Manipulator integrating functions of storing and taking medicines and storing and taking medicine frames and medicine dispensing machine

Abstract

The utility model provides a two-in-one manipulator with functions of storing and taking medicines and storing and taking medicine frames, which comprises a frame-taking support plate, a plurality of frame-taking guide rails and a plurality of frame-taking guide rails, the frame-taking support plate is provided with a medicine-taking guide rail and a frame-taking guide rail, and the medicine-taking guide rail and the frame-taking guide rail are arranged in parallel; the medicine taking suction rod is provided with a medicine taking sliding block, and the medicine taking sliding block is arranged in a sliding mode relative to the medicine taking guide rail; the medicine taking driving piece is connected with the medicine taking sliding block and used for driving the medicine taking sliding block to slide relative to the medicine taking guide rail; and taking the frame plate. According to the medicine dispensing machine and the mechanical arm integrating the medicine storing and taking function and the medicine frame storing and taking function, medicine selection and medicine frame taking and placing can be achieved at the same time, and the structure is more compact. According to the medicine dispensing machine, automatic medicine taking and packaging can be achieved, the medicine taking and packaging efficiency is high, and the automation degree is high.

Description

TECHNICAL FIELD

[0001] The utility model relates to a kind of mechanical hand and dispensing machine with the function of storing and taking medicine and storing and taking medicine frame two-in-one. BACKGROUND

[0002] At present, most of the pharmacies of medical and health units in China still adopt the traditional manual medicine selling operation mode. During the emergency peak period, the personnel in the outpatient medicine waiting hall are seriously crowded. At the same time, under the traditional mode, pharmacists need to manually dispense prescriptions, which is labor-intensive and low in work efficiency. More time is spent by pharmacists on collecting prescriptions, taking medicine, checking prescriptions and delivering medicine to patients, so that professional pharmaceutical services cannot be provided for patients, and the doctor-patient relationship is tense.

[0003] The existing dispensing machine capable of automatically taking medicine can only realize the function of taking medicine, and the empty medicine frame can only be taken out manually. When the medicine is taken out manually, the machine must be stopped, which affects the efficiency of taking medicine.

[0004] Therefore, it is necessary to improve the existing mechanical hand with the function of storing and taking medicine and storing and taking medicine frame two-in-one to solve the above problems. CONTENT OF THE UTILITY MODEL

[0005] The utility model aims to provide a kind of mechanical hand with the function of storing and taking medicine and storing and taking medicine frame two-in-one, to solve the problem that the existing dispensing machine can only take medicine and cannot take frame.

[0006] To achieve the above purpose, the utility model provides a kind of mechanical hand with the function of storing and taking medicine and storing and taking medicine frame two-in-one, which comprises:

[0007] A frame taking support plate is provided with a medicine taking guide rail and a frame taking guide rail, and the medicine taking guide rail and the frame taking guide rail are arranged in parallel;

[0008] A medicine taking suction rod is provided with a medicine taking sliding block, and the medicine taking sliding block is slidably arranged relative to the medicine taking guide rail;

[0009] A medicine taking driving element is connected with the medicine taking sliding block to drive the medicine taking sliding block to slide relative to the medicine taking guide rail;

[0010] A frame taking plate is provided with a frame taking sliding block, and the frame taking sliding block is slidably arranged relative to the frame taking guide rail;

[0011] A frame taking driving element is connected with the frame taking sliding block to drive the frame taking sliding block to slide relative to the frame taking guide rail.

[0012] As a further improvement of the utility model, the limit piece is upwardly extended from the frame taking plate.

[0013] As a further improvement of the utility model, the mechanical hand with the functions of storing and taking medicine and storing and taking medicine frame further comprises a taking and placing fixing plate and a taking and placing connecting plate, the taking and placing fixing plate is arranged below the frame taking support plate, and the taking and placing connecting plate is connected between the frame taking support plate and the taking and placing fixing plate.

[0014] As a further improvement of the utility model, the mechanical hand with the functions of storing and taking medicine and storing and taking medicine frame further comprises a taking and placing rotating motor, the taking and placing rotating motor is connected with the taking and placing fixing plate to drive the taking and placing fixing plate and the frame taking support plate to rotate.

[0015] As a further improvement of the utility model, the mechanical hand with the functions of storing and taking medicine and storing and taking medicine frame further comprises a connecting sliding block and a vertical guide rail extending in the vertical direction, the connecting sliding block is slidably arranged relative to the vertical guide rail, and the connecting sliding block is fixedly connected with the taking and placing rotating motor.

[0016] As a further improvement of the utility model, the mechanical hand with the functions of storing and taking medicine and storing and taking medicine frame further comprises a horizontal guide rail, and the vertical guide rail is slidably arranged relative to the horizontal guide rail.

[0017] As a further improvement of the utility model, the medicine taking driving piece comprises a medicine taking motor and a medicine taking pulley, the medicine taking pulley is connected with the medicine taking sliding block and the medicine taking motor, the frame taking driving piece comprises a frame taking motor and a frame taking pulley, and the frame taking pulley is connected with the frame taking sliding block and the frame taking motor.

[0018] As a further improvement of the utility model, the number of the frame taking guide rails is two.

[0019] As a further improvement of the utility model, the medicine taking suction rod comprises a rod body, a medicine suction head arranged at one end of the rod body and a detection piece fixed on the rod body, one end of the rod body is fixedly connected with the medicine taking sliding block, the other end is connected with the medicine suction head, and the detection piece is used to detect the position of the medicine taking suction rod relative to the medicine frame.

[0020] The utility model further provides a medicine dispensing machine, the medicine dispensing machine comprises a medicine storage rack and the mechanical hand with the functions of storing and taking medicine and storing and taking medicine frame, the medicine frame is placed on the medicine storage rack, and the medicine is placed in the medicine frame.

