Medicine storing and taking manipulator device

Abstract

The utility model provides a medicine storing and taking manipulator device which is arranged on a frame assembly, the medicine storing and taking manipulator device comprises a moving assembly, a medicine storage bin storing and taking assembly and a plate medicine storing and taking assembly, the moving assembly is arranged on the frame assembly, and the moving assembly can drive the medicine storage bin storing and taking assembly and the plate medicine storing and taking assembly to move. The medicine storage bin storing and taking assembly is used for storing and taking the medicine storage bins on the frame assembly, the tablet medicine storing and taking assembly is used for storing and taking the tablet medicines in the medicine storage bins, a transfer box and a medicine pushing assembly are arranged below the tablet medicine storing and taking assembly, and the transfer box is used for containing the tablet medicines taken out by the tablet medicine storing and taking assembly; the medicine pushing assembly is used for pushing down the plate medicine in the transfer box; according to the medicine storing and taking manipulator device, medicine storage bin storing and taking and plate medicine taking are integrated, the suction cup medicine taking mode is more suitable for plate medicine, plate medicine transferring is achieved, the automation degree is high, and the structure is simple and compact.

Description

Technical Field

[0001] This utility model relates to the field of automated pharmacy technology, specifically to a robotic arm device for storing and retrieving medicines. Background Technology

[0002] Currently, pharmacy management in hospitals and pharmacies primarily relies on manual dispensing, automated pharmacy dispensing, or a combination of both. In recent years, automated pharmacy dispensing technology has developed rapidly in China, significantly improving its automation level. This technology greatly reduces labor costs, and the equipment can operate 24 / 7, enhancing pharmacy service efficiency. However, in practical applications, automated pharmacies have not achieved complete automation. For example, manual assistance is still required in drug storage and dispensing, especially for blister packs that need to be unpacked before being stored and sold. This undoubtedly increases additional labor costs. Furthermore, some drug storage and retrieval equipment has complex structural designs and inefficient space layouts, resulting in low space utilization. Summary of the Invention

[0003] The purpose of this invention is to provide a robotic arm device for storing and retrieving medicines to solve the above-mentioned problems.

[0004] The technical solution adopted in this utility model is as follows:

[0005] A drug storage and retrieval robotic arm device is mounted on a frame assembly and includes a moving component, a drug storage bin retrieval component, and a blister pack retrieval component. The moving component is mounted on the frame assembly and can drive the drug storage bin retrieval component and the blister pack retrieval component to move. The drug storage bin retrieval component is used to retrieve a drug storage bin on the frame assembly, and the blister pack retrieval component is used to retrieve blister packs from the drug storage bin. Below the blister pack retrieval component, a transfer box and a pusher component are provided. The transfer box is used to receive blister packs retrieved by the blister pack retrieval component, and the pusher component is used to push the blister packs in the transfer box to fall out of the box.

[0006] As a further improvement of the present invention, the moving component includes a first x-axis moving mechanism, a first z-axis moving mechanism, and a first rotating mechanism. The first z-axis moving mechanism is disposed on the frame component, the first x-axis moving mechanism is mounted on the first z-axis moving mechanism and can move in the z-axis direction with the first z-axis moving mechanism, the first rotating mechanism is disposed on the first x-axis moving mechanism and can move in the x-axis direction with the first x-axis moving mechanism, and the medicine storage compartment retrieval component and the plate medicine retrieval component are disposed on the first rotating mechanism and can rotate with the first rotating mechanism.

[0007] As a further improvement of the present invention, the medicine storage bin access component includes a first y-direction moving mechanism and a fork. The first y-direction moving mechanism drives the fork to move in the y-direction, and the fork is used to load the medicine storage bin.

[0008] As a further improvement of this utility model, a number of limiting members are provided on the forks, which are used to limit the position of the medicine storage compartment.

[0009] As a further improvement of the present invention, the blister pack storage and retrieval assembly includes a second y-axis moving mechanism, a cantilever, and a suction cup. The second y-axis moving mechanism can drive the cantilever to move in the y-axis. The suction cup is disposed at the end of the cantilever and is used to pick up or release the blister pack.

[0010] As a further improvement of the present invention, the transfer box includes a hopper with a bidirectional opening and a hopper bottom plate. The pushing component can drive the hopper bottom plate to move in order to block and open the hopper discharge port.

[0011] As a further improvement of the present invention, the hopper is fixedly connected to the first rotating mechanism, and the pushing component includes a fourth motor, a first pulley group, a drive block and a connecting bracket. The fourth motor can drive the first pulley group to rotate. The drive block is set on the belt of the first pulley group and moves synchronously with the belt. The drive block is connected to the connecting bracket, and the connecting bracket is connected to the bottom plate of the hopper.

