This limiting design, while ensuring the necessary floating for normal weighing, can prevent the floating plate 4014 from moving excessively within the installation cavity. For example, when personnel retrieve medicine, they may tilt the medicine box 401. If the limiting plate 4017 is not set, the floating plate 4014 may fall out. With the limiting plate 4017 set, the floating plate 4014 can be prevented from falling out, thus ensuring the reliable use of the tilting method for retrieving medicine and improving the user experience.

[0258] In practical applications, the connection between the limiting plate 4017 and the support plate 4012 is a detachable connection, such as screw fastening. The detachable connection facilitates the installation and maintenance of the support plate 4012.

[0259] Furthermore, to ensure that the second extension 4015 or the limiting plate 4017 can smoothly slide onto the second weighing part 4031 during the sliding process, this application designs one side of the second weighing part 4031 as a guide slope (not shown in the figure) that can contact and relatively displace the second extension 4015 or the limiting plate 4017. Of course, a guide slope can also be provided on the side of the second extension 4015 that contacts the second weighing part 4031, or on the side of the limiting plate 4017 that contacts the second weighing part 4031; the specific design is not limited. This guide slope design greatly facilitates the sliding operation of the medicine dispensing box 401 on the medicine dispensing base 402. When the medicine dispensing box 401 slides along the medicine dispensing base 402, the second extension 4015 or the limiting plate 4017 will first contact the guide slope. Under the guidance of the slope, it can smoothly and steadily transition to the second weighing part 4031, avoiding the impact on the accuracy of weighing due to direct collision or jamming.

[0260] In addition, such as Figure 23 As shown, a third positioning structure 4018 can be provided on the bottom surface of the second extension 4015 or the bottom surface of the limiting plate 4017, such as... Figure 24 As shown, the top surface of the second weighing part 4031 is provided with a fourth positioning structure 4032 that cooperates with the third positioning structure 4018 to accurately position the pallet 4012 on the second weighing part 4031, thereby achieving accurate weighing of the pallet 4012. The third positioning structure 4018 can be a protruding structure, while the fourth positioning structure 4032 can be a groove structure for the protruding structure to be inserted. A guide slope can be provided on the third positioning structure 4018, and there are no specific limitations.

[0261] Furthermore, such as Figure 20 As shown, a handle 4016 is provided on the outer side of the side panel 4011. The handle 4016 is designed to facilitate the operation of the medicine dispenser 401. Whether removing the medicine dispenser 401 from the housing 100 or installing it back into the housing 100, it can be easily done by holding the handle 4016. The shape and material of the handle 4016 can be designed according to actual needs. For example, it can be designed to conform to an ergonomic shape, making it more comfortable for the operator to hold; the material can be made of a non-slip material to increase the stability of the grip.

[0262] Furthermore, the dispensing device 400 also includes a first magnetic suction member (not shown in the figure) and a second magnetic suction member (not shown in the figure); the first magnetic suction member is installed on the dispensing box 401; the second magnetic suction member is installed on the dispensing base 402 and magnetically engages with the first magnetic suction member.

[0263] The magnetic attraction between the first and second magnetic components provides a certain suction force when the medicine dispenser 401 is pushed into the housing 100 and placed on the medicine dispensing base 402, ensuring the accurate positioning of the medicine dispenser 401 on the medicine dispensing base 402. When it is necessary to remove the medicine dispenser 401, the operator applies a certain external force to overcome the magnetic attraction force, and the medicine dispenser 401 can be easily pulled out from the medicine dispensing base 402. This magnetic attraction design not only meets the stability requirements of the medicine dispenser 401 during normal use, but also facilitates the pulling operation of the medicine dispenser 401.

[0264] The first and second magnetic components can be permanent magnets. These magnets have stable magnetism and can maintain magnetic force for a long time, ensuring that the magnetic components always have reliable adsorption force during long-term use.

[0265] Furthermore, such as Figure 22 As shown, the bottom surface of the tray 4012 is provided with a retaining ring 4020; the first magnetic element is embedded in the retaining ring 4020; as Figure 24 As shown, the top surface of the dispensing base 402 is provided with a fixing groove 4022; the second magnetic suction member is embedded in the fixing groove 4022.

[0266] This mounting method further enhances the stability and reliability of the magnetic components. The design of the retaining ring 4020 and the retaining groove 4022 effectively prevents the magnetic components from shifting or falling off during use. The retaining ring 4020 effectively wraps and secures the first magnetic component, ensuring it fits tightly against the bottom surface of the tray 4012 and is not prone to wobbling. The retaining groove 4022 provides a stable mounting position for the second magnetic component, ensuring its accurate and secure placement on the top surface of the dispensing base 402. Simultaneously, this mounting method facilitates the replacement and maintenance of the magnetic components. When a magnetic component is damaged or its magnetic force weakens, the operator can remove it from the retaining ring 4020 or the retaining groove 4022 for replacement without requiring extensive disassembly of the entire dispensing box 401 or dispensing base 402, thus improving maintenance efficiency and reducing maintenance costs.

[0267] Furthermore, such as Figure 23 as well as Figure 24 As shown, the dispensing device 400 also includes a locking actuator 404 and a locking member 405; the locking actuator 404 is disposed below the dispensing base 402 and connected to the locking member 405; the dispensing box 401 is provided with a locking engagement part 4019; the locking actuator 404 can drive the locking member 405 to move so as to lock and engage with the locking engagement part 4019. Specifically, a locking port 4021 can be provided on the dispensing base 402; the corresponding locking actuator 404 can drive the locking member 405 to extend upward out of the locking port 4021 so as to lock and engage with the locking engagement part 4019.

