Automatic medicine feeding machine

Abstract

The utility model discloses an automatic medicine feeding machine which comprises a frame, a temporary storage mechanism and a conveying mechanism. A temporary storage mechanism and a conveying mechanism are mounted on the frame; the temporary storage mechanism comprises a first movable medicine box assembly and a second movable medicine box assembly, and the first movable medicine box assembly and the second movable medicine box assembly are parallel to the length direction of the frame and extend in the length direction of the frame. The first conveying belt assembly and the second conveying belt assembly are located on the rear sides of the first movable medicine box assembly and the second movable medicine box assembly, and the center line of the first conveying belt assembly and the center line of the second conveying belt assembly are both perpendicular to the center line of the first movable medicine box assembly. The automatic medicine feeding machine is provided with the medicine box turnover mechanism, the manipulator structure, the medicine box temporary storage structure and the push plate conveying structure, and is reasonable in layout, small in occupied area and high in medicine feeding efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical devices, in particular to an automatic medicine dispensing machine. BACKGROUND

[0002] In the traditional medical institution pharmacy or medicine storage environment, the sorting, carrying and dispensing of medicines mostly rely on manual operation. Manual dispensing not only has low efficiency and consumes a lot of labor cost, but also is prone to cause medicine misdelivery, missed delivery and other problems due to human negligence, which threatens the safety of patient medication. With the rapid development of the medical industry and the continuous improvement of the requirement for fine management of medicines, it is urgent to replace the traditional manual dispensing mode with an automatic medicine dispensing equipment with high automation and strong reliability.

[0003] The existing CN219949339U kind of automatic sorting replenishment machine in the grabbing mechanism directly takes medicine on the turnover platform, and the turnover platform occupies a large space, which cannot reasonably utilize the space of the automatic medicine dispensing machine. UTILITY MODEL CONTENT

[0004] The utility model aims at providing an automatic medicine dispensing machine, which aims to solve the problems of efficiency and accuracy in the automatic sorting, conveying and dispensing of medicines and improve the automatic management level of medicines in medical institutions. The automatic medicine dispensing machine has a medicine box turnover mechanism, a mechanical hand structure, a medicine box temporary storage structure and a push plate conveying structure, and has the advantages of reasonable layout, small floor area and high dispensing efficiency.

[0005] The utility model provides a scheme: an automatic medicine dispensing machine, comprising: a frame, a temporary storage mechanism and a conveying mechanism;

[0006] The frame is provided with the temporary storage mechanism and the conveying mechanism; the temporary storage mechanism comprises a first movable medicine box assembly and a second movable medicine box assembly, wherein the first movable medicine box assembly and the second movable medicine box assembly are parallel to the length direction of the frame and extend along the length direction of the frame, and the first movable medicine box assembly and the second movable medicine box assembly are located on the width direction of the frame and arranged side by side,

[0007] The conveying mechanism comprises a first conveying belt assembly and a second conveying belt assembly,

[0008] The first conveying belt assembly and the second conveying belt assembly extend parallel to the width direction of the frame and along the width direction of the frame, and the first conveying belt assembly and the second conveying belt assembly are located at the rear side of the first movable medicine box assembly and the second movable medicine box assembly, and the center lines of the first conveying belt assembly and the second conveying belt assembly are perpendicular to the center line of the first movable medicine box assembly.

[0009] Further, the first movable medicine box assembly comprises a first moving frame, a second moving frame, a first driving motor, a first synchronous belt, a first moving plate,

[0010] The first moving frame is fixed at the front end of the frame, the second moving frame is fixed at the middle of the frame, the first driving motor is arranged between the first moving frame and the second moving frame, the first synchronous belt is connected with the first driving motor, and the first moving plate is connected with the first synchronous belt,

[0011] The first moving plate further comprises a pressing plate, and the first synchronous belt is arranged between the pressing plate and the first moving plate,

[0012] The first moving plate further comprises a sliding block, the first moving frame and the second moving frame are each provided with a sliding rail extending along the length direction of the frame, and the sliding block is positioned in the sliding rail.

[0013] Further, the upper surface of the first moving plate is fixed with a rectangular accommodating box,

[0014] The second movable medicine box assembly comprises a second moving frame, a third moving frame, a second driving motor, a second synchronous belt, and a second moving plate,

[0015] The third moving frame is fixed at the rear end of the frame, the second driving motor is arranged between the second moving frame and the third moving frame, the second synchronous belt is connected with the second driving motor, and the second moving plate is connected with the second synchronous belt,

[0016] The second moving plate further comprises a pressing plate, and the second synchronous belt is arranged between the pressing plate and the second moving plate,

[0017] The second moving plate further comprises a sliding block, the third moving frame is provided with a sliding rail extending along the length direction of the frame, the sliding block is positioned in the sliding rail, and the upper surface of the second moving plate is fixed with a rectangular accommodating box.