[0021] The utility model discloses a beneficial effect is: the utility model discloses a dispensing machine and the mechanical hand of two unification of having the function of taking and storing medicine and taking medicine frame, through setting up the mechanical hand of two unification of having the function of taking and storing medicine and taking medicine frame, can realize the selection of medicine and the taking of medicine frame simultaneously, and the structure is more compact. BRIEF DESCRIPTION OF DRAWINGS

[0022] The drawings described herein are used to provide further understanding of the present application, and form a part of the present application, the illustrative embodiment of the present application and the explanation thereof are used to explain the present application, and do not constitute improper limitation to the present application. In the drawings:

[0023] Figure 1 It is the structure schematic drawing of dispensing machine of the utility model,

[0024] Figure 2 It is the structure schematic drawing of dispensing machine of the utility model,

[0025] Figure 3 It is the structure schematic drawing of dispensing machine of the utility model,

[0026] Figure 4 It is the structure schematic drawing of dispensing machine of the utility model,

[0027] Figure 5 It is the structure schematic drawing of dispensing machine of the utility model,

[0028] Figure 6 It is the structure schematic drawing of dispensing machine of the utility model,

[0029] Figure 7 Figure 5 Another angle structure schematic drawing,

[0030] Figure 8 It is the structure schematic drawing of dispensing machine of the utility model,

[0031] Figure 9 It is the structure schematic drawing of dispensing machine of the utility model,

[0032] Figure 10 It is Figure 9 Another angle structure schematic drawing,

[0033] Figure 11 It is the structure schematic drawing of dispensing machine of the utility model,

[0034] Figure 12 is Figure 11 a structural schematic view of a buffer pressing piece in the medicine cabinet;

[0035] Figure 13 is Figure 12 a structural schematic view of another angle;

[0036] Figure 14 is a structural schematic view of a packer of the medicine dispensing machine;

[0037] Figure 15 is a structural schematic view of another angle of the packer of the medicine dispensing machine;

[0038] Figure 16 is a structural schematic view of a marking machine, a label table, a bag supplying piece and a label sticking and bag taking assembly of the medicine dispensing machine;

[0039] Figure 17 is a structural schematic view of the bag supplying piece of the medicine dispensing machine;

[0040] Figure 18 is Figure 17 a structural schematic view of another angle;

[0041] Figure 19 is a structural schematic view of the label sticking and bag taking assembly of the medicine dispensing machine;

[0042] Figure 20 is a structural schematic view of a bag transferring assembly of the medicine dispensing machine;

[0043] Figure 21 is a structural schematic view of another angle of the bag transferring assembly of the medicine dispensing machine;

[0044] Figure 22 is a structural schematic view of a bag opening assembly of the medicine dispensing machine;

[0045] Figure 23 is a structural schematic view of another angle of the bag opening assembly of the medicine dispensing machine;

[0046] Figure 24 is a structural schematic view of a medicine loading assembly of the medicine dispensing machine;

[0047] Figure 25 is a structural schematic view of the medicine loading assembly of the medicine dispensing machine without a medicine guiding groove;

[0048] Figure 26 is a structural schematic view of a medicine pushing driving piece of the medicine dispensing machine;

[0049] Figure 27Is the structure schematic diagram of the medicine pushing driving piece of the medicine dispensing machine.

[0050] Reference signs: 100, medicine dispensing machine; 200, medicine storage bag; 1, medicine storage rack; 11, first rack body; 12, second rack body; 13, support strip; 2, medicine frame; 21, partition plate; 3, mechanical hand with functions of storing and taking medicine and storing and taking medicine frame; 31, frame taking support plate; 311, medicine taking guide rail; 312, frame taking guide rail; 32, medicine taking suction rod; 321, medicine taking sliding block; 322, rod body; 323, medicine suction head; 324, detection piece; 33, medicine taking driving piece; 331, medicine taking motor; 332, medicine taking pulley; 34, frame taking plate; 341, frame taking sliding block; 342, limiting piece; 35, frame taking driving piece; 351, frame taking motor; 352, frame taking pulley; 36, taking and placing fixed plate; 37, taking and placing connecting plate; 38, taking and placing rotating motor; 39, connecting sliding block; 30, vertical guide rail; 301, horizontal guide rail; 4, medicine taking buffer assembly; 41, buffer guide rail; 42, buffer box; 421, medicine receiving port; 422, medicine discharging port; 423, fixed block; 43, switch piece; 431, opening and closing plate; 432, first connecting rod; 433, second connecting rod; 434, third connecting rod; 4341, limiting block; 435, return spring; 44, buffer collecting piece; 441, horizontal conveying belt; 45, buffer collecting guide rail; 46, buffer pressing piece; 461, buffer connecting plate; 462, buffer pressing plate; 47, horizontal sliding piece; 5, packing machine; 51, marking machine; 52, label table; 53, bag supplying piece; 531, bag supplying support plate; 5311, support section; 5312, limiting section; 532, bag storage frame; 533, limiting rod; 534, release roller; 54, label applying and bag taking assembly; 541, label applying rotating motor; 542, label applying connecting plate; 543, label suction cup; 544, bag suction cup; 545, moving piece; 5451, label applying sliding block; 5452, label applying sliding rail; 5453, label applying driving piece; 5454, label applying motor; 5455, label applying pulley; 55, bag transferring assembly; 551, transferring guide rail; 552, transferring sliding plate; 553, first bag suction piece; 554, clamping and transferring piece; 555, bag opening driving device; 56, bag opening assembly; 561, second bag suction piece; 562, bag opening driving piece; 563, clamping assembly; 5631, clamping piece; 5632, clamping driving plate; 56321, first limiting groove; 56322, second limiting groove; 56323, third limiting groove; 5633, first clamping guide rail; 5634, first clamping connecting rod; 56341, first roller shaft; 5635, clamping moving sliding plate; 5636, clamping baffle; 5637, second clamping guide rail; 5638, clamping plate; 5639, clamping jaw plate; 5640, clamping connecting rod; 5641, second clamping connecting rod; 56411, second roller shaft; 57, medicine loading assembly; 571, medicine feeding box; 5711, medicine feeding port; 572, medicine feeding switch assembly; 5721, lifting bucket; 5722, turnover plate; 5723, lifting driving piece; 5724, switch fixed plate;5725. Switch shaft; 573. Medicine pushing drive component; 5731. Medicine pushing screw; 5732. Motor pulley assembly; 5733. Medicine pushing nut; 5734. Medicine pushing drive plate; 5735. First medicine pushing guide rod; 5736. Medicine pushing plate; 5737. Medicine pushing guide plate; 5738. Second medicine pushing guide rod; 5739. First guide sleeve; 5740. Second guide sleeve; 574. Medicine guiding groove; 58. Heat sealing assembly; 59. Recycling component; 591. Recycling conveyor belt; 50. Medicine dispensing assembly; 501. Medicine dispensing box; 502. Medicine dispensing slide rail. Detailed Implementation

[0051] The technical solution of this utility model will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0052] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0053] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances. Furthermore, the technical features involved in the different embodiments of this utility model described below can be combined with each other as long as they do not conflict with each other.