[0012] As a further improvement of this utility model, a first guide mechanism is provided between the hopper and the hopper bottom plate.

[0013] As a further improvement of this utility model, a medicine dispensing channel is provided within the frame assembly, and the medicine dispensing channel is inclined.

[0014] As a further improvement of this utility model, a protective plate and a dropping hopper are provided at the outlet of the dispensing channel. The protective plate is located above the dropping hopper and is used to cooperate with the dispensing channel to prevent the blister packs from sliding out of the dispensing channel. The distance between the protective plate and the dispensing channel is adjustable, and the dropping hopper is used to guide the falling blister packs.

[0015] The beneficial effects of this utility model are as follows:

[0016] With the above structure, the drug storage and retrieval robot device integrates the storage and retrieval of drug compartments and the retrieval of blister packs. The suction cup retrieval method is more suitable for blister packs and realizes the transfer of blister packs. It has a high degree of automation and a simple and compact structure. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of a dispensing device with sealing function;

[0018] Figure 2 This is a schematic diagram of the internal structure of a dispensing device with a sealing function;

[0019] Figure 3 This is a schematic diagram of the structure of the drug storage and retrieval robotic arm device. Figure 1 ;

[0020] Figure 4 This is a schematic diagram of the structure of the drug storage and retrieval robotic arm device. Figure 2 ;

[0021] Figure 5 This is a structural diagram of the drug storage and retrieval assembly and the blister pack assembly. Figure 1 ;

[0022] Figure 6 This is a structural diagram of the drug storage and retrieval assembly and the blister pack assembly. Figure 2 ;

[0023] Figure 7 This is a schematic diagram of the packaging device. Figure 1 ;

[0024] Figure 8 This is a schematic diagram of the packaging device. Figure 2 ;

[0025] Figure 9 This is a structural diagram of the bag upper assembly, the air-blown bag assembly, and the sealing assembly;

[0026] Figure 10 This is a structural schematic diagram of the air-supported bag assembly;

[0027] Figure 11 This is a structural diagram of the first support strip;

[0028] Figure 12 This is a structural diagram of the push bag assembly.

[0029] in:

[0030] 1-Frame component, 11-Frame unit, 12-Bearing support, 13-Drug storage compartment;

[0031] 2-Medicine storage and retrieval robotic arm device,

[0032] 21-First x-axis moving mechanism, 211-Second motor, 212-Second guide rail, 213-Second slider, 214-Second mounting base,

[0033] 22-First Z-axis moving mechanism, 221-First motor, 222-First guide rail, 223-First slider, 224-First mounting base.

[0034] 23-Rotating mechanism, 231-Third motor, 232-Rotating support, 233-Rotating platform, 234-Rotating base plate.

[0035] 24-Medicine storage compartment access assembly, 241-First y-axis moving mechanism, 242-Forks 242, 243-Limiting components,

[0036] 25-Patent-retrieving assembly 25, 251-Second y-axis moving mechanism, 252-Cantilever, 253-Suction cup,

[0037] 26-Transfer box, 261-Hopper, 262-Hopper bottom plate

[0038] 27-Medicine pushing assembly, 271-Fourth motor, 272-First pulley group, 273-Drive block, 274-Connecting bracket, 275-First guide mechanism;

[0039] 3-Packaging device,

[0040] 31-Medicine bag roll,

[0041] 32-Bag loading assembly, 321-Bag loading drive mechanism, 322-Drive roller, 323-Driven roller, 324-Transmission roller, 325-Tension roller, 326-Tension adjustment mechanism, 327-Lifting mechanism, 3271-Handle, 3272-Rotating wheel, 3273-Insertion hole, 3274-Eccentric wheel, 3275-Support plate, 3276-Limit block, 3277-Limit groove, 328-Bag exit guide plate, 3281-Mounting groove

[0042] 33-Labeling machine,

[0043] 34-Inflatable bag support assembly; 341-First blower; 342-First rotary drive component; 343-First bag support strip; 3431-Mounting part; 3432-First section; 3433-Second section; 345-First horizontal moving component; 3451-Fifth motor; 3452-Second pulley assembly; 3453-Screw and nut assembly; 3454-Third mounting base; 3455-Mounting hole; 346-Second rotary drive component; 3461-Motor mounting plate; 3462-Sixth motor; 347-Second bag support strip.

[0044] 35-Bag sealing assembly, 351-Second horizontal moving part, 3511-Seventh motor, 3512-Third pulley assembly, 3513-Third slider, 352-Sealing machine.

