Medicament bottle taking and placing manipulator applied to traditional Chinese medicine granule dispensing equipment

Abstract

The utility model discloses a medicament bottle taking and placing manipulator applied to traditional Chinese medicine granule dispensing equipment. The medicament bottle taking and placing manipulator comprises a second slewing mechanism; the third linear motion mechanism is mounted on the second rotary mechanism and can do rotary motion based on the second rotary mechanism; the fourth linear motion mechanism is mounted on the third linear motion mechanism and can do vertical reciprocating motion based on the third linear motion mechanism; the rotating mechanism is mounted on the fourth linear motion mechanism and can do horizontal reciprocating motion based on the fourth linear motion mechanism; and the grabbing device is mounted on the rotating mechanism and can rotate based on the rotating mechanism. The medicament bottle taking and placing manipulator can be used for automatically taking and placing medicament bottles in dispensing equipment designed by an applicant, namely, the medicament bottles at specified positions in a medicament cabinet can be automatically taken down and then placed on corresponding stations of the dispensing equipment; and after subsequent dispensing is completed, the medicament bottle can be put back to the original position in the medicament cabinet.

Description

Technical Field

[0001] The utility model relates to the technical field of automatic dispensing of traditional Chinese medicine granules, in particular to a medicine bottle taking and placing manipulator used in traditional Chinese medicine granule dispensing equipment. 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 enclosed, and the dispensing device is arranged in the enclosed medicine cabinet. When dispensing Chinese medicine granules, it is necessary to take down the medicine bottle at the designated position in the medicine cabinet, and then place it in the dispensing device for dispensing Chinese medicine granules. After the dispensing is completed, the medicine bottle needs to be put back to the original position in the medicine cabinet. In this regard, the technical problem to be solved by the utility model is to provide a medicine bottle picking and placing robot, so that when dispensing Chinese medicine granules, the medicine bottle at the designated position in the medicine cabinet can be taken down and then placed in the dispensing device for dispensing Chinese medicine granules, and the medicine bottle can be put back to the original position in the medicine cabinet after the dispensing is completed.

[0006] The technical solution adopted by the utility model to solve its technical problems is: a medicine bottle picking and placing robot used in Chinese medicine granule dispensing equipment is provided, characterized in that it includes a grasping device, which is used to grasp the medicine bottle and can transfer the horizontally placed medicine bottle to a vertical position or transfer the vertically placed medicine bottle to a horizontal position.

[0007] Preferably, the medicine bottle picking and placing robot further includes a second rotary mechanism, a third linear motion mechanism, a fourth linear motion mechanism and a rotation mechanism;

[0008] The second rotating mechanism has a second rotating center line;

[0009] The third linear motion mechanism is installed on the second rotary mechanism, and can perform rotary motion around the second rotary center line based on the second rotary mechanism;

[0010] The fourth linear motion mechanism is installed on the third linear motion mechanism, and can perform linear reciprocating motion parallel to the second rotation center line based on the third linear motion mechanism;

[0011] The rotating mechanism is mounted on the fourth linear motion mechanism, and can perform linear reciprocating movement perpendicular to the second rotation center line based on the fourth linear motion mechanism;

[0012] The grasping device is mounted on the rotating mechanism, and can perform a rotational motion around an axis perpendicular to the second rotation center line based on the rotating mechanism, and during the rotation process, the grasping device can rotate to a position perpendicular to the second rotation center line or a position parallel to the second rotation center line;

[0013] Wherein, the grasping device can transfer a horizontally placed medicine bottle to a vertical position or transfer a vertically placed medicine bottle to a horizontal position based on the coordinated movement of the rotating mechanism, the fourth linear motion mechanism, the third linear motion mechanism and the second rotating mechanism.

[0014] Preferably, the second rotating mechanism includes a fifth motor and a second mounting seat; the fifth motor is arranged below the second mounting seat to drive the second mounting seat to perform a rotating motion around the second rotation center line; the third linear motion mechanism is installed on the top of the second mounting seat.

