Automatic intelligent medicine taking equipment

Abstract

The utility model discloses automatic intelligent medicine taking equipment which comprises a medicine frame and a medicine taking robot, the medicine frame comprises two vertical frames and a plurality of horizontal brackets, the horizontal brackets are provided with a plurality of storage areas, trays are arranged in the storage areas to place medicine, and the trays are provided with carrying parts located outside the storage areas; the medicine taking robot comprises a Z-axis movement assembly, a Y-axis movement assembly, an X-axis movement assembly and a medicine taking mechanism, the medicine taking mechanism can move to any storage area, the medicine taking mechanism is provided with a taking part, and the taking part takes away the tray through a carrying part; wherein the horizontal bracket is provided with a plurality of sensing parts, the sensing parts are in one-to-one correspondence with the storage areas, the sensing parts are located below the tray, and the medicine taking mechanism is provided with a detection part to recognize the sensing parts. The automatic intelligent medicine taking equipment can automatically take the target medicine, the medicine taking efficiency is greatly improved, and the waiting time is shortened.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of pharmacy equipment, especially to an automatic intelligent medicine taking equipment. BACKGROUND

[0002] At present, most pharmacies still adopt manual mode to take medicine, and the medicine is usually placed using multi-layer shelves, when taking medicine, medical staff need to remember the position of the medicine, or find it after inquiring the position of the medicine on the computer, which has the problems of low efficiency and long time consumption. SUMMARY

[0003] The utility model aims at solving the above technical problem, for this purpose, the utility model provides an automatic intelligent medicine taking equipment, which can automatically take target medicine and is efficient and reliable.

[0004] According to the automatic intelligent medicine taking equipment, the medicine shelf comprises two vertical shelves and a plurality of horizontal shelves, the horizontal shelves are vertically spaced, the two ends of the horizontal shelves are detachably connected to the two vertical shelves, a plurality of storage areas are arranged on the horizontal shelves, a tray is arranged in each storage area to place medicine, and a carrying part is arranged outside the storage area on the tray; the medicine taking robot comprises a Z-axis movement assembly, a Y-axis movement assembly, an X-axis movement assembly and a medicine taking mechanism, the Z-axis movement assembly is fixed on one side of the vertical shelf, the Y-axis movement assembly is connected to the Z-axis movement assembly, the X-axis movement assembly is connected to the Y-axis movement assembly, the medicine taking mechanism moves along the X-axis movement assembly and can move to any storage area, the medicine taking mechanism is provided with a picking part, and the picking part carries away the tray through the carrying part; wherein, the horizontal shelf is provided with a plurality of sensing parts, the sensing parts correspond to the storage areas one by one, the sensing parts are located below the tray, and the medicine taking mechanism is provided with a detection part to identify the sensing parts.

[0005] The automatic intelligent medicine taking equipment has at least the following beneficial effects:

[0006] When taking medicine, the medicine taking mechanism moves to the storage area where the target medicine is located through the Z-axis movement assembly, the Y-axis movement assembly and the X-axis movement assembly, the picking part of the medicine taking mechanism carries away the tray through the carrying part, and then the medicine taking mechanism drives the tray to move to the edge of the medicine shelf through the Z-axis movement assembly, the Y-axis movement assembly and the X-axis movement assembly, which is convenient for medical staff to take medicine, eliminates the need for medical staff to remember the position of the medicine or inquire the position of the medicine on the computer, greatly improves the efficiency of taking medicine and reduces the waiting time.

[0007] According to some embodiments of the utility model, the both ends of the carrying part are provided with jacks, the extraction component is an electric clamp jaw, and the electric clamp jaw is provided with a bolt matched with the jack.

[0008] According to some embodiments of the utility model, the carrying part is an iron piece, the extraction component is an electromagnet, and the electromagnet can adsorb the carrying part when electrified.

[0009] According to some embodiments of the utility model, the medicine taking mechanism is provided with a storage battery and a charging connector, the side wall of the stand is provided with a charging station, the charging connector can be connected with the charging station to charge the storage battery.

[0010] According to some embodiments of the utility model, the X-axis movement assembly comprises a sliding rod and a lead screw, the medicine taking mechanism is slidingly connected to the sliding rod and is provided with a nut sleeved on the lead screw, and the lead screