Medicine shelf with automatic replenishment device

Abstract

The utility model provides a medicine shelf with an automatic replenishment device, which comprises a shelf, a replenishment interface is arranged on the side edge of the shelf, and the replenishment interface is connected with a replenishment device for conveying medicines; the replenishment device comprises a replenishment table connected with the replenishment interface, and a conveying device used for conveying drugs is installed in the replenishment table; the sliding table is flush with the bottom of the goods shelf, and the side edge of the sliding table is connected with the bottom of the goods shelf through a connecting column; a sliding rail is arranged in the sliding table, a first sliding block and a second sliding block which can move back and forth along the sliding rail are arranged on the sliding rail, the first sliding block is away from the goods shelf, and the second sliding block is close to the goods shelf. A first mechanical arm capable of transferring medicine needing to be supplemented to the conveying device is installed on the first sliding block, a second mechanical arm capable of transferring the medicine on the conveying device to the goods shelf is installed on the second sliding block, and the first mechanical arm and the second mechanical arm are the same in structure. According to the medicine shelf, the medicines can be quickly and accurately supplemented, and the management efficiency of the medicines is improved.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the technical field of medicine storage and management, especially a medicine shelf with automatic replenishment device. BACKGROUND

[0002] In hospitals, pharmacies and other places, medicine shelves are used to store and display various medicines. The traditional medicine shelves need to be checked regularly by artificial and replenished according to the inventory, which is obviously low in work efficiency and prone to errors. With the rapid development of Internet of Things and automation technology, how to realize automatic replenishment of medicine shelves has become a problem to be solved.

[0003] In the current prior art, although some intelligent shelves can monitor the inventory of medicines, they lack seamless docking function with the replenishment equipment and cannot realize rapid automatic replenishment.

[0004] Therefore, it is urgent to provide a medicine shelf supporting automatic replenishment to improve the efficiency of medicine management. UTILITY MODEL CONTENT

[0005] The main purpose of the utility model is to provide a medicine shelf with automatic replenishment device in view of the deficiencies of the prior art.

[0006] To achieve the above purpose, the utility model provides the following technical scheme:

[0007] A medicine shelf with automatic replenishment device, comprising a shelf, a replenishment interface is arranged on the side of the shelf, the replenishment interface is connected with a replenishment device for conveying medicines;

[0008] The replenishment device comprises a replenishment table connected with the replenishment interface, and a conveying device for conveying medicines is installed in the replenishment table;

[0009] It also comprises a sliding table flush with the bottom of the shelf, and the side of the sliding table is connected with the bottom of the shelf through a connecting column;

[0010] A sliding rail is arranged in the sliding table, and a first sliding block and a second sliding block that can move back and forth along the sliding rail are arranged on the sliding rail, the first sliding block is away from the shelf, and the second sliding block is close to the shelf;

[0011] A first mechanical hand that can transfer the medicines needing replenishment to the conveying device is installed on the first sliding block, and a second mechanical hand that can transfer the medicines on the conveying device to the shelf is installed on the second sliding block, wherein the structure of the first mechanical hand is the same as that of the second mechanical hand.

[0012] As a preferred scheme of the medicine shelf with the automatic replenishment device, the shelf is provided with a plurality of storage compartments for storing medicines, and a monitoring module is arranged at the bottom of each storage compartment to monitor the quantity of medicines in the storage compartment.

[0013] As a preferred scheme of the medicine shelf with the automatic replenishment device, the monitoring module is an RFID identification or a weight sensor.

[0014] As a preferred scheme of the medicine shelf with the automatic replenishment device, the conveying device comprises a plurality of conveying rollers arranged side by side and at equal intervals in the replenishment table, both ends of the conveying roller are fixed to the inner walls on both sides of the replenishment table, a conveying belt is sleeved and mounted on the outer periphery of the conveying roller and can move with the conveying roller, position sensors for sensing the position of the medicines on the conveying belt are symmetrically arranged at both sides of the end of the conveying belt, a medicine receiving bin is arranged in the replenishment table at the end of the conveying belt, and the conveying device is driven by a first driving motor arranged at the side of the replenishment table.

[0015] As a preferred scheme of the medicine shelf with the automatic replenishment device, each position sensor is provided with a baffle at the side end of the conveying belt, and the baffle can drive the medicines on the conveying belt into the medicine receiving bin.