[0015] Preferably, the third linear motion mechanism is a screw module, and the screw module is mounted on the second mounting seat; the screw module includes a slide, and the slide can perform linear reciprocating movement along a direction parallel to the second rotation center line.

[0016] Preferably, the fourth linear motion mechanism is a second synchronous belt module, and the second synchronous belt module is installed on the slide; the second synchronous belt module includes a seventh motor, a second pulley assembly and a second moving block, and the seventh motor is transmission-connected to the second pulley assembly to drive the second moving block installed on the second pulley assembly to make a linear reciprocating motion perpendicular to the second rotation center line.

[0017] Preferably, the rotating mechanism is installed on the second moving block; the rotating mechanism includes a second turntable and an eighth motor, the grasping device is installed on the rotating part of the second turntable, and the eighth motor is used to drive the rotating part of the second turntable to perform a rotational motion.

[0018] Preferably, the gripping device comprises a housing, an airbag and an airbag pipeline;

[0019] The bottom of the shell is provided with a bottle accommodating cavity, and the bottle accommodating cavity allows the medicine bottle to be partially placed therein;

[0020] The air bag is arranged on the inner wall of the bottle body accommodating cavity;

[0021] The airbag pipeline is in communication with the airbag and is used to inflate or deflate the airbag;

[0022] When the airbag is inflated, it can clamp the medicine bottle placed in the bottle accommodating cavity.

[0023] Preferably, a first sensor is arranged on the top of the bottle body accommodating cavity, a second sensor is arranged on the side of the bottom, and a fourth sensor is arranged on the outside; the first sensor is used to detect whether the medicine bottle is placed in the bottle body accommodating cavity. The second sensor is used to detect whether the medicine bottle is completely out of the bottle body accommodating cavity when releasing the medicine bottle. The fourth sensor is used to detect whether there is a medicine bottle at the target position to be grasped.

[0024] Preferably, there are multiple airbags, and the multiple airbags are distributed around the inner wall of the bottle body accommodating cavity.

[0025] 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.

[0026] The beneficial effects of the utility model are:

[0027] The medicine bottle picking and placing robot of the utility model can undertake the task of automatically picking and placing medicine bottles in the dispensing equipment designed by the applicant, that is, it can automatically take out the medicine bottles from the designated positions in the medicine cabinet and place them on the corresponding workstations of the dispensing equipment, and can also put the medicine bottles back to their original positions in the medicine cabinet after the subsequent dispensing is completed. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 This is a schematic diagram of the structure of the medicine bottle taking and placing robot provided by the embodiment of the utility model when viewed horizontally;

[0029] Figure 2 This is a schematic diagram of the structure of the medicine bottle taking and placing robot provided by the embodiment of the utility model when viewed from above;

[0030] Figure 3 It is an independent view of the embodiment of the utility model when the rotating mechanism and the grasping device are separated from each other;

[0031] Figure 4 It is an independent view of the grabbing device in the embodiment of the utility model;

[0032] Figure 5 Yes Figure 4 A cutaway view of the internal structure of the grabbing device;

[0033] Figure 6 It is a schematic diagram of the fourth sensor detecting whether there is a medicine bottle at the target position when the grasping device in the embodiment of the utility model is preparing to grasp the medicine bottle;

[0034] Figure 7 This is a state diagram of the medicine bottle picking and placing robot provided by the embodiment of the utility model when it is working;

[0035] Figure 8 This is a state diagram from another perspective of the medicine bottle picking and placing robot provided by the embodiment of the utility model when it is working. DETAILED DESCRIPTION

[0036] 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.

[0037] In the fully automated dispensing system designed by the applicant, the dispensing system includes a medicine cabinet and dispensing equipment, see Figure 7 and Figure 8 The medicine cabinet is of an enclosed type, consisting of a plurality of sub-cabinets a, each of which encloses the dispensing equipment, and each of which is provided with a plurality of medicine storage grids, each of which can be provided with a medicine bottle p, and the dispensing equipment includes a dispensing panel d1, on which a plurality of dispensing stations d2 and a plurality of weighing stations d3 are arranged, the plurality of dispensing 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 dispensing stations d2. When dispensing Chinese medicine granules, it is necessary to remove the medicine bottle p placed at a designated position in the medicine cabinet, and then place it at the weighing station d3 for weighing, and then transfer it to the dispensing station d2 after weighing for dispensing and dispensing, and after dispensing, the medicine bottle p needs to be put back to its original position in the medicine cabinet.

[0038] In this regard, in order to take the medicine bottle p from the medicine cabinet and then place it on the weighing station d3 or the dispensing station d2, and to put the medicine bottle p back to its original position in the medicine cabinet after the subsequent dispensing is completed. The utility model provides a medicine bottle picking and placing robot used in a Chinese medicine granule dispensing device, the medicine bottle picking and placing robot includes a gripping device g, the gripping device g is used to grab the medicine bottle and can transfer the horizontally placed medicine bottle to a vertical position or transfer the vertically placed medicine bottle to a horizontal position. That is, for example, the grabbing device g can grab a medicine bottle and transfer the medicine bottle from the sub-cabinet a to the dispensing station d2 or the weighing station d3 of the dispensing panel d1, or it can grab a medicine bottle and transfer the medicine bottle from the dispensing station d2 or the weighing station d3 of the dispensing panel d1 to the sub-cabinet a; wherein, when the medicine bottle is placed on the sub-cabinet a, it is horizontally inserted in the sub-cabinet a, and when the medicine bottle is placed on the dispensing station d2 or the weighing station d3, it is vertically inserted in the dispensing station d2 or the weighing station d3.

[0039] For more details, see Figure 1 and Figure 2 The bottle picking and placing robot f also includes a second rotary mechanism f1, a third linear motion mechanism, a fourth linear motion mechanism and a rotation mechanism f4.

[0040] See also Figure 1 and Figure 2 , the second rotary mechanism f1 has a second rotary center line z2. Figure 7 and Figure 8 When the second rotary mechanism f1 is installed at the center of the adjustment panel d1, the second rotary center line z2 is colinear with the axis z. The axis z is the center line of the entire adjustment device and extends vertically.

[0041] The third linear motion mechanism is installed on the second rotary mechanism f1, and the second rotary mechanism f1 can drive the third linear motion mechanism to perform rotary motion around the second rotary center line z2.

[0042] The fourth linear motion mechanism is installed on the third linear motion mechanism, and the third linear motion mechanism can drive the fourth linear motion mechanism to perform linear reciprocating movement parallel to the second rotation center line z2.

[0043] The rotating mechanism f4 is installed on the fourth linear motion mechanism, and the fourth linear motion mechanism can drive the rotating mechanism f4 to make a linear reciprocating movement perpendicular to the second rotation center line z2.

[0044] The grabbing device g is mounted on the rotating mechanism f4, and the rotating mechanism f4 can drive the grabbing device g to rotate around an axis perpendicular to the second rotation center line z2, and during the rotation process, the grabbing device g can rotate to a position perpendicular to the second rotation center line z2 or a position parallel to the second rotation center line z2. When the grabbing device g rotates to a position perpendicular to the second rotation center line z2, see Figure 8 , the side of the gripping device g gripping the medicine bottle p is located on the side of the gripping device g away from the second rotation center line z2. When the gripping device g rotates to a position parallel to the second rotation center line z2, see Figure 1 or Figure 7 The side of the gripping device g that grips the medicine bottle p is located at the lower side of the gripping device g.

[0045] The gripping device g can transfer a medicine bottle placed horizontally to a vertical position or a medicine bottle placed vertically to a horizontal position based on the coordinated movement of the rotating mechanism f4, the fourth linear motion mechanism, the third linear motion mechanism and the second rotary mechanism f1. That is, during the dispensing, the gripping device g can transfer a medicine bottle p placed horizontally in the medicine storage compartment of the medicine cabinet to a medicine bottle placed vertically in the weighing station d3 or the dispensing station d2 based on the coordinated movement of the above four mechanisms. After the dispensing, the gripping device g can also transfer a medicine bottle p placed vertically in the weighing station d3 or the dispensing station d2 to a medicine bottle placed horizontally in the medicine storage compartment of the medicine cabinet based on the coordinated movement of the above four mechanisms.