[0045] 361-Medicine bag tray, 3611-Groove, 362-Second Z-axis moving mechanism,

[0046] 37-Push bag assembly, 371-Second fan, 372-Third horizontal moving part, 373-Push bag upright plate,

[0047] 38-Roller bracket;

[0048] 4-Patent, 5-Dispensing channel, 61-Dispensing area, 62-Dispensing station, 7-Inspection door, 8-Observation window, 9-Display screen. Detailed Implementation

[0049] The present invention will now be described in detail with reference to the specific embodiments shown in the accompanying drawings. However, these embodiments do not limit the present invention, and any structural, methodological, or functional modifications made by those skilled in the art based on these embodiments are included within the protection scope of the present invention.

[0050] If the description of this utility model involves directions (e.g., up, down, left, right, front, back, outside, inside, etc.), then the directions involved need to be defined. For example, "To clearly express the position and direction described in this utility model, the operator of the instrument is used as a reference, the end closer to the operator is the proximal end, and the end farther from the operator is the distal end." Or, the paper can be used as a reference. Of course, if the positional relationship between the two is defined by mutual reference in the subsequent description, then this definition is not required.

[0051] A dispensing device with sealing function, such as Figures 1-2 As shown, the device includes a frame assembly 1, on which a drug storage and retrieval robot 2, a packaging device 3, a control unit, and several drug storage bins 13 are mounted. Each drug storage bin 13 is used to load blister packs 4, and the bins 13 are arranged in an array. The drug storage and retrieval robot 2 is used to store the blister packs 13 on the frame assembly 1 or to remove the blister packs 4 from the blister packs 13 and transfer them to the packaging device 3. The packaging device 3 is used to package and deliver the blister packs 4 removed by the drug storage and retrieval robot 2. The control unit controls the operation of the drug storage and retrieval robot 2 and the packaging device 3.

[0052] The frame assembly 1 is composed of several horizontally or vertically arranged frame units 11. The frame assembly 1 has several vertical drug storage spaces. Each drug storage space can be formed by two adjacent vertical frame units 11. The drug storage space is used to store a drug storage chamber 13. A support member for placing the drug storage chamber 13 is provided in the drug storage space. The support member is composed of two oppositely arranged support seats 12. The drug storage chamber 13 is provided with a hanging plate that cooperates with the support seats 12. The hanging plate extends outward from the body of the drug storage chamber 13, so that the drug storage chamber 13 can be mounted on the support seats 12 through the hanging plate.

[0053] like Figures 3-4As shown, the drug storage and retrieval robotic arm device 2 includes a moving component, a drug storage and retrieval component 24, and a blister pack retrieving component 25. The moving component is mounted on the frame component 1 and can drive the drug storage and retrieval component 24 and the blister pack retrieving component 25 to move. The drug storage and retrieval component 24 is used to store and retrieve the drug storage compartment 13 on the frame component 1, and the blister pack retrieving component 25 is used to store and retrieve the blister packs 4 in the drug storage compartment 13. A transfer box 26 and a pusher component 27 are arranged below the blister pack retrieving component 25. The transfer box 26 is used to receive the blister packs 4 retrieved by the blister pack retrieving component 25, and the pusher component 27 is used to push the blister packs 4 in the transfer box 26 out of the box.

[0054] For ease of understanding and description, the x-axis, y-axis, and z-axis are defined as follows: Figures 2-10 and appendix Figure 12 As shown, the x, y, and z directions are mutually perpendicular. In practical applications, the xy plane can be set parallel to the worktable surface on which the dispensing device with sealing function of this application is placed, and the z direction can be perpendicular to the aforementioned worktable surface. Therefore, based on the aforementioned worktable surface, the x and y directions can also be described as two mutually perpendicular directions on a horizontal plane, and the z direction as vertical.

[0055] The moving components include a first x-axis moving mechanism 21, a first z-axis moving mechanism 22, and a rotating mechanism 23. The first z-axis moving mechanism 22 is mounted on the frame component 1, and the first x-axis moving mechanism 21 is mounted on the first z-axis moving mechanism 22. The first z-axis moving mechanism 22 can drive the first x-axis moving mechanism 21 to move in the z-direction. The rotating mechanism 23 is mounted on the first x-axis moving mechanism 21, and the first x-axis moving mechanism 21 can drive the rotating mechanism 23 to move in the x-direction. The medicine storage compartment retrieval component 24 and the blister pack medicine retrieval component 25 are mounted on the rotating mechanism 23, and the rotating mechanism 23 can drive the medicine storage compartment retrieval component 24 and the blister pack medicine retrieval component 25 to rotate around the z-axis.

[0056] Specifically, the first z-axis moving mechanism 22 includes a first motor 221, a first guide rail 222, and a first slider 223. The first slider 223 is slidably mounted on the first guide rail 222, which is arranged along the z-axis. The first motor 221 can drive the first slider 223 to move in the z-axis direction on the first guide rail 222. There are two first z-axis moving mechanisms 22, which are respectively located at both ends of the frame assembly 1. Proximity switches are provided at both ends of the first guide rail 222 to determine and limit the movement range of the first slider 223.