[0018] Further, a turnover mechanism is arranged between the front end of the frame and the inlet of the first conveying belt assembly and the second conveying belt assembly,

[0019] The frame comprises a first frame and a second frame, the first frame and the second frame are arranged in parallel, and the first frame and the second frame are connected to the front end and the rear end of the frame,

[0020] The turnover mechanism has a fixed mounting plate arranged between the first frame and the second frame,

[0021] The turnover mechanism further comprises a turnover driving motor, a transmission mechanism, a transmission shaft, and an L-shaped baffle mechanism, and the turnover driving motor, the transmission mechanism, the transmission shaft, and the L-shaped baffle mechanism are fixed on the fixed mounting plate,

[0022] The driving motor is connected with the transmission mechanism, the transmission mechanism is connected with one end of the transmission shaft, and the transmission shaft is sleeved in the L-shaped baffle mechanism

[0023] The L-shaped baffle mechanism has a first baffle edge and a second baffle edge, the first baffle edge and the second baffle edge are perpendicular, and the transmission shaft is sleeved at the connection position of the first baffle edge and the second baffle edge.

[0024] Further, the swing mechanism further comprises a connecting baffle and a cam plate assembly; the top end of the connecting baffle is arranged below the belt conveying mechanism, the bottom end of the connecting baffle is arranged above the flat plate conveying mechanism, the left side of the connecting baffle is connected with the left side baffle, the right side of the connecting baffle is connected with the right side baffle, the middle of the connecting baffle is provided with an opening, the cam plate assembly is fixed in the opening, the cam plate assembly is swing-connected with the connecting baffle, the cam plate assembly comprises a cam shaft, a cam bottom plate, a left cam side plate, a right cam side plate and a cam flat plate, the cam shaft is fixed to the lower surface of the connecting baffle, the left cam side plate and the right cam side plate are sleeved on the cam shaft, the cam bottom plate is fixed between the left cam side plate and the right cam side plate, the cam bottom plate is sleeved on the cam shaft, the cam bottom plate is located between the left cam side plate and the right cam side plate, the cam plate assembly further comprises a cam plate driving motor, a main synchronous pulley, an auxiliary synchronous pulley and a cam plate synchronous belt, the cam plate driving motor, the main synchronous pulley, the auxiliary synchronous pulley and the cam plate synchronous belt are arranged on the lower surface of the connecting baffle, the driving motor is connected with the main synchronous pulley, the synchronous belt is wound between the main synchronous pulley and the auxiliary synchronous pulley, the auxiliary synchronous pulley is connected with the cam shaft, the cam plate assembly further comprises a left mounting seat and a right mounting seat, the left mounting seat is located on the left side of the opening, the right mounting seat is located on the right side of the opening, one end of the cam shaft is fixed in the left mounting seat, and the other end of the cam shaft is fixed in the right mounting seat.

[0025] Further, the push plate conveying structure comprises a push plate and a bottom plate, the push plate is slidably connected with the bottom plate, the bottom plate comprises a bottom plate driving motor and a bottom plate synchronous belt, the bottom plate driving motor is connected with the bottom plate synchronous belt, the bottom plate synchronous belt is connected with the push plate, the middle of the bottom plate is provided with an opening, the push plate completely covers the opening in the initial position, and the push plate partially covers the opening in the moving position, the synchronous belt assembly further comprises a synchronous belt idler and a synchronous belt pulley, the bottom plate driving motor is connected with the synchronous belt pulley, the push plate is connected with the synchronous belt pulley through a connecting assembly, the synchronous belt is wound between the synchronous belt idler and the synchronous belt pulley, the connecting assembly comprises an L-shaped connecting plate and a synchronous belt pressing plate, the synchronous belt pressing plate is located on the lower side of the bottom plate synchronous belt, the L-shaped connecting plate is fixedly connected with the push plate, the L-shaped connecting plate is located on the upper side of the synchronous belt, the L-shaped connecting plate is connected with the synchronous belt pressing plate through a fastener, the bottom plate further comprises a slide rail, the L-shaped connecting plate is positioned in the slide rail, the push plate further comprises a Z-shaped connecting block, the Z-shaped connecting block is fixedly connected with the L-shaped connecting plate,

[0026] The bottom plate upper surface is fixedly provided with a protective baffle, in the initial position, the push plate is arranged in the protective baffle,

[0027] The protective baffle and the bottom plate form an opening, in the moving position, the push plate moves from the opening,

[0028] The protective baffle has a left side, a right side and a bottom side, wherein the left side and the right side are fixedly connected to the left side and the right side of the bottom plate respectively, the bottom side forms a containing space with the left side, the right side and the bottom plate, and the push plate is arranged in the containing space.