[0046] In some embodiments, see Figure 1 The second rotary mechanism f1 includes a fifth motor f11 and a second mounting seat f12. The fifth motor f11 is arranged below the second mounting seat f12 to drive the second mounting seat f12 to perform a rotary motion around the second rotary center line z2. The second mounting seat f12 is used to mount the third linear motion mechanism.

[0047] Furthermore, the second rotating mechanism f1 further comprises a coupling f13, the bottom of the second mounting seat f12 has a shaft, and the fifth motor f11 is connected to the shaft at the bottom of the second mounting seat f12 via the coupling f13.

[0048] It should be noted that, under reasonable and applicable circumstances, the second rotating mechanism f1 may also adopt rotating mechanisms of other structural forms and is not limited to the structural forms provided above. Rotating mechanisms of other structural forms should also have a mounting seat to facilitate the installation of the third linear motion mechanism.

[0049] In some embodiments, see Figure 1 and Figure 2The third linear motion mechanism is a screw module f2, which is vertically mounted on the second mounting seat f12. The screw module f2 has a slide seat f21, which can perform linear reciprocating movement in a direction parallel to the second rotation center line z2.

[0050] Preferably, the screw module f2 adopts a fully enclosed screw module, which is arranged vertically, with its bottom fixed on the second mounting seat f12, and the top connected to a top plate f5 through a bearing. When the medicine bottle picking and placing robot of the utility model is installed on the dispensing panel d1, the top plate f5 needs to be connected to other components (not shown in the figure) so that the top plate f5 can be fixed, so that when the second rotary mechanism f1 is working, the screw module f2 can stably rotate between the second mounting seat f12 and the top plate f5. The top plate f5 provides a stable foundation for the rotation of the screw module f2, which can avoid the situation of tilting and deviation of the screw module f2 when rotating.

[0051] It should be noted that the above-mentioned fully enclosed screw module is an existing technology and can be purchased directly from the manufacturer or customized. The fully enclosed screw module is provided with components such as a motor, a screw, a nut, and a guide rail, and a slide is provided on the outside. The slide is connected to the internal nut. When working, the motor drives the screw to rotate, the screw rotation drives the nut to move, and the movement of the nut drives the slide to move linearly along the guide rail. Since only the slide is exposed to the outside, the other components are enclosed in the main body frame of the screw module. Therefore, Figure 1 or Figure 7 Only the exposed slide f21 can be seen, and the other components enclosed in the main body frame are invisible.

[0052] It should also be noted that, under reasonable and applicable circumstances, the third linear motion mechanism may also adopt linear motion mechanisms of other structural forms, and is not limited to the screw module form provided above.

[0053] In some embodiments, see Figure 1 and Figure 2 The fourth linear motion mechanism is a second synchronous belt module f3, which is mounted on the slide f21. The second synchronous belt module f3 includes a seventh motor f31, a second pulley assembly f32 and a second moving block f33, the second pulley assembly f32 includes two synchronous wheels (not shown in the figure) and a synchronous belt (not shown in the figure) wrapped around the two synchronous wheels, the seventh motor f31 is connected to one of the synchronous wheels in the second pulley assembly f32 to drive the synchronous belt in the second pulley assembly f32 to run, and then drive the second moving block f33 mounted on the synchronous belt to make a linear reciprocating movement perpendicular to the second rotation center line z2.

[0054] It should be noted that the second synchronous belt module f3 can be a fully enclosed synchronous belt module, which is an existing technology and can be purchased directly from the manufacturer or customized. In the fully enclosed synchronous belt module, the synchronous belt and the synchronous wheel are enclosed in the main frame of the synchronous belt module. Therefore, Figure 1 , Figure 2 or Figure 7 , Figure 8 You can't see the synchronous belt and synchronous pulley.