[0054] like Figures 1 to 27 As shown, the dispensing machine 100 of this utility model includes a medicine rack 1, a medicine frame 2 placed on the medicine rack 1 for storing medicine, a robotic arm 3 that combines the functions of storing and retrieving medicine and storing and retrieving medicine frame for retrieving medicine from the medicine rack 1 and the medicine frame 2, a medicine retrieval buffer component 4 for transferring medicine, and a packaging machine 5 for packaging medicine.

[0055] As Figure 3 shown, the medicine storage rack 1 comprises a first rack body 11 and a second rack body 12, and the mechanical hand 3 with the functions of storing and taking medicine and storing and taking medicine frame is arranged between the first rack body 11 and the second rack body 12. The first rack body 11 and the second rack body 12 are provided with support strips 13, and the medicine frame 2 is placed on the support strips 13. In this way, more medicines can be placed on the medicine storage rack 1. In this embodiment, the first rack body 11 and the second rack body 12 are both provided with multiple layers to store more medicines.

[0056] In this embodiment, the connection direction of the first rack body 11 and the second rack body 12 is set as the X direction, the extension direction is set as the Y direction, and the height direction is set as the Z direction. The packing machine 5 is arranged at one end of the medicine storage rack 1 along the Y direction.

[0057] Each medicine frame 2 is provided with a partition plate 21. In this embodiment, the medicine frame 2 is mainly used to place board medicines, and the medicine dispensing machine 100 is also mainly used to pack board medicines, but is not limited thereto, and can also be used for bottle medicines, needle medicines or tablet medicines.

[0058] As Figures 4 to 7 shown, the mechanical hand 3 with the functions of storing and taking medicine and storing and taking medicine frame comprises a frame taking support plate 31, a medicine taking suction rod 32, a medicine taking driving member 33, a frame taking plate 34, a frame taking driving member 35, a taking and placing fixing plate 36, a taking and placing connecting plate 37, a taking and placing rotating motor 38, a connecting sliding block 39, a vertical guide rail 30 extending in the vertical direction, and a horizontal guide rail 301.

[0059] The frame taking support plate 31 is provided with a medicine taking guide rail 311 and a frame taking guide rail 312, and the medicine taking guide rail 311 and the frame taking guide rail 312 are arranged in parallel. In this embodiment, the number of the frame taking guide rails 312 is two, and the two frame taking guide rails 312 are arranged in parallel.

[0060] One end of the medicine taking suction rod 32 is provided with a medicine taking sliding block 321, and the medicine taking sliding block 321 is slidably arranged relative to the medicine taking guide rail 311. Further, the medicine taking suction rod 32 comprises a rod body 322, a medicine suction head 323 arranged at one end of the rod body 322, and a detection member 324 fixed on the rod body 322. One end of the rod body 322 is fixedly connected with the medicine taking sliding block 321, and the other end is connected with the medicine suction head 323. The detection member 324 is used to detect the position of the medicine taking suction rod 32 relative to the medicine frame 2, so as to control the moving distance of the medicine taking suction rod 32. The detection member 324 can be distance detection, displacement detection, etc., and can use ultrasonic sensing, photoelectric sensing or image sensing, etc.

[0061] The medicine taking driving member 33 is connected with the medicine taking sliding block 321 to drive the medicine taking sliding block 321 to slide relative to the medicine taking guide rail 311. In the embodiment, the medicine taking driving member 33 can drive the medicine taking suction rod 32 to protrude towards the medicine storage rack 1 to suck the medicine in the medicine frame 2.

[0062] The frame taking plate 34 is provided with a frame taking sliding block 341, which is slidably arranged relative to the frame taking guide rail 312. The frame taking driving member 35 is connected with the frame taking sliding block 341 to drive the frame taking sliding block 341 to slide relative to the frame taking guide rail 312. In the embodiment, the number of the frame taking guide rails 312 is two, and the number of the frame taking sliding blocks 341 is also two. The two frame taking guide rails 312 and the frame taking sliding blocks 341 can make the frame taking plate 34 run more stably.

[0063] The frame taking plate 34 is provided with a limiting member 342 at intervals along the extension direction of the frame taking guide rail 312, which extends upward from the frame taking plate 34. The medicine frame 2 is placed between the two limiting members 342. When the medicine frame 2 is taken out, the limiting member 342 takes the medicine frame 2 away from the support strip 13, and the frame taking plate 34 plays a supporting role for the medicine frame 2.

[0064] The taking and placing fixing plate 36 is arranged below the frame taking support plate 31, and the taking and placing connecting plate 37 is connected between the frame taking support plate 31 and the taking and placing fixing plate 36.

[0065] The taking and placing rotating motor 38 is connected with the taking and placing fixing plate 36 to drive the taking and placing fixing plate 36 and the frame taking support plate 31 to rotate. In the embodiment, the taking and placing rotating motor 38 is arranged, so that the medicine taking suction rod 32 and the frame taking plate 34 can take the medicine and the medicine frame 2 from the first rack body 11 and the second rack body 12.

[0066] The connecting sliding block 39 is slidably arranged relative to the vertical guide rail 30, and is fixedly connected with the taking and placing rotating motor 38. The vertical guide rail 30 is slidably arranged relative to the horizontal guide rail 301. The horizontal guide rail 301 extends along the Y direction, and the vertical guide rail 30 extends along the Z direction.

[0067] In the embodiment, the horizontal guide rail 301 and the vertical guide rail 30 are arranged, so that the frame taking support plate 31 and the medicine taking suction rod 32 can be moved to the position of the corresponding medicine frame 2. At the same time, the vertical guide rail 30 drives the frame taking support plate 31 to lift and the medicine taking suction rod 32 to take down the corresponding medicine frame 2 or the medicine in the medicine frame 2.

