Manipulator structure of automatic pharmacy

Abstract

The utility model discloses a manipulator structure of an automatic pharmacy, which comprises a horizontal frame and a vertical frame, a movable bin is arranged on the horizontal frame, and the movable bin is provided with a medicine feeding position and a medicine taking position; the vertical frame is fixed to the side face of the horizontal frame, a medicine feeding manipulator and a medicine discharging manipulator are arranged on the vertical frame, the medicine feeding manipulator is provided with a medicine feeding position, and the medicine discharging manipulator is arranged at a medicine discharging position. The medicine feeding manipulator and the medicine discharging manipulator are respectively arranged on the vertical frame, so that different manipulators act at different positions, the problem that a single manipulator is unreliable is solved, and the medicine feeding efficiency of an automatic pharmacy is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of smart pharmacies, and in particular to a manipulator structure of an automated pharmacy. Background Art

[0002] The existing robot structure cannot meet the requirements of drug loading and unloading in automated pharmacies, which affects the operating efficiency of automated pharmacies. Utility Model Content

[0003] The utility model aims to provide a manipulator structure of an automated pharmacy, which can meet the medicine feeding and medicine storage actions of the automated pharmacy and realize automation.

[0004] The technical solution proposed by the utility model is a manipulator structure of an automated pharmacy, comprising a horizontal frame and a vertical frame; the horizontal frame is provided with a mobile bin, the mobile bin having a medicine input position and a medicine removal position; the vertical frame is fixed to the side of the horizontal frame, the vertical frame is provided with a medicine input manipulator and a medicine dispensing manipulator, wherein the medicine input manipulator is provided with a medicine input position, and the medicine dispensing manipulator is provided at the medicine dispensing position.

[0005] Furthermore, the medicine feeding robot and the medicine discharging robot have the same structure.

[0006] Furthermore, the medicine feeding robot includes an X-axis moving component, the vertical frame is provided with a horizontal rod, and the X-axis moving component is slidably connected on the horizontal rod.

[0007] Furthermore, the X-axis moving assembly includes a Y-axis moving assembly, an X-axis motor, and a conveyor belt. The X-axis motor is fixed on the X-axis moving assembly, the X-axis motor drives the X-axis conveyor belt, and the X-axis conveyor belt is connected to the Y-axis moving assembly.

[0008] Furthermore, the Z-axis moving assembly includes a Y-axis moving assembly, a Z-axis motor, and a Z-axis conveyor belt. The Z-axis motor is fixed on the Z-axis moving assembly, the Z-axis motor drives the Z-axis conveyor belt, and the Z-axis conveyor belt is connected to the Y-axis moving assembly.

[0009] Furthermore, the Y-axis moving component includes a Y-axis motor, a Y-axis conveyor belt, and a manipulator, wherein the Y-axis motor is fixed on the Y-axis moving component, the Y-axis motor drives the Y-axis conveyor belt, and the manipulator is connected to the Y-axis conveyor belt.

[0010] Furthermore, the manipulator includes a connecting rod, a rotating mechanism, and a motor. The motor drives the rotating mechanism. The rotating mechanism is connected to the connecting rod. A suction cup is provided at the head of the connecting rod, and the suction cup is connected to an air pump.

[0011] The beneficial effects of the technical solution of the utility model are:

[0012] A medicine feeding robot and a medicine discharging robot are respectively arranged on the vertical frame, so that different robots can operate at different positions, avoiding the unreliability problem of a single robot and improving the medicine feeding efficiency of the automated pharmacy. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a three-dimensional moving mechanism of the manipulator in the utility model. Figure 1 ;

[0014] Figure 2 It is a three-dimensional moving mechanism of the manipulator in the utility model. Figure 2 .

[0015] Description of reference numerals: suction cup 64; air pump 63; connecting rod 62; rotating mechanism 61; motor 60;

[0016] Y-axis motor 50; Y-axis conveyor belt 51; Z-axis motor 40; Z-axis conveyor belt 41; X-axis motor 30; X-conveyor belt 31; vertical frame 20; horizontal rod 21; horizontal frame 10; mobile bin 11; medicine input position 12; medicine output position 13. DETAILED DESCRIPTION

[0017] The drawings are only used for illustrative purposes and should not be construed as limitations on this patent. In order to better illustrate this embodiment, some parts of the drawings may be omitted, enlarged, or reduced, and do not represent the size of the actual product. For those skilled in the art, it is understandable that some well-known structures and their descriptions in the drawings may be omitted.

[0018] like Figure 1 As shown, a robot structure of an automated pharmacy includes a horizontal frame 10 and a vertical frame 20; the horizontal frame 10 is provided with a mobile bin 11, and the mobile bin 11 has a medicine input position 12 and a medicine removal position 13; the vertical frame 20 is fixed to the side of the horizontal frame 10, and the vertical frame 20 is provided with a medicine input robot and a medicine dispensing robot, wherein the medicine input robot is provided with the medicine input position 12, and the medicine dispensing robot is provided at the medicine dispensing position 13.

