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, the transmission shaft is sleeved in the L-shaped baffle mechanism, the L-shaped baffle mechanism has a first baffle and a second baffle, the first baffle and the second baffle are perpendicular, and the transmission shaft is sleeved at the connection position of the first baffle and the second baffle.

[0023] 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.

[0024] 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,

[0025] The upper surface of the bottom plate is fixedly provided with a protective baffle, the push plate is arranged in the protective baffle in the initial position,

[0026] The protective baffle and the bottom plate form an opening, and the push plate moves in the opening when moving,

[0027] 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, and 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.

[0028] Further, a mechanical hand structure is further included,

[0029] 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,

[0030] A first movable mechanical hand and a second movable mechanical hand are arranged between the first sky rail and the second sky rail;

[0031] 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,

[0032] 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.

[0033] Further, the first mechanical hand includes a Y-axis base plate, an X-axis drive motor, an X-axis synchronous belt, a Z-axis base plate,

[0034] The Y-axis base plate is arranged between the first sky rail and the second sky rail, the X-axis drive 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 drive 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,

[0035] 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 and the second sliding block are parallel, 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 includes a Z-axis drive motor, a Z-axis mounting plate and a Z-axis synchronous belt, the Z-axis drive 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 drive motor, and the Z-axis synchronous belt is further provided with a gas pump unit, the gas pump unit includes a gas pump motor, a gas pump synchronous belt, three gas pump suction claws, and a Q-axis base plate, the Q-axis base plate is fixed on the Z-axis synchronous belt, the gas pump motor is fixed on the Q-axis base plate, the gas pump synchronous belt is connected with the gas pump motor, the gas pump suction claws are connected with the gas pump synchronous belt, and the number of the gas pump suction claws is three.

[0036] Further, the second mechanical hand is same in structure with the first mechanical hand, the first slide rail is arranged on the first top rail, the second slide rail is arranged on the second top rail, the first slide base and the second slide base are arranged on the Y-axis base plate, the first slide base is positioned in the first slide rail, the second slide base is positioned in the second slide 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.

[0037] The automatic medicine feeding machine has the advantages that:

[0038] (1) The turnover mechanism is arranged between the temporary storage mechanism and the conveying mechanism, has compact structure, is convenient to install, can stably operate in the frame, and does not additionally occupy too much external space.

[0039] (2) The first movable medicine box assembly and the second movable medicine box assembly are arranged, and the two temporary storage mechanisms can perform some preparation work in parallel, for example, when one assembly receives a new batch of medicines for temporary storage, the other assembly can simultaneously convey the temporarily stored medicines to the conveying mechanism for medicine feeding operation, so that the overall medicine feeding process time is greatly shortened, and the medicine feeding efficiency is improved.

[0040] (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 is adjusted in posture and falls on the flat plate conveying mechanism, so that the medicine box is more convenient to push out.

[0041] (4) The bottom plate is provided with a driving motor and an opening at the bottom, and a push plate is arranged at the opening, so that the space utilization of the bottom plate is improved, and the automatic medicine feeding machine is small in size and integrated in design.

[0042] (5) The bearing mechanism, the temporary storage mechanism and the conveying mechanism are integrated on the frame, and the movement paths of the first mechanical hand and the second mechanical hand are reasonably planned, so that the first mechanical hand and the second mechanical hand pass through corresponding key mechanisms respectively, automatic connection and efficient cooperation of the medicine feeding process are realized, the overall medicine feeding process is optimized, and the medicine feeding efficiency is improved. BRIEF DESCRIPTION OF DRAWINGS

[0043] Figure 1 is a structural diagram of the automatic medicine feeding machine of the utility model;

[0044] Figure 2 is a structure of the medicine box temporary storage structure of the utility model Figure One ;

[0045] Figure 3 The utility model discloses a medicine box temporary storage structure Figure Two ;

[0046] Figure 4 The utility model discloses a medicine box temporary storage structure Figure Three ;

[0047] Figure 5 The utility model discloses a medicine box turnover mechanism Figure One ;

[0048] Figure 6 The utility model discloses a medicine box turnover mechanism Figure Two ;