[0068] The drug dispensing drive unit 33 includes a drug dispensing motor 331 and a drug dispensing pulley 332. The drug dispensing pulley 332 connects the drug dispensing slider 321 and the drug dispensing motor 331. The frame picking drive unit 35 includes a frame picking motor 351 and a frame picking pulley 352. The frame picking pulley 352 connects the frame picking slider 341 and the frame picking motor 351.

[0069] The dispensing motor 331 drives the dispensing pulley 332, which in turn moves the dispensing suction rod 32. At this time, the dispensing guide rail 311 typically extends along the X-direction, working in conjunction with the horizontal guide rail 301, the vertical guide rail 30, and the dispensing / placing rotation motor 38 to pick up medicine from any position in the medicine frame 2. Similarly, the frame-retrieving motor 351 drives the frame-retrieving pulley 352 to rotate, which in turn moves the frame-retrieving plate 34 to achieve the frame-retrieving function.

[0070] In this embodiment, the frame-retrieving plate 34 can not only retrieve empty medicine frames 2, but also place medicine frames 2 filled with medicine into the medicine storage rack 1. The specific process is as follows: when medicine needs to be replenished and there is an empty space on the medicine storage rack 1, the secondary warehouse will transport the medicine frames 2 filled with medicine to the frame-retrieving plate 34 via a hoisting line. After the robotic arm 3, which combines the functions of storing and retrieving medicine and storing and retrieving medicine frames, moves to the corresponding position, the frame-retrieving motor 351 can drive the frame-retrieving pulley 352 to rotate, thereby driving the frame-retrieving plate 34 to move until the medicine frame 2 moves to the corresponding position on the medicine storage rack 1. Then, the frame-retrieving support plate 31 and the frame-retrieving plate 34 on it are controlled to move downward, so that the medicine frame 2 can be retained on the support bar 13, and the medicine loading is completed.

[0071] like Figures 8 to 13 As shown, the drug retrieval buffer assembly 4 includes a buffer guide rail 41, a buffer box 42, a switch 43, a buffer collection component 44, a buffer collection guide rail 45 extending vertically, a buffer pressing component 46, and a horizontal sliding component 47 that is slidably connected to the buffer collection guide rail 45 in the vertical direction.

[0072] The number of the buffer rails 41 is multiple, and the buffer rails 41 are divided into two groups. The two groups of buffer rails 41 are respectively arranged adjacent to the first frame 11 and the second frame 12, and each group of buffer rails 41 is spaced apart along the height direction.

[0073] like Figures 9 to 10 As shown, there are multiple buffer boxes 42, which are used to hold medicines. Each buffer guide rail 41 has at least one buffer box 42. In this embodiment, each buffer guide rail 41 has one buffer box 42, and the buffer box 42 is slidably disposed relative to the buffer guide rail 41. In this embodiment, each buffer guide rail 41 is correspondingly provided with a set of buffer driving components to drive the buffer box 42 to move relative to the buffer guide rail 41.

[0074] The buffer box 42 has a medicine receiving port 421 facing upward and a medicine discharging port 422 facing downward, the medicine discharging port 422 being used to discharge the medicine from the buffer box 42, the buffer box 42 moving to the buffer collecting member 44 after obtaining the medicine from the mechanical arm 3, the buffer collecting member 44 collecting all the medicine and then being sent to the packing machine 5 for packing.

[0075] The buffer box 42 is provided with a fixing block 423, and the fixing block 423 is arranged on both sides of the buffer box 42, one side facing the medicine storage rack 1 and the other side being away from the medicine storage rack 1.

[0076] In the embodiment, the first rack body 11 and the second rack body 12 are provided with multiple layers, each layer corresponding to the buffer guide rail 41, the medicine of one layer being put into the buffer box 42 after being taken, the buffer box 42 moving to the position of the buffer collecting member 44 for collecting the medicine, and the mechanical arm 3 taking and placing the medicine of other layers without affecting the efficiency of collecting the medicine.

[0077] The switch member 43 is used to open and close the medicine discharging port 422.

[0078] The switch member 43 includes two rotatable opening and closing plates 431, a first connecting rod 432 connected with the opening and closing plates 431, a second connecting rod 433 connecting the two first connecting rods 432, a third connecting rod 434 abutting against the second connecting rod 433, and a reset spring 435.

[0079] The opening and closing plates 431 are pivotally connected with the buffer box 42 through opening and closing pivots, the axial direction of the opening and closing pivots being the X direction, the two opening and closing plates 431 being arranged on both sides of the buffer box 42 along the Y direction, and the opening and closing plates 431 rotating to open and close the medicine discharging port 422.

[0080] The first connecting rod 432 is pivotally connected with the second connecting rod 433 and the opening and closing plates 431, the second connecting rod 433 extending along the horizontal direction and being movably arranged along the vertical direction, and the second connecting rod 433 moving along the vertical direction to drive the first connecting rod 432 and the opening and closing plates 431 to rotate.

[0081] Further, the third connecting rod 434 extends along the vertical direction to drive the second connecting rod 433 to move. Therefore, as long as the third connecting rod 434 is driven to move along the vertical direction, the opening and closing plates 431 can be opened or closed.

[0082] The third link 434 passes through the fixing block 423. The lower end of the third link 434 is fixedly connected to the second link 433. The upper end of the third link 434 is provided with a limiting block 4341. The reset spring 435 abuts against the fixing block 423 and the reset member.

[0083] The downward movement of the third link 434 can cause the opening and closing plate 431 to rotate to expose the medicine outlet 422. After the external force is removed, the return spring 435 pushes the third link 434 upward to cause the opening and closing plate 431 to rotate and close the medicine outlet 422.

[0084] like Figures 11 to 13 As shown, the buffer collector 44 is slidably disposed relative to the buffer collection guide 45, and the buffer collector 44 has a collection state located below the medicine outlet 422 of each buffer box 42. When the buffer collector 44 needs to collect medicine, it moves to the bottom of the corresponding buffer box 42, and the buffer collection guide 45 extends along the Z direction, so that the buffer collector 44 can collect medicines in buffer boxes 42 of different heights.

[0085] The buffer collector 44 is slidably disposed relative to the horizontal slider 47. After collecting the medicine, the buffer collector 44 slides horizontally to convey the medicine to the packaging machine 5. In this embodiment, the horizontal slider 47 is slidably disposed along the X direction, and one end of the buffer collector 44 has an opening. The horizontal slider 47 carries the medicine to the opening and it falls down. In this embodiment, the horizontal slider 47 is a conveyor belt structure.

