Grabbing device for grabbing medicament bottle

Abstract

The utility model discloses a gripping device for gripping a medicament bottle, which comprises a shell, a bottle body accommodating cavity, a bottle body, a bottle cap, a bottle cap, a bottle cap, a bottle cap, a bottle cap, a bottle cap, a bottle cap, a bottle cap and a bottle cap, and is characterized in that the bottom is provided with a bottle body accommodating cavity; the air bag is arranged on the inner wall of the accommodating cavity of the bottle body; the air bag pipeline is arranged in the shell, is communicated with the air bag and is used for inflating or deflating the air bag; when the air bag is inflated and expanded, the air bag can clamp the medicament bottle placed in the bottle body containing cavity. The grabbing device can be matched with a corresponding movement mechanism to execute actions of grabbing, transferring and putting down the medicament bottle, the medicament bottle is grabbed in an air bag clamping mode, so that the medicament bottle has certain flexibility after being grabbed, and when the air bag clamps the medicament bottle and puts the medicament bottle into a corresponding station, if deviation exists slightly, the medicament bottle can be automatically grabbed. The medicament bottle can deflect to a certain degree based on the clamping flexibility characteristic of the air bag, so that the medicament bottle can be smoothly clamped into a corresponding station.

Description

Technical Field

[0001] The utility model relates to the technical field of automatic dispensing of traditional Chinese medicine particles, in particular to a grabbing device for grabbing a medicine bottle. Background Art

[0002] Although the automated Chinese medicine granule dispensing equipment can replace the manual preparation of Chinese medicine, it still needs to rely on manual operation in the process of taking and placing the medicine bottle. For example, when dispensing Chinese medicine, the staff needs to take the medicine bottle from the medicine cabinet, then move to the vicinity of the dispensing equipment, weigh the medicine bottle and place it at the dispensing station of the dispensing equipment, and then the dispensing equipment automatically completes the dispensing, packaging and other actions. After completion, the staff also needs to take the medicine bottle from the dispensing station, then move to the medicine cabinet, and put the medicine bottle back to the original storage position. Among them, the structure of the above-mentioned medicine cabinet can be found in the Chinese patent with publication number CN109567429A. The layout of the medicine cabinet is a planar array layout, and the above-mentioned dispensing equipment can be found in the Chinese patent with publication number CN117302608A.

[0003] It can be seen that in the above process, although the actions of dispensing and packaging are completed automatically, the process of taking and placing the medicine bottles is not automated and still needs to be completed manually.

[0004] In this regard, the applicant believes that it is necessary to improve the automation level of the entire operation process and automate the process of taking and placing medicine bottles to further save labor and improve work efficiency. Therefore, the applicant designed a dispensing system that can automate the entire process. Utility Model Content

[0005] In the fully automated dispensing system designed by the applicant, the dispensing system includes a medicine cabinet and a dispensing device. The medicine cabinet is an enclosed type, and the dispensing device is arranged in the enclosed medicine cabinet, wherein the dispensing device is provided with a dispensing station and a weighing station. When dispensing Chinese medicine granules, it is necessary to remove the medicine bottle at the designated position in the medicine cabinet, and then place it on the dispensing station of the dispensing device to perform the action of dispensing and unloading. After the dispensing is completed, the medicine bottle needs to be put back into the medicine cabinet. During this period, the medicine bottle may need to be placed on the weighing station for weighing, depending on the situation, so that the background system can determine whether the amount of unloading is accurate and know the remaining amount of medicine in the medicine bottle after unloading. In this regard, the technical problem to be solved by the utility model is to provide a grasping device for grasping medicine bottles, so as to cooperate with the corresponding motion mechanism to perform the actions of grasping and putting down the medicine bottles in the above process.

[0006] The technical solution adopted by the utility model to solve the technical problem is: a grabbing device for grabbing a medicine bottle is provided, which comprises:

[0007] A shell, wherein a bottle accommodating cavity is provided at the bottom of the shell, and the bottle accommodating cavity allows the medicine bottle to be partially placed therein;

[0008] An air bag, the air bag being arranged on the inner wall of the bottle body containing cavity;

[0009] An airbag pipeline, the airbag pipeline is connected to the airbag and is used to inflate or deflate the airbag;

[0010] When the airbag is inflated, it can clamp the medicine bottle placed in the bottle accommodating cavity.