[0268] The locking actuator 404 and the locking element 405 are configured to effectively lock the medicine dispensing box 401 when it is in the working position. When the medicine dispensing box 401 is pushed into the housing 100 and placed on the medicine dispensing base 402, the locking actuator 404 drives the locking element 405 to extend upwards out of the locking port 4021, locking it with the locking engagement part 4019 of the medicine dispensing box 401. This prevents the medicine dispensing box 401 from sliding or falling out in case of an accident, ensuring the stability and safety of the medicine dispensing process.

[0269] Furthermore, the specific forms of the locking actuator 404, the locking element 405, and the locking mating part 4019 can be diversified according to actual needs. Specific examples are as follows:

[0270] like Figure 23 as well as Figure 24 As shown, the locking engagement part 4019 is a locking block, protruding from the bottom surface of the support plate 4012; the locking piece 405 is a locking plate; the locking driver 404 is used to drive the locking piece 405 to move, so that the locking piece 405 extends upward out of the locking port 4021 and is located on one side of the locking engagement part 4019. The locking driver 404 can be a rotary motor. This design uses the rotation of the rotary motor to move the locking plate accurately to one side of the locking block, realizing the stop and locking function. The rotary motor has the characteristics of high control precision and fast response speed, which can ensure the accurate execution of the locking action. After the medicine is taken out, the medicine box 401 is inserted back into the box 100. During the insertion process, the medicine box 401 slides relative to the medicine base 402. When it is inserted into place, the rotary motor moves the locking plate accurately to one side of the locking block, thereby locking the medicine box 401 and preventing it from being pulled out. After the medicine is dispensed or after receiving an external unlocking command, the lock can be released, allowing the user to pull out the medicine box 401 normally.

[0271] For the design of the locking actuator 404, not only a rotary motor but also other types of actuators, such as a linear motor, can be used. This linear motor can drive the locking member 405 to perform linear motion, achieving locking with the locking mating part 4019. The locking mating part 4019 can also be designed as a locking groove, and the locking member 405 can be correspondingly designed to fit into the locking groove, achieving the same locking purpose. Different design schemes can be comprehensively considered and selected based on factors such as the specific usage scenario of the dispensing equipment, the requirements for stability, and cost.

[0272] This application incorporates a structure on the bottom surface of the tray 4012, such as a locking engagement part 4019 and a first magnetic suction component. To prevent the locking engagement part 4019 and the first magnetic suction component from interfering with the sliding of the tray, the tray 4012 can be designed to be a certain distance higher than the bottom of the side panel 4011, creating a gap between the bottom surface of the tray 4012 and the inner surface of the side panel 4011. This gap provides installation space for the locking engagement part 4019, the first magnetic suction component, and other components, thereby preventing interference with the sliding of the medicine box 401.

[0273] Furthermore, a fifth detection device, communicatively connected to the control device 500, is included. This fifth detection device detects whether the medicine dispenser 401 is inserted correctly. The fifth detection device further ensures that the medicine dispenser 401 operates in the correct position. If the medicine dispenser 401 is not inserted correctly, the locking actuator 404 and the locking engagement part 4019 may fail to lock properly.

[0274] The fifth detection device can be of various types, such as Figure 20 , Figure 22 as well as Figure 24 The second micro switch 406 shown is mounted on the dispensing base 402. When the dispensing box 401 is reset and slid into place on the dispensing base 402, it just touches the second micro switch 406 to trigger it. The second micro switch 406 can send a signal to the control device 500 to control the locking driver 404 to lock the dispensing box 401.

[0275] Furthermore, such as Figure 25 As shown, the design of the enclosure 100 includes an enclosure shell 101 and an enclosure cover 105; the enclosure shell 101 has a cavity inside; as shown Figure 26 As shown, spacers 103 and 102 are arranged vertically from bottom to top within the shell cavity to divide it into a first cavity 1013, a second cavity 1014, and a third cavity 1015. The shell 101 has a box opening 1011. The first cavity 1013 has a feeding chamber connecting the box opening 1011 and the second cavity 1014. The third cavity 1015 has a dispensing chamber connecting the second cavity 1014 (a pull-out port 1012 connects to the dispensing chamber). A suction robot is positioned outside the feeding chamber of the first cavity 1013; a medicine container assembly is positioned in the second cavity 1014; a control device 500 and an air supply assembly 304 are positioned outside the dispensing chamber of the third cavity 1015, while a dispensing device 400 is positioned in the dispensing chamber of the third cavity 1015. Figure 28 As shown, the diaphragm 102 is provided with a dosing port 1021 that can connect to the second cavity 1014 (specifically, the connecting port 2021) and a first dispensing / removing port 1022; as Figure 29As shown, the partition 103 (for example, the position directly opposite the first medicine dispensing port 1022) is provided with a second medicine dispensing port 1031 that can connect to the second cavity 1014 (specifically, the medicine outlet 2012); the box shell 101 is provided with a box opening 1011 that connects to the first cavity 1013; the box cover 105 is installed on the box opening 1011 and is used to control the opening or closing of the box opening 1011.

[0276] The feeding chamber, the second chamber 1014, and the dispensing chamber form a sealed drug preparation area, covering all key processes from drug addition and preparation to dispensing. This effectively solves the problem of insufficient sealing caused by mixed loading in different areas or lack of targeted sealing structures in existing boxes, thus ensuring the quality of drug storage.

[0277] In this application, such as Figure 6 As shown, the sealing cover plate 202 can have two openings 2021, which are centrally symmetrical, one for adding medicine and the other for taking out medicine.

[0278] The partition 103 and the partition 102 can be reserved with passageways, through which power supply cables and air pipes can pass, but details will not be elaborated.

[0279] Furthermore, such as Figure 28 As shown, a first baffle 1023 protrudes from the dosing port 1021 on the diaphragm 102; a first support connection 1019 protrudes downward from the box opening 1011 on the box shell 101; a feeding chamber is formed between the first baffle 1023 and the first support connection 1019.