[0055] It should also be noted that, under reasonable and applicable circumstances, the fourth linear motion mechanism may also adopt linear motion mechanisms of other structural forms, and is not limited to the synchronous belt module form provided above.

[0056] In some embodiments, see Figure 3 The rotating mechanism f4 includes a second turntable f41 and an eighth motor f42. The second turntable f41 is connected to the second moving block f33 through a fourth mounting seat f43, and the grabbing device g is mounted on the rotating part of the second turntable f41. 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 rotating motion.

[0057] It should be noted that the above-mentioned rotating mechanism f4 including the second turntable f41 and the eighth motor f42 belongs to the existing technology and can be directly purchased or customized from the manufacturer.

[0058] It should also be noted that, under reasonable and applicable circumstances, the rotating mechanism f4 may also adopt rotating mechanisms of other structural forms, and is not limited to the structural form of the motor combined with the turntable provided above.

[0059] In some embodiments, see Figure 4 and Figure 5 The gripping device g comprises a housing g1, an airbag g2 and an airbag pipeline g3. The bottom of the housing g1 is provided with a bottle accommodating cavity g11, and the bottle accommodating cavity g11 allows the medicine bottle p to be partially placed therein, see Figure 1 and Figure 2 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, and the airbag pipeline g3 is connected with the airbag g2, and is used to inflate or deflat the airbag g2. When the airbag g2 is inflated, it can clamp the medicine bottle placed in the bottle body accommodating cavity g11.

[0060] Furthermore, 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 4 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.

[0061] The airbag pipeline g3 includes a main pipeline and multiple branch pipelines. 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.

[0062] 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 1 ), a positioning groove matching the driving protrusion p22 is provided in the dispensing station d2 or the weighing station d3. Under normal circumstances, the driving protrusion p22 should be aligned with the positioning groove when the medicine bottle p is placed in the dispensing station d2 or the weighing station d3. However, if the driving protrusion p22 is not completely aligned with the positioning groove, 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, so that the medicine bottle p can be smoothly inserted into the dispensing station d2 or the weighing station d3.

[0063] In order to facilitate the detection of the position status of the medicine bottle p, in some embodiments, see Figure 4 The top of the bottle accommodating cavity g11 is provided with a first sensor g4, the side of the bottom is provided with a second sensor g5, and the outer side is provided with a fourth sensor g7. The first sensor g4 is used to detect whether the medicine bottle is properly placed in the bottle accommodating cavity g11, the second sensor g5 is used to detect whether the medicine bottle is completely separated from the bottle accommodating cavity g11 when releasing the medicine bottle, and the fourth sensor g7 is used to detect whether there is a medicine bottle at the target position to be grasped.

[0064] 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.

[0065] 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.

[0066] Preferably, see Figure 6 The fourth sensor g7 is a laser distance sensor, which detects whether there is a medicine bottle p at the target position to be grasped by laser. If it is detected that there is no medicine bottle p, the grasping 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 grasping device g can be started to grasp the medicine bottle p. Similarly, the laser distance sensor can also detect whether the position where the medicine bottle p is about 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.

[0067] Of course, the first sensor g4, the second sensor g5, and the fourth sensor g7 are not limited to the above-mentioned types of sensors. In some other embodiments, other types of applicable sensors may also be used.

[0068] In some embodiments, see Figure 5 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.

[0069] In some embodiments, see Figure 4 A plurality of guide limit plates g13 are provided in the bottle accommodating cavity g11, and the plurality of guide limit plates g13 are distributed around the inner wall of the bottle accommodating cavity g11 to guide the medicine bottle p so that the medicine bottle p can be inserted into the bottle accommodating cavity g11 along the central axis of the bottle accommodating cavity g11 to avoid deviation from the predetermined position.