[0016] As a preferred scheme of the medicine shelf with the automatic replenishment device, height-adjustable supporting columns are arranged at the four corners of the bottom of the replenishment table, each supporting column comprises a first supporting section fixedly connected with the bottom of the replenishment table and a second supporting section threadedly connected with the first supporting section, an inner thread is arranged in the first supporting section, a connecting shaft with an outer thread is arranged at the end of the second supporting section, and the outer thread of the connecting shaft is connected with the inner thread in the first supporting section to realize the connection between the first supporting section and the second supporting section.

[0017] As a preferred scheme of the medicine shelf with the automatic replenishment device, a fixed clamping ring is sleeved around the connection position of the first supporting section and the second supporting section.

[0018] As a preferred scheme of the medicine shelf with the automatic replenishment device, the first mechanical arm comprises a supporting rod fixed on the first sliding block, a compression spring equal in length to the supporting rod and capable of driving the supporting rod to compressively deform is arranged in the supporting rod, a fixed block is installed at the top end of the supporting rod, a rotating shaft is installed in the fixed block, the rotating shaft is connected with a second driving motor capable of driving the fixed block to rotate, and a grabbing assembly capable of grabbing the medicine on the conveying belt is installed at the side end of the fixed block facing the conveying belt.

[0019] As a preferred scheme of the medicine shelf with the automatic replenishment device, the grabbing assembly comprises a mechanical arm connected with the side end of the fixed block, an empty slot penetrating through the mechanical arm is formed close to the end position of the mechanical arm, slide grooves are symmetrically arranged at the two sides of the empty slot, a guide column capable of moving up and down along the slide grooves is arranged in the empty slot, the guide column is connected with the slide groove at one side of the empty slot through a lifting cylinder, the guide column is connected with the slide groove at the other side of the empty slot through a third sliding block, and a vacuum suction cup capable of adsorbing the medicine is installed at the bottom of the guide column.

[0020] As a preferred scheme of the medicine shelf with the automatic replenishment device, the medicine shelf is controlled by a PLC control system.

[0021] Compared with the prior art, the utility model at least has the following beneficial effects:

[0022] ①The medicine shelf can realize rapid and accurate replenishment of medicines and improve the medicine management efficiency.

[0023] ②Each storage compartment is provided with a monitoring module, and when the medicine in the storage compartment is lower than a threshold value, the monitoring module issues an alarm, and the PLC control system starts a control program.

[0024] ③The first mechanical arm is responsible for taking out the medicine in the medicine replenishment box and placing it on the conveying belt, the second mechanical arm is responsible for taking out the medicine in the medicine receiving bin and placing it in the storage compartment, the two mechanical arms have clear division of labor and high work efficiency, and the management efficiency of the medicine is improved.

[0025] ④The integrated arrangement of the supporting rod and the compression spring can adjust the height of the supporting rod, and the first mechanical arm and the second mechanical arm can work according to the actual situation.

[0026] ⑤The screw connection between the first supporting section and the second supporting section of the supporting column can adjust the height of the supporting column, and meet the replenishment of the replenishment table under different conditions. BRIEF DESCRIPTION OF DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed in the embodiment description will be briefly introduced as follows. Obviously, the drawings in the following description are only example embodiments of the present application, and other drawings can be obtained according to the structures shown in the drawings without creative labor for those skilled in the art, wherein:

[0028] Figure 1 Structure diagram of the medicine shelf with the automatic replenishment device of the present application;

[0029] Figure 2 Structure diagram of another view of the shelf in Figure 1 ;

[0030] Figure 3 Front sectional view of the medicine shelf with the automatic replenishment device of the present application;

[0031] Figure 4 Sectional view of the replenishment table in the medicine shelf with the automatic replenishment device of the present application;

[0032] Figure 5 Structure diagram of the first / second mechanical hand in the medicine shelf with the automatic replenishment device of the present application;

[0033] Figure 6 Structure diagram of another view of the shelf in Figure 5 ;

[0034] Figure 7 Enlarged view of I in Figure 6 ;

[0035] The reference signs include:

[0036] 1, shelf; 100, storage grid; 101, monitoring module; 2, medicine replenishment box; 3, replenishment interface; 4, replenishment table; 400, conveying roller; 401, conveying belt; 402, position sensor; 403, stop bar; 404, medicine receiving bin; 405, first driving motor; 5, support column; 500, first support section; 501, second support section; 502, connecting shaft; 503, fixed clasp; 6, sliding table; 600, sliding rail; 7, connecting column; 8, first sliding block; 9, support rod; 900, compression spring; 901, fixed block; 902, rotating shaft; 903, second driving motor; 904, mechanical arm; 905, hollow groove; 906, sliding groove; 907, guide column; 908, lifting cylinder; 909, third sliding block; 910, vacuum chuck; 10, second sliding block; 11, anti-collision pad; 12, alarm. DETAILED DESCRIPTION

[0037] The technical solutions in the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are merely exemplary embodiments of this utility model, and not the only embodiments.