[0086] The buffer collection unit 44 is equipped with a horizontal conveyor belt to transport medicines horizontally. In this embodiment, when the buffer collection unit 44 moves to a suitable position, the horizontal conveyor belt is driven to transport the medicines to the packaging machine 5.

[0087] The buffer pressing member 46 is fixed to the buffer collecting member 44. In this embodiment, the buffer pressing member 46 includes a buffer connecting plate 461 and a buffer pressing plate 462. The buffer connecting plate 461 is fixedly connected to the buffer collecting member 44 by bolts or welding. The buffer pressing plate 462 is used to abut against the third connecting rod 434. That is, when the buffer pressing plate 462 presses against the third connecting rod 434, the switch member 43 is opened to dispensing medicine. In this embodiment, the buffer pressing member 46 and the buffer collecting member 44 move synchronously to collect medicine in the buffer box 42 of the corresponding height. Thus, only one drive is needed to move the buffer collecting member 44 to the corresponding buffer box 42 and open the buffer box 42. Of course, in other embodiments, the buffer pressing member 46 can also be configured to be slidably set separately with the buffer collecting guide rail 45.

[0088] Each of the switch pieces 43 comprises two groups of first connecting rods 432, second connecting rods 433 and third connecting rods 434, and the third connecting rod 434 of each of the switch pieces 43 is arranged on the two sides of the buffer box 42, the number of the buffer plates is two, and the buffer plates are arranged at intervals to abut against the two third connecting rods 434 respectively.

[0089] As shown in Figures 14 to 27 The packaging machine 5 comprises a marking machine 51, a label table 52, a bag providing piece 53, a label taking and pasting assembly 54, a bag transferring assembly 55, a bag opening assembly 56, a medicine loading assembly 57, a heat sealing assembly 58, a recycling piece 59 and a medicine taking assembly 50.

[0090] The marking machine 51 is used to print labels, and the label table 52 is used to receive labels, and the labels printed by the marking machine 51 are directly conveyed to the label table 52.

[0091] The bag providing piece 53 is used to provide medicine storage bags 200, and the bag providing piece 53 is arranged above the label table 52.

[0092] As shown in Figures 17 to 18 Specifically, the bag providing piece 53 comprises at least two spaced-apart bag providing support plates 531, a bag storage frame 532, a limiting rod 533 and a release roller 534.

[0093] The bag providing support plates 531 are fixed on the two sides of the bag storage frame 532. The bag providing support plates 531 comprise support sections 5311 extending in the horizontal direction and limiting sections 5312 extending upward from one end of the support sections 5311, and the limiting end and the limiting rod 533 surround the medicine storage bags 200. The medicine storage bags 200 are placed on the support sections 5311, and the two side support sections 5311 can support the medicine storage bags 200.

[0094] The limiting rod 533 is fixed on the other two sides of the bag storage frame 532 and extends upward from the bag storage frame 532, and the medicine storage bags 200 are arranged between the limiting rod 533 and the bag providing support plates 531. In the embodiment, the limiting rod 533 and the limiting sections 5312 limit the positions of the medicine storage bags 200 from all around.

[0095] The release roller 534 is fixed on the bag storage frame 532 and located below the medicine storage bags 200, and the axial direction of the release roller 534 is perpendicular to the connecting direction of the two bag providing support plates 531. In the embodiment, the axial direction of the release roller 534 is the X direction, and the release roller 534 supports the medicine storage bags 200 from the middle part, and in addition, the release roller 534 facilitates the taking of the medicine storage bags 200.

[0096] As shown in Figures 19 to 20As shown, the labeling and bag taking assembly 54 is used to label the medicine storage bag 200 and take the labeled medicine storage bag 200.

[0097] The labeling and bag taking assembly 54 comprises a labeling rotation motor 541, a labeling connecting plate 542 connected with the labeling rotation motor 541, a label suction disc 543 arranged at one end of the labeling connecting plate 542, a bag suction disc 544 arranged at one end of the labeling connecting plate 542 and adjacent to the label suction disc 543, and a moving part 545 connecting the labeling connecting plate 542 and the labeling rotation motor 541.

[0098] The labeling and bag taking assembly 54 has a label suction state in which the label suction disc 543 is driven by the labeling rotation motor 541 to move towards the lower side to suck the label on the label table 52, and a bag suction state in which the bag suction disc 544 is driven by the labeling rotation motor 541 to move towards the upper side to suck the medicine storage bag 200 on the bag supply part 53. The labeling rotation motor 541 can drive the labeling connecting plate 542 to rotate, thereby driving the label suction disc 543 and the bag suction disc 544 to rotate.

[0099] The moving part 545 comprises a labeling sliding block 5451 fixedly connected with the labeling rotation motor 541, a labeling sliding rail 5452 connected with the labeling connecting plate 542, and a labeling driving part 5453 used to drive the labeling sliding rail 5452 to slide relative to the labeling sliding block 5451. The labeling driving part 5453 comprises a labeling motor 5454 and a labeling belt wheel 5455 fixedly connected with the labeling sliding block 5451. The labeling rotation motor 541 fixes the labeling driving part 5453 through a fixing plate structure, and the labeling driving part 5453 realizes the effect of driving the label suction disc 543 and the bag suction disc 544 to move.

[0100] When the label suction disc 543 is driven by the labeling rotation motor 541 to move towards the lower side, the moving part 545 drives the label suction disc 543 to move towards the lower side until the label suction disc 543 contacts and sucks the label. When the bag suction disc 544 is driven by the labeling rotation motor 541 to move towards the upper side, the label suction disc 543 contacts the medicine storage bag 200 and pastes the label on the medicine storage bag 200, the bag suction disc 544 adsorbs the labeled medicine storage bag 200, and the moving part 545 drives the bag suction disc 544 to move downwards and tear off one medicine storage bag 200, thereby completing the labeling and bag taking process.

[0101] The adsorption end of the label suction disc 543 and the adsorption end of the bag suction disc 544 extend from the labeling connecting plate 542 towards the same end. In this embodiment, one labeling rotation motor 541 and one set of moving parts 545 can realize the labeling, labeling and bag taking, and the structure is simple and the cost is low.

