Pharmacy secondary warehouse system

Abstract

The utility model provides a pharmacy secondary warehouse system. The pharmacy secondary warehouse system comprises a storage device and a mechanical arm device. The storage device comprises a storage rack; the storage rack is provided with a plurality of storage grids for vertically placing boxed medicines, and a first included angle is formed between the bottom surface of each storage grid and the horizontal plane; the manipulator device comprises a displacement mechanism and a manipulator connected with the displacement mechanism, the manipulator is provided with two clamping arms capable of moving relatively, a second included angle is formed between a plane formed by the two clamping arms and the horizontal plane, and the second included angle corresponds to the first included angle in size. The pharmacy secondary warehouse system provided by the utility model has the advantages of large equipment storage capacity, high speed in and out of warehouse of medicines, and high efficiency.

Description

Technical Field

[0001] The utility model relates to an intelligent storage system, in particular to a secondary storage system of a pharmacy. Background Art

[0002] At present, the automated equipment for handling boxed drugs used in outpatient pharmacies on the market uses a dense storage method in which the largest side of the medicine box faces down, that is, in a "flat" form, the same type of drugs are placed side by side and stored on each layer of glass grid. The storage capacity of the equipment per linear meter is small, ranging from about 1,000 to 2,000 boxes. However, the daily drug delivery volume of outpatient pharmacies generally ranges from 3,000 to 30,000 boxes. The existing equipment is limited by the size of the manipulator, which can only pick up 1 to 5 boxes at a time, and the speed is slow. It can only process about 20 to 30 boxes of medicine boxes per minute, which cannot meet the daily delivery volume of boxed drugs in larger outpatient pharmacies. The only way is to increase the number of manipulators to increase the speed of entry and exit, which greatly increases the cost. Because the medicine box is flat, when replenishing the medicine, only a sorting box can be used, and the medicine boxes are sucked and processed one by one, which brings the problem of slow speed for replenishing the medicine. Therefore, the existing equipment for handling boxed drugs has a small storage capacity and a slow speed of drug entry and exit, which cannot meet the needs of larger outpatient pharmacies.

[0003] Therefore, it is necessary to provide an improved technical solution to address the above-mentioned deficiencies in the prior art. Utility Model Content

[0004] The utility model aims to provide a secondary warehouse system for a pharmacy, which has a large storage capacity, fast medicine in and out speed and high efficiency.

[0005] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0006] A secondary storage system for a pharmacy, comprising a storage device and a manipulator device;

[0007] The storage device comprises a storage rack; the storage rack is provided with a plurality of storage compartments for upright placement of boxed medicines, and a first angle is formed between the bottom surface of the storage compartment and the horizontal plane;

[0008] The manipulator device includes a displacement mechanism and a manipulator connected to the displacement mechanism. The manipulator is provided with two clamping arms that can move relative to each other. A second angle is formed between a plane formed by the two clamping arms and a horizontal plane. The second angle corresponds to the first angle.

[0009] According to an embodiment of the present invention, the first angle is equal to the second angle.

[0010] According to one embodiment of the present invention, the first angle and the second angle are both 10-15 degrees.

[0011] According to one embodiment of the utility model, the two ends of the storage cell are respectively a first end and a second end, and the bottom surface of the storage cell gradually rises from the first end to the second end; a baffle is provided on the side wall corresponding to the first end of the storage cell, and a space for a clamping arm of the robot to enter is formed between the baffle and the bottom surface of the storage cell.

[0012] According to an embodiment of the utility model, the manipulator comprises a first support plate and a second support plate arranged opposite to each other, the first support plate and the second support plate are connected at both ends of the top by a first connecting shaft, the first support plate and the second support plate are connected at both ends of the bottom by a second connecting shaft, a first screw is passed through the middle of the first support plate and the second support plate, and the end of the first screw is connected to a first drive motor;

[0013] A first slide plate is provided between the first support plate and the second support plate, the first connecting shaft and the first screw rod are passed through the first slide plate, and the first slide plate is slidably connected with the first connecting shaft, the first slide plate is provided with a first nut, and the first nut is screwed with the first screw rod;

[0014] The side surfaces of the first slide plate and the first support plate opposite to each other are provided with corresponding guide rails, and the two clamping arms are respectively slidably connected to one guide rail; a rack is provided on the top of the clamping arm, and the side surfaces of the first slide plate and the first support plate are provided with driving gears corresponding to the racks of the clamping arms, and the driving gears are connected to the second driving motor.