[0038] like Figures 1 to 7 As shown, a medicine shelf with an automatic replenishment device includes a shelf 1, wherein the shelf 1 is multi-layered, and each layer has several storage compartments 100 for storing medicines. Each storage compartment 100 has a monitoring module 101 at its bottom for monitoring the quantity of medicines within it. The monitoring module 101 in each storage compartment 100 can sense changes in the quantity of medicines within it. When the quantity of medicines in the storage compartment 100 falls below a threshold, the monitoring module 101 will issue an alarm message to the PLC controller that controls the medicine shelf 1. The system, initiated by the PLC control system, performs a replenishment mechanism to replenish medicines in the corresponding storage compartment 100. The monitoring module 101 can use RFID identification or a weight sensor. When there is an abnormality in the quantity of medicines in the storage compartment 100, the RFID identification technology or the weight sensor will immediately transmit the abnormal signal to the PLC control system, and the alarm 12 installed on the top of the shelf 1 will issue an alarm. After receiving the alarm, the staff will activate the PLC control system, which will then initiate the medicine replenishment program for that storage compartment 100.

[0039] A replenishment interface 3 is provided on the side of the shelf 1. The replenishment interface 3 is connected to a replenishment device for conveying medicines. The replenishment device includes a replenishment platform 4 connected to the replenishment interface 3. A collision protection pad 11 is installed between the replenishment platform 4 and the replenishment interface 3 to prevent direct contact and collision between the replenishment platform 4 and the replenishment interface 3, thus avoiding unnecessary damage. A conveying device for conveying medicines is installed inside the replenishment platform 4. A medicine box 2 for replenishing medicines that need to be replenished is placed on one side of the replenishment platform 4.

[0040] like Figure 3 As shown, the conveying device includes several conveying rollers 400 arranged side by side and at equal intervals in the replenishment platform 4. The two ends of the conveying rollers 400 are respectively fixed to the inner walls of the two sides of the replenishment platform 4. A conveyor belt 401 that can move with the conveying rollers 400 is sleeved on the outer periphery of the conveying rollers 400. The connection and cooperation between the conveying rollers 400 and the conveyor belt 401 form the conveying device. The cooperation between the conveying rollers 400 and the conveyor belt 401 can improve the stability of the transmission of the conveyor belt 401 and ensure that the medicine is smoothly transmitted on the conveyor belt 401.

[0041] The replenishment table 4 is symmetrically installed with position sensors 402 for sensing the transmission of the medicine on the conveying belt 401 at both sides of the end of the conveying belt 401, wherein the position sensor 402 is rotatably arranged, specifically, the bottom end of the position sensor 402 is fixed on the replenishment table 4, a rotatable shaft is arranged in the middle, a fixed block 901 is installed at the upper end of the shaft, the end of the conveying belt 401 is installed with a medicine receiving bin 404 arranged in the replenishment table 4, and the fixed block 901 on each position sensor 402 is installed with a stop bar 403 towards the side end of the conveying belt 401, which can drive the medicine on the conveying belt 401 into the medicine receiving bin 404, the conveying device drives the transmission through the first driving motor 405 arranged at the side of the replenishment table 4, after the first driving motor 405 is started, the replenishment medicine is driven together with the conveying belt 401, when the replenishment medicine is driven to the position close to the medicine receiving bin 404, under the action of inertia, the replenishment medicine enters the medicine receiving bin 404, but some medicines are too heavy to directly enter the medicine receiving bin 404, and the stop bar 403 rotates with the fixed block 901 and then winds around the side of the medicine to push it into the medicine receiving bin 404.