[0011] Preferably, a first sensor is disposed on the top of the bottle accommodating cavity to detect whether the medicine bottle is properly placed in the bottle accommodating cavity.

[0012] Preferably, a second sensor is provided on the side of the bottom of the bottle accommodating cavity to detect whether the medicine bottle is completely separated from the bottle accommodating cavity when the medicine bottle is released.

[0013] Preferably, a third sensor is provided at the center of the top of the bottle accommodating cavity, and the third sensor is used to read the RFID tag provided on the medicine bottle to determine whether the grabbed medicine bottle is a predetermined medicine bottle.

[0014] Preferably, a fourth sensor is provided on the outside of the bottle accommodating cavity to detect whether there is a medicine bottle at the target position.

[0015] Preferably, there are multiple airbags, and the multiple airbags are distributed around the inner wall of the bottle body accommodating cavity.

[0016] Preferably, the number of the airbags is eight, and the eight airbags are distributed in four areas of the inner wall of the bottle body accommodating cavity in groups of two, wherein the two airbags in each area are distributed in an up-and-down arrangement.

[0017] Preferably, the airbag pipeline is relatively fixed to the shell, and the airbag pipeline includes a main pipeline and multiple branch pipelines. One end of the main pipeline is used to connect to the air pump, and the other end is connected to each branch pipeline, and each branch pipeline is respectively connected to each airbag.

[0018] Preferably, a plurality of guide limit plates are provided in the bottle accommodating cavity, and the plurality of guide limit plates are distributed around the inner wall of the bottle accommodating cavity to guide the medicine bottle so that the medicine bottle can be placed in the bottle accommodating cavity along the central axis of the bottle accommodating cavity.

[0019] Preferably, the number of the guide and limit plates is four, and the four guide and limit plates are evenly distributed at four positions of the inner wall of the bottle body accommodating cavity.

[0020] The beneficial effects of the utility model are:

[0021] The grabbing device of the utility model can cooperate with the corresponding motion mechanism to execute the actions of grabbing medicine bottles, transferring medicine bottles and putting down medicine bottles. Since the medicine bottles are grabbed by airbag clamping, they have certain flexibility after being grabbed. When the airbag clamps the medicine bottle and puts the medicine bottle into the corresponding work station, if there is a slight deviation, the medicine bottle can be deflected to a certain extent based on the flexible characteristics of the airbag clamping, so that the medicine bottle can be smoothly stuck into the corresponding work station. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a structural schematic diagram of the grabbing device provided in Example 1 of the utility model;

[0023] Figure 2 Yes Figure 1 A cutaway view of the internal structure of the grabbing device;

[0024] Figure 3 yes Figure 1 A display diagram of the grabbing device in use;

[0025] Figure 4 It is a structural schematic diagram of a grabbing device provided in Example 2 of the utility model;

[0026] Figure 5 Yes Figure 4 A cutaway view of the internal structure of the grabbing device;

[0027] Figure 6 yes Figure 4 A schematic diagram of a fourth sensor detecting whether there is a medicine bottle at a target position when the grasping device is ready to grasp a medicine bottle;

[0028] Figure 7 yes Figure 4 A display diagram of the grabbing device in use;

[0029] Figure 8 yes Figure 7 A schematic diagram of the structure when the grabbing device and the rotating mechanism connected thereto are separated from each other. DETAILED DESCRIPTION

[0030] The present invention will be further described in detail below in conjunction with specific embodiments, but the implementation methods of the present invention are not limited thereto.