[0070] For details, see Figure 4Four guide limit plates g13 are provided in the bottle body accommodating cavity g11, and the four guide limit plates g13 are distributed in four positions of the front, back, left and right of the bottle body accommodating cavity g11. The bottom of the guide limit plate g13 is formed with an inclined surface to facilitate the smooth insertion of the medicine bottle p into the area defined by the four guide limit plates g13. Moreover, when the airbag g2 is not inflated (i.e., 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 (i.e., the guide limit plate g13 is closer to the central axis of the bottle body accommodating cavity g11 than the contracted airbag g2), thereby ensuring that the medicine bottle p will not contact the uninflated airbag g2 during the insertion into the bottle body accommodating cavity g11, and preventing the airbag g2 from sticking to the outer wall of the medicine bottle p and affecting the smooth insertion of the medicine bottle p.

[0071] During installation, the medicine bottle picking and placing robot f of the utility model needs to be installed in the center of the dispensing equipment designed by the applicant, wherein the dispensing equipment includes a dispensing panel d1, and an installation area is reserved in the middle of the dispensing panel d1. The second rotating mechanism f1 of the medicine bottle picking and placing robot f is installed in the installation area. After installation, the second rotation center line z2 of the second rotating mechanism f1 is colinear with the axis z, and the axis z is the center line of the dispensing equipment and extends vertically.

[0072] The medicine cabinet is surrounded by a plurality of sub-cabinets a, each of which is provided with a plurality of medicine storage compartments, and each medicine storage compartment can hold a medicine bottle p. The dispensing panel d1 is provided with a plurality of dispensing stations d2 and a plurality of weighing stations d3, the plurality of dispensing stations d2 are evenly distributed in a ring around the axis z, and the 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.

[0073] The task of the medicine bottle picking and placing robot f of the utility model is to take out the designated medicine bottle p in the medicine cabinet and then place it on the weighing station d3 or the dispensing station d2, and to put the medicine bottle p on the weighing station d3 or the dispensing station d2 back to its original position in the medicine cabinet after the subsequent dispensing is completed. Figure 7 and Figure 8 The workflow of the medicine bottle pick-and-place robot f is roughly as follows:

[0074] 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;

[0075] 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;

[0076] 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;

[0077] 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.

[0078] 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;

[0079] 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;

[0080] 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;

[0081] 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;

[0082] 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);

[0083] 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);

[0084] 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;

[0085] 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.

[0086] 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.

[0087] It can be seen that the bottle picking and placing robot f of the utility model can undertake the task of automatically picking up and placing medicine bottles p in the dispensing equipment designed by the applicant, that is, it can automatically take out the medicine bottle p at the designated position in the medicine cabinet and then place it in the corresponding weighing station d3 or the corresponding dispensing station d2 on the dispensing panel d1, and after the subsequent dispensing is completed, it can also put the medicine bottle p on the weighing station d3 or the dispensing station d2 back to its original position in the medicine cabinet.

[0088] 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 medicine bottle picking and placing robot used in a Chinese medicine granule dispensing device, characterized in that: The invention comprises a gripping device (g), which is used to grip the medicine bottle and can transfer the medicine bottle placed horizontally to a vertical position or transfer the medicine bottle placed vertically to a horizontal position.

2. The medicine bottle picking and placing robot used in the Chinese medicine granule dispensing equipment according to claim 1 is characterized in that: The medicine bottle picking and placing robot also includes a second rotary mechanism (f1), a third linear motion mechanism, a fourth linear motion mechanism and a rotation mechanism (f4); The second rotating mechanism (f1) has a second rotating center line (z2); The third linear motion mechanism is installed on the second rotary mechanism (f1), and can perform rotary motion around the second rotary center line (z2) based on the second rotary mechanism (f1); The fourth linear motion mechanism is installed on the third linear motion mechanism, and can perform linear reciprocating movement parallel to the second rotation center line (z2) based on the third linear motion mechanism; The rotating mechanism (f4) is installed on the fourth linear motion mechanism, and can perform linear reciprocating movement perpendicular to the second rotation center line (z2) based on the fourth linear motion mechanism; The grabbing device (g) is installed on the rotating mechanism (f4), and can rotate around an axis perpendicular to the second rotation center line (z2) based on the rotating mechanism (f4), and during the rotation process, the grabbing device (g) can rotate to a position perpendicular to the second rotation center line (z2) or a position parallel to the second rotation center line (z2); Among them, the grasping device (g) can transfer a horizontally placed medicine bottle to a vertical position or transfer a vertically placed medicine bottle to a horizontal position based on the coordinated movement of the rotating mechanism (f4), the fourth linear motion mechanism, the third linear motion mechanism and the second rotating mechanism (f1).