[0280] Furthermore, a second baffle 1032 protrudes downward from the bottom of the partition 103 around the second medicine dispensing port 1031; the second baffle 1032, the bottom of the partition 103, and the inner wall of the third cavity 1015 form a medicine dispensing cavity. Figure 26 As shown, the design of the second baffle 1032 can effectively position the medicine dispensing box 401, ensuring that the medicine dispensing box 401 can maintain direct communication with the second medicine dispensing port 1031 when it is inserted into the pull-out port 1012. This ensures that the medicine falls smoothly into the medicine dispensing box 401 when it falls from the second medicine dispensing port 1031, making the medicine dispensing process smoother and reducing problems such as poor medicine dispensing or medicine jamming caused by the positional deviation of the medicine dispensing box 401.

[0281] Furthermore, such as Figure 26 As shown, a feeding hopper 104 is installed in the feeding chamber; the feeding hopper 104 is connected to the second chamber 1014, and the feeding hopper 104 can further optimize the feeding process.

[0282] Furthermore, the feeding hopper 104 is detachably connected to the housing 101, eliminating the need to dismantle the entire structure during cleaning and improving the convenience of cleaning and maintenance of the feeding hopper 104. Moreover, the detachable design of the feeding hopper 104 also facilitates the cleaning and maintenance of the storage box 205 in the second cavity 1014. When cleaning of the storage box 205 is required, the feeding hopper 104 can be removed, and the storage box 205 can be inserted into the second cavity 1014 through the housing opening 1011 and the dosing port 1021 to remove it from the dosing port 1021 and the housing opening 1011 for cleaning (the dosing port 1021 is designed to be larger than the storage box 205 for easy removal).

[0283] Furthermore, the feeding hopper 104 gradually narrows from one end of the connecting box opening 1011 to the other. This gradual narrowing of the feeding hopper 104 allows it to be removed from above the box opening 1011, further improving disassembly convenience. More importantly, it increases the size of the feeding end of the feeding hopper 104, solving the problems of poor dosing convenience and easy drug spillage caused by the small size of the traditional dosing port 1021, thus improving the convenience of dosing.

[0284] Furthermore, such as Figure 27 As shown, the outer periphery of the feeding hopper 104 is provided with a second support connecting part 1041 that is detachably connected to the first support connecting part 1019. The design of the first support connecting part 1019 and the second support connecting part 1041 not only enhances structural stability but also makes the installation and disassembly of the feeding hopper 104 simpler and faster. In practical applications, the user only needs to align the second support connecting part 1041 with the first support connecting part 1019 to connect the feeding hopper 104 to the housing 100, greatly improving work efficiency.

[0285] Furthermore, a support step 1020 is provided on the inner circumferential surface of the first support connection 1019 to support the second support connection 1041. The first support connection 1019 is arranged inward, which reduces interference with the installation of the cover 105 and also achieves a concealed design effect, improving the aesthetics of the box opening 1011. The first support connection 1019 and the edge of the box opening 1011 can be integrally connected, that is, the first support connection 1019 and the box shell 101 are integrally formed. This integral forming design enhances the overall strength and stability of the structure.

[0286] The design of the support step 1020 provides a stable support platform for the second support connection 1041, ensuring that the feeding hopper 104 will not shake or fall off during use, thereby guaranteeing the overall stability of the feeding device. At the same time, this structure also facilitates installation and disassembly by the user, improving ease of use.

[0287] The support step 1020 can be set continuously or in segments. The corresponding second support connection part 1041 can be set to adapt to the support step 1020, as long as it can contact and abut with the support step 1020, without any restrictions.

[0288] In addition, the support step 1020 and the second support connection part 1041 can be magnetically attached through magnetic accessories, which makes the fit more stable and the disassembly more convenient.

[0289] Furthermore, such as Figure 26 As shown, it also includes a germicidal lamp 106 that is communicatively connected to the control device 500; the germicidal lamp 106 is installed in the first cavity 1013 and is used to irradiate the feeding hopper 104 or to irradiate along the feeding direction of the feeding hopper 104.

[0290] Taking the setting of the germicidal lamp 106 irradiating the feeding hopper 104 as an example, the feeding hopper 104 is designed to be transparent in order to better exert the irradiation sterilization effect.

[0291] The germicidal lamp 106 effectively kills bacteria, viruses, and other microorganisms that may exist in the feeding hopper 104 and its surrounding area, further ensuring the hygiene and safety of the medicine during the feeding process and preventing microbial contamination that could affect its quality and efficacy. In practical applications, the germicidal lamp 106 is turned on simultaneously during feeding, irradiating along the feeding direction of the feeding hopper 104 to sterilize the medicine fed into the storage room 2011.

[0292] When choosing a germicidal lamp (106), different types can be selected based on actual needs. For example, ultraviolet germicidal lamps are a common choice, offering advantages such as high sterilization efficiency and relatively low cost.

[0293] The sterilization lamp 106 can be intelligently controlled by the control device 500 to turn on and off. A timed activation function can be set to perform sterilization operations at specific times each day to ensure that the feeding hopper 104 and its surrounding area are always in a relatively hygienic state.

[0294] In addition, a light sensor can be installed near the germicidal lamp 106 to detect its operating status. If the germicidal lamp 106 malfunctions, the light sensor will detect abnormal light intensity and send a signal to the control device 500. The control device 500 can then issue an alarm to remind the operator to perform maintenance or replacement.

[0295] Furthermore, such as Figure 26As shown, taking the germicidal lamp 106 installed above the first baffle 1023 as an example, a light channel 1024 with a connecting dosing port 1021 and allowing the irradiation light of the germicidal lamp 106 to pass through can be formed between the first baffle 1023 and the feeding hopper 104, so that the light can smoothly irradiate the medicine chamber body 201 below the connecting port.

[0296] Furthermore, it also includes a desiccant box (not shown in the figure) or a desiccant placement structure, which is located inside the housing 100. It should be noted that the desiccant box refers to a box structure containing desiccant, and the entire box structure is replaced when it is replaced; while the desiccant placement structure is a support structure that holds the desiccant, and the desiccant placed inside is replaced when it is replaced.