[0031] In the fully automated dispensing system designed by the applicant, the dispensing system includes a medicine cabinet and dispensing equipment. The medicine cabinet is enclosed and consists of multiple sub-cabinets a, each of which encloses the dispensing equipment. The structure of the sub-cabinet a is shown in FIG. Figure 7 Among them, the adjustment device includes an adjustment panel d1, see Figure 3 and Figure 7 A plurality of adjusting stations d2 and a plurality of weighing stations d3 are arranged on the adjusting panel d1. The plurality of adjusting stations d2 are evenly distributed along a circular path, and the plurality of weighing stations d3 are evenly distributed in a circular shape on the inner side of the plurality of adjusting stations d2.

[0032] When dispensing Chinese herbal granules, it is necessary to remove the medicine bottle p from the designated position in the medicine cabinet, and then place it on the dispensing station d2 of the dispensing panel d1 to perform the dispensing and unloading action. After the dispensing is completed, the medicine bottle p needs to be returned to the medicine cabinet. During this period, depending on the situation, the medicine bottle p may need to be placed on the weighing station d3 for weighing, so that the background system can determine whether the amount of unloading is accurate and know the remaining amount of medicine in the medicine bottle after unloading.

[0033] In response to this, the applicant designed a medicine bottle picking and placing robot f and a medicine bottle transferring device e.

[0034] Among them, the medicine bottle picking and placing robot f is used to take the medicine bottle p from the specified position in the medicine cabinet and then place it on the dispensing station d2 or the weighing station d3 of the dispensing panel d1, and after the dispensing is completed, put the medicine bottle p on the dispensing station d2 or the weighing station d3 back to its original position in the medicine cabinet.

[0035] The medicine bottle transfer device e is used to transfer medicine bottles p between the dispensing station d2 and the weighing station d3.

[0036] The above-mentioned medicine bottle picking and placing robot f and medicine bottle transfer device e both involve the actions of grabbing medicine bottles p and putting down medicine bottles p. Therefore, the applicant has specially designed a grabbing device for grabbing medicine bottles, which is used in the above-mentioned medicine bottle picking and placing robot f or medicine bottle transfer device e, and cooperates with the corresponding motion mechanism to realize the above-mentioned actions of grabbing medicine bottles p and putting down medicine bottles p.

[0037] The specific structure of the above-mentioned grasping device for grasping medicine bottles is shown in the following embodiments.

[0038] Embodiment 1:

[0039] With respect to the above-mentioned medicine bottle transfer device e, this embodiment provides a grasping device g for grasping medicine bottles suitable for use in the medicine bottle transfer device e, and its specific structure is as follows.

[0040] See also Figure 1 and Figure 2The grasping device g for grasping a medicine bottle of this embodiment includes a shell g1, an airbag g2 and an airbag pipeline g3.

[0041] A bottle accommodating cavity g11 is disposed at the bottom of the shell g1 , and the bottle accommodating cavity g11 allows the bottom of the medicine bottle p to be placed therein.

[0042] The airbag g2 is arranged on the inner wall of the bottle body accommodating cavity g11.

[0043] The airbag pipeline g3 is arranged in the housing g1 and is in communication with the airbag g2 for inflating or deflating the airbag g2.

[0044] When the airbag g2 is inflated, it can clamp the bottom of the medicine bottle p placed in the bottle accommodating cavity g11.

[0045] In some embodiments, the number of the airbags g2 is multiple, and the multiple airbags g2 are distributed around the inner wall of the bottle body accommodating cavity g11. Figure 1 The number of the airbags g2 is eight, and the eight airbags g2 are distributed in four areas of the inner wall of the bottle body accommodating cavity g11 in groups of two, wherein the two airbags g2 in each area are distributed in an upper and lower arrangement.

[0046] Furthermore, the airbag pipeline g3 includes a main pipeline (not shown in the figure) and multiple branch pipelines (not shown in the figure), one end of the main pipeline can be connected to the air pump through a hose, and the other end is connected to each branch pipeline, and each branch pipeline is respectively connected to each airbag g2. The airbag pipeline g3 can be a pipeline integrally formed with the shell g1, or a separate independent pipeline inserted in the shell g1, or a combination of the two.