[0015] According to one embodiment of the utility model, the first slide plate and the first support plate side surfaces are provided with a first gear, a second gear and a third gear in sequence from bottom to top; the second gear is rotatably provided on the first slide plate and the first support plate side surfaces, the first gear is respectively meshed with the driving gear and the second gear, and the third gear is meshed with the second gear; the two third gears are fixedly sleeved on a third connecting shaft, and the end of the third connecting shaft is connected to the second driving motor.

[0016] According to an embodiment of the present utility model, a first conveyor belt is provided between two of the second connecting shafts, and one of the second connecting shafts is connected to a third driving motor.

[0017] According to one embodiment of the utility model, a first baffle perpendicular to the conveying direction is provided on the first conveyor belt.

[0018] According to one embodiment of the utility model, the displacement mechanism includes a transverse track, a pulley is provided on the transverse track, a vertical track is provided on the pulley, a slide is provided on the vertical track, the first support plate and the second support plate are fixed at the bottom on the top surface of the slide, and the top surface of the slide is an inclined surface, so that the second angle is formed between the plane formed by the two clamping arms and the horizontal plane.

[0019] According to one embodiment of the utility model, the pharmacy secondary warehouse system further includes a warehouse entry device and a warehouse exit device;

[0020] The storage device comprises a storage slide rail, on which a storage pulley is provided, and the top shape of the storage pulley corresponds to the shape of the storage grid;

[0021] The outbound device comprises two outbound slide rails arranged in parallel, and an outbound pulley is slidably provided on the outbound slide rails; the outbound pulley comprises a third support plate and a fourth support plate arranged opposite to each other, the third support plate and the fourth support plate are connected at both ends of the top respectively by a fourth connecting shaft, the third support plate and the fourth support plate are connected at both ends of the bottom respectively by a fifth connecting shaft, a second screw is passed through the middle of the third support plate and the fourth support plate, and the end of the second screw is connected to a fourth driving motor;

[0022] A second slide plate is provided between the third support plate and the fourth support plate, the fourth connecting shaft and the second screw rod are passed through the second slide plate, and the second slide plate is slidably connected to the fourth connecting shaft, the second slide plate is provided with a second nut, and the second nut is screwed to the second screw rod; symmetrical guide arms are provided on the side opposite to the third support plate of the second slide plate; a second conveyor belt is provided between the two fifth connecting shafts, and one of the fifth connecting shafts is connected to the fifth driving motor; a second baffle bar perpendicular to the conveying direction is provided on the second conveyor belt;

[0023] The outbound device also includes a tilting mechanism, which is as follows: a roller corresponding to the outbound slide rail is respectively provided at the bottom of the third support plate and the bottom of the fourth support plate, and a trapezoidal guide block is provided on the outbound slide rail corresponding to the fourth support plate. When the roller at the bottom of the fourth support plate is located at the top of the guide block, a third angle is formed between the plane formed by the two guide arms and the horizontal plane, and the third angle corresponds to the second angle.

[0024] Compared with the prior art, the advantages and beneficial effects of the embodiments of the present invention are:

[0025] The pharmacy secondary warehouse system provided by the embodiment of the utility model places the side with a smaller area of ​​the boxed medicine as the bottom surface in the storage grid, that is, adopts the form of "standing", and the same medicine is arranged vertically and densely stored. It is stored on each layer of the storage grid, and can also be stored in multiple rows in front and behind, which greatly increases the storage capacity. The storage device of the utility model has a storage capacity of 2000 to 5000 boxes per linear meter, which greatly increases the storage capacity per unit area. In the utility model, the boxed medicine adopts the form of "standing", which also brings convenience and speed improvement to the processing of the manipulator. The manipulator grabs one row (10 boxes or more boxes) each time, which doubles the speed of entering and exiting the boxed medicine. The pharmacy secondary warehouse system of the utility model can solve the processing needs of most outpatient pharmacies with one manipulator, solves the bottleneck problem of storage capacity and speed, and reduces the cost of equipment use. In the utility model, the boxed medicine adopts the form of "standing", and also realizes fast batch delivery when transferring and handing over between the manipulator and other equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The drawings constituting part of the present invention are used to provide a further understanding of the present invention. The exemplary embodiments and descriptions of the present invention are used to explain the present invention and do not constitute an improper limitation on the present invention. Among them:

[0027] Figure 1 A schematic diagram of the structure of a secondary storage system for a pharmacy provided by an embodiment of the utility model;

[0028] Figure 2 A schematic diagram of the structure of the secondary storage system of a pharmacy provided by an embodiment of the utility model from another angle;

[0029] Figure 3 for Figure 1 An enlarged schematic diagram of the middle manipulator;

[0030] Figure 4 A schematic diagram of the structure of a manipulator of a secondary storage system of a pharmacy provided by an embodiment of the utility model;

[0031] Figure 5 A schematic structural diagram of a manipulator of a secondary storage system of a pharmacy provided by an embodiment of the utility model from another angle;

[0032] Figure 6 A schematic diagram of the structure of a warehouse-out device for a secondary warehouse system of a pharmacy provided in an embodiment of the utility model.

[0033] Description of reference numerals:

[0034] 1. storage device; 11. storage rack; 111. storage grid; 1111. first end; 1112. second end; 112. baffle; 2. manipulator device; 21. displacement mechanism; 211. transverse track; 212. pulley; 213. vertical track; 214. slide; 22. manipulator; 220. clamping arm; 2201. rack; 221. first support plate; 222. second support plate; 223. first connecting shaft; 224. second connecting shaft; 225. first screw rod; 2251. first driving motor; 226. first slide plate; 2261. first nut; 227. driving gear; 2271. first gear; 2272. second gear; 2 273, the third gear; 2274, the third connecting shaft; 228, the first conveyor belt; 2281, the third drive motor; 2282, the first stop bar; 3, boxed medicines; 4, the storage device; 41, the storage slide rail; 42, the storage pulley; 5, the storage device; 51, the storage slide rail; 511, the guide block; 52, the storage pulley; 521, the third support plate; 522, the fourth support plate; 523, the fourth connecting shaft; 524, the fifth connecting shaft; 525, the second screw; 5251, the fourth drive motor; 526, the second slide plate; 5261, the second nut; 527, the guide arm; 528, the second conveyor belt; 5281, the second stop bar; 529, the roller. DETAILED DESCRIPTION

[0035] The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments. Each example is provided by way of explanation of the present invention and does not limit the present invention. In fact, it will be clear to those skilled in the art that modifications and variations may be made in the present invention without departing from the scope or spirit of the present invention. For example, a feature shown or described as a part of one embodiment may be used in another embodiment to produce yet another embodiment. Therefore, it is desired that the present invention includes such modifications and variations within the scope of the appended claims and their equivalents.

[0036] In the description of the present invention, "first", "second" and similar words do not indicate any order, quantity or importance, but are only used to distinguish different components. "Include" or "comprising" and similar words mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, but do not exclude other elements or objects. The directions or positional relationships indicated by the terms "longitudinal", "transverse", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom" and the like are based on the directions or positional relationships shown in the drawings, which are only for the convenience of describing the present invention and do not require that the present invention must be constructed and operated in a specific direction. Therefore, they cannot be understood as limitations on the present invention. The terms "connected", "connected" and "set" used in the present invention should be understood in a broad sense, for example, they can be fixedly connected or detachably connected; they can be directly connected or indirectly connected through an intermediate component; they can be wired electrical connections, radio connections, or wireless communication signal connections. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0037] like Figure 1 , Figure 2 As shown, an embodiment of the utility model provides a secondary storage system for a pharmacy, including a storage device 1 and a manipulator device 2.

[0038] The storage device 1 includes a storage rack 11 for storing boxed medicines 3. The number of the storage racks 11 can be multiple and arranged side by side. Figure 3 As shown, the storage rack 11 is provided with a plurality of storage compartments 111 for placing boxed medicines 3 arranged in rows and standing upright, and a first angle is formed between the bottom surface of the storage compartment 111 and the horizontal plane.