[0297] The desiccant effectively absorbs moisture from the cabinet, keeping the internal environment dry and preventing the medicine from deteriorating or clumping due to moisture, thus ensuring the storage quality and effectiveness of the medicine.

[0298] like Figure 28 As shown, a mounting slot 1025 can be added to the cover 102. The mounting slot 1025 can provide installation space for the drying box to facilitate its installation and fixation, or serve as a desiccant placement structure. No specific restrictions are imposed.

[0299] Furthermore, such as Figure 25 As shown, the lid 105 is hinged to the shell 101 and is equipped with a touch panel 1051 that communicates with the control device 500. The hinged design allows the lid 105 to open and close flexibly, facilitating the user's feeding operation. This design also ensures that the lid 105 fits tightly against the shell 101 when closed, effectively preventing the medicine from getting damp or contaminated during storage. In practical applications, the user only needs to gently push or pull the lid 105 to open or close it, making operation simple and quick. Furthermore, the hinge can be a damped hinge design, allowing the lid 105 to remain at any angle when open.

[0300] The touch panel 1051 provides users with a convenient operating interface. Users can input various commands through the touch panel 1051, such as controlling the dispensing device 400 to dispense medicine, querying medicine information, and setting the activation time of the sterilizing lamp 106. After receiving the commands from the touch panel 1051, the control device 500 will correspondingly control the various components to perform the corresponding actions. The touch panel 1051 can be designed as a high-definition color display screen, with clear display effects and sensitive touch response. Its interface can adopt a simple and intuitive design style, making it easy for users of different ages and skill levels to use. For example, the main interface can display important information such as the current medicine inventory, dispensing status, and the working status of the sterilizing lamp 106, allowing users to understand the operating status of the dispensing equipment at a glance.

[0301] In terms of interface design, different functional modules can be set up, such as a dispensing control module, a drug management module, and a system settings module. Users can enter the corresponding operation interface by clicking on the corresponding module. In the dispensing control module, users can select the required drugs and quantities, and the control device 500 will accurately control the dispensing device 400 to perform the dispensing operation according to the user's selection. In the drug management module, users can view detailed information about the drugs, such as drug name, specifications, and expiration date, and can also perform management operations such as adding, deleting, and modifying drugs. In the system settings module, users can set various parameters of the dispensing equipment, such as the timer of the germicidal lamp 106 and the working mode of the locking driver 404. In addition, the touch panel 1051 can also have data storage and query functions. It can record historical operation data of the dispensing equipment, such as dispensing records and drug inventory change records. Users can query this historical data through the touch panel 1051 for statistical analysis and management decisions. At the same time, the control device 500 can also upload this data to a cloud server for remote monitoring and management.

[0302] Whether it's a touch panel with or without a display, the 1051 is an existing technology, so I won't go into details.

[0303] Furthermore, such as Figure 30 As shown, the first cavity 1013 also includes a mounting bracket 107 for fixing and installing connecting cables. The design of the mounting bracket 107 provides a stable and convenient way to install connecting cables (power lines, signal lines, etc.), resulting in neat internal cable routing and a more compact structure. Furthermore, the structure and position of the mounting bracket 107 can be customized according to the actual needs of the enclosure 100 to adapt to different usage scenarios and spatial layouts.

[0304] The mounting bracket 107 can be suspended on the top of the first cavity 1013 and set around the feeding hopper 104. The mounting bracket 107 is equipped with a clamp assembly 1071, which includes a fixed clamp 1073 and a movable clamp 1072. The fixed clamp 1073 is fixedly connected to the mounting bracket 107, and the movable clamp 1072 is detachably connected to the fixed clamp 1073 by screws. The clamp assembly 1071 clamps and fixes the connecting cable. Of course, there are other fixing methods, and there are no specific limitations.

[0305] Furthermore, such as Figure 25 As shown, it also includes an indicator light 108, which is installed on the housing 101 or the cover 105; the indicator light 108 is communicatively connected to the control device 500 and is used to illuminate the feeding hopper 104 and / or the dosing port 1021.

[0306] The ring-shaped light strip design of indicator light 108 not only evenly illuminates the feed inlet area of ​​the feeding hopper 104, allowing users to accurately observe the addition of medicine and the internal state of the feeding hopper 104 in low-light environments, but also conveys richer information through different color changes to indicate different operating states of the dispensing equipment. Users can quickly understand the current operating status of the dispensing equipment, such as whether it is running or malfunctioning, by observing the on / off state or color change of indicator light 108. This design not only improves the ease of use of the equipment but also helps users to promptly identify and handle potential problems, ensuring the smooth progress of the feeding process. Furthermore, the installation position of indicator light 108 can be flexibly selected according to actual needs; whether installed on the housing 101 or the cover 105, it can provide a good indicating effect (as shown in the attached drawing of this application, indicator light 108 is a ring-shaped light strip set around the opening 1011 of the housing).

[0307] Furthermore, such as Figure 1 , Figure 31 as well as Figure 32 As shown, it also includes a refrigeration unit 600 that is communicatively connected to the control device 500; the refrigeration unit 600 is used to cool the interior of the container 100. During storage, excessively high temperatures can easily affect the quality and stability of medicines. Cooling the interior of the container 100 using the refrigeration unit 600 can effectively reduce the temperature of the environment surrounding the medicine storage components, providing suitable storage temperature conditions for the medicines. Specifically, the refrigeration unit 600 can be used to cool the sealed area for dispensing medicines, reducing unnecessary refrigeration work and improving efficiency.