[0047] Therefore, when the bottle body accommodating cavity g11 is sleeved on the periphery of the bottom of the medicine bottle p, the eight airbags g2 are inflated at the same time, and the eight airbags g2 can be used to clamp the bottom of the medicine bottle p from four directions. The eight airbags g2 clamp the medicine bottle p from four directions at the same time, which can ensure that the outer wall of the medicine bottle p is evenly stressed, and avoid the situation where the medicine bottle p is pushed away from the original position by the airbags. At the same time, since the airbag g2 is used for clamping, it has a certain flexibility after clamping. When the airbag g2 clamps the medicine bottle p and puts the medicine bottle p into the dispensing station d2 or the weighing station d3, if there is a slight deviation, the medicine bottle p can be deflected to a certain extent based on the flexible characteristics of the airbag g2 clamping, so that the medicine bottle p can be smoothly inserted into the dispensing station d2 or the weighing station d3. In detail, the outer wall of the bottle cap p2 of the medicine bottle p is provided with two groups of driving protrusions p22 (see Figure 3), a positioning groove d322 matching the driving protrusion p22 is provided in the adjusting station d2 or the weighing station d3 (see Figure 3 ), under normal circumstances, when the medicine bottle p is placed in the dispensing station d2 or the weighing station d3, the driving protrusion p22 should be aligned with the positioning groove d322. However, if the driving protrusion p22 is not completely aligned with the positioning groove d322, but there is a slight deviation, and the deviation is within the allowable range, then the medicine bottle p can be slightly twisted relative to the airbag g2 during the placement process, and after the twisting, it can be aligned with the positioning groove d322, so that the medicine bottle p can be smoothly inserted into the dispensing station d2 or the weighing station d3.

[0048] In order to facilitate the detection of the position status of the medicine bottle p, in some embodiments, see Figure 1 A first sensor g4 is provided on the top of the bottle accommodating cavity g11, and a second sensor g5 is provided on the side of the bottom. The first sensor g4 is used to detect whether the medicine bottle p is properly placed in the bottle accommodating cavity g11 when grabbing the medicine bottle p. The second sensor g5 is used to detect whether the medicine bottle p is completely out of the bottle accommodating cavity g11 when releasing the medicine bottle p.

[0049] Preferably, the first sensor g4 is a reflective photoelectric sensor, which can detect the distance between the bottom of the medicine bottle p and the top surface of the bottle body accommodating cavity g11 when grabbing the medicine bottle p, and then determine whether the medicine bottle p is placed in the bottle body accommodating cavity g11.

[0050] Preferably, the second sensor g5 is a beam-type infrared sensor, which is composed of a transmitter and a receiver, and the transmitter and the receiver are respectively arranged on the left and right sides of the bottom of the bottle body accommodating cavity g11. When the medicine bottle p is released, when the receiver receives the infrared ray emitted by the transmitter, it indicates that the medicine bottle p has completely left the bottle body accommodating cavity g11.

[0051] Of course, the first sensor g4 and the second sensor g5 are not limited to the above-mentioned types of sensors. In some other embodiments, the first sensor g4 and the second sensor g5 may also be other types of applicable sensors.

[0052] In some embodiments, see Figure 2 A third sensor g6 is also provided at the center of the top of the bottle body accommodating cavity g11. The third sensor g6 is used to read the RFID tag provided at the bottom of the bottle body of the medicine bottle p. The RFID tag has the name information of the medicine stored in the medicine bottle p. The third sensor g6 can determine whether the medicine bottle p grasped by the grasping device g is correct by reading the RFID tag to avoid grasping the wrong one.

[0053] In some embodiments, a plurality of guide limit plates g13 are provided in the bottle body accommodating cavity g11, and the plurality of guide limit plates g13 are distributed around the inner wall of the bottle body accommodating cavity g11, so as to guide the medicine bottle p, so that the medicine bottle p can be inserted into the bottle body accommodating cavity g11 along the central axis of the bottle body accommodating cavity g11, so as to avoid deviation from the predetermined position when inserted.