[0029] Further, a mechanical hand structure is further included,

[0030] The top end of the frame has a first sky rail and a second sky rail, the first sky rail and the second sky rail are parallel, the first sky rail and the second sky rail extend along the length direction of the frame, and the first sky rail and the second sky rail have a spacing therebetween,

[0031] A first movable mechanical hand and a second movable mechanical hand are arranged between the first sky rail and the second sky rail;

[0032] The moving path of the first mechanical hand passes above the bearing mechanism and above the first movable medicine box assembly and the second movable medicine box assembly,

[0033] The moving path of the second mechanical hand passes above the first movable medicine box assembly and the second movable medicine box assembly and above the conveying mechanism.

[0034] Further, the first mechanical hand includes a Y-axis base plate, an X-axis driving motor, an X-axis synchronous belt, a Z-axis base plate,

[0035] The Y-axis base plate is arranged between the first sky rail and the second sky rail, the X-axis driving motor is fixed on the upper surface of the Y-axis base plate, the X-axis synchronous belt is fixed on the lower surface of the Y-axis base plate, the X-axis driving motor drives the X-axis synchronous belt, the Z-axis base plate is fixed on the X-axis synchronous belt, the Z-axis base plate is fixed with a suction claw assembly, the Y-axis base plate is provided with a first Y-axis sliding rail and a second Y-axis sliding rail, the first Y-axis sliding rail and the second Y-axis sliding rail are parallel, and the first Y-axis sliding rail and the second Y-axis sliding rail are respectively located on the two sides of the X-axis synchronous belt,

[0036] The upper surface of the Z-axis base plate is fixed with a first sliding block and a second sliding block, wherein the first sliding block is parallel to the second sliding block, the first sliding block is positioned in the first Y-axis sliding rail, and the second sliding block is positioned in the second Y-axis sliding rail, the suction claw assembly comprises a Z-axis driving motor, a Z-axis mounting plate, a Z-axis synchronous belt, the Z-axis driving motor is fixed on the lower surface of the Z-axis base plate, the Z-axis mounting plate is perpendicular to the Z-axis base plate, the Z-axis synchronous belt is fixed on the Z-axis mounting plate, the Z-axis synchronous belt is connected with the Z-axis driving motor, and the Z-axis synchronous belt is further provided with a gas pump unit, the gas pump unit comprises a gas pump motor, a gas pump synchronous belt and three gas pump suction claws, the gas pump motor is fixed on the Q-axis base plate, the gas pump synchronous belt is connected with the gas pump motor, and the gas pump suction claws are connected with the gas pump synchronous belt.

[0037] Further, the second mechanical hand is the same as the first mechanical hand, the first Y-axis rail is arranged on the first sliding rail, the second Y-axis rail is arranged on the second sliding rail, the first sliding seat and the second sliding seat are arranged on the Y-axis base plate, the first sliding seat is positioned in the first sliding rail, the second sliding seat is positioned in the second sliding rail, the synchronous belt driving motor is arranged on the frame, the synchronous belt driving motor is connected with the synchronous belt, the X-axis synchronous belt fixed connecting seat is fixed on the Y-axis base plate, the X-axis fixed plate is fixedly connected with the X-axis synchronous belt fixed connecting seat, and the synchronous belt is arranged between the X-axis fixed plate and the X-axis synchronous belt fixed connecting seat.

[0038] The utility model discloses the beneficial effects are:

[0039] (1) the turnover mechanism is arranged between the temporary storage mechanism and the conveying mechanism, compact structure, convenient installation can be stably operated in the frame, and additional external space is not occupied too much. Under the relatively smaller floor area, the large capacity medicine temporary storage and efficient conveying function can be realized.

[0040] (2) setting first movable medicine box assembly and second movable medicine box assembly two temporary storage mechanisms, they can carry out some preparation work in parallel, for example, when one component receives a new batch of medicine for temporary storage, another component can simultaneously convey the medicine that has been temporarily stored to the conveying mechanism to carry out the medicine loading operation, so that the overall medicine loading process time is greatly shortened, and the medicine loading work efficiency is improved.

[0041] (3) the cam plate assembly is arranged to swing back and forth at an angle, so that the medicine box falling from the belt conveying mechanism falls on the flat plate conveying mechanism through posture adjustment, so that the medicine box is more convenient to push out. The swing baffle structure is arranged in the frame, and the integration of the automatic medicine replenishing machine is improved.

[0042] (4) the bottom plate bottom is provided with a driving motor and an opening, a push plate is arranged at the opening, so that the space utilization rate of the bottom plate is improved, and the automatic medicine replenishing machine is small and integrated.