[0049] Figure 7 The utility model discloses a swing baffle structure Figure One ;

[0050] Figure 8 The utility model discloses a swing baffle structure Figure Two ;

[0051] Figure 9 The utility model discloses a swing baffle structure Figure Three ;

[0052] Figure 10 The utility model discloses a push plate conveying structure Figure One ;

[0053] Figure 11 The utility model discloses a push plate conveying structure Figure Two ;

[0054] Figure 12 The utility model discloses a push plate conveying structure Figure Three ;

[0055] Figure 13 The utility model discloses a push plate conveying structure Figure Four ;

[0056] Figure 14 The utility model discloses a push plate conveying structure Figure Five ;

[0057] Figure 15 The utility model discloses a mechanical hand structure Figure One ;

[0058] Figure 16 The utility model discloses a mechanical hand structure Figure Two ();

[0059] Figure 17 The utility model discloses a mechanical hand structure Figure Three ;

[0060] Figure 18The utility model mechanical hand structure Figure Four .

[0061] Mark explanation: 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 flat plate 126, rectangular accommodating box 127, pressing plate 128, sliding block 129, second movable medicine box assembly 130, third moving frame 131, second drive motor 132, second synchronous belt 133, second moving flat plate 134, pressing plate 135, sliding block 136, rectangular accommodating box 137.

[0062] Turnover mechanism 140, conveying mechanism 150, first frame 220, second frame 221, fixed mounting plate 222, drive motor 223, transmission mechanism 224, transmission shaft 225, first baffle 226, second baffle 227.

[0063] Connecting baffle 310, opening 311, camshaft 320, cam bottom plate 321, left cam side plate 322, right cam side plate 323, cam flat plate 324, cam plate drive motor 325, main synchronous pulley 326, auxiliary synchronous pulley 327, synchronous belt 328, left mounting seat 3292, right mounting seat 3291, frame 110, flat plate conveying mechanism 170, left side edge baffle 331, right side edge baffle 332, belt conveying mechanism 160.

[0064] Push plate 41, bottom plate 42, bottom plate drive motor 43, bottom plate synchronous belt 44, opening 45, synchronous belt idler 46, synchronous belt pulley 47, L-shaped connecting plate 48, synchronous belt pressing plate 49, slide rail 410, Z-shaped connecting block 411, protective baffle 412, opening 413, left side edge 414, right side edge 415, bottom edge 416.

[0065] Frame 110, bearing mechanism 180, temporary storage mechanism 190, conveying mechanism 150, first overhead rail 55, second overhead rail 56, first mechanical hand 57, second mechanical hand 58, Y axis base plate 59, X axis drive motor 510, X axis synchronous belt 511, Z axis base plate 512, sucking claw assembly 513, first Y axis slide rail 514, second Y axis slide rail 515, first sliding block 516, second sliding block 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 sucking claw 524, Q axis base plate 525, first slide rail 526, second slide rail 527, first slide seat 528, second slide seat 529, synchronous belt drive motor 530, synchronous belt 531, X axis synchronous belt fixed connecting seat 532, X axis fixed plate 533. DETAILED DESCRIPTION

[0066] 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.

[0067] 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.

[0068] like Figure 2 As 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.

[0069] like Figure 3 and 4As shown, the upper surface of the first movable plate 126 is fixed with a rectangular accommodating box 127, the second movable box assembly 130 includes a second movable frame, a third movable frame 131, a second drive motor 132, a second synchronous belt 133, a second movable plate 134, the third movable frame 131 is fixed at the rear end of the frame 110, the second drive motor 132 is arranged between the second movable frame and the third movable frame 131, the second synchronous belt 133 is connected with the second drive motor 132, the second movable plate 134 is connected with the second synchronous belt 133, the second movable plate 134 further includes a pressing plate 135, the second synchronous belt 133 is arranged between the pressing plate 135 and the second movable plate 134, the second movable plate 134 further includes a sliding block 136, the third movable frame 131 is provided with a sliding rail extending along the length direction of the frame 110, the sliding block 136 is positioned in the sliding rail, and the upper surface of the second movable plate 134 is fixed with a rectangular accommodating box 137.