[0054] For details, see Figure 1 Four guide limit plates g13 are arranged in the bottle accommodating cavity g11, and the four guide limit plates g13 are distributed at four positions of the inner wall of the bottle accommodating cavity g11, front, back, left, and right. The bottom of the guide limit plate g13 is formed with an inclined surface, and the setting of the inclined surface can allow a certain deviation of the medicine bottle p to be grasped, and at the same time, the inclined surface is also conducive to the smooth insertion of the medicine bottle p into the area defined by the four guide limit plates g13. In addition, when the airbag g2 is not inflated (that is, when the airbag g2 is in a contracted state), the protruding height of the guide limit plate g13 is greater than the protruding height of the airbag g2 (that is, the guide limit plate g13 is closer to the central axis of the bottle accommodating cavity g11 than the contracted airbag g2), so as to ensure that the medicine bottle p will not contact the uninflated airbag g2 during the process of being inserted into the bottle accommodating cavity g11, and prevent the airbag g2 from sticking to the outer wall of the medicine bottle p, affecting the smooth insertion of the medicine bottle p.

[0055] When in use, the grabbing device g of this embodiment is assembled with the corresponding motion mechanism to form the medicine bottle transfer device e designed by the applicant.

[0056] For details, see Figure 3 After assembly, the medicine bottle transfer device e includes a first rotating mechanism e1, a first synchronous belt module e2, a gear rack mechanism e3 and a grabbing device g provided in this embodiment.

[0057] The first rotating mechanism e1 is installed in the center of the adjusting panel d1 in the adjusting device designed by the applicant, and is used to control the first synchronous belt module e2, the gear rack mechanism e3 and the grasping device g to perform rotational movement around the axis z, wherein the axis z is the center line of the entire adjusting device and extends vertically.

[0058] The first synchronous belt module e2 is installed on the top of the first rotating mechanism e1, and is used to control the gear rack mechanism e3 and the grabbing device g to make horizontal reciprocating movements perpendicular to the axis z above the adjustment panel d1.

[0059] The rack and pinion mechanism e3 is mounted on the first synchronous belt module e2, and is used to control the grabbing device g to make vertical reciprocating movements above the adjustment panel d1 parallel to the axis z.

[0060] The grasping device g of this embodiment grasps the medicine bottle p by inflating the airbag g2.

[0061] The medicine bottle transfer device e is used to transfer medicine bottles p between the dispensing station d2 and the weighing station d3 of the dispensing panel d1, see Figure 3 The specific workflow is as follows:

[0062] First, the first rotating mechanism e1 of the medicine bottle transfer device e works, driving the grasping device g to rotate to a position in the same radial direction as the medicine bottle p to be grasped;

[0063] Afterwards, the first synchronous belt module e2 works, driving the grabbing device g to move radially to just above the medicine bottle p to be grabbed;

[0064] Then, the gear rack mechanism e3 works in the forward direction, driving the gripping device g to move downward and causing the bottle receiving cavity g11 to fit over the bottom of the medicine bottle p;

[0065] Afterwards, all the airbags g2 of the gripping device g are inflated, and after the airbags g2 are inflated, the bottom of the medicine bottle p is clamped from four directions;

[0066] Then, the gear rack mechanism e3 works in the reverse direction, driving the grabbed medicine bottle p to move upward;

[0067] Afterwards, the first synchronous belt module e2 works to drive the grabbed medicine bottle p to move radially to a position with the same radius as the corresponding station (dispensing station d2 or weighing station d3);

[0068] Then, the first rotary mechanism e1 works, driving the grabbed medicine bottle p to rotate to just above the corresponding workstation;

[0069] Afterwards, the gear rack mechanism e3 works forward, driving the grabbed medicine bottle p to move downward and clamp it into the corresponding station above;

[0070] Finally, the airbag of the gripping device g is evacuated to release the grip on the medicine bottle p, and then the rack and pinion mechanism e3 is made to work in the reverse direction to drive the gripping device g to move upward and away from the medicine bottle p.

[0071] Embodiment 2:

[0072] With respect to the above-mentioned medicine bottle picking and placing robot f, this embodiment provides a grasping device g for grasping medicine bottles suitable for use in the medicine bottle picking and placing robot f.