[0102] As shown in Figure 21 The bag transfer assembly 55 is used to remove the medicine storage bag 200 from the labeling and bag taking assembly 54 and move it, the bag transfer assembly 55 has a transfer rail 551 extending along the X direction, a transfer slide plate 552 movable relative to the transfer rail 551, a first bag suction member 553 provided on the transfer slide plate 552, a clamping transfer member 554 provided on the transfer slide plate 552 and spaced apart from the first bag suction member 553, and a bag opening driving device 555 used to drive the first bag suction member 553 to move along the Y direction.

[0103] The clamping transfer member 554 and the first bag suction member 553 are spaced apart along the extension direction of the transfer rail 551, and the transfer slide plate 552 has a bag taking position and a medicine packaging position.

[0104] The first bag suction member 553 is provided with a suction disc used to suck the medicine storage bag 200, and the first bag suction member 553 is arranged along the Y direction towards the bag suction disc 544. After the labeling and bag taking assembly 54 removes the labeled medicine storage bag 200, the bag suction disc 544 is driven by the labeling rotation motor 541 to move along the Y direction towards the first bag suction member 553, at this time the transfer slide plate 552 moves to the bag taking position, the first bag suction member 553 is started and sucks the medicine storage bag 200, and the bag suction disc 544 stops sucking, so that the transfer of the medicine storage bag 200 can be realized. Then the transfer slide plate 552 is driven to slide relative to the transfer rail 551, so that the transfer slide plate 552 moves to the medicine packaging position, and the first bag suction member 553 moves to the side of the bag opening assembly 56.

[0105] As shown in Figures 22 to 23 The bag opening assembly 56 has a second bag suction member 561, a bag opening driving member 562 used to drive the second bag suction member 561 to move along the Y direction, and a clamping assembly 563.

[0106] When the transfer slide plate 552 is in the medicine packaging position, the bag opening driving member 562 drives the second bag suction member 561 to approach the first bag suction member 553 to make the first bag suction member 553 and the second bag suction member 561 suck the medicine storage bag 200 from both sides, and the bag opening driving member 562 drives the second bag suction member 561 to move away from the first bag suction member 553 to open the medicine storage bag 200; of course, the bag opening driving device 555 can also be arranged to drive the first bag suction member 553 to move away from the second bag suction member 561 to open the medicine storage bag 200. Opening the medicine storage bag 200 from both sides has a better centering effect.

[0107] The clamping assembly 563 comprises two clamping members 5631 for clamping the medicine storage bag 200, which are arranged along the X direction and are movably arranged along the X direction. The clamping assembly 563 can drive the two sides of the medicine storage bag 200 to move to the middle when the medicine storage bag 200 is opened, which facilitates the opening of the medicine storage bag 200 and ensures the stability of the opening of the medicine storage bag 200.

[0108] The clamping assembly 563 comprises a clamping driving plate 5632 movably arranged along the Y direction, a first clamping guide rail 5633 extending along the X direction, a first clamping connecting rod 5634 connected with the clamping member 5631, a clamping moving slide plate 5635, a clamping baffle 5636 arranged at one end of the clamping moving slide plate 5635, a second clamping guide rail 5637 arranged on the clamping moving slide plate 5635, a clamping plate 5638 arranged on the second clamping guide rail 5637, a clamping jaw plate 5639 rotatable relative to the clamping baffle 5636, a clamping connecting rod 5641 connected with the clamping moving slide plate 5635, and a clamping connecting rod 5641 connected with the clamping moving slide plate 5635.

[0109] The clamping member 5631 is composed of the clamping jaw plate 5639 and the clamping plate 5638.

[0110] The clamping driving plate 5632 is provided with a first limiting groove 56321, a second limiting groove 56322 and a third limiting groove 56323, which are inclined relative to the X direction and the Y direction.

[0111] The first clamping connecting rod 5634 is provided with a first roller shaft 56341 protruding into the first limiting groove 56321 at one end away from the clamping member 5631. The clamping member 5631 is arranged on the first clamping guide rail 5633. The clamping driving plate 5632 moves along the Y direction to drive the clamping member 5631 to move along the first clamping guide rail 5633 in the X direction.

[0112] The clamping moving slide plate 5635 is slidably arranged relative to the first clamping guide rail 5633. The second clamping guide rail 5637 extends along the Y direction. The clamping plate 5638 is slidably arranged relative to the second clamping guide rail 5637. The clamping plate 5638 moves along the second clamping guide rail 5637 to drive the clamping connecting rod 5640 to rotate the clamping jaw plate 5639. The medicine storage bag 200 is clamped between the clamping jaw plate 5639 and the clamping plate 5638.

[0113] The second limiting groove 56322 is connected to the first limiting groove 56321 and extends along the Y direction. The third limiting groove 56323 is parallel or collinear with the first limiting groove 56321. The end of the second clamping connecting rod 5641 away from the clamping moving slide plate 5635 is provided with a second roller 56411 protruding into the third limiting groove 56323. When the first roller 56341 moves relative to the second limiting groove 56322, the clamping drive plate 5632 moves along the Y direction, driving the second clamping connecting rod 5640 and the clamping plate 5638 to move and driving the gripper plate 5639 to rotate. When the first roller 56341 moves relative to the first limiting groove 56321, the second roller 56411 moves synchronously relative to the third limiting groove 56323.

[0114] In this embodiment, the effect of clamping the medicine bag 200 by the claw plate 5639 and moving the clamping member 5631 in the X direction to open the medicine bag 200 can be achieved by simply moving the clamping drive plate 5632.

[0115] The drug filling assembly 57 is disposed above the bag opening assembly 56, and the drug filling assembly 57 is used to deliver the drug into the storage bag 200.

[0116] like Figures 24 to 27 As shown, the drug loading assembly 57 includes a drug delivery box 571 with a drug delivery port 5711 at the lower end, a drug delivery switch assembly 572 for closing or opening the drug delivery port 5711, a drug pushing drive 573, and a drug guide groove 574 connected to the drug delivery box 571.

[0117] The bag opening component 56 is used to open the medicine storage bag 200 and place it below the medicine delivery port 5711, and the medicine pushing drive component 573 is used to push the medicine in the medicine delivery box 571 downwards out of the medicine delivery port 5711.