[0019] Furthermore, the medicine feeding robot and the medicine discharging robot have the same structure.

[0020] Furthermore, the medicine feeding robot comprises an X-axis moving assembly, the vertical frame 20 is provided with a horizontal rod 21 , and the X-axis moving assembly is slidably connected on the horizontal rod 21 .

[0021] Furthermore, the X-axis moving assembly includes a Y-axis moving assembly, an X-axis motor 30, and an X-axis conveyor belt. The X-axis motor 30 is fixed on the X-axis moving assembly, the X-axis motor 30 drives the X-conveyor belt 31, and the X-conveyor belt 31 is connected to the Y-axis moving assembly.

[0022] Furthermore, the Z-axis moving assembly includes a Y-axis moving assembly, a Z-axis motor 40, and a Z-axis conveyor belt 41. The Z-axis motor 40 is fixed on the Z-axis moving assembly, the Z-axis motor 40 drives the Z-axis conveyor belt 41, and the Z-axis conveyor belt 41 is connected to the Y-axis moving assembly.

[0023] Furthermore, the Y-axis moving component includes a Y-axis motor 50 , a Y-axis conveyor belt 51 , and a robot, wherein the Y-axis motor 50 is fixed on the Y-axis moving component, the Y-axis motor 50 drives the Y-axis conveyor belt 51 , and the robot is connected to the Y-axis conveyor belt 51 .

[0024] Furthermore, the manipulator includes a connecting rod 62 , a rotating mechanism 61 , and a motor 60 . The motor 60 drives the rotating mechanism 61 . The rotating mechanism 61 is connected to the connecting rod 62 . A suction cup 64 is provided at the head of the connecting rod 62 , and the suction cup 64 is connected to the air pump 63 .

[0025] The principle of the utility model is:

[0026] When the medicine box enters the mobile warehouse, the medicine entry robot is used to transfer the medicine box to the second position, and the medicine storage robot is used at the second position to transfer the medicine box to the medicine output channel. This avoids the increase in complexity and unreliability of the automated pharmacy caused by one robot performing too many actions.

[0027] Obviously, the above embodiments of the utility model are only examples for clearly explaining the utility model, and are not intended to limit the implementation methods of the utility model. For ordinary technicians in the relevant field, other different forms of changes or modifications can be made on the basis of the above description. It is not necessary and impossible to list all the implementation methods here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the utility model should be included in the protection scope of the claims of the utility model.

Claims

1. A manipulator structure for an automated pharmacy, characterized in that: Including horizontal frame, vertical frame; A mobile bin is provided on the horizontal frame, and the mobile bin has a medicine input position and a medicine removal position; The vertical frame is fixed to the side of the horizontal frame, and a medicine-feeding robot and a medicine-discharging robot are arranged on the vertical frame, wherein the medicine-feeding robot is provided with a medicine-feeding position, and the medicine-discharging robot is arranged at the medicine-discharging position.

2. The manipulator structure according to claim 1, characterized in that: The medicine feeding robot and the medicine discharging robot have the same structure.

3. The manipulator structure according to claim 2, characterized in that: The medicine feeding robot comprises an X-axis moving component, a vertical frame is provided with a horizontal rod, and the X-axis moving component is slidably connected on the horizontal rod.

4. The manipulator structure according to claim 3, characterized in that: The X-axis moving assembly comprises a Y-axis moving assembly, an X-axis motor, and a conveyor belt. The X-axis motor is fixed on the X-axis moving assembly. The X-axis motor drives the X-axis conveyor belt, and the X-axis conveyor belt is connected to the Y-axis moving assembly.

5. The manipulator structure according to claim 4, characterized in that: The Z-axis moving assembly comprises a Y-axis moving assembly, a Z-axis motor, and a Z-axis conveyor belt. The Z-axis motor is fixed on the Z-axis moving assembly, and the Z-axis motor drives the Z-axis conveyor belt. The Z-axis conveyor belt is connected to the Y-axis moving assembly.

6. The manipulator structure according to claim 5, characterized in that: The Y-axis moving component comprises a Y-axis motor, a Y-axis conveyor belt, and a manipulator, wherein the Y-axis motor is fixed on the Y-axis moving component, the Y-axis motor drives the Y-axis conveyor belt, and the manipulator is connected to the Y-axis conveyor belt.

7. The robot structure according to claim 6, characterized in that: The manipulator comprises a connecting rod, a rotating mechanism and a motor. The motor drives the rotating mechanism. The rotating mechanism is connected to the connecting rod. A suction cup is arranged on the head of the connecting rod, and the suction cup is connected to an air pump.

Images