[0039] like Figure 3 As shown, the manipulator device 2 includes a displacement mechanism 21 and a manipulator 22 connected to the displacement mechanism 21. The displacement mechanism 21 can enable the manipulator 22 to move to a position corresponding to each storage cell 111 in a vertical plane, so as to perform drug addition and drug removal operations on each storage cell 111. The manipulator 22 is provided with two clamping arms 220 that can move relative to each other, and a second angle is formed between a plane formed by the two clamping arms 220 and a horizontal plane, and the second angle corresponds to the first angle.

[0040] The boxed medicine 3 is generally in the shape of a rectangular parallelepiped, and has three sides with different areas. In the prior art, the side with the largest area is generally placed as the bottom surface in the storage grid, that is, in the form of "laying flat". In the utility model, the side with a smaller area (except one of the two sides of the side with the largest area) is placed as the bottom surface in the storage grid 111, that is, in the form of "standing". The same boxed medicine 3 is arranged vertically and densely stored. It is stored on each layer of the storage grid 111, with more than 10 boxes as a row, and multiple rows can also be stored in front and behind, which greatly increases the storage capacity. The storage device 1 of the utility model has a storage capacity of 2000 to 5000 boxes per linear meter, which greatly increases the storage capacity per unit area. In the utility model, the boxed medicine 3 adopts the form of "standing", which also brings convenience and speed improvement to the processing of the robot 22. The robot 22 grabs a row (10 boxes or more boxes) each time, which doubles the speed of entering and exiting the boxed medicine 3. The utility model pharmacy secondary warehouse system can solve the processing needs of most outpatient pharmacies with one manipulator, solve the bottleneck problems of storage capacity and speed, and reduce the cost of equipment use. In the utility model, the boxed medicine 3 is placed in a "vertical" form, and when the manipulator 22 is transferred and handed over to other equipment (such as a storage device and a storage device), fast batch delivery is achieved.

[0041] In this embodiment, the manipulator 22 is moved to the front side of a storage compartment 111 through the displacement mechanism 21. When a drug adding operation is required, a row of boxed medicines 3 have been clamped between the two clamping arms 220 of the manipulator 22, and the boxed medicines 3 are in a "vertical" form. The two clamping arms 220 of the manipulator 22 clamp the boxed medicines 3 and extend toward the storage compartment 111. After reaching the predetermined position, the two clamping arms 220 release the boxed medicines 3 to complete the drug adding operation; when a drug taking operation is required, the two clamping arms 220 of the manipulator 22 are opened and extended toward the storage compartment 111. After reaching the predetermined position, the two clamping arms 220 clamp a row of "vertical" boxed medicines 3, and then the two clamping arms 220 are retracted to complete the drug taking operation.

[0042] In one embodiment of the present invention, the second angle corresponds to the first angle in size, and the second angle can be the same or approximately the same as the first angle, for example, the angle difference between the second angle and the first angle does not exceed 5 degrees.

[0043] When a row of boxed medicines 3 are placed horizontally (the second angle and the first angle are both 0 degrees), since the boxed medicines 3 are placed "upright", the boxed medicines 3 may fall over, and may fall to the left or right, which is uncontrollable. Therefore, in a preferred embodiment of the present invention, the first angle is 10-15 degrees. Figure 3As shown, because the bottom surface of the storage compartment 111 is formed with a slope of 10-15 degrees for placing the boxed medicines 3, the boxed medicines 3 will tilt to one side and stick to one side of the storage compartment 111 without falling over.

[0044] Furthermore, if Figure 3 As shown, the two ends of the storage cell 111 in the horizontal direction are respectively the first end 1111 and the second end 1112, and the bottom surface of the storage cell 111 gradually rises from the first end 1111 to the second end 1112, forming the first angle with the horizontal plane. Therefore, the boxed medicines 3 placed upright in a row will tilt toward the side wall corresponding to the first end 1111 and cling to the side wall corresponding to the first end 1111. In order to facilitate the entry and operation of the clamping arm 220 of the manipulator 22, a baffle 112 is provided on the side wall corresponding to the first end 1111 of the storage cell 111, and the boxed medicines 3 placed upright in a row cling to the side of the baffle 112. A space for a clamping arm 220 of the manipulator 22 to enter is formed between the baffle 112 and the bottom surface of the storage cell 111.