[0118] The drug delivery channel 574 extends at an angle and is connected to the upper end of the drug delivery box 571. The medicine collected from the buffer collector 44 is transferred to the drug delivery channel 574 and slides into the drug delivery box 571.

[0119] The drug delivery switch assembly 572 includes a lifting bucket 5721, two flip plates 5722 disposed at the bottom of the lifting bucket 5721, a lifting drive component 5723 connected to the lifting bucket 5721 to drive the lifting bucket 5721 to move up and down, a switch fixing plate 5724 surrounding the lifting bucket, and switch shafts 5725 fixed on the switch fixing plate 5724 and located on both sides of the lifting bucket 5721.

[0120] The flip plate 5722 is rotatably arranged relative to the lifting bucket 5721, and the lifting bucket 5721 is arranged around the medicine delivery box 571.

[0121] The turnover plate 5722 is pivotally connected with the switch shaft 5725, and rotates to close or open the medicine outlet 5711 when the lifting bucket 5721 moves up and down.

[0122] The medicine pushing driving member 573 comprises a medicine pushing screw rod 5731, a motor pulley set 5732 for driving the medicine pushing screw rod 5731 to rotate, a medicine pushing nut 5733 threadedly connected with the medicine pushing screw rod 5731, a medicine pushing driving plate 5734 fixedly connected with the medicine pushing nut 5733, a first medicine pushing guide rod 5735 protruding from the medicine pushing driving plate 5734 towards the medicine outlet box 571, a medicine pushing plate 5736 arranged at an end of the first medicine pushing guide rod 5735 away from the medicine pushing driving plate 5734, a medicine pushing guide plate 5737, and a second medicine pushing guide rod 5738 fixedly arranged on the medicine pushing guide plate 5737 and extending upwards.

[0123] The medicine pushing guide plate 5737 is arranged between the medicine pushing plate 5736 and the medicine pushing driving plate 5734, and a first guide sleeve 5739 is arranged on the medicine pushing guide plate 5737, and the first medicine pushing guide rod 5735 penetrates through the first guide sleeve 5739.

[0124] A second guide sleeve 5740 is arranged on the medicine pushing driving plate 5734, and the second medicine pushing guide rod 5738 penetrates through the second guide sleeve 5740.

[0125] Specific working process is as follows: when the medicine needs to be taken out, the motor pulley set 5732 drives the screw rod to rotate relative to the medicine pushing nut 5733, the medicine pushing nut 5733 and the medicine pushing driving plate 5734 move downwards cooperatively, and drive the first medicine pushing guide rod 5735 and the medicine pushing plate 5736 to move downwards. The first guide sleeve 5739 and the second guide sleeve 5740 respectively play a guiding role relative to the first medicine pushing guide rod 5735 and the second medicine pushing guide rod 5738.

[0126] The shape and size of the medicine pushing plate 5736 are same as those of the medicine outlet 5711. At the same time of taking out the medicine, the medicine pushing plate 5736 is controlled to push the medicine downwards, so as to avoid the medicine remaining in the medicine outlet box 571.

[0127] The heat sealing assembly 58 is used to package the medicine storage bag 200, and the bag transfer assembly 55 is used to move the medicine storage bag 200 from the bag opening assembly 56 to the heat sealing assembly 58. Specifically, the heat sealing assembly 58 is spaced apart from the bag opening assembly 56 along the X direction, the clamping transfer member 554 removes the medicine storage bag 200 from the second bag suction member 561 when the transfer slide plate 552 is in the bag taking position, and the clamping transfer member 554 is located below the heat sealing assembly 58 when the transfer slide plate 552 is in the medicine packaging position.

[0128] The recycling member 59 is located below the heat sealing assembly 58. The recycling member 59 is provided with a recycling conveyor belt 591.

[0129] The medicine taking assembly 50 comprises a medicine taking box 501 and a medicine taking slide rail 502 for driving the medicine taking box 501 to move up and down, and the medicine taking box 501 is located adjacent to the recycling member 59.

[0130] The working process of the medicine dispensing machine 100 is as follows: the mechanical hand 3 with the functions of storing and taking medicine and storing and taking a medicine frame is moved to the corresponding medicine frame 2 through the vertical guide rail 30 and the horizontal guide rail 301, and the medicine is taken out and sent to the buffer box 42. After the medicine of the same layer is taken out, the buffer box 42 is moved to above the buffer collecting member 44, the buffer pressing member 46 is driven to be pressed downward, so that the medicine falls from the medicine receiving port 421 to the horizontal conveying belt 441; the above process is repeated until all the medicines are taken out.

[0131] By lifting the buffer collecting member 44 and moving it along the X direction, the horizontal conveying belt 441 is driven to work, so that the collected medicines are sent into the medicine guide groove 574 and fall into the medicine receiving box under the action of gravity;

[0132] The label table 52 is provided with a label suction disc 543 and a bag suction disc 544. The label table 52 is located below the label printer 51. The label printer 51 prints a label and sends it to the label table 52. The label taking and bag taking assembly 54 rotates to the label suction disc 543 facing downward and moves to suck the label, and then the label taking and bag taking assembly 54 rotates to the bag suction disc 544 facing upward and moves until the label is pasted on the medicine storage bag 200, and at the same time, the bag suction disc 544 sucks the medicine storage bag 200 and moves downward to make the medicine storage bag 200 separate from the bag supply member 53, and then the label taking and bag taking assembly 54 is rotated to make the medicine storage bag 200 face the bag transfer assembly 55.

[0133] The transfer slide 552 is in a bag taking position, the first bag suction member 553 starts to suck the medicine storage bag 200, and then the transfer slide 552 moves to a medicine loading and packaging position, so that the first bag suction member 553 moves to the bag opening assembly 56, the second bag suction member 561 sucks the medicine storage bag 200 from the other side, the first bag suction member 553 and the second bag suction member 561 move towards the direction away from each other, and the clamping drive plate 5632 moves, so that the clamping member 5631 clamps two sides of the medicine storage bag 200, and the two ends of the medicine storage bag 200 move to the middle, so as to open the medicine storage bag 200;

[0134] The medicine feeding switch assembly 572 is started, the medicine feeding opening 5711 is exposed, the medicine falls into the medicine storage bag, and the medicine feeding plate 5736 moves downwards, so that no medicine is left in the medicine feeding box 571;

[0135] Then the transfer slide 552 moves to the bag taking position, the clamping transfer member 554 clamps the medicine storage bag 200, the transfer slide 552 moves to the medicine loading and packaging position again, the medicine storage bag 200 is packaged by using the heat sealing assembly 58, and after packaging, the medicine storage bag 200 falls into the recycling member 59 and is further conveyed to the medicine taking assembly 50, and the medicine taking is completed. When the clamping transfer member 554 clamps the medicine storage bag 200 from the bag opening assembly 56, the first bag suction member 553 also sucks another empty medicine storage bag 200, and when the clamping transfer member 554 moves to the heat sealing assembly 58, the first bag suction member 553 moves the medicine storage bag 200 to the bag opening assembly 56, so that the transfer time is saved and the transfer efficiency is improved.