[0308] Furthermore, such as Figure 33 as well as Figure 34As shown, the refrigeration device 600 includes a cooling element 601; the hot end face of the cooling element 601 is connected to a first heat-conducting structure 602; the first heat-conducting structure 602 is located outside the housing 100; the cold end face of the cooling element 601 is located inside the housing 100 (specifically, it may be located within the drug dispensing sealed area). By setting the cooling element 601, with its hot end face connected to the first heat-conducting structure 602 located outside the housing 100, and its cold end face located inside the housing 100, this design can directly transfer cold energy to the interior of the housing 100, achieving efficient cooling of the housing 100 and effectively meeting the storage conditions of biological agents, some antibiotics, and special chemical drugs that have specific requirements for storage temperature.

[0309] Furthermore, the refrigeration device 600 also includes a second heat-conducting structure 604, which is installed on the cold end face of the refrigeration chip 601. The second heat-conducting structure 604 can more effectively transfer the cooling energy generated by the cold end face of the refrigeration chip 601 to the surrounding air, thereby improving the refrigeration efficiency. Both the first heat-conducting structure 602 and the second heat-conducting structure 604 are made of metal materials with high thermal conductivity, such as copper or aluminum, to ensure that heat can be conducted efficiently.

[0310] Furthermore, the cooling device 600 also includes a first fan 603; the first fan 603 is used to dissipate heat from the first heat-conducting structure 602. The installation position of the first fan 603 relative to the first heat-conducting structure 602 can be flexibly adjusted to ensure that it can dissipate heat from the first heat-conducting structure 602.

[0311] Furthermore, the refrigeration device 600 also includes a second fan 605, which accelerates the transfer of cooling energy from the second heat-conducting structure 604 to the dispensing and sealing area. The positional relationship between the second fan 605 and the second heat-conducting structure 604 can be set with reference to the positional relationship between the first heat-conducting structure 602 and the first fan 603. It can be side-mounted or fitted (for example, the second fan 605 is installed on the side of the second heat-conducting structure 604 away from the cold end, and its air inlet faces the second heat-conducting structure 604; the second fan 605 is used to deliver cold air to the dispensing and sealing area), as long as it can accelerate the transfer of cooling energy from the second heat-conducting structure 604 to the dispensing and sealing area.

[0312] In this application, the first fan 603 and the second fan 605 can be one or more combinations of turbine fans or axial fans, without limitation.

[0313] Furthermore, in order to achieve cooling in the drug dispensing sealing area, a cooling connection can be established between the second cavity 1014 in the drug dispensing sealing area and the cooling circuit, specifically as follows: Figure 33As shown, the bottom surface of the partition 103 is provided with a connecting air port 1033; the air outlet of the second fan 605 is connected to the connecting air port 1033. The above design enables the refrigeration device 600 to be completely located outside the second cavity 1014, which can reduce the occupation of the internal space of the second cavity 1014, thereby reducing the impact on the medicine compartment components and making the dispensing operation smoother.

[0314] Of course, the internal space of the second cavity 1014 can be designed according to the needs, reserving a certain space for the installation of the second fan 605 and the second heat conduction structure 604, without any specific restrictions.

[0315] Furthermore, such as Figure 32 As shown, the bottom surface of the spacer 103 is covered by a first mounting shell 606 over the air inlet 1033; the second fan 605 and the second heat-conducting structure 604 are installed in the first mounting shell 606.

[0316] This installation method not only provides a secure mounting for the second fan 605 and the second heat-conducting structure 604, but also makes the overall structure of the device more compact and orderly. The first mounting housing 606 can be made of a material with good sealing performance, enhancing sealing and cooling effect.

[0317] To facilitate maintenance and repair of the second fan 605 and the second heat-conducting structure 604, the first mounting housing 606 can be designed as a detachable structure. For example, the first mounting housing 606 can be fixed to the bottom surface of the spacer 103 by means of clips or bolts, and the first mounting housing 606 can be easily removed when it is necessary to inspect or replace internal components.

[0318] To achieve more precise temperature control of the second chamber 1014, a temperature sensor can also be installed inside the first mounting housing 606 or at other locations within the drug dispensing sealing area. The temperature sensor can monitor the ambient temperature in real time and feed the data back to the control device 500. Based on the feedback temperature information, the control device 500 adjusts the operating power of the cooling chip 601 or the speed of the second fan 605, thereby achieving precise temperature regulation of the drug dispensing sealing area to meet the storage temperature requirements of different drugs.

[0319] The second fan 605 and the second heat-conducting structure 604 can partially extend into the second cavity 1014, reducing the design depth of the first mounting shell 606 and thus making the overall structure more compact. During cooling, the cold air output by the second fan 605 is sent into the second cavity 1014 through the first mounting shell 606, and the air in the second cavity 1014 flows back through the second heat-conducting structure 604 and is then sent out by the second fan 605. Alternatively, a guide structure can be added to the first mounting shell 606 to guide the cold air output by the second fan 605 to the second cavity 1014 more quickly. The guide structure can be a guide plate or a guide pipe, and there are no specific limitations.

[0320] Furthermore, such as Figure 34 As shown, the first mounting housing 606 has two mounting blocks 6061 spaced apart; the second fan 605 is mounted between the two mounting blocks 6061; a top pressure member 6062 is detachably connected between the two mounting blocks 6061 and contacts and abuts the top of the second fan 605. The top pressure member 6062 is a fixing frame structure adapted to the top structure of the second fan 605, which can press the second fan 605 in place, and there are no specific limitations.

[0321] This positioning and limiting design ensures the accuracy and stability of the second fan 605's installation position, preventing shaking or displacement during operation, thus guaranteeing that the second fan 605 can continuously and stably deliver cool air to the second cavity 1014. The detachable connection of the top pressure component 6062 facilitates the installation, removal, and maintenance of the second fan 605. When it is necessary to replace the second fan 605, simply remove the top pressure component 6062 to easily remove the second fan 605 for replacement.