[0057] The first x-axis moving mechanism 21 includes a second motor 211, a second guide rail 212, and a second slider 213. The second slider 213 is slidably mounted on the second guide rail 212, which is arranged along the x-direction. The second motor 211 can drive the second slider 213 to move in the x-direction on the second guide rail 212. A first mounting base 224 is provided on the first slider 213, and both ends of the second guide rail 212 are respectively fixed to the first mounting bases 224 of the two first z-axis moving mechanisms 22. Proximity switches are provided at both ends of the second guide rail 212 to determine and limit the movement range of the second slider 213.

[0058] like Figures 5-6 As shown, a second mounting base 214 is provided on the second slider 213, and the rotating mechanism 23 is disposed on the second mounting base 214. The rotating mechanism 23 includes a third motor 231, a rotating support 232, and a rotating platform 233. The third motor 231 is fixed on the rotating support 232, and the third motor 231 can drive the rotating platform 233 to rotate. A rotating base plate 234 is provided on the rotating platform 233, and the medicine storage chamber retrieval component 24 and the blister pack medicine retrieval component 25 are disposed on the rotating base plate 234, so the medicine storage chamber retrieval component 24 and the blister pack medicine retrieval component 25 can rotate.

[0059] The drug storage compartment access component 24 includes a first y-direction moving mechanism 241 and a fork 242. The first y-direction moving mechanism 241 can drive the fork 242 to move in the y-direction. The fork 242 is used to load the drug storage compartment 13. When the fork 242 moves the drug storage compartment 13 above the support 12, the fork 242 moves downward until the hanging plate of the drug storage compartment 13 is on the support 12. Then the fork 242 retracts to complete the operation of storing the drug storage compartment 13. When it is necessary to remove the drug storage compartment 13, the fork 242 lifts the drug storage compartment 13 from the bottom upward so that the drug storage compartment 13 is separated from the support 12. Then the fork 242 drives the drug storage compartment 13 away.

[0060] A plurality of limiting members 243 are provided on the fork 242. The limiting members 243 are used to restrict the position of the medicine storage compartment 13 to prevent the medicine storage compartment 13 from falling during the movement, or to prevent the position of the medicine storage compartment 13 from changing so that the medicine storage compartment 13 cannot be properly placed on the support 12.

[0061] The blister pack medication assembly 25 includes a second y-direction moving mechanism 251, a cantilever 252, a suction cup 253, and an air pump. The second y-direction moving mechanism 251 can drive the cantilever 252 to move in the y-direction. The suction cup 253 is disposed at the end of the cantilever 252 and is used to pick up or release the blister pack medication 4. The air pump supplies air to the suction cup 253. The moving assembly cooperates with the second y-direction moving mechanism 251 to drive the suction cup 253 to accurately pick up the medication.

[0062] The transfer box 26 includes a hopper 261 with a bidirectional opening and a hopper bottom plate 262. The hopper 261 is fixedly connected to a rotating bottom plate 234, thereby achieving a z-axis correspondence between the hopper 261 and the suction cup 253. The pusher assembly 27 can drive the hopper bottom plate 262 to move to block and open the discharge port of the hopper 261, so that the plate medicine 4 falling into the hopper 261 can be collected or released. The pusher assembly 27 includes a fourth motor 271, a first pulley group 272, a drive block 273, and a connecting bracket 274. The fourth motor 271 can drive the first pulley group 272 to rotate. The drive block 273 is mounted on the belt and moves synchronously with the belt. The drive block 273 is connected to the connecting bracket 274, and the connecting bracket 274 is connected to the hopper bottom plate 262, so that the hopper bottom plate 262 can move closer to or away from the hopper 261. To improve the smoothness of movement, a first guide mechanism 275 is provided between the hopper 261 and the hopper bottom plate 262. The first guide mechanism 275 is used to guide the relative movement between the hopper 261 and the hopper bottom plate 262.

[0063] The aforementioned drug storage and retrieval robotic arm integrates the storage and retrieval of the drug storage compartment 13 and the retrieval of the blister pack 4 into one unit. The suction cup retrieval method is more suitable for the blister pack 4 and realizes the transfer of the blister pack 4. It has a high degree of automation and a simple and compact structure.

[0064] A medicine dispensing channel 5 is provided in the frame component 1. The medicine dispensing channel 5 is inclined. After the medicine dispensing operation is completed, the moving component drives the transfer box 26 to move above the medicine dispensing channel 5. The medicine pushing component 27 drives the hopper bottom plate 262 to move and open the hopper 261. The plate medicine 4 falls from the discharge port of the hopper 261 into the medicine dispensing channel 5.