[0045] In one embodiment of the present invention, Figure 4 , Figure 5 As shown, the manipulator 22 includes a first support plate 221 and a second support plate 222 that are arranged opposite to each other. The first support plate 221 and the second support plate 222 are connected at both ends of the top by a first connecting shaft 223, and the first support plate 221 and the second support plate 222 are connected at both ends of the bottom by a second connecting shaft 224. The first support plate 221 and the second support plate 222 can be in an "I" shape, so that while the first connecting shaft 223 and the second connecting shaft 224 are arranged at the four ends, the material can be reduced, and the weight and manufacturing cost of the manipulator 22 can be reduced. A first screw 225 is inserted between the middle of the first support plate 221 and the second support plate 222, and the end of the first screw 225 is connected to a first drive motor 2251.

[0046] A first slide plate 226 is provided between the first support plate 221 and the second support plate 222. The first connecting shaft 223 and the first screw rod 225 are provided on the first slide plate 226, and the first slide plate 226 is slidably connected to the first connecting shaft 223, for example, by a linear bearing. A first nut 2261 is provided on the first slide plate 226, and the first nut 2261 is screwed to the first screw rod 225. The first screw rod 225 and the first nut 2261 form a lead screw structure. The first drive motor 2251 drives the first screw rod 225 to rotate, which can drive the first nut 2261 and the first slide plate 226 connected thereto to move along the direction of the first screw rod 225. When the first slide plate 226 slides along the first screw rod 225, the first connecting shaft 223 plays a guiding role.

[0047] The side opposite to the first slide plate 226 and the first support plate 221 is provided with a corresponding guide rail, and the two clamping arms 220 are respectively connected to a guide rail for sliding, and the clamping arms 220 can slide relative to the guide rail and do not disengage from the guide rail. For example, one of the guide rail and the clamping arm 220 is provided with a dovetail groove, and the other is provided with a slider corresponding to the shape of the dovetail groove. The top of the clamping arm 220 is provided with a rack 2201, and the first slide plate 226 and the first support plate 221 side are provided with a drive gear 227 corresponding to and meshing with the rack 2201 of the clamping arm 220, and the drive gear 227 is connected to the second drive motor. The second drive motor drives the drive gear 227 to rotate forward or backward, so that the clamping arm 220 can be extended or retracted. In conjunction with the displacement of the slide plate 226, the approach and distance between the two clamping arms 220 can be achieved to clamp and release the boxed medicine 3.

[0048] In one embodiment of the utility model, in order to control the extension and retraction speed of the clamp arm 220, the second driving motor is connected to the driving gear 227 through a gear set. Specifically, the first slide plate 226 and the first support plate 221 are provided with a first gear 2271, a second gear 2272 and a third gear 2273 from bottom to top. The second gear 2272 is rotatably arranged on the side of the first slide plate 226 and the first support plate 221 (for example, it is sleeved on the outer periphery of the first screw rod 225, but does not rotate with the first screw rod 225), the first gear 2271 is meshed with the driving gear 227 and the second gear 2272 respectively, and the third gear 2273 is meshed with the second gear 2272. The two third gears 2273 are fixedly sleeved on a third connecting shaft 2274, and the end of the third connecting shaft 2274 is connected to the second driving motor (not shown in the figure). By controlling the diameter and number of teeth of the first gear 2271, the second gear 2272, and the third gear 2273 in the gear set, the clamping arm 220 can have a suitable extension and retraction speed to avoid accidents caused by too fast extension or efficiency affected by too slow extension.

[0049] In one embodiment of the utility model, a first conveyor belt 228 is arranged between the two second connecting shafts 224, and the second connecting shafts 224 can rotate, and one of the second connecting shafts 224 is connected to a third driving motor 2281. The first conveyor belt 228 is driven to rotate between the two second connecting shafts 224 by the third driving motor 2281, so as to assist in sending out or retrieving the boxed medicines 3 on the first conveyor belt 228. Furthermore, a first baffle 2282 perpendicular to the conveying direction is arranged on the first conveyor belt 228, and when the first baffle 2282 moves with the first conveyor belt 228, after contacting the boxed medicines 3 on the first conveyor belt 228, the boxed medicines 3 are pushed to prevent the boxed medicines 3 from sliding with the first conveyor belt 228.