[0322] Furthermore, such as Figure 28 as well as Figure 33 As shown, a cooling slot 109 is provided on the side wall of the housing 101, and the cooling chip 601 is embedded in the cooling slot 109. The size and shape of the cooling slot 109 can be precisely designed according to the specifications of the cooling chip 601 to ensure that the cooling chip 601 can be tightly embedded therein, ensuring good contact between the cooling chip 601 and the spacer 103, and improving the heat conduction efficiency.

[0323] Furthermore, such as Figure 1 , Figure 32 , Figure 33 as well as Figure 34 As shown, the outer side wall of the housing 101 is covered with a second mounting shell 607 on the cooling slot 109, and the first heat-conducting structure 602 and the first fan 603 are installed in the second mounting shell 607; the second mounting shell 607 is provided with a plurality of air outlets 6071.

[0324] The second mounting housing 607 provides a stable mounting space for the first heat-conducting structure 602 and the first fan 603, while also protecting the hot end of the cooling chip 601. The design of several air outlets 6071 allows the hot air exhausted by the first fan 603 to be quickly and effectively dissipated to the outside of the equipment. To improve heat dissipation efficiency, the air outlets 6071 can adopt a honeycomb or louvered design to increase the air outlet area and accelerate air circulation.

[0325] The second mounting housing 607 can be detachably connected to the outer wall of the housing 101, for example, by screws or clips. This allows for easy opening of the second mounting housing 607 when maintenance, repair, or replacement of the first heat-conducting structure 602, the first fan 603, or the cooling chip 601 is required. Of course, it can also be an integral connection; there are no specific limitations.

[0326] To prevent dust and other debris from entering the second mounting housing 607 and affecting heat dissipation, a filter can be installed at the air outlet 6071. The filter can be disassembled for cleaning or replacement periodically.

[0327] Furthermore, such as Figure 34 As shown, the top of the second mounting housing 607 is provided with a mounting opening 6072; the mounting opening 6072 is covered with a material such as... Figure 1 as well as Figure 25 The removable cover 608 is shown.

[0328] The removable cover 608 design facilitates maintenance and operation of the first heat-conducting structure 602 and the first fan 603 inside the second mounting housing 607. When these components need to be inspected, cleaned, or replaced, they can be done simply by opening the cover 608 without disassembling the entire second mounting housing 607, greatly improving the convenience of maintenance.

[0329] Furthermore, a first thermally conductive silicone grease is coated between the first thermally conductive structure 602 and the hot end face; a second thermally conductive silicone grease is coated between the second thermally conductive structure 604 and the cold end face. The application of thermally conductive silicone grease fills the tiny gaps between the thermally conductive structures and the end face of the cooling chip 601, reducing thermal resistance and further improving heat transfer efficiency. Both the first and second thermally conductive silicone greases are selected from products with good thermal conductivity and insulation to ensure electrical safety while achieving efficient heat conduction.

[0330] This application relates to the structure of the housing 101, such as Figure 1 and Figure 25As shown, a three-section design can be adopted, such as an upper shell 1016, a lower shell 1017, and a bottom shell 1018. Compared with a one-piece design, internal installation, disassembly, and maintenance are more convenient, and there are no specific limitations. In addition, when installing and fixing the partition 102, it can be connected and fixed not only to the partition seat 103 but also to the lower shell 1017. When the upper shell 1016 and the lower shell 1017 are connected, the partition 102 can be provided with lugs to connect between the upper shell 1016 and the lower shell 1017, so as to achieve a joint connection and improve the connection stability of the partition 102. There are no specific limitations.

[0331] like Figure 35 As shown, this application also discloses a detection method applied to the above-designed dispensing equipment, comprising the following steps:

[0332] S1, the control device 500 obtains the pre-absorption detection data of the preset compartment 2011 for which the medicine is to be taken through the first detection device;

[0333] S2, the control device 500 controls the suction device 300 to suction the medicine in the compartment 2011;

[0334] S3, the control device 500 obtains the post-absorption detection data of the preset drug-to-be-absorbed compartment 2011 through the first detection device, and compares it with the pre-absorption detection data;

[0335] S4, when the comparison result meets the preset threshold, the suction device 300 is deemed to have successfully suctioned.

[0336] When the weighing area and the pick-up / drop-off area are in the same area, simply rotate the compartment 2011 to be picked up to the weighing area, then weigh before picking up, and weigh after picking up, without having to rotate the compartment twice.

[0337] If the weighing area and the pick-up / drop-off area are located in different areas, then when picking up the contents, the chamber 2011 needs to be rotated to the corresponding pick-up area first to pick up the contents, and then rotated back to the weighing area for a second weighing.

[0338] like Figure 36 As shown, this application also discloses a drug preparation method applied to the drug preparation equipment designed above, comprising the following steps:

[0339] S100, when the absorption device 300 is deemed to have successfully absorbed the drug, the control device 500 controls the absorption device 300 to release the absorbed drug, so that the drug falls into the dispensing device 400 through the dispensing port 2012.

[0340] If the dispensing port 2012 is located on the medicine storage body 201, the medicine storage body 201 can be rotated so that the dispensing port 2012 is in the pick-and-place area, or the medicine can be directly transferred to the dispensing port 2012 by the pick-and-place device 300 without rotation. If the dispensing port 2012 is located on the medicine storage body 201, the medicine can be directly transferred by the pick-and-place device 300.

[0341] The following is a specific workflow example:

[0342] S11, the control device 500 controls the medicine container drive mechanism to rotate the medicine container body 201, so that the preset medicine-to-be-retrieved compartment 2011 is located in the weighing area. Then, the control device 500 controls the first detection device to detect the amount of medicine in the preset medicine-to-be-retrieved compartment 2011 located in the weighing area. It can be understood that, taking the weighing design as an example, specifically, the medicine container body 201 is rotated so that the compartment 205 of the medicine-to-be-retrieved compartment 2011 contacts the first weighing device 209, and the first weighing device 209 weighs the compartment 205 before the medicine is drawn.