[0065] A protective plate and a dropper are provided at the outlet of the dispensing channel 5. The protective plate is located above the dropper and is used to cooperate with the dispensing channel 5 to prevent the blister pack 4 from sliding out of the dispensing channel 5. The distance between the protective plate and the dispensing channel 5 is adjustable. The dropper is located above the dropper area and is used to guide the falling blister pack 4 so that it falls into the medicine bag.

[0066] like Figures 7-10As shown, the packaging device 3 includes a medicine bag roll 31, a bag loading assembly 32, a labeling machine 33, an air-blowing bag assembly 34, a bag sealing assembly 35, and a bag pushing assembly 37. The medicine bag roll 31 includes several medicine bags connected end to end, and several breaks are provided between two adjacent medicine bags. Each medicine bag has a pre-opened strip-shaped air inlet. A medicine dropping area is formed above the bag pushing assembly 37. The labeling machine 33 is used to print information labels and affix them to the medicine bags. The information labels contain information packets. Including order information, the bag-up assembly 32 is used to drive the medicine bag to move towards the air-blowing bag assembly 34. The air-blowing bag assembly 34 is used to open and expand the medicine bag so that the plate medicine 4 can enter the medicine bag. After the plate medicine 4 in the drop area enters the medicine bag, the bag-sealing assembly 35 can seal the medicine bag. The bag-up assembly 32 drives the other medicine bags of the medicine bag roll 31 to retract so that the other medicine bags are separated from the medicine bags in use. The bag-pushing assembly 37 is used to push the medicine bag that has been filled out out of the frame assembly 1.

[0067] The bag-loading assembly 32 includes a bag-loading drive mechanism 321, a drive roller 322, and a driven roller 323. The bag-loading drive mechanism 321 drives the drive roller 322 to rotate, and the driven roller 323 rotates with the drive roller 322 to feed or rewind the medicine bag sandwiched between the drive roller 322 and the driven roller 323. A plurality of transmission rollers 324 are arranged between the medicine bag roll 31 and the drive roller 322. The transmission rollers 324 are used to establish the bag-loading path of the medicine bag and to tension the bag. One of the transmission rollers 324 is selected as a tensioning roller 325 and equipped with a tension adjustment mechanism 326 that cooperates with the tensioning roller 325 to adjust the tension of the conveyed medicine bag.

[0068] A lifting mechanism 327 is also connected to the driven roller 323. The lifting mechanism 327 is used to adjust the distance between the driven roller 323 and the driving roller 322. The lifting mechanism 327 includes a handle 3271, a rotating wheel 3272, an eccentric wheel 3274, a support plate 3275, and a limiting block 3276. The rotating wheel 3272 and the eccentric wheel 3274 are disposed on the rotating shaft of the driven roller 323. The eccentric wheel 3274 abuts against the support plate 3275. A plurality of insertion holes 3273 are provided on the side wall of the rotating wheel 3272. The insertion holes 3273 are used for inserting the handle 3271. A limiting groove 3277 is provided on the limiting block 3276. The limiting groove 3277 extends in the z-direction. The rotating shaft of the driven roller 323 is disposed in the limiting groove 3277. When the handle 3271 is inserted into the socket 3273 and rotated, the handle 3271 drives the shaft of the driven roller 323 to rotate. Under the influence of the eccentric wheel 3274 and the limiting groove 3277, the shaft of the driven roller 323 moves upward within the limiting groove 3277. At this time, the distance between the driven roller 323 and the driving roller 322 increases. When changing medicine bags, there is a larger operating space between the driven roller 323 and the driving roller 322, which makes it easier to put one end of the medicine bag roll 31 between the driven roller 323 and the driving roller 322. When the external force applied to the handle 3271 is removed, the shaft of the driven roller 323 moves downward within the limiting groove 3277 under the action of gravity, thereby clamping the medicine bag located between the driven roller 323 and the driving roller 322.

[0069] A bag outlet guide plate 328 is provided at the outlet of the upper bag assembly 32. The bag outlet guide plate 328 is used to guide the conveying direction of the medicine bag.

[0070] The labeling machine 33 is positioned before the medicine bag enters the driven roller 323 and the driving roller 322. The labeling machine 33 prints out the information label from above and affixes it to the medicine bag.

[0071] The air-blowing bag-supporting assembly 34 includes a first blower 341, a first bag-supporting mechanism, and a second bag-supporting mechanism. The first blower 341 is located above the discharge port of the upper bag assembly 32 and can blow air downwards. The first bag-supporting mechanism is located below the discharge port of the upper bag assembly 32 and is used to fix one end of the medicine bag. The second bag-supporting mechanism is set away from the discharge port of the upper bag assembly 32 relative to the first bag-supporting mechanism and is used to adjust the size of the opening of the medicine bag.