[0073] See also Figure 4 and Figure 5The grasping device g of this embodiment is substantially the same as the grasping device g of Embodiment 1 in terms of components, that is, it also includes a shell g1, an airbag g2 and an airbag pipeline g3. A bottle body accommodating cavity g11 is provided at the bottom of the shell g1. The bottle body accommodating cavity g11 allows the bottom of the medicine bottle p to be placed therein. The airbag g2 is arranged on the inner wall of the bottle body accommodating cavity g11. The airbag pipeline g3 is arranged in the shell g1. The airbag pipeline g3 is connected to the airbag g2 and is used to inflate or deflat the airbag g2. When the airbag g2 is inflated, it can clamp the bottom of the medicine bottle p placed in the bottle body accommodating cavity g11.

[0074] Meanwhile, in this embodiment, the number and arrangement of the airbags g2 are consistent with those in Embodiment 1, and the arrangement of the airbag pipelines g3 is also consistent with those in Embodiment 1.

[0075] In this embodiment, a first sensor g4, a second sensor g5 and a third sensor g6 are also provided, and the installation positions and functions of these three sensors are also consistent with those in the first embodiment.

[0076] In this embodiment, guide limit plates g13 are also provided, and the number and arrangement of the guide limit plates g13 are also consistent with those in the first embodiment.

[0077] Compared with Example 1, this embodiment is different mainly in the following two points:

[0078] (1) In this embodiment, the upper part of the housing g1 is a flat cylindrical structure, see Figure 8 The outer wall of the flat cylindrical structure can be installed with a base plate g8, which is then connected to the rotating mechanism f4 through the base plate g8, so that the rotating mechanism f4 can be used to drive the grabbing device g to rotate;

[0079] (2) A fourth sensor g7 is disposed outside the bottle accommodating cavity g11. The fourth sensor g7 is disposed at the bottom of the flat cylindrical structure and is used to detect whether there is a medicine bottle p at the target position; preferably, see Figure 6 The fourth sensor g7 adopts a laser ranging sensor. Before grabbing the medicine bottle p, it uses laser to detect whether there is a medicine bottle p at the target position to be grabbed. If it is detected that there is no medicine bottle p, the grabbing device g can be moved to the next position to continue to detect whether there is a medicine bottle p at the next target position. If it is detected that there is a medicine bottle p, the step of the grabbing device g grabbing the medicine bottle p can be started; similarly, the laser ranging sensor can also detect whether the position where the medicine bottle p is to be inserted is occupied by other medicine bottles. If an abnormality is detected, it can be fed back to the staff through the software interface for processing.

[0080] Of course, the fourth sensor g7 is not limited to the above-mentioned type of sensors. In some other embodiments, other types of applicable sensors may also be used.

[0081] When in use, the gripping device g of this embodiment is assembled with the corresponding motion mechanism to form the medicine bottle picking and placing robot f designed by the applicant.

[0082] For details, see Figure 7 After assembly, the medicine bottle picking and placing robot f includes a second rotating mechanism f1, a screw module f2, a second synchronous belt module f3, a rotating mechanism f4 and a grasping device g provided in this embodiment.

[0083] The second rotating mechanism f1 is installed in the center of the adjusting panel d1 in the adjusting equipment designed by the applicant. The second rotating mechanism f1 is used to control the screw module f2, the second synchronous belt module f3, the rotating mechanism f4 and the grasping device g to perform rotational motion around the axis z, wherein the axis z is the center line of the entire adjusting equipment and extends vertically.

[0084] The screw module f2 is installed on the top of the second rotary mechanism f1, and is used to control the second synchronous belt module f3, the rotating mechanism f4 and the grabbing device g to make vertical reciprocating movements parallel to the axis z.

[0085] The second synchronous belt module f3 is installed on the screw module f2, and is used to control the rotating mechanism f4 and the grasping device g to make horizontal reciprocating movements perpendicular to the axis z.