[0050] In one embodiment of the present invention, Figure 3 As shown, the displacement mechanism 21 includes a transverse track 211, which is disposed on the ground at the front side of the storage device 1. A pulley 212 is disposed on the transverse track 211, and the pulley 212 can move along the transverse track 211. A vertical track 213 is disposed on the pulley 212, and a slide 214 is disposed on the vertical track 213, and the slide 214 can move along the vertical track 213. The bottoms of the first support plate 221 and the second support plate 222 are fixedly disposed on the top surface of the slide 214, and the top surface of the slide 214 is an inclined surface, so that the second angle is formed between the plane formed by the two clamping arms 220 and the horizontal plane.

[0051] In one embodiment of the present invention, Figure 1 , Figure 2 As shown, the pharmacy secondary storage system of the utility model further includes a storage device 4 and a storage device 5.

[0052] The storage device 4 is used to store the boxed medicines 3 in the storage device 1. Figure 3 As shown, the storage device 4 includes a storage slide rail 41, on which a storage pulley 42 is provided, and the top shape of the storage pulley 42 corresponds to the shape of the storage cell 111. Before the boxed medicine 3 is stored, it is placed upright on the top of the storage pulley 42, and then the storage pulley 42 moves to the moving range of the manipulator 22. The manipulator 22 moves to the storage pulley 42 through the displacement mechanism 21, and clamps the medicine from the storage pulley 42 (the clamping process is the same as the process of taking medicine from the storage cell 111), and then puts it into the corresponding storage cell 111 to complete the medicine adding operation.

[0053] The outgoing device 5 is used to release medicines from the storage device 1. Figure 1 , Figure 6 As shown, the outbound device 5 includes two outbound slide rails 51 arranged in parallel, and an outbound pulley 52 is slidably arranged on the outbound slide rails 51. The outbound pulley 52 includes a third support plate 521 and a fourth support plate 522 arranged opposite to each other, and the third support plate 521 is connected to the fourth support plate 522 at both ends of the top by a fourth connecting shaft 523, and the third support plate 521 is connected to the fourth support plate 522 at both ends of the bottom by a fifth connecting shaft 524. The third support plate 521 and the fourth support plate 522 can be in an "I" shape, so that while the fourth connecting shaft 523 and the fifth connecting shaft 524 are arranged at the four ends, the material can be reduced, and the weight and manufacturing cost of the outbound pulley 52 can be reduced. A second screw 525 is inserted between the middle of the third support plate 521 and the fourth support plate 522, and the end of the second screw 525 is connected to the fourth drive motor 5251.

[0054] A second slide plate 526 is provided between the third support plate 521 and the fourth support plate 522. The fourth connecting shaft 523 and the second screw rod 525 are provided on the second slide plate 526, and the second slide plate 526 is slidably connected with the fourth connecting shaft 523, for example, by a linear bearing. The second slide plate 526 is provided with a second nut 5261, and the second nut 5261 is screwed with the second screw rod 525. The second screw rod 525 and the second nut 5261 form a lead screw structure. The second screw rod 525 is driven to rotate by the fourth driving motor 5251, and the second nut 5261 and the second slide plate 526 connected thereto can be driven to move along the direction of the second screw rod 525. When the second slide plate 526 slides along the second screw rod 525, the fourth connecting shaft 523 plays a guiding role. Symmetrical guide arms 527 are provided on the side opposite to the third support plate 521 of the second slide plate 526, and the two guide arms 527 are used to receive the boxed medicines 3 transferred by the robot 22. Through the relative sliding between the second slide plate 526 and the third support plate 521, the distance between the two guide arms 527 can be adjusted to accommodate rows of boxed medicines 3 of different widths.

[0055] A second conveyor belt 528 is arranged between the two fifth connecting shafts 524, and the fifth connecting shafts 524 can rotate, one of the fifth connecting shafts 524 is connected to a fifth driving motor (not shown in the figure), and a second baffle 5281 perpendicular to the conveying direction is arranged on the second conveyor belt 528. The second conveyor belt 528 is driven by the fifth driving motor to rotate between the two fifth connecting shafts 524, and the boxed medicines 3 on the second conveyor belt 528 are sent to the medicine dispensing device. When the second baffle 5281 moves with the second conveyor belt 528, after contacting the boxed medicines 3 on the second conveyor belt 528, the boxed medicines 3 are pushed to prevent the boxed medicines 3 from sliding with the second conveyor belt 528.