[0070] As shown in Figure 5 The inlet of the first and second conveying belt assemblies in the conveying mechanism 150 and the front end of the frame 110 are provided with a turnover mechanism 140, the frame 110 includes a first frame 220 and a second frame 221, the first frame 220 and the second frame 221 are arranged in parallel, and the first frame 220 and the second frame 221 are connected to the front end and the rear end of the frame 110, the turnover mechanism 140 has a fixed mounting plate 222 arranged between the first frame 220 and the second frame 221, and further includes a turnover drive motor 223, a transmission mechanism 224, a transmission shaft 225 and an L-shaped baffle mechanism, all of which are fixed on the fixed mounting plate 222, the turnover drive motor 223 is connected with the transmission mechanism 224, one end of the transmission mechanism 224 is connected with the transmission shaft 225, and the transmission shaft 225 is sleeved in the L-shaped baffle mechanism.

[0071] As shown in Figure 6 The L-shaped baffle mechanism has a first baffle edge 226 and a second baffle edge 227, the first baffle edge 226 and the second baffle edge 227 are perpendicular, and the transmission shaft 225 is sleeved at the connection between the first baffle edge 226 and the second baffle edge 227. The turnover mechanism 140 can ensure that the medicine can be turned to a suitable position according to the shape, size or conveying requirement of the medicine, so as to facilitate the grabbing of the mechanical hand.

[0072] As shown in Figures 7-9As shown, in order to prevent drug accumulation, blockage, improve the accuracy and reliability of drug delivery, the automatic medicine loading machine further comprises a swing mechanism, wherein the swing mechanism comprises a connecting baffle 310 and a cam plate assembly; the top end of the connecting baffle 310 is arranged below the belt conveying mechanism 160, the bottom end of the connecting baffle 310 is arranged above the flat plate conveying mechanism 170, the left side of the connecting baffle 310 is connected with the left side baffle 331, the right side of the connecting baffle 310 is connected with the right side baffle 332, the connecting baffle 310 is provided with an opening 311 in the middle, the opening 311 is fixed with the cam plate assembly, the cam plate assembly is swing-connected with the connecting baffle 310, the cam plate assembly comprises a cam shaft 320, a cam bottom plate 321, a left cam side plate 322, a right cam side plate 323 and a cam flat plate 324, the cam shaft 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 cam shaft 320, the cam bottom plate 321 is fixed between the left cam side plate 322 and the right cam side plate 323, the cam bottom plate 321 is sleeved on the cam shaft 320, the cam bottom plate 321 is located between the left cam side plate 322 and the right cam side plate 323, the cam plate assembly further comprises a cam plate driving motor 325, a main synchronous pulley 326, an auxiliary synchronous pulley 327 and a synchronous belt 328, wherein the cam plate driving motor 325, the main synchronous pulley 326, the auxiliary synchronous pulley 327 and the synchronous belt 328 are all arranged on the lower surface of the connecting baffle 310, the cam plate driving motor 325 is connected with the main synchronous pulley 326, the synchronous belt 328 is wound between the main synchronous pulley 326 and the auxiliary synchronous pulley 327, the auxiliary synchronous pulley 327 is connected with the cam shaft 320, the cam plate assembly further comprises 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, the right mounting seat 3291 is located on the right side of the opening 311, one end of the cam shaft 320 is fixed in the left mounting seat 3292, the other end of the cam shaft 320 is fixed in the right mounting seat 3291.

[0073] As 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.

[0074] 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.

[0075] 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.

[0076] The moving path of the first robot 57 passes above the bearing mechanism 180 and above the first movable medicine box assembly 120 and the second movable medicine box assembly 130, and the moving path of the second robot 58 passes above the first movable medicine box assembly 120 and the second movable medicine box assembly 130 and above the conveying mechanism 150.