[0136] The medicine dispensing machine 100 of the utility model, through setting the mechanical hand 3 with the function of storing and taking medicine and storing and taking medicine frame, the medicine dispensing machine 100 can realize the selection of medicine and the taking and placing of medicine frame 2 simultaneously, and the structure is more compact;The medicine taking and buffering assembly 4 is provided with a plurality of buffering guide rails 41 and a plurality of buffering boxes 42, so that the buffering box 42 of each layer can independently take medicine, and the efficiency is higher;The labeling and bag taking assembly 54 is arranged on the packing machine 5, so that the labeling, labeling and bag taking operations can be completed simultaneously, and the structure is more compact;The bag transfer assembly 55 is arranged, so that the first bag suction member 553 and the clamping transfer member 554 can work synchronously, and the efficiency is higher;The medicine loading assembly 57 of the packing machine 5 is provided with a medicine feeding drive member 573, so that all the medicine in the medicine feeding box 571 can be fed out, and residual medicine is not easy to be generated;The clamping assembly 563 is arranged, and only the clamping drive plate 5632 needs to be moved to realize the clamping of the medicine storage bag 200 and the movement of the two sides of the medicine storage bag 200 inwards, and the medicine loading is facilitated.

[0137] The above-described embodiments only express several implementation manners of the utility model, the description is more specific and detailed, but can not therefore be understood as the limitation of the utility model patent range. It should be pointed out that for ordinary skilled person in the art, without departing from the utility model concept, several modifications and improvements can be made, which belong to the protection range of the utility model. Therefore, the protection range of the utility model patent should be subject to the appended claims.

Claims

1. A robotic arm that combines the functions of storing and retrieving medicines and storing and retrieving medicine frames, characterized in that: The mechanical hand with the functions of accessing medicine and accessing medicine frame comprises: a medicine-taking support plate, wherein a medicine-taking guide rail and a medicine frame-taking guide rail are arranged on the medicine-taking support plate, and the medicine-taking guide rail and the medicine frame-taking guide rail are arranged in parallel; a medicine-taking suction rod, wherein a medicine-taking sliding block is arranged on the medicine-taking suction rod, and the medicine-taking sliding block is arranged in a slidable manner relative to the medicine-taking guide rail; a medicine-taking driving member, which is connected with the medicine-taking sliding block to drive the medicine-taking sliding block to slide relative to the medicine-taking guide rail; a medicine frame-taking plate, wherein a medicine frame-taking sliding block is arranged on the medicine frame-taking plate, and the medicine frame-taking sliding block is arranged in a slidable manner relative to the medicine frame-taking guide rail; a medicine frame-taking driving member, which is connected with the medicine frame-taking sliding block to drive the medicine frame-taking sliding block to slide relative to the medicine frame-taking guide rail.

2. The dual function mechanical hand of claim 1, wherein: The medicine frame-taking plate is provided with limit members at intervals along the extension direction of the medicine frame-taking guide rail, and the limit members extend upward from the medicine frame-taking plate.

3. The dual function mechanical hand of claim 1, wherein: The mechanical hand with the functions of accessing medicine and accessing medicine frame further comprises a taking-and-placing fixing plate and a taking-and-placing connecting plate, wherein the taking-and-placing fixing plate is arranged below the medicine-taking support plate, and the taking-and-placing connecting plate is connected between the medicine-taking support plate and the taking-and-placing fixing plate.

4. The dual function mechanical hand of claim 3, wherein: The mechanical hand with the functions of accessing medicine and accessing medicine frame further comprises a taking-and-placing rotating motor, which is connected with the taking-and-placing fixing plate to drive the taking-and-placing fixing plate and the medicine-taking support plate to rotate.

5. The dual function mechanical hand of claim 4, wherein: The mechanical hand with the functions of accessing medicine and accessing medicine frame further comprises a connecting sliding block and a vertical guide rail extending in a vertical direction, wherein the connecting sliding block is arranged in a slidable manner relative to the vertical guide rail, and the connecting sliding block is fixedly connected with the taking-and-placing rotating motor.

6. The dual function mechanical hand of claim 5, wherein: The mechanical hand with the functions of accessing medicine and accessing medicine frame further comprises a horizontal guide rail, wherein the vertical guide rail is arranged in a slidable manner relative to the horizontal guide rail.

7. The dual function mechanical hand of claim 1, wherein: The medicine-taking driving member comprises a medicine-taking motor and a medicine-taking belt pulley, wherein the medicine-taking belt pulley is connected with the medicine-taking sliding block and the medicine-taking motor, and the medicine frame-taking driving member comprises a medicine frame-taking motor and a medicine frame-taking belt pulley, wherein the medicine frame-taking belt pulley is connected with the medicine frame-taking sliding block and the medicine frame-taking motor.

8. The dual function mechanical hand of claim 1, wherein: The number of the medicine frame-taking guide rails is two.

9. The dual function mechanical hand of claim 1, wherein: The medicine-taking suction rod comprises a rod body, a medicine-taking head arranged at one end of the rod body, and a detection member fixed on the rod body, wherein one end of the rod body is fixedly connected with the medicine-taking sliding block, the other end is connected with the medicine-taking head, and the detection member is used to detect the position of the medicine-taking suction rod relative to a medicine frame.

10. A dispensing machine characterized by: The medicine dispensing machine comprises a medicine storage rack and the mechanical hand with the functions of accessing medicine and accessing medicine frame, wherein the medicine storage rack is provided with a medicine frame, and the medicine frame is provided with medicine.

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