3. The medicine bottle picking and placing robot used in the Chinese medicine granule dispensing equipment according to claim 2 is characterized in that: The second rotating mechanism (f1) comprises a fifth motor (f11) and a second mounting seat (f12); the fifth motor (f11) is arranged below the second mounting seat (f12) to drive the second mounting seat (f12) to perform a rotating motion around the second rotation center line (z2); the third linear motion mechanism is installed on the top of the second mounting seat (f12).

4. The medicine bottle picking and placing robot used in the Chinese medicine granule dispensing equipment according to claim 3 is characterized in that: The third linear motion mechanism is a screw module (f2), and the screw module (f2) is installed on the second mounting seat (f12); the screw module (f2) includes a slide seat (f21), and the slide seat (f21) can perform linear reciprocating movement along a direction parallel to the second rotation center line (z2).

5. The medicine bottle picking and placing robot used in the Chinese medicine granule dispensing equipment according to claim 4 is characterized in that: The fourth linear motion mechanism is a second synchronous belt module (f3), and the second synchronous belt module (f3) is installed on the slide (f21); the second synchronous belt module (f3) includes a seventh motor (f31), a second pulley assembly (f32) and a second moving block (f33), and the seventh motor (f31) is transmission-connected with the second pulley assembly (f32) to drive the second moving block (f33) installed on the second pulley assembly (f32) to make a linear reciprocating movement perpendicular to the second rotation center line (z2).

6. The medicine bottle picking and placing robot used in the Chinese medicine granule dispensing equipment according to claim 5 is characterized in that: The rotating mechanism (f4) is installed on the second moving block (f33); the rotating mechanism (f4) includes a second turntable (f41) and an eighth motor (f42), the grasping device (g) is installed on the rotating part of the second turntable (f41), and the eighth motor (f42) is used to drive the rotating part of the second turntable (f41) to perform a rotational motion.

7. The medicine bottle picking and placing robot used in the Chinese medicine granule dispensing equipment according to claim 2 is characterized in that: The gripping device (g) comprises a housing (g1), an airbag (g2) and an airbag pipeline (g3); The bottom of the housing (g1) is provided with a bottle accommodating cavity (g11), and the bottle accommodating cavity (g11) allows the medicine bottle to be partially placed therein; The air bag (g2) is arranged on the inner wall of the bottle body accommodating cavity (g11); The airbag pipeline (g3) is in communication with 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).

8. The medicine bottle picking and placing robot used in the Chinese medicine granule dispensing equipment according to claim 7 is characterized in that: A first sensor (g4) is arranged on the top of the bottle accommodating cavity (g11), a second sensor (g5) is arranged on the side of the bottom, and a fourth sensor (g7) is arranged on the outside; the first sensor (g4) is used to detect whether the medicine bottle is properly placed in the bottle accommodating cavity (g11), the second sensor (g5) is used to detect whether the medicine bottle is completely separated from the bottle accommodating cavity (g11) when the medicine bottle is released, and the fourth sensor (g7) is used to detect whether there is a medicine bottle at the target position to be grasped.

9. The medicine bottle picking and placing robot used in the Chinese medicine granule dispensing equipment according to claim 7 is 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).

10. The medicine bottle picking and placing robot used in the Chinese medicine granule dispensing equipment according to claim 7 is 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).

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