[0043] (5) The carrying mechanism, temporary storage mechanism and conveying mechanism are integrated on the frame, and the movement paths of the first manipulator and the second manipulator are reasonably planned so that they pass through the corresponding key mechanisms, thereby realizing the automated connection and efficient collaboration of the drug delivery process, optimizing the overall drug delivery process and improving the drug delivery efficiency. Attached Figure Description

[0044] Figure 1 This is a structural diagram of the automatic medicine dispensing machine of this utility model;

[0045] Figure 2 This is the structure of the medicine box temporary storage structure of this utility model. Figure One ;

[0046] Figure 3 This is the structure of the medicine box temporary storage structure of this utility model. Figure Two ;

[0047] Figure 4 This is the structure of the medicine box temporary storage structure of this utility model. Figure Three ;

[0048] Figure 5 This is the structure of the medicine box flipping mechanism of this utility model. Figure One ;

[0049] Figure 6 This is the structure of the medicine box flipping mechanism of this utility model. Figure Two ;

[0050] Figure 7 This utility model relates to a swing baffle structure. Figure One ;

[0051] Figure 8 This utility model relates to a swing baffle structure. Figure Two ;

[0052] Figure 9 This utility model relates to a swing baffle structure. Figure Three ;

[0053] Figure 10 This utility model relates to a push plate conveying structure. Figure One ;

[0054] Figure 11 This utility model relates to a push plate conveying structure. Figure Two ;

[0055] Figure 12 This utility model relates to a push plate conveying structure. Figure Three ;

[0056] Figure 13 This utility model relates to a push plate conveying structure. Figure Four ;

[0057] Figure 14 This utility model relates to a push plate conveying structure. Figure Five ;

[0058] Figure 15 This utility model relates to a robotic arm structure. Figure One ;

[0059] Figure 16 This utility model relates to a robotic arm structure. Figure Two ;

[0060] Figure 17 This utility model relates to a robotic arm structure. Figure Three ;

[0061] Figure 18 This utility model relates to a robotic arm structure. Figure Four .

[0062] Explanation of reference numerals in the attached drawings: Frame 110, bearing mechanism 111, temporary storage mechanism 112, conveying mechanism 113, first movable medicine box assembly 120, first moving frame 121, second moving frame 122, slide rail 123, first drive motor 124, first synchronous belt 125, first moving plate 126, rectangular container 127, pressure plate 128, slider 129, second movable medicine box assembly 130, third moving frame 131, second drive motor 132, second synchronous belt 133, second moving plate 134, pressure plate 135, slider 136, rectangular container 137.

[0063] The components include a flipping mechanism 140, a conveying mechanism 150, a first frame 220, a second frame 221, a fixed mounting plate 222, a drive motor 223, a transmission mechanism 224, a transmission shaft 225, a first stop 226, and a second stop 227.

[0064] Connecting baffle 310, opening 311, camshaft 320, cam base plate 321, left cam side plate 322, right cam side plate 323, cam plate 324, cam plate drive motor 325, main synchronous pulley 326, auxiliary synchronous pulley 327, synchronous belt 328, left mounting base 3292, right mounting base 3291, frame 110, plate conveying mechanism 170, left side baffle 331, right side baffle 332, belt conveying mechanism 160.

[0065] Push plate 41, base plate 42, base plate drive motor 43, base plate synchronous belt 44, opening 45, synchronous belt idler pulley 46, synchronous belt pulley 47, L-shaped connecting plate 48, synchronous belt pressure plate 49, slide rail 410, Z-shaped connecting block 411, protective baffle 412, opening 413, left side 414, right side 415, bottom edge 416.

[0066] Frame 110, bearing mechanism 180, temporary storage mechanism 190, conveying mechanism 150, first first rail 55, second second rail 56, first robot arm 57, second robot arm 58, Y-axis base plate 59, X-axis drive motor 510, X-axis synchronous belt 511, Z-axis base plate 512, suction claw assembly 513, first Y-axis slide rail 514, second Y-axis slide rail 515, first slider 516, second slider 517, Z-axis drive motor 518, Z-axis mounting plate 519, Z-axis synchronous belt 520, air pump unit 521, air pump motor 522, air pump synchronous belt 523, air pump suction claw 524, Q-axis base plate 525, first slide rail 526, second slide rail 527, first slide block 528, second slide block 529, synchronous belt drive motor 530, synchronous belt 531, X-axis synchronous belt fixed connection seat 532, X-axis fixed plate 533. Detailed Implementation

[0067] This utility model discloses an automatic medicine dispensing machine, including a frame 110, a temporary storage mechanism 112, a conveying mechanism 113, a flipping mechanism, a swinging mechanism, a push plate conveying structure, and a robotic arm structure.