[0343] S12, the control device 500 controls the medicine storage drive mechanism to drive the medicine storage body 201 to rotate so that the preset medicine storage compartment 2011 to be retrieved is located in the retrieval area.

[0344] S13, the control device 500 controls the suction device 300 to suction the drug in the compartment 2011 located in the pick-up and drop area.

[0345] S14, the control device 500 again controls the medicine container drive mechanism to rotate the medicine container body 201, so that the preset medicine-to-be-retrieved compartment 2011 is located in the weighing area. Then, it controls the first detection device to perform a second detection on the amount of medicine in the preset medicine-to-be-retrieved compartment 2011 located in the weighing area. It can be understood that this second detection is a second weighing after the medicine is absorbed, and the weight of the compartment 205 after the medicine is absorbed is detected.

[0346] S15, the control device 500 compares the drug dosage detection data of the second detection with the drug dosage detection data of the first detection. By comparing the data, the difference in weight before and after weighing can be used to determine whether the drug was absorbed normally, or whether too much was absorbed or too little was absorbed.

[0347] S16, when the comparison result meets the preset threshold, the control device 500 controls the medicine container drive mechanism to drive the medicine container body 201 to rotate or controls the suction device 300 to move so that the medicine outlet 2012 on the medicine container body 201 corresponds to the suction device 300. Then, the suction device 300 is controlled to release the medicine so that the medicine falls through the medicine outlet 2012 into the medicine dispensing device 400 below.

[0348] If over-absorption occurs, a correction step is added between the above workflow S15 and S16, which involves rotating the drug container body 201 so that the preset drug-to-be-retrieved compartment 2011 returns to the pick-up and drop area. At this time, the control impact mechanism 309 is activated to vibrate and drop the over-absorbed drug back. After that, the detection is performed again and the data is compared. If the data meets the preset threshold, it is considered that the aspiration has returned to normal.

[0349] If a missed suction occurs, the corrective step added between S15 and S16 of the above workflow can be as follows: The medicine container body 201 is rotated, causing the preset medicine-to-be-collected compartment 2011 to return to the collection / dispensing area. The suction robot is then controlled to pick up the medicine again. However, before picking up again, the vibration mechanism 210 can be controlled to vibrate the compartment 205, and then suction can be performed to improve suction efficiency. Afterwards, another test is performed, and the data is compared. If the data meets the preset threshold, the suction is considered to have returned to normal.

[0350] Here is another specific workflow example:

[0351] Taking the configuration of the sealing cover 202 as an example, the drug dispensing process of this application may also include the following:

[0352] S101, the control device 500 controls the medicine container drive mechanism to drive the medicine container body 201 to rotate in the first rotation direction, so that the preset medicine-to-be-retrieved compartment 2011 is located outside the preset position of the pick-up and drop-off area and is directly connected to the guide port 2021 of the sealing cover 202. During the rotation of the medicine container body 201, the sealing cover 202 is in a limited state by the limiting component 204 acting in the first rotation direction, and its guide port 2021 is located outside the preset position of the pick-up and drop-off area. It can be understood that when the medicine container body 201 is rotated, the sealing cover 202 has rotated with the medicine container body 201, so that its own guide port 2021 is located outside the preset position of the pick-up and drop-off area, thereby making the compartment 2011 below the suction robot in a closed state.

[0353] S102, the control device 500 controls the medicine container drive mechanism to rotate the medicine container body 201 in a second rotation direction opposite to the first rotation direction, so that the preset medicine container 2011 to be retrieved is located in the retrieval area. During the rotation of the medicine container body 201, the sealing cover 202 rotates together with the medicine container body 201. It can be understood that when the medicine container 2011 to be retrieved is located at a preset position outside the retrieval area and is directly connected to the guide port 2021 of the sealing cover 202, the medicine container body 201 starts to reverse. At this time, the sealing cover 202 can be reversed together, so that the guide port 2021 returns to the retrieval area. In this way, the medicine container 2011 to be retrieved can be successfully picked up by the suction robot.

[0354] S103, the control device 500 controls the suction device 300 to suction the drug in the compartment 2011 located in the pick-up and drop area.

[0355] S104, the control device 500 controls the medicine container drive mechanism to drive the medicine container body 201 to rotate in the first rotation direction, so that the chamber 2011 with the medicine outlet 2012 is located outside the preset position of the pick-up and put-down area and is directly connected to the guide port 2021 of the sealing cover 202; the operation logic is the same as that of step S11, and will not be described in detail.

[0356] S105, the control device 500 controls the medicine container drive mechanism to drive the medicine container body 201 to rotate in a second rotation direction opposite to the first rotation direction, so that the compartment 2011 with the medicine outlet 2012 is located in the pick-and-place area; the operation logic is the same as that of S12 above, and will not be described in detail.

[0357] S106, the control device 500 controls the suction device 300 to release the drug so that the drug falls through the drug outlet 2012 into the drug dispensing device 400 below.

[0358] S107, Repeat the above steps to complete the dispensing operation of the preset prescription.

[0359] When controlling the dosing, the procedure of rotating the chamber 2011 to be dosed to the dosing port 1021 is the same as the procedure of rotating the chamber 2011 to be taken to the absorption area, and will not be repeated here.

[0360] The weighing steps omitted in the above steps are the same as the weighing steps in steps S11-S16 mentioned above, and will not be repeated here.