[0042] The medicine shelf 1 further comprises a sliding table 6 flush with the bottom of the shelf 1, and the side of the sliding table 6 is connected with the bottom of the shelf 1 through a connecting column 7, wherein the sliding table 6 is provided with a sliding rail 600, the sliding rail 600 is provided with a first sliding block 8 and a second sliding block 10 which can move back and forth along the sliding rail 600, the first sliding block 8 is away from the shelf 1, and the second sliding block 10 is close to the shelf 1, the first sliding block 8 is provided with a first mechanical hand which can transfer the medicine to be replenished to the conveying device, and the second sliding block 10 is provided with a second mechanical hand which can transfer the medicine on the conveying device to the shelf 1, wherein the first mechanical hand and the second mechanical hand are the same in structure.

[0043] As shown in Figures 5 to 7 , specifically, the first mechanical hand comprises a support rod 9 fixed on the first sliding block 8, the support rod 9 is provided with a compression spring 900 which is the same length as the support rod 9 and can drive the support rod 9 to compress and deform, in actual use, any layer or any storage compartment 100 on the shelf 1 needs to be replenished with medicine, so the support rod 9 needs to be adjustable in height, therefore, the compression spring 900 which can make the support rod 9 compress and deform is arranged in the support rod 9, that is, the compression spring 900 is integrally arranged with the support rod 9, so that the medicine in the storage compartment 100 at different heights can be replenished, it should be noted that the height of the support rod 9 needs to be adjusted by the staff according to the actual situation, and the staff can adjust the height of the support rod 9 by pressing down or lifting up.

[0044] The top end of the support rod 9 is provided with a fixed block 901, the fixed block 901 is provided with a rotating shaft 902, the rotating shaft 902 is connected with a second driving motor 903 capable of driving the fixed block 901 to rotate, the fixed block 901 is provided with a grabbing assembly capable of grabbing the medicine on the conveying belt 401 at the side end of the fixed block 901, the rotating shaft 902 is arranged to make the grabbing assembly rotate in the same direction as the fixed block 901, so that the grabbing assembly rotates in different directions, and the second driving motor 903 can drive the fixed block 901 to rotate with the rotating shaft 902.

[0045] The grabbing assembly comprises a mechanical arm 904 connected with the side end of the fixed block 901, the mechanical arm 904 is provided with a through slot 905 near the end position of the mechanical arm 904, the through slot 905 is provided with a sliding groove 906 symmetrically arranged on both sides of the through slot 905, the through slot 905 is provided with a guide column 907 capable of moving up and down along the sliding groove 906, one side of the guide column 907 is connected with the sliding groove 906 on one side of the through slot 905 through a lifting cylinder 908, the other side of the guide column 907 is connected with the sliding groove 906 on the other side of the through slot 905 through a third sliding block 909, and the bottom of the guide column 907 is provided with a vacuum suction cup 910 capable of sucking the medicine.

[0046] Specifically, when the first mechanical hand receives the replenishment signal sent by the PLC system, the support column 5 moves to the direction of the medicine replenishment box 2 along with the first sliding block 8, the guide column 907 is driven by the lifting cylinder 908 to move downward along the sliding grooves 906 on both sides of the through slot 905 to the position above the vacuum suction cup 910 capable of sucking the medicine in the medicine replenishment box 2, after the medicine is taken out, the guide column 907 is driven by the lifting cylinder 908 to move upward along the sliding grooves 906 on both sides of the through slot 905 to the position above the vacuum suction cup 910 capable of sucking the medicine, and the first mechanical hand moves along the sliding rail 600 to the direction of the conveying belt 401, when the support rod 9 of the first mechanical hand moves to the position in front of the conveying belt, the guide column 907 is driven by the lifting cylinder 908 to move downward along the sliding grooves 906 on both sides of the through slot 905 to the position above the vacuum suction cup 910 capable of sucking the medicine in the middle of the conveying belt, and the vacuum suction cup 910 places the medicine on the conveying belt 401, thus the first mechanical hand completes the operation of taking out the replenishment medicine from the medicine replenishment box 2 and transferring the medicine to the conveying belt 401.