[0068] To efficiently classify and temporarily store different types or batches of medicines, facilitating subsequent sorting and transportation operations, this greatly improves the flexibility and capacity of medicine storage. For example... Figure 1 As shown, an automatic medicine dispensing machine includes: a frame 110, a temporary storage mechanism 112, and a conveying mechanism 113; the temporary storage mechanism 112 and the conveying mechanism 113 are mounted on the frame 110; the temporary storage mechanism 112 includes a first movable medicine box assembly 120 and a second movable medicine box assembly 130, wherein the first movable medicine box assembly 120 and the second movable medicine box assembly 130 are parallel to the length direction of the frame 110 and extend along the length direction of the frame 110, the first movable medicine box assembly 120 and the second movable medicine box assembly 130 are respectively located side by side in the width direction of the frame 110, the conveying mechanism 113 includes a first conveyor belt assembly and a second conveyor belt assembly, the first conveyor belt assembly and the second conveyor belt assembly extend parallel to the width direction of the frame 110 and extend along the width direction of the frame 110, the first conveyor belt assembly and the second conveyor belt assembly are located behind the first movable medicine box assembly 120 and the second movable medicine box assembly 130, and the center lines of the first conveyor belt assembly and the second conveyor belt assembly are perpendicular to the center line of the first movable medicine box assembly 120.

[0069] like Figure 2As shown, the first movable medicine box assembly 120 includes a first movable frame 121, a second movable frame 122, a first drive motor 124, a first synchronous belt 125, and a first movable plate 126. The first movable frame 121 is fixed to the front end of the frame 110, and the second movable frame 122 is fixed to the middle of the frame 110. The first drive motor 124 is disposed between the first movable frame 121 and the second movable frame 122. The first synchronous belt 125 is connected to the first drive motor 124, and the first movable plate 126 is connected to the first synchronous belt 125. The first movable plate 126 also includes a pressure plate 128. The first synchronous belt 125 is disposed between the pressure plate 128 and the first movable plate 126. The first movable plate 126 also includes a slider 129. Both the first movable frame 121 and the second movable frame 122 are provided with slide rails 123. The slide rails 123 extend along the length direction of the frame 110, and the slider 129 is positioned within the slide rails 123.

[0070] like Figure 3 and 4 As shown, a rectangular receiving box 127 is fixed on the upper surface of the first movable plate 126. The second movable medicine box assembly 130 includes a second movable frame, a third movable frame 131, a second drive motor 132, a second synchronous belt 133, and a second movable plate 134. The third movable frame 131 is fixed to the rear end of the frame 110. The second drive motor 132 is disposed between the second movable frame and the third movable frame 131. The second synchronous belt 133 is connected to the second drive motor 132. The second movable plate 134 is connected to the second synchronous belt 133. The second movable plate 134 also includes a pressure plate 135. The second synchronous belt 133 is disposed between the pressure plate 135 and the second movable plate 134. The second movable plate 134 also includes a slider 136. The third movable frame 131 is provided with a slide rail that extends along the length of the frame 110. The slider 136 is positioned within the slide rail. The rectangular receiving box 137 is fixed on the upper surface of the second movable plate 134.

[0071] like Figure 5As shown, a flipping mechanism 140 is provided between the inlet of the first and second conveyor belt assemblies in the conveying mechanism 150 and the front end of the frame 110. The frame 110 includes a first frame 220 and a second frame 221, which are arranged in parallel and connected to the front and rear ends of the frame 110. The flipping mechanism 140 has a fixed mounting plate 222, which is disposed between the first frame 220 and the second frame 221. The flipping mechanism 140 also includes a flipping drive motor 223, a transmission mechanism 224, a transmission shaft 225, and an L-shaped baffle mechanism. The flipping drive motor 223, the transmission mechanism 224, the transmission shaft 225, and the L-shaped baffle mechanism are all fixed on the fixed mounting plate 222. The flipping drive motor 223 is connected to the transmission mechanism 224, and the transmission mechanism 224 is connected to one end of the transmission shaft 225. The transmission shaft 225 is sleeved in the L-shaped baffle mechanism.

[0072] like Figure 6 As shown, the L-shaped baffle mechanism has a first baffle 226 and a second baffle 227, which are perpendicular to each other. The drive shaft 225 is sleeved at the connection between the first baffle 226 and the second baffle 227. The flipping mechanism 140 ensures that the medicine can be flipped to a suitable position according to the shape, size, or conveying requirements of the medicine, so that it can be easily grasped by the robotic arm.