[0072] The first bag-supporting mechanism includes a first rotation drive 342 and a first bag-supporting strip 343. The first rotation drive 342 is fixed on the bag-dispensing guide plate 328, and the first rotation drive 342 can drive the first bag-supporting strip 343 to rotate. There are two first bag-supporting mechanisms, which are used to fix two corners of the medicine bag respectively. A plurality of mounting slots 3281 are provided on the bag-dispensing guide plate 328, and the first rotation drive 342 can be installed in different positions in the mounting slots 3281 to adapt to medicine bags of different sizes.

[0073] The second bag-supporting mechanism includes a first horizontal moving member 345, a second rotation driving member 346, and a second bag-supporting strip 347. The first horizontal moving member 345 can drive the second rotation driving member 346 to move away from or towards the first bag-supporting mechanism, and the second rotation driving member 346 can drive the second bag-supporting strip 347 to rotate.

[0074] The first horizontal moving component 345 includes a fifth motor 3451, a second pulley assembly 3452, and a lead screw and nut assembly 3453. The fifth motor 3451 drives the second pulley assembly 3452 to rotate, and the second pulley assembly 3452 drives the lead screw and nut assembly 3453 to rotate. A third mounting seat 3454 is provided on the nut of the lead screw and nut assembly 3453. The third mounting seat 3454 can move closer to or away from the first bag-supporting mechanism along with the nut of the lead screw and nut assembly 3453. A plurality of mounting holes 3455 are provided on the third mounting seat 3454. The second rotation driving component 346 includes a motor mounting plate 3461 and a sixth motor 3462. The sixth motor 3462 is mounted on the motor mounting plate 3461, and the motor mounting plate 3461 is fixed in the mounting holes 3455 of the third mounting seat 3454. The motor mounting plate 3461 can be installed in the mounting holes 3455 at different positions to adapt to medicine bags of different sizes.

[0075] The aforementioned air-blowing bag support assembly 34 enables the opening and fixing of the medicine bag, and adjusts the opening of the medicine bag through the first and second bag support mechanisms. It is suitable for medicine bags of different sizes and has a high degree of flexibility.

[0076] like Figure 11 As shown, the first bag support strip 343 includes a mounting part 3431, a first segment 3432, and a second segment 3433 connected in sequence. The mounting part 3431 is connected and fixed to the first rotation drive member 342. Both the first segment 3432 and the second segment 3433 are strip-shaped and are inclined. The first segment 3432 and the second segment 3433 are connected by an arc transition. The structure of the second bag support strip 347 is the same as that of the first bag support strip 343.

[0077] When the medicine bag enters the air-blowing bag-supporting assembly 34 from the discharge port of the upper bag assembly 32, the first bag-supporting mechanism fixes one end of the medicine bag, the first blower 341 blows air into the opening of the medicine bag, causing the opening of the medicine bag to open, the second bag-supporting mechanism moves, and the second bag-supporting strip 347 is inserted into the medicine bag to make the opening of the medicine bag larger and fixed to facilitate the feeding of medicine.

[0078] like Figure 12 As shown, the bag sealing assembly 35 is located below the air-blowing bag support assembly 34. The bag sealing assembly 35 includes a second horizontal moving part 351 and a sealing machine 352. The second horizontal moving part 351 can drive the sealing machine 352 to move away from or towards the first bag support mechanism. The sealing machine 352 can heat-seal the medicine bag. Before heating and sealing, the second horizontal moving part 351 first drives the sealing machine 352 to move away from the medicine bag. After the blister pack 4 is bagged, the second horizontal moving part 351 then drives the sealing machine 352 to move closer to the medicine bag to seal it. The second horizontal moving component 351 includes a seventh motor 3511, a third pulley group 3512, and a third slider 3513. The seventh motor 3511 can drive the third pulley group 3512 to rotate. The third slider 3513 is disposed on the belt of the third pulley group 3512 and moves with it. The third slider 3513 is connected to the sealing machine 352, so that the sealing machine 352 moves with the third slider 3513 to move closer to or away from the first bag-supporting mechanism.

[0079] Below the sealing assembly 35, there is a medicine bag support plate 361 and a second Z-axis moving mechanism 362. The medicine bag support plate 361 is used to support the medicine bag and prevent the medicine bag from being damaged due to gravity impact when the medicine is dropped. The second Z-axis moving mechanism 362 is used to drive the medicine bag support plate 361 to move in the Z-axis to adapt to the size of the medicine bag and prevent the plate medicine 4 from falling into the medicine bag and breaking the medicine bag. After the medicine is filled and sealed, the second Z-axis moving mechanism 362 can shake rapidly in the Z-axis so that the plate medicine 4 in the medicine bag is evenly distributed.