[0077] Further, the first robot 57 comprises a Y-axis base plate 59, an X-axis driving motor 510, an X-axis synchronous belt 511, a Z-axis base plate 512, the Y-axis base plate 59 is arranged between the first overhead track 55 and the second overhead track 56, the X-axis driving motor 510 is fixed on the upper surface of the Y-axis base plate 59, the X-axis synchronous belt 511 is fixed on the lower surface of the Y-axis base plate 59, the X-axis driving 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 the Z-axis base plate 512 is fixed with a suction claw assembly 513, the Y-axis base plate 59 is provided with a first Y-axis sliding rail 514 and a second Y-axis sliding rail 515, the first Y-axis sliding rail 514 is parallel to the second Y-axis sliding rail 515, and the first Y-axis sliding rail 514 and the second Y-axis sliding rail 515 are respectively located on both sides of the X-axis synchronous belt 511.

[0078] The upper surface of the Z-axis base plate 512 is fixed with a first sliding block 516 and a second sliding block 517, wherein the first sliding block 516 is parallel to the second sliding block 517, the first sliding block 516 is positioned in the first Y-axis sliding rail 514, and the second sliding block 517 is positioned in the second Y-axis sliding rail 515, the suction claw assembly 513 comprises a Z-axis driving motor 518, a Z-axis mounting plate 519, and a Z-axis synchronous belt 520, the Z-axis driving motor 518 is fixed on 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, the Z-axis synchronous belt 520 is fixed on the Z-axis mounting plate 519, the Z-axis synchronous belt 520 is connected with the Z-axis driving motor 518, and the Z-axis synchronous belt 520 is further provided with a gas pump unit 521, the gas pump unit 521 comprises a gas pump motor 522, a gas pump synchronous belt 523, three gas pump suction claws 524, and a Q-axis base plate 525, the Q-axis base plate 525 is fixed on the Z-axis synchronous belt 520, the gas pump motor 522 is fixed on the Q-axis base plate 525, the gas pump synchronous belt 523 is connected with the gas pump motor 522, the gas pump suction claws 524 are connected with the gas pump synchronous belt 523, and the number of the gas pump suction claws 524 is three.

[0079] Further, the second mechanical hand 58 is the same structure as the first mechanical hand 57, the first sliding rail 526 is arranged on the first overhead rail 55, the second sliding rail 527 is arranged on the second overhead rail 56, the first sliding seat 528 and the second sliding seat 529 are arranged on the Y-axis base plate 59, the first sliding seat 528 is positioned in the first sliding rail 526, the second sliding seat 529 is positioned in the second sliding rail 527, the synchronous belt driving motor 530 is arranged on the frame 110, the synchronous belt driving motor 530 is connected with the synchronous belt 531, the X-axis synchronous belt fixed connecting seat 532 is fixed on the Y-axis base plate 59, the X-axis fixed plate 533 is fixedly connected with the X-axis synchronous belt fixed connecting seat 532, and the synchronous belt 531 is arranged between the X-axis fixed plate 533 and the X-axis synchronous belt fixed connecting seat 532.

[0080] The working principle of the utility model is:

[0081] In the running process of the automatic medicine feeding machine, various mechanisms cooperate closely to realize efficient and accurate medicine feeding task. First, the medicine is placed into the rectangular accommodating box of the first movable medicine box assembly and the second movable medicine box assembly of the temporary storage mechanism by manual or external equipment, and the temporary storage mechanism preliminarily classifies and stores according to the medicine category, batch and other information. When medicine feeding is needed, the first driving motor and the second driving motor drive the corresponding synchronous belt to drive the movable flat plate to move, and move the target medicine to a position close to the conveying mechanism. At this time, the L-shaped baffle mechanism of the turnover mechanism is adjusted to the appropriate angle under the action of the turnover driving motor, and the medicine is guided to smoothly enter the first conveying belt assembly and the second conveying belt assembly. During the conveying process, if the medicine position deviates or needs to be divided, the cam plate assembly of the swing mechanism swings in time under the drive of the driving motor, corrects the posture of the medicine, and ensures that it moves along the predetermined path. When the medicine is conveyed to a specific position, such as the medicine loading position, the bottom plate driving motor of the push plate conveying structure starts to drive the push plate to smoothly push the medicine to the accurate position, ready for medicine loading. The mechanical hand structure plays a role in flexible scheduling throughout the process, and the first mechanical hand and the second mechanical hand move quickly on the overhead rail according to the control system instruction, accurately grab the medicine from the temporary storage mechanism and place it to the conveying mechanism, or grab the medicine from the end of the conveying mechanism and place it to the medicine loading equipment, seamlessly connect with the conveying and pushing actions of other mechanisms, realize the automation, high efficiency and precision of the whole process from temporary storage to medicine feeding, effectively improve the medicine management level of medical institutions, reduce labor cost, improve the accuracy and reliability of medicine feeding, and ensure the safety of patient medication.