[0047] As described above, the first mechanical arm and the second mechanical arm have the same structure. When the first mechanical arm transfers the medicine in the medicine box 2 to the conveying belt 401, it is necessary to transfer the medicine to the shelf 1. The specific process is that the medicine is conveyed to the medicine receiving bin 404 through the conveying belt 401, the guide column 907 on the second mechanical arm is driven by the lifting cylinder 908 to descend along the sliding groove 906 on both sides of the empty slot 905 to the vacuum suction cup 910 that can adsorb the medicine in the medicine receiving bin 404, and then the guide column 907 is driven by the lifting cylinder 908 to ascend along the sliding groove 906 on both sides of the empty slot 905, and the grabbing assembly rotates away from the replenishment table 4 with the fixed block 901. At this time, the second support rod 9 of the second mechanical arm moves along the sliding rail 600 to the direction of the shelf 1 with the second sliding block 10. When moving to the position of the storage compartment 100 corresponding to the shelf 1, the guide column 907 extends into the storage compartment 100 to place the medicine on the vacuum suction cup 910 into the storage compartment 100. The support rod 9 of the second mechanical arm moves along the sliding rail 600 to the direction of the medicine receiving bin 404 with the second sliding block 10, and continues the next medicine replenishment operation. In this way, the second mechanical arm completes the entire action of transferring the medicine from the medicine receiving bin 404 to the storage compartment 100 of the shelf 1.

[0048] In actual use, the height of the replenishment table 4 can be adjusted according to the actual situation of the medicine and for the convenience of operation of the first mechanical arm and the second mechanical arm. Specifically, as shown in Figure 4 each support column 5 includes a first support section 500 fixedly connected to the bottom of the replenishment table 4 and a second support section 501 threadedly connected to the first support section 500. The bottom of the second support section 501 is flush with the ground. The first support section 500 is internally threaded. The end of the second support section 501 is provided with a connecting shaft 502 having external threads. The external threads of the connecting shaft 502 are connected with the internal threads of the first support section 500 to realize the connection of the first support section 500 and the second support section 501. A fixed clasp 503 is peripherally sleeved at the connection position of the first support section 500 and the second support section 501. In actual use, the screwing depth of the connecting shaft 502 and the internal threads can be adjusted according to the actual operation height. When the screwing depth of the connecting shaft 502 and the internal threads, i.e., the connection depth of the first support section 500 and the second support section 501, is determined, the fixed clasp 503 is tightened to fix the connection of the first support section 500 and the second support section 501, thereby fixing the height of the support column 5.

[0049] The working principle of the embodiment is as follows:

[0050] The monitoring module 101 in the storage compartment 100 monitors the shortage of the medicine and sends an alarm, and the PLC control system starts a control program; after receiving the starting instruction, the vacuum suction cup 910 of the first mechanical arm absorbs the medicine from the medicine replenishing box 2 and transfers it to the conveying belt 401, the medicine is moved on the conveying belt 401 to the medicine receiving compartment 404, the vacuum suction cup 910 of the second mechanical arm absorbs the medicine in the medicine receiving compartment 404 and takes it out and transfers it to the corresponding medicine shortage storage compartment 100, and the replenishment of the medicine is completed.

[0051] In the embodiment, the first mechanical arm is responsible for taking out the medicine in the medicine replenishing box 2 and placing it on the conveying belt 401, and the second mechanical arm is responsible for taking out the medicine in the medicine receiving compartment 404 and placing it in the storage compartment 100; the two mechanical arms have clear division of labor and high work efficiency, which helps to improve the management efficiency of the medicine.

[0052] It should be noted that the medicine shelf 1 system of the embodiment is controlled by the PLC system, that is, a series of behaviors of replenishing the medicine shelf 1 are controlled by the PLC system, such as receiving the feedback signal of the monitoring module 101 in the storage compartment 100, starting and closing the conveying device in the medicine replenishing table 4, and the action management of the first mechanical arm and the second mechanical arm, and the PLC system sends instructions and carries out the corresponding work flow, so as to realize the automatic replenishment of the medicine on the shelf 1.

[0053] The above is only the preferred embodiment of the present application, and the protection scope of the present application is not limited to the above-mentioned embodiments. Any technical solution falling within the scope of the present application is within the protection scope of the present application. It should be noted that, for ordinary skilled persons in the art, some improvements and decorations without departing from the principles of the present application are also considered as the protection scope of the present application.