[0080] The bag-pushing assembly 37 is located below the bag-sealing assembly 35. The bag-pushing assembly 37 includes a second fan 371, a third horizontal moving member 372, and several bag-pushing uprights 373. The second fan 371 blows air from the direction of the bag-pushing uprights 373 towards the medicine bag to prevent the medicine bag from falling onto the bag-pushing uprights 373 and failing to open completely. The third horizontal moving member 372 drives the bag-pushing uprights 373 to push out or retract, with the direction of the push-out movement corresponding to the direction the medicine bag is pushed out. A guide slope is provided above the bag-pushing uprights 373 to guide the falling movement of the medicine bag and prevent it from falling onto the bag-pushing uprights 373. Several grooves 3611 are provided at one end of the medicine bag support plate 361, which match the bag-pushing uprights 373 to accommodate situations where the movement trajectories of the medicine bag support plate 361 and the bag-pushing uprights 373 may intersect.

[0081] A roller bracket 38 is provided at the bottom of the packaging device 3. The roller bracket 38 is used to support the packaging device 3 and facilitate the transfer of the packaging device 3.

[0082] The aforementioned packaging device 3 enables labeling of medicine bags, automatic bag feeding, air blowing to expand the bags, medicine bagging, sealing and transfer, improving the integration and automation of blister pack packaging and optimizing the packaging efficiency of blister pack packaging.

[0083] A medicine dispensing platform 62 is provided outside the housing of the frame assembly 1, and the medicine bag pushed out by the push bag assembly 37 enters the medicine dispensing platform 62 from the medicine dispensing area 61 of the housing of the frame assembly 1.

[0084] An inspection door 7 is provided on the side of the housing of the frame assembly 1 to facilitate the inspection of the internal components of the frame assembly 1. An observation window 8 is provided on the inspection door 7 to facilitate the observation of the operation of the internal components of the frame assembly 1.

[0085] A display screen 9 is provided on the housing of the frame component 1, and the display screen 9 displays the medicine dispensing information.

[0086] The working principle of this utility model is as follows:

[0087] When storing the medicine storage compartment 13, the control unit controls the fork 242 to receive the medicine storage compartment 13 loaded with the plate medicine 4 and move it above the support 12. The fork 242 drives the medicine storage compartment 13 to descend until the hanging plate of the medicine storage compartment 13 is mounted on the support 12. The fork 242 then retracts and takes the next medicine storage compartment 13. When taking the medicine storage compartment 13, the control unit controls the fork 242 to move it below the medicine storage compartment 13. The fork 242 lifts the medicine storage compartment 13 up, causing the hanging plate of the medicine storage compartment 13 to separate from the support 12. The fork 242 then drives the medicine storage compartment 13 away.

[0088] When the blister pack 4 is retrieved, the control unit receives the retrieval information and controls the suction cup 253 to move to the storage chamber 13 corresponding to the blister pack 4. The suction cup 253 retrieves the blister pack 4 from the storage chamber 13. When the suction cup 253 stops blowing air, the blister pack 4 falls into the transfer box 26. The pusher assembly 27 controls the bottom plate 262 of the hopper of the transfer box 26 to move, causing the bottom of the transfer box 26 to open. The blister pack 4 in the transfer box 26 falls into the dispensing channel 5. At the same time, the second horizontal moving part 351 drives the sealing machine 352 to move away from the upper bag assembly 32 to make space for the medicine bag. The upper bag assembly 32 drives the medicine bag to move. The labeling machine 33 affixes the information label to the medicine bag. When the medicine bag moves down from the dispensing guide plate 328, the first fan 341 blows air downward to open the pre-opened air inlet on the medicine bag. The second fan 371 blows air horizontally so that the medicine bag is not attached to the pusher plate 373. The first bag-supporting mechanism fixes two corners of the medicine bag, and the second bag-supporting mechanism moves to fix the other two corners of the medicine bag. At the same time, the second z-axis moving mechanism 362 drives the medicine bag tray 361 to move z-axis to adapt to the size of the medicine bag. Simultaneously, the plate medicine 4 falls from the medicine outlet channel 5 into the medicine bag through the medicine drop hopper. The second horizontal moving component 351 drives the sealing machine 352 to move closer to the upper bag assembly 32 to seal the medicine bag. The upper bag driving mechanism 321 reverses to separate the medicine bag in use from the medicine bag roll 31. The first bag-supporting mechanism moves to release the medicine bag, and the medicine bag falls onto the medicine bag tray 361. The second z-axis moving mechanism 362 shakes rapidly to make the plate medicine 4 in the medicine bag evenly distributed. The third horizontal moving component 372 pushes the push bag upright plate 373 to move. The push bag upright plate 373 pushes the medicine bag out of the frame assembly 1, and the medicine bag enters the medicine dispensing platform 62, completing the dispensing and packaging operation of the plate medicine 4.