[0073] like Figures 7-9As shown, to prevent drug accumulation and blockage, and to improve the accuracy and reliability of drug delivery, the automatic drug delivery machine also includes a swing mechanism, which includes a connecting baffle 310 and a cam plate assembly. The top of the connecting baffle 310 is located below the belt conveyor mechanism 160, and the bottom of the connecting baffle 310 is located above the flat conveyor mechanism 170. The left side of the connecting baffle 310 is connected to the left side baffle 331, and the right side of the connecting baffle 310 is connected to the right side baffle 332. An opening 311 is provided in the middle, and a cam plate assembly is fixed inside the opening 311. The cam plate assembly is oscillatingly connected to the connecting baffle 310. The cam plate assembly includes a camshaft 320, a cam base plate 321, a left cam side plate 322, a right cam side plate 323, and a cam plate 324. The camshaft 320 is fixed to the lower surface of the connecting baffle 310. The left cam side plate 322 and the right cam side plate 323 are respectively sleeved on the camshaft 320. The cam base plate 321 is fixed to the left cam side plate 322 and the right cam plate 324. Between the wheel side plates 323, the cam base plate 321 is sleeved on the camshaft 320. The cam base plate 321 is located between the left cam side plate 322 and the right cam side plate 323. The cam plate assembly also includes a cam plate drive motor 325, a main synchronous pulley 326, an auxiliary synchronous pulley 327, and a synchronous belt 328. The cam plate drive motor 325, the main synchronous pulley 326, the auxiliary synchronous pulley 327, and the synchronous belt 328 are all located on the lower surface of the connecting baffle 310. The cam plate drive motor 325 and the main synchronous pulley 326 are connected to the camshaft 320. A timing pulley 326 is connected, and a timing belt 328 is wound between the main timing pulley 326 and the auxiliary timing pulley 327. The auxiliary timing pulley 327 is connected to the camshaft 320. The cam plate assembly also includes a left mounting seat 3292 and a right mounting seat 3291. The left mounting seat 3292 is located on the left side of the opening 311, and the right mounting seat 3291 is located on the right side of the opening 311. One end of the camshaft 320 is fixed in the left mounting seat 3292, and the other end of the camshaft 320 is fixed in the right mounting seat 3291.

[0074] like Figures 10-14As shown, the automatic medicine dispensing machine also includes a pusher plate conveying structure. The push plate conveying structure includes a push plate 41 and a base plate 42. The push plate 41 is slidably connected to the base plate 42. The bottom of the base plate 42 includes a base plate drive motor 43 and a base plate synchronous belt 44. The base plate drive motor 43 is connected to the base plate synchronous belt 44, and the base plate synchronous belt 44 is connected to the push plate 41. An opening 45 is provided in the middle of the base plate 42. In the initial position, the push plate 41 completely covers the opening 45. In the moving position, the push plate 41 partially covers the opening 45. The synchronous belt assembly also includes a synchronous belt idler pulley 46 and a synchronous belt pulley 47. The base plate drive motor 43 is connected to the synchronous belt pulley 47. The push plate 41 is connected to the synchronous belt pulley 47 through a connecting assembly. The synchronous belt 44 is wound between the synchronous belt idler pulley 46 and the synchronous belt pulley 47. The connecting assembly includes an L-shaped connecting plate 48 and a synchronous belt pressure plate 49. The synchronous belt pressure plate 49 is located below the base plate synchronous belt 44. The L-shaped connecting plate 48 is fixedly connected to the push plate 41. The connecting plate 48 is located on the upper side of the synchronous belt 44. The L-shaped connecting plate 48 is connected to the synchronous belt pressure plate 49 by fasteners. The base plate 42 also includes a slide rail 410. The L-shaped connecting plate 48 is positioned in the slide rail 410. The push plate 41 also includes a Z-shaped connecting block 411. The Z-shaped connecting block 411 is fixedly connected to the L-shaped connecting plate 48. A protective baffle 412 is fixedly installed on the upper surface of the base plate 42. In the initial position, the push plate 41 is set in the protective baffle 412. An opening 413 is formed between the protective baffle 412 and the base plate 42. In the moving position, the push plate 41 moves from the opening 413. The protective baffle 412 has a left side 414, a right side 415 and a bottom side 416. The left side 414 and the right side 415 are fixedly connected to the left and right sides of the base plate 42, respectively. The bottom side 416, the left side 414, the right side 415 and the base plate 42 form an accommodating space. The push plate 41 is set in the accommodating space.

[0075] like Figures 15-18 As shown, in order to enable the robotic arms to work in concert, they can operate on medicines at different positions simultaneously or sequentially according to the instructions of the control system, which greatly improves the efficiency and flexibility of medicine loading. For example, medicines can be quickly sorted in the temporary storage mechanism 190 and transferred to the conveying mechanism 150, or the medicines at the end of the conveying mechanism 150 can be accurately placed into the medicine loading equipment, completing the key steps of automatic medicine loading.

[0076] The automatic medicine dispensing machine also includes a robotic arm structure. The top of the frame 110 has a first track 55 and a second track 56, which are parallel and extend along the length of the frame 110. There is a gap between the first track 55 and the second track 56. A movable first robotic arm 57 and a movable second robotic arm 58 are arranged between the first track 55 and the second track 56.

[0077] The first robotic arm 57 moves over the support mechanism 180 and over the first movable pillbox assembly 120 and the second movable pillbox assembly 130. The second robotic arm 58 moves over the first movable pillbox assembly 120 and the second movable pillbox assembly 130 and over the conveying mechanism 150.