Claims

1. An automatic medicine dispensing machine, characterized by: The automatic medicine feeding machine comprises a frame, a temporary storage mechanism and a conveying mechanism. The temporary storage mechanism and the 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. 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. The first movable medicine box assembly and the second movable medicine box assembly are arranged side by side in the width direction of the frame. The conveying mechanism comprises a first conveying belt assembly and a second conveying belt assembly. The first conveying belt assembly and the second conveying belt assembly extend parallel to the width direction of the frame and extend along the width direction of the frame. 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. The automatic medicine feeding machine further comprises a push plate conveying structure. The push plate conveying structure comprises a push plate and a bottom plate. The push plate is slidably connected to 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 to the bottom plate synchronous belt. The bottom plate synchronous belt is connected to the push plate. The push plate is connected to the bottom plate driving motor through a connecting assembly. 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 to 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 to 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 to the L-shaped connecting plate. The upper surface of the bottom plate is fixedly provided with a protective baffle. In the initial position, the push plate is arranged in the protective baffle. The protective baffle and the bottom plate form an opening. In the moving position, the push plate moves out of the opening. The protective baffle has a left side, a right side and a bottom side. 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, the left side, the right side and the bottom plate form a containing space. The push plate is arranged in the containing space.

2. The automatic medicine feeding machine according to claim 1, wherein: The first movable medicine box assembly comprises a first moving frame, a second moving frame, a first driving motor, a first synchronous belt and a first moving plate. The first moving frame is fixedly arranged at the front end of the frame. The second moving frame is fixedly arranged 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 to the first driving motor. The first moving plate is connected to the first synchronous belt. The first moving plate further comprises a pressing plate. The first synchronous belt is arranged between the pressing plate and the first moving plate. The first moving plate further comprises a sliding block. The first moving frame and the second moving frame are both provided with a slide rail. The slide rail extends along the length direction of the frame. The sliding block is positioned in the slide rail.

3. The automatic medicine feeding machine according to claim 2, characterized in that: the upper surface of the first movable plate is fixed with a rectangular accommodating box, the second movable medicine box assembly comprises a second movable frame, a third movable frame, a second driving motor, a second synchronous belt, and a second movable plate, the third movable frame is fixed at the rear end of the frame, the second driving motor is arranged between the second movable frame and the third movable frame, the second synchronous belt is connected with the second driving motor, and the second movable plate is connected with the second synchronous belt, the second movable plate further comprises a pressing plate, and the second synchronous belt is arranged between the pressing plate and the second movable plate, the second movable plate further comprises a sliding block, the third movable 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 movable plate is fixed with a rectangular accommodating box.

4. The automatic pill feeding machine according to claim 3, characterized in that: further comprising a mechanical hand structure, the top end of the frame is provided with 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, a first movable mechanical hand and a second movable mechanical hand are arranged between the first sky rail and the second sky rail; 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, 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.

5. The automatic medicine feeding machine according to claim 4, characterized in that: the first mechanical hand comprises a Y-axis base plate, an X-axis driving motor, an X-axis synchronous belt, and a Z-axis base plate, 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, 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 and the second sliding block are parallel, the first sliding block is positioned in the first Y-axis sliding rail, 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, and 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, 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, three gas pump suction claws, and a Q-axis base plate, the Q-axis base plate is fixed on the Z-axis synchronous belt, the gas pump motor is fixed on the Q-axis base plate, the gas pump synchronous belt is connected with the gas pump motor, the gas pump suction claws are connected with the gas pump synchronous belt, and the number of the gas pump suction claws is three.

6. The automatic medicine feeding machine according to claim 5, characterized in that: The second mechanical arm is the same as the first mechanical arm, the first sliding rail is arranged on the first overhead rail, the second sliding rail is arranged on the second overhead 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.

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