[0089] The dispensing equipment with sealing function provided by this utility model, based on the control unit, uses the drug storage and retrieval robot device 2 to integrate the drug storage and retrieval bin 13 and the blister pack 4, and realizes the transfer of blister pack 4. The packaging device 3 realizes the bagging, sealing and transfer of blister pack 4. It has a high degree of automation, compact structure and wide applicability.

[0090] It should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This way of describing the specification is only for clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

[0091] The detailed descriptions listed above are merely specific descriptions of feasible implementation methods of this utility model, and are not intended to limit the scope of protection of this utility model. All equivalent implementation methods or modifications made without departing from the spirit of this utility model should be included within the scope of protection of this utility model.

Claims

1. A robotic arm device for storing and retrieving medicine, mounted on a frame assembly (1), characterized in that: The device includes a moving component, a drug storage compartment access component (24), and a blister pack access component (25). The moving component is mounted on a frame component (1) and can drive the drug storage compartment access component (24) and the blister pack access component (25) to move. The drug storage compartment access component (24) is used to access the drug storage compartment (13) on the frame component (1), and the blister pack access component (25) is used to access the blister packs (4) in the drug storage compartment (13). A transfer box (26) and a pusher component (27) are provided below the blister pack access component (25). The transfer box (26) is used to receive the blister packs (4) taken out by the blister pack access component (25), and the pusher component (27) is used to push the blister packs (4) in the transfer box (26) to fall out of the box.

2. The drug storage and retrieval robotic arm device according to claim 1, characterized in that: The moving components include a first x-axis moving mechanism (21), a first z-axis moving mechanism (22), and a first rotating mechanism (23). The first z-axis moving mechanism (22) is mounted on the frame assembly (1). The first x-axis moving mechanism (21) is mounted on the first z-axis moving mechanism (22) and can move in the z-direction with the first z-axis moving mechanism (22). The first rotating mechanism (23) is mounted on the first x-axis moving mechanism (21) and can move in the x-direction with the first x-axis moving mechanism (21). The medicine storage compartment retrieval assembly (24) and the plate medicine retrieval assembly (25) are mounted on the first rotating mechanism (23) and can rotate with the first rotating mechanism (23).

3. The drug storage and retrieval robotic arm device according to claim 2, characterized in that: The drug storage compartment access component (24) includes a first y-direction moving mechanism (241) and a fork (242). The first y-direction moving mechanism (241) drives the fork (242) to move in the y direction. The fork (242) is used to load the drug storage compartment (13).

4. The drug storage and retrieval robotic arm device according to claim 3, characterized in that: A plurality of limiting members (243) are provided on the forks (242), which are used to limit the position of the medicine storage compartment (13).

5. The drug storage and retrieval robotic arm device according to claim 3, characterized in that: The blister pack storage and retrieval assembly (25) includes a second y-direction moving mechanism (251), a cantilever (252), and a suction cup (253). The second y-direction moving mechanism (251) can drive the cantilever (252) to move in the y direction. The suction cup (253) is disposed at the end of the cantilever (252) and is used to pick up or release the blister pack (4).

6. The drug storage and retrieval robotic arm device according to claim 1, characterized in that: The transfer box (26) includes a hopper (261) with a bidirectional opening and a hopper bottom plate (262). The pusher assembly (27) can drive the hopper bottom plate (262) to move to block and open the discharge port of the hopper (261).

7. The drug storage and retrieval robotic arm device according to claim 6, characterized in that: The hopper (261) is fixedly connected to the first rotating mechanism (23). The medicine pushing assembly (27) includes a fourth motor (271), a first pulley group (272), a drive block (273), and a connecting bracket (274). The fourth motor (271) can drive the first pulley group (272) to operate. The drive block (273) is set on the belt of the first pulley group (272) and moves synchronously with the belt. The drive block (273) is connected to the connecting bracket (274), and the connecting bracket (274) is connected to the bottom plate of the hopper (262).

8. The drug storage and retrieval robotic arm device according to claim 7, characterized in that: A first guide mechanism (275) is provided between the hopper (261) and the hopper bottom plate (262).

9. The drug storage and retrieval robotic arm device according to claim 1, characterized in that: A drug dispensing channel (5) is provided within the frame component (1), and the drug dispensing channel (5) is inclined.

10. The drug storage and retrieval robotic arm device according to claim 9, characterized in that: A protective plate and a dropping hopper are provided at the outlet of the drug dispensing channel (5). The protective plate is located above the dropping hopper. The protective plate is used to cooperate with the drug dispensing channel (5) to prevent the blister pack (4) from sliding out of the drug dispensing channel (5). The distance between the protective plate and the drug dispensing channel (5) is adjustable. The dropping hopper is used to guide the falling blister pack (4).

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