[0086] The rotating mechanism f4 is mounted on the second synchronous belt module f3. Figure 8 The rotating mechanism f4 includes a second turntable f41 and an eighth motor f42. The second turntable f41 is fixed to the moving block in the second synchronous belt module f3. The grabbing device g of this embodiment is installed on the rotating part of the second turntable f41 through the base plate g8. The eighth motor f42 is fixed to the bottom of the second turntable f41 and is used to drive the rotating part of the second turntable f41 to perform a rotational motion.

[0087] The grasping device g of this embodiment grasps the medicine bottle p by inflating the airbag g2.

[0088] The medicine bottle picking and placing robot f is used to take the medicine bottle p from the designated position in the medicine cabinet and place it on the dispensing station d2 or the weighing station d3 of the dispensing panel d1, and to put the medicine bottle p on the dispensing station d2 or the weighing station d3 back to its original position in the medicine cabinet after the dispensing is completed. The medicine cabinet is enclosed in the periphery of the dispensing panel d1, and the medicine cabinet is composed of multiple sub-cabinets a, see Figure 7, each sub-cabinet a is arranged with a plurality of medicine storage compartments, each of which can hold a medicine bottle p, a plurality of dispensing stations d2 and a plurality of weighing stations d3 are arranged on the dispensing panel d1, a plurality of dispensing stations d2 are evenly distributed in a ring around the axis z, a plurality of weighing stations d3 are also evenly distributed in a ring around the axis z, and the weighing stations d3 are distributed on the inner side of the dispensing stations d2.

[0089] See also Figure 7 The workflow of the medicine bottle pick-and-place robot f is roughly as follows:

[0090] First, the second rotary mechanism f1 of the medicine bottle picking and placing robot f works, driving the grasping device g to rotate to a position on the same vertical plane as the medicine bottle p to be grasped;

[0091] Afterwards, the screw module f2 works to drive the grabbing device g to move upward or downward to a position directly opposite to the medicine bottle p to be grabbed;

[0092] Then, the rotating mechanism f4 works in the forward direction, driving the grasping device g to rotate from a position parallel to the axis z to a position perpendicular to the axis z, that is, the grasping device g is rotated from a vertical state to a horizontal state;

[0093] Afterwards, the second synchronous belt module f3 works forward to drive the grasping device g to move forward horizontally. When it moves to the position where the medicine bottle p is to be grasped, the fourth sensor g7 detects whether there is a medicine bottle p at the target position to be grasped. If a medicine bottle p is detected, the subsequent action is continued. If no medicine bottle p is detected, the second rotary mechanism f1 and the lead screw module f2 work together to move the grasping device g to a position directly opposite to the next medicine storage grid, and continue to detect whether there is a medicine bottle p in the medicine storage grid. If not, the grasping device g continues to move to a position directly opposite to the next medicine storage grid until a medicine bottle p is detected in the medicine storage grid at the target position.

[0094] When a medicine bottle p is detected at the target position, the second synchronous belt module f3 continues to work in the forward direction, driving the gripping device g to move forward horizontally until the bottom of the medicine bottle p is stuck in the bottle body accommodating cavity g11;

[0095] Afterwards, all the airbags g2 of the gripping device g are inflated, and after being inflated, the airbags g2 clamp the bottom of the medicine bottle p from four directions;

[0096] Then, the second synchronous belt module f3 works in the reverse direction, driving the grabbed medicine bottle p to move horizontally backward to the zero position of the second synchronous belt module f3;

[0097] Then, the rotating mechanism f4 works in the reverse direction, driving the grabbed medicine bottle p to rotate from a horizontal state to a vertical state;

[0098] Afterwards, the second synchronous belt module f3 works forward again, driving the grabbed medicine bottle p to move to a position at the same radius as the station where it will be placed (dispensing station d2 or weighing station d3);

[0099] Then, the second rotary mechanism f1 works, driving the grabbed medicine bottle p to rotate to the top of the station where it will be placed (dispensing station d2 or weighing station d3);

[0100] Afterwards, the screw module f2 works to drive the grabbed medicine bottle p to move downward until the bottle cap p2 of the medicine bottle p is stuck in the dispensing station d2 or the weighing station d3;

[0101] Finally, the airbag g2 of the grasping device g is evacuated to release the grasping of the medicine bottle p, and then the screw module f2 is made to work in the reverse direction to drive the grasping device g to move upward and away from the medicine bottle p.