[0056] When the manipulator 22 moves to the front side of the outbound pulley 52 while holding the boxed medicine 3, the two clamping arms 220 of the manipulator 22 extend toward the outbound pulley 52 while holding the boxed medicine 3. After reaching between the two guide arms 527 of the outbound pulley 52, the two clamping arms 220 release the boxed medicine 3 and retract them. At this time, the outbound pulley 52 moves to the outbound position, and the second conveyor belt 528 of the outbound pulley 52 starts to start, transporting the boxed medicine 3 along the channel between the two guide arms 527 to the medicine outlet at the outbound position.

[0057] In order to correspond to the plane formed by the two clamping arms 220 of the manipulator 22, the outbound device 5 also includes a tilting mechanism, such as Figure 6As shown, the tilting mechanism can be: the bottom of the third support plate 521 and the fourth support plate 522 are each provided with a roller 529 corresponding to the outbound slide rail 51, and the outbound slide rail 51 corresponding to the fourth support plate 522 is provided with a trapezoidal guide block 511, when the roller 529 at the bottom of the fourth support plate 522 is located at the top of the guide block 511, a third angle is formed between the plane formed by the two guide arms 527 and the horizontal plane, and the third angle corresponds to the second angle. When the roller 529 at the bottom of the fourth support plate 522 slides off the guide block 511, the plane formed by the two guide arms 527 is horizontal, which is convenient for transporting medicines.

[0058] In one embodiment of the present invention, two storage devices 1 can be provided, respectively located on both sides of the manipulator 22. Since the clamping arm 220 of the manipulator 22 can extend and retract in two opposite directions, two storage devices 1 can be provided, further increasing the storage capacity of medicines.

[0059] The above description is only a preferred embodiment of the utility model and is not intended to limit the utility model. For those skilled in the art, the utility model may 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 pharmacy secondary warehouse system, characterized in that: It comprises a storage device (1) and a manipulator device (2); The storage device (1) comprises a storage rack (11); the storage rack (11) is provided with a plurality of storage compartments (111) for upright placement of boxed medicines (3); a first angle is formed between the bottom surface of the storage compartments (111) and a horizontal plane; The manipulator device (2) comprises a displacement mechanism (21) and a manipulator (22) connected to the displacement mechanism (21); the manipulator (22) is provided with two clamping arms (220) that can move relative to each other; a second angle is formed between a plane formed by the two clamping arms (220) and a horizontal plane; the second angle corresponds in size to the first angle.

2. The pharmacy secondary warehouse system according to claim 1, characterized in that: The first angle is equal to the second angle.

3. The pharmacy secondary warehouse system according to claim 2, characterized in that: The first angle and the second angle are both 10-15 degrees.

4. The pharmacy secondary warehouse system according to claim 1, characterized in that: The two ends of the storage cell (111) are respectively a first end (1111) and a second end (1112); the bottom surface of the storage cell (111) gradually rises from the first end (1111) to the second end (1112); a baffle (112) is provided on the side wall corresponding to the first end (1111) of the storage cell (111); a space is formed between the baffle (112) and the bottom surface of the storage cell (111) for a clamping arm (220) of the robot (22) to enter.

5. The pharmacy secondary warehouse system according to any one of claims 1 to 4, characterized in that: The manipulator (22) comprises a first support plate (221) and a second support plate (222) which are arranged opposite to each other, the top ends of the first support plate (221) and the second support plate (222) are connected via a first connecting shaft (223), the bottom ends of the first support plate (221) and the second support plate (222) are connected via a second connecting shaft (224), a first screw rod (225) is passed through the middle of the first support plate (221) and the second support plate (222), and the end of the first screw rod (225) is connected to a first driving motor (2251); A first slide plate (226) is provided between the first support plate (221) and the second support plate (222); the first connecting shaft (223) and the first screw rod (225) are passed through the first slide plate (226); the first slide plate (226) and the first connecting shaft (223) are slidably connected; the first slide plate (226) is provided with a first nut (2261), and the first nut (2261) is threadedly connected to the first screw rod (225); A corresponding guide rail is provided on the side of the first slide plate (226) opposite to the first support plate (221), and the two clamping arms (220) are respectively slidably connected to one guide rail; a rack (2201) is provided on the top of the clamping arm (220), and a driving gear (227) corresponding to the rack (2201) of the clamping arm (220) is provided on the side of the first slide plate (226) and the first support plate (221), and the driving gear (227) is connected to a second driving motor.