[0078] Furthermore, the first robotic arm 57 includes a Y-axis base plate 59, an X-axis drive motor 510, an X-axis synchronous belt 511, and a Z-axis base plate 512. The Y-axis base plate 59 is disposed between the first first track 55 and the second second track 56. The X-axis drive motor 510 is fixed to the upper surface of the Y-axis base plate 59, and the X-axis synchronous belt 511 is fixed to the lower surface of the Y-axis base plate 59. The X-axis drive motor 510 drives the X-axis synchronous belt 511. The Z-axis base plate 512 is fixed on the X-axis synchronous belt 511, and a suction gripper assembly 513 is fixed on the Z-axis base plate 512. The Y-axis base plate 59 is provided with a first Y-axis slide rail 514 and a second Y-axis slide rail 515. The first Y-axis slide rail 514 and the second Y-axis slide rail 515 are parallel to each other and are located on both sides of the X-axis synchronous belt 511.

[0079] A first slider 516 and a second slider 517 are fixed on the upper surface of the Z-axis base plate 512, wherein the first slider 516 is parallel to the second slider 517. The first slider 516 is positioned within the first Y-axis slide rail 514, and the second slider 517 is positioned within the second Y-axis slide rail 515. The suction gripper assembly 513 includes a Z-axis drive motor 518, a Z-axis mounting plate 519, and a Z-axis timing belt 520. The Z-axis drive motor 518 is fixed to the lower surface of the Z-axis base plate 512, the Z-axis mounting plate 519 is perpendicular to the Z-axis base plate 512, and the Z-axis timing belt 520 is fixed to the lower surface of the Z-axis base plate 512. On the axis mounting plate 519, the Z-axis synchronous belt 520 is connected to the Z-axis drive motor 518. The Z-axis synchronous belt 520 is also equipped with an air pump unit 521, which includes an air pump motor 522, an air pump synchronous belt 523, an air pump suction claw 524, and a Q-axis base plate 525. The Q-axis base plate 525 is fixed on the Z-axis synchronous belt 520, the air pump motor 522 is fixed on the Q-axis base plate 525, the air pump synchronous belt 523 is connected to the air pump motor 522, and the air pump suction claw 524 is connected to the air pump synchronous belt 523. There are three air pump suction claws 524.

[0080] Furthermore, the second robotic arm 58 has the same structure as the first robotic arm 57. A first slide rail 526 is provided on the first first track 55, and a second slide rail 527 is provided on the second second track 56. A first slide block 528 and a second slide block 529 are provided on the Y-axis base plate 59. The first slide block 528 is positioned within the first slide rail 526, and the second slide block 529 is positioned within the second slide rail 527. A synchronous belt drive motor 530 is provided on the frame 110, and the synchronous belt drive motor 530 is connected to the synchronous belt 531. An X-axis synchronous belt fixing connection seat 532 is fixed on the Y-axis base plate 59. The X-axis fixing plate 533 is fixedly connected to the X-axis synchronous belt fixing connection seat 532, and the synchronous belt 531 is disposed between the X-axis fixing plate 533 and the X-axis synchronous belt fixing connection seat 532.

[0081] The working principle of this utility model is as follows:

[0082] During the operation of the automatic drug dispensing machine, all mechanisms work closely together to achieve efficient and precise drug dispensing. First, drugs are placed manually or by external equipment into the rectangular containers of the first and second movable drug box components of the temporary storage mechanism. The temporary storage mechanism performs preliminary classification and storage based on drug type, batch, and other information. When drug dispensing is required, the first and second drive motors drive the corresponding synchronous belts, moving the moving plate to a position close to the conveying mechanism. At this time, the L-shaped baffle mechanism of the flipping mechanism, driven by the flipping drive motor, adjusts to a suitable angle, guiding the drug smoothly into the first and second conveyor belt components. During the conveying process, if there is a deviation in drug position or a need for diversion, the cam plate component of the swing mechanism, driven by the drive motor, swings in a timely manner to correct the drug's posture and ensure it moves along the predetermined path. When the drug is conveyed to a specific position, such as before the filling station, the bottom plate drive motor of the pusher conveyor structure starts, driving the pusher plate to smoothly push the drug to the precise position, ready for filling. The robotic arm structure plays a flexible scheduling role throughout the process. The first and second robotic arms move rapidly on the overhead track according to the instructions of the control system, accurately grabbing medicines from the temporary storage mechanism and placing them into the conveying mechanism, or grabbing medicines from the end of the conveying mechanism and placing them into the drug loading equipment. It seamlessly connects with the conveying and pushing actions of other mechanisms, realizing the automation, efficiency and precision of the entire process of medicines from temporary storage to drug loading, effectively improving the drug management level of medical institutions, reducing labor costs, improving the accuracy and reliability of drug loading, and ensuring the safety of patients' medication.