[0102] After the adjustment is completed, the medicine bottle p needs to be put back to its original position in the medicine cabinet. The steps are also completed with the cooperation of the second rotating mechanism f1, the screw module f2, the second synchronous belt module f3 and the rotating mechanism f4. The specific action steps are roughly opposite to the above-mentioned action steps of removing the medicine bottle p from the medicine cabinet and placing it on the adjustment station d2 or the weighing station d3, so they will not be elaborated in detail.

[0103] The above description is only the preferred implementation of the utility model, and is not intended to limit the utility model. For those skilled in the art, the utility model can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the utility model shall be included in the protection scope of the utility model.

Claims

1. A gripping device for gripping a medicine bottle, characterized in that: include: A shell (g1), wherein a bottle accommodating cavity (g11) is provided at the bottom of the shell (g1), and the bottle accommodating cavity (g11) allows the medicine bottle to be partially placed therein; An air bag (g2), wherein the air bag (g2) is arranged on the inner wall of the bottle body accommodating cavity (g11); An airbag pipeline (g3), the airbag pipeline (g3) is connected to the airbag (g2) and is used to inflate or deflate the airbag (g2); When the airbag (g2) is inflated, it can clamp the medicine bottle placed in the bottle accommodating cavity (g11).

2. A gripping device for gripping a medicine bottle according to claim 1, characterized in that: A first sensor (g4) is arranged on the top of the bottle accommodating cavity (g11) to detect whether the medicine bottle is properly placed in the bottle accommodating cavity (g11).

3. A gripping device for gripping a medicine bottle according to claim 1, characterized in that: A second sensor (g5) is provided on the side of the bottom of the bottle accommodating cavity (g11) to detect whether the medicine bottle is completely separated from the bottle accommodating cavity (g11) when the medicine bottle is released.

4. A gripping device for gripping a medicine bottle according to claim 1, characterized in that: A third sensor (g6) is arranged at the center of the top of the bottle accommodating cavity (g11), and the third sensor (g6) is used to read the RFID tag arranged on the medicine bottle to determine whether the grabbed medicine bottle is a predetermined medicine bottle.

5. The gripping device for gripping a medicine bottle according to claim 1, characterized in that: A fourth sensor (g7) is arranged on the outside of the bottle accommodating cavity (g11) to detect whether there is a medicine bottle at the target position.

6. A gripping device for gripping a medicine bottle according to claim 1, characterized in that: The number of the airbags (g2) is multiple, and the multiple airbags (g2) are distributed around the inner wall of the bottle body accommodating cavity (g11).

7. A gripping device for gripping a medicine bottle according to claim 6, characterized in that: The number of the airbags (g2) is eight, and the eight airbags (g2) are distributed in groups of two in four areas on the inner wall of the bottle body accommodating cavity (g11), wherein the two airbags (g2) in each area are arranged in an up-and-down manner.

8. A gripping device for gripping a medicine bottle according to claim 6, characterized in that: The airbag pipeline (g3) is relatively fixed to the shell (g1), and includes a main pipeline and multiple branch pipelines. One end of the main pipeline is used to connect to the air pump, and the other end is connected to each branch pipeline. Each branch pipeline is respectively connected to each airbag (g2).

9. A gripping device for gripping a medicine bottle according to claim 1, characterized in that: A plurality of guide limit plates (g13) are arranged in the bottle body accommodating cavity (g11), and the plurality of guide limit plates (g13) are distributed around the inner wall of the bottle body accommodating cavity (g11) to guide the medicine bottle so that the medicine bottle can be placed in the bottle body accommodating cavity (g11) along the central axis of the bottle body accommodating cavity (g11).

10. A gripping device for gripping a medicine bottle according to claim 9, characterized in that: The number of the guide and limit plates (g13) is four, and the four guide and limit plates (g13) are evenly distributed at four positions on the inner wall of the bottle body accommodating cavity (g11).

Images