6. The pharmacy secondary warehouse system according to claim 5, characterized in that: The first slide plate (226) and the first support plate (221) are provided with a first gear (2271), a second gear (2272) and a third gear (2273) in sequence from bottom to top on the side surfaces; the second gear (2272) is rotatably arranged on the first slide plate (226) and the first support plate (221) side surfaces; the first gear (2271) is respectively meshed with the driving gear (227) and the second gear (2272); the third gear (2273) is meshed with the second gear (2272); the two third gears (2273) are fixedly sleeved on a third connecting shaft (2274); the end of the third connecting shaft (2274) is connected to the second driving motor.

7. The pharmacy secondary warehouse system according to claim 5, characterized in that: A first conveyor belt (228) is provided between the two second connecting shafts (224), and one of the second connecting shafts (224) is connected to a third driving motor (2281).

8. The pharmacy secondary warehouse system according to claim 7, characterized in that: The first conveyor belt (228) is provided with a first blocking bar (2282) perpendicular to the conveying direction.

9. The pharmacy secondary warehouse system according to claim 5, characterized in that: The displacement mechanism (21) comprises a transverse track (211), a pulley (212) is provided on the transverse track (211), a vertical track (213) is provided on the pulley (212), a slide table (214) is provided on the vertical track (213), the first support plate (221) and the second support plate (222) are fixedly arranged at the bottom on the top surface of the slide table (214), and the top surface of the slide table (214) is an inclined surface, so that the second angle is formed between the plane formed by the two clamping arms (220) and the horizontal plane.

10. The pharmacy secondary warehouse system according to claim 5, characterized in that: It also includes a storage device (4) and a storage device (5); The storage device (4) comprises a storage slide rail (41), a storage pulley (42) is provided on the storage slide rail (41), and the top shape of the storage pulley (42) corresponds to the shape of the storage grid (111); The outbound device (5) comprises two outbound slide rails (51) arranged in parallel, and an outbound pulley (52) is slidably arranged on the outbound slide rails (51); the outbound pulley (52) comprises a third support plate (521) and a fourth support plate (522) arranged opposite to each other, the third support plate (521) and the fourth support plate (522) are connected at both ends of the top by a fourth connecting shaft (523), and the third support plate (521) and the fourth support plate (522) are connected at both ends of the bottom by a fifth connecting shaft (524), a second screw rod (525) is passed between the middle parts of the third support plate (521) and the fourth support plate (522), and the end of the second screw rod (525) is connected to a fourth driving motor (5251); A second slide plate (526) is provided between the third support plate (521) and the fourth support plate (522); the fourth connecting shaft (523) and the second screw rod (525) are passed through the second slide plate (526); the second slide plate (526) and the fourth connecting shaft (523) are slidably connected; the second slide plate (526) is provided with a second nut (5261), and the second nut (5261) is screwed to the second screw rod (525); symmetrical guide arms (527) are provided on the side of the second slide plate (526) opposite to the third support plate (521); a second conveyor belt (528) is provided between the two fifth connecting shafts (524), and one of the fifth connecting shafts (524) is connected to a fifth driving motor; a second baffle (5281) perpendicular to the conveying direction is provided on the second conveyor belt (528); The outbound device (5) also includes a tilting mechanism, which is as follows: a roller (529) corresponding to the outbound slide rail (51) is provided at the bottom of each of the third support plate (521) and the fourth support plate (522); a trapezoidal guide block (511) is provided on the outbound slide rail (51) corresponding to the fourth support plate (522); when the roller (529) at the bottom of the fourth support plate (522) is located at the top of the guide block (511), a third angle is formed between the plane formed by the two guide arms (527) and the horizontal plane, and the third angle corresponds to the second angle.

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