Claims

1. A medicine shelf with an automatic restocking device, comprising a shelf (1), characterized in that, The side of the shelf (1) is provided with a replenishment interface (3) connected with a replenishment device for conveying medicine; The replenishment device comprises a replenishment table (4) connected with the replenishment interface (3), and a conveying device for conveying medicine is installed in the replenishment table (4); The sliding table (6) is flush with the bottom of the shelf (1), and the side of the sliding table (6) is connected with the bottom of the shelf (1) through a connecting column (7); The sliding table (6) is provided with a sliding rail (600), and the sliding rail (600) is provided with a first sliding block (8) and a second sliding block (10) which can move back and forth along the sliding rail (600), the first sliding block (8) is away from the shelf (1), and the second sliding block (10) is close to the shelf (1); A first mechanical hand for transferring the medicine to be replenished to the conveying device is installed on the first sliding block (8), and a second mechanical hand for transferring the medicine on the conveying device to the shelf (1) is installed on the second sliding block (10), wherein the first mechanical hand and the second mechanical hand are the same in structure.

2. The medicine shelf with an automatic restocking device according to claim 1, characterized by, The shelf (1) is provided with a plurality of storage compartments (100) for storing medicine, and a monitoring module (101) for monitoring the number of medicines in the storage compartment (100) is arranged at the bottom of each storage compartment (100).

3. The medicine shelf with an automatic restocking device according to claim 2, characterized by, The monitoring module (101) is an RFID identification or a weight sensor.

4. The medicine shelf with an automatic restocking device according to claim 1, wherein The conveying device comprises a plurality of conveying rollers (400) arranged side by side and at equal intervals in the replenishment table (4), both ends of the conveying roller (400) are fixed on the inner walls of the two sides of the replenishment table (4), a conveying belt (401) which can move with the conveying roller (400) is installed on the outer periphery of the conveying roller (400), position sensors (402) for sensing the position of the medicine on the conveying belt (401) are symmetrically installed on both sides of the end of the conveying belt (401), a medicine receiving bin (404) is installed in the replenishment table (4) at the end of the conveying belt (401), and the conveying device is driven by a first driving motor (405) arranged on the side of the replenishment table (4).

5. The medicine shelf with an automatic restocking device according to claim 4, wherein Each position sensor (402) is provided with a baffle (403) which can drive the medicine on the conveying belt (401) into the medicine receiving bin (404) towards the side end of the conveying belt (401).

6. The medicine shelf with an automatic restocking device according to claim 1, wherein The adjustable height supporting column (5) is installed at the bottom of the four corners of the replenishment table (4), each of the supporting column (5) comprises a first supporting section (500) fixedly connected with the bottom of the replenishment table (4) and a second supporting section (501) threadedly connected with the first supporting section (500), the first supporting section (500) is internally provided with an internal thread, and the end of the second supporting section (501) is provided with a connecting shaft (502) with an external thread, the external thread of the connecting shaft (502) is matched and connected with the internal thread in the first supporting section (500) to realize the connection of the first supporting section (500) and the second supporting section (501).

7. The medicine shelf with an automatic restocking device according to claim 6, wherein The periphery of the connection position of the first supporting section (500) and the second supporting section (501) is sleeved with a fixed clamping ring (503).

8. The medicine shelf with an automatic restocking device according to claim 4, wherein The first mechanical arm comprises a supporting rod (9) fixed on the first sliding block (8), the supporting rod (9) is internally provided with a compression spring (900) with the same length as the supporting rod (9) and capable of driving the supporting rod (9) to be compressed and deformed, a fixed block (901) is installed at the top end of the supporting rod (9), a rotating shaft (902) is installed in the fixed block (901), the rotating shaft (902) is connected with a second driving motor (903) capable of driving the fixed block (901) to rotate, and a grabbing assembly capable of grabbing the medicine on the conveying belt (401) is installed at the side end of the fixed block (901) towards the conveying belt (401).

9. The medicine shelf with an automatic restocking device according to claim 8, wherein, The grabbing assembly comprises a mechanical arm (904) connected with the side end of the fixed block (901), an empty slot (905) penetrating through the mechanical arm (904) is formed near the end position of the mechanical arm (904), slide grooves (906) are symmetrically arranged at the two sides of the empty slot (905), a guide column (907) capable of moving up and down along the slide grooves (906) is arranged in the empty slot (905), one side of the guide column (907) is connected with the slide groove (906) at one side of the empty slot (905) through a lifting cylinder (908), the other side of the guide column (907) is connected with the slide groove (906) at the other side of the empty slot (905) through a third sliding block (909), and a vacuum suction cup (910) capable of sucking medicine is installed at the bottom of the guide column (907).

10. The medicine shelf with automatic restocking device according to any one of claims 1 to 9, characterized in that, The medicine shelf is controlled by a PLC control system.

Images