[0361] The above provides a detailed description of a drug dispensing device and method provided in this application. For those skilled in the art, based on the ideas of the embodiments of this application, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A medication dispensing device, characterized in that, It includes a housing (100), a suction device (300), a medicine container device (200), a medicine dispensing device (400), a first detection device, and a control device (500); The medicine container device (200) is installed on the housing (100) and includes a medicine container assembly and a medicine container drive mechanism; The drug storage assembly includes a drug storage body (201); The medicine container drive mechanism is used to drive the medicine container body (201) to rotate; The main body of the medicine storage container (201) has multiple compartments (2011) arranged around its own rotation center line. The medicine container device (200) or the medicine container assembly is further provided with a medicine outlet (2012). The first detection device is installed in the housing (100) and is used to detect the amount of drug in the compartment (2011); The suction device (300) is installed in the housing (100) and includes a suction manipulator and an air supply assembly (304) connected to the suction manipulator. The suction robot arm operates above the drug container body (201) and is used to suction the drug in the container (2011) and release the suctioned drug through the drug outlet (2012); The drug dispensing device (400) is installed in the housing (100) and is used to carry the drug released through the drug outlet (2012); The control device (500) is installed in the housing (100) and is communicatively connected to the medicine storage device (200), the suction device (300), the first detection device and the control device (500).

2. The dispensing equipment according to claim 1, characterized in that, The drug compartment assembly also includes a sealing cover (202) and a clamping assembly (203); The sealing cover (202) is rotatably mounted on the top of the medicine container body (201) and has at least one through port (2021) corresponding to the container (2011). The clamping assembly (203) is connected to the sealing cover plate (202) and the medicine tank body (201), and provides the sealing cover plate (202) to press tightly against the medicine tank body (201).

3. The dispensing equipment according to claim 2, characterized in that, It also includes a limit component (204); The limiting component (204) cooperates with the sealing cover plate (202) to limit the rotation angle of the sealing cover plate (202).

4. The dispensing equipment according to claim 1, characterized in that, The compartment (2011) is equipped with a container (205) that is capable of floating along the depth direction of the compartment (2011).

5. The dispensing equipment according to claim 4, characterized in that, The first detection device includes a first weighing device (209), which is disposed below the main body of the medicine container (201); The container (205) rotates with the medicine container body (201) so that its lower surface reaches above the first weighing part (2091) of the first weighing device (209).

6. The dispensing equipment according to claim 5, characterized in that, The lower surface of the compartment (205) is provided with a first positioning structure (2052). The first weighing part (2091) is provided with a second positioning structure (2092). The first positioning structure (2052) can be engaged or disengaged with the second positioning structure (2092) as the medicine container body (201) rotates.

7. The dispensing equipment according to claim 1, characterized in that, It also includes a second detection device that is communicatively connected to the control device (500); The second detection device is used to detect the rotation angle of the medicine container body (201).

8. The dispensing equipment according to claim 4, characterized in that, The medicine storage device (200) also includes a vibration mechanism (210); The vibration mechanism (210) includes a vibration driver (2111) and a vibrating element (2112). One end of the vibrating element (2112) is connected to the vibration driver (2111), and the other end extends to the bottom of one of the chambers (2011) and can contact the chamber box (205); The vibration actuator (2111) is used to drive the vibrating element (2112) to move and vibrate the contacting bin (205).

9. The dispensing equipment according to claim 1, characterized in that, The suction robot includes a suction drive mechanism (301) and a suction head (305). The suction drive mechanism (301) is connected to the suction head (305) and is used to drive the suction head (305) to extend into or out of the chamber (2011). The suction head (305) is connected to the air supply assembly (304).

10. The dispensing equipment according to claim 9, characterized in that, It also includes a third detection device that is communicatively connected to the control device (500); The third detection device is used to detect the air pressure in the pipeline connecting the suction head (305) and the air supply assembly (304) and / or to detect the movement position of the suction head (305).

11. The dispensing equipment according to claim 1, characterized in that, The drug dispensing device (400) includes a drug dispensing base (402) and a drug dispensing box (401). The side wall of the box (100) is provided with a pull-out opening (1012) for the medicine box (401) to move in and out. The dispensing base (402) is fixed in the box (100) and located at the bottom edge of the pull-out opening (1012) to support the dispensing box (401).

12. The dispensing equipment according to claim 11, characterized in that, It also includes a fourth detection device that is communicatively connected to the control device (500); The fourth detection device is used to detect whether there is medicine in the dispensing box (401) based on a visual algorithm.

13. The dispensing equipment according to claim 1, characterized in that, The enclosure (100) includes a shell (101); The housing (101) has a cavity inside; The shell cavity is provided with spacers (103) and covers (102) arranged vertically from bottom to top, which are used to divide the shell cavity into a first cavity (1013), a second cavity (1014) and a third cavity (1015) vertically from top to bottom. The box shell (101) is provided with a box opening (1011). The first cavity (1013) is provided with a feeding cavity that connects the box opening (1011) and the second cavity (1014); The third cavity (1015) is provided with a drug outlet cavity that connects to the second cavity (1014).

14. The dispensing equipment according to claim 1, characterized in that, It also includes a refrigeration unit (600) that is communicatively connected to the control device (500). The refrigeration device (600) is used to refrigerate the interior of the box (100); The refrigeration device (600) includes a refrigeration chip (601); The hot end face of the cooling chip (601) is connected to a first heat-conducting structure (602). The first heat-conducting structure (602) is located outside the housing (100); The cold end face of the cooling chip (601) is located inside the housing (100).

15. A detection method, characterized in that, The application of the dispensing equipment according to any one of claims 1 to 14 includes the following steps: The control device (500) acquires the pre-absorption detection data of the preset compartment (2011) for which the medicine is to be taken through the first detection device; The control device (500) controls the suction device (300) to suction the drug in the compartment (2011); The control device (500) obtains the post-absorption detection data of the preset compartment (2011) for which the medicine is to be taken through the first detection device, and compares it with the pre-absorption detection data. When the comparison result meets the preset threshold, the suction device (300) is deemed to have successfully suctioned.

16. A method for dispensing medication, characterized in that, The application of the dispensing equipment according to any one of claims 1 to 14 includes the following steps: When the suction device (300) is deemed to have successfully suctioned the drug, the control device (500) controls the suction device (300) to release the suctioned drug, so that the drug falls into the dispensing device (400) through the dispensing port (2012).

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