Claims

1. An automatic medicine dispensing machine, characterized in that: include: Frame, temporary storage mechanism, conveying mechanism; The frame is equipped with a temporary storage mechanism and a conveying mechanism; The temporary storage mechanism includes a first movable pillbox assembly and a second movable pillbox assembly. The first and second movable pillbox assemblies are parallel to the length of the frame and extend along the length of the frame. The first movable pillbox assembly and the second movable pillbox assembly are arranged side by side along the width of the frame. The conveying mechanism includes a first conveyor belt assembly and a second conveyor belt assembly. The first conveyor belt assembly and the second conveyor belt assembly extend parallel to the width direction of the frame and along the width direction of the frame. The first conveyor belt assembly and the second conveyor belt assembly are located behind the first movable medicine box assembly and the second movable medicine box assembly, and the center lines of the first conveyor belt assembly and the second conveyor belt assembly are both perpendicular to the center line of the first movable medicine box assembly.

2. The automatic dispensing machine according to claim 1, characterized in that: The first movable medicine box assembly includes a first movable frame, a second movable frame, a first drive motor, a first synchronous belt, and a first movable plate. A first movable frame is fixed at the front end of the frame, a second movable frame is fixed in the middle of the frame, a first drive motor is positioned between the first and second movable frames, a first synchronous belt is connected to the first drive motor, and a first movable plate is connected to the first synchronous belt. The first moving plate also includes a pressure plate, and a first synchronous belt is disposed between the pressure plate and the first moving plate. The first movable plate also includes a slider. Both the first movable frame and the second movable frame are provided with slide rails. The slide rails extend along the length of the frame, and the slider is positioned within the slide rails.

3. The automatic dispensing machine according to claim 2, characterized in that: A rectangular receiving box is fixed to the upper surface of the first moving plate. The second movable medicine box assembly includes a second movable frame, a third movable frame, a second drive motor, a second synchronous belt, and a second movable plate. The third moving frame is fixed at the rear end of the frame. The second drive motor is positioned between the second and third moving frames. The second synchronous belt is connected to the second drive motor, and the second moving plate is connected to the second synchronous belt. The second moving plate also includes a pressure plate, and a second synchronous belt is disposed between the pressure plate and the second moving plate. The second movable plate also includes a slider, and the third movable frame is provided with a slide rail that extends along the length of the frame. The slider is positioned within the slide rail, and a rectangular receiving box is fixed to the upper surface of the second movable plate.

4. The automatic dispensing machine according to claim 3, characterized in that: A tilting mechanism is provided between the inlet of the first conveyor belt assembly and the front end of the frame. The framework includes a first frame and a second frame, which are arranged in parallel and connected to the front and back ends of the framework. The flipping mechanism has a fixed mounting plate, which is positioned between the first frame and the second frame. The flipping mechanism also includes: a flipping drive motor, a transmission mechanism, a drive shaft, and an L-shaped baffle mechanism. The flipping drive motor, transmission mechanism, drive shaft, and L-shaped baffle mechanism are all fixed on the fixed mounting plate. The drive motor is connected to the transmission mechanism, which is connected to one end of the transmission shaft. The transmission shaft is fitted into the L-shaped baffle mechanism. The L-shaped baffle mechanism has a first baffle and a second baffle, which are perpendicular to each other, and the transmission shaft is sleeved at the connection between the first baffle and the second baffle.

5. The automatic dispensing machine according to claim 4, characterized in that: It also includes a swing mechanism, which comprises a connecting baffle and a cam plate assembly. The top of the connecting baffle is located below the belt conveyor mechanism, and the bottom of the connecting baffle is located above the flat conveyor mechanism. The left side of the connecting baffle is connected to a left side baffle, and the right side of the connecting baffle is connected to a right side baffle. An opening is provided in the middle of the connecting baffle, and a cam plate assembly is fixed in the opening. The cam plate assembly is oscillatingly connected to the connecting baffle. The cam plate assembly includes a camshaft, a cam base plate, a left cam side plate, a right cam side plate, and a cam plate. The camshaft is fixed to the lower surface of the connecting baffle. The left and right cam side plates are respectively sleeved on the camshaft, and the cam base plate is fixed between the left and right cam side plates. The cam base plate is fitted onto the camshaft and is located between the left and right cam side plates. The cam plate assembly also includes a cam plate drive motor, a main synchronous pulley, an auxiliary synchronous pulley, and a cam plate synchronous belt. The cam plate drive motor, the main synchronous pulley, the auxiliary synchronous pulley, and the cam plate synchronous belt are all located on the lower surface of the connecting baffle. The drive motor is connected to the main synchronous pulley, and the synchronous belt is wound between the main synchronous pulley and the auxiliary synchronous pulley. The auxiliary synchronous pulley is connected to the camshaft. The cam plate assembly also includes a left mounting seat and a right mounting seat. The left mounting seat is located on the left side of the opening, and the right mounting seat is located on the right side of the opening. One end of the camshaft is fixed in the left mounting seat, and the other end of the camshaft is fixed in the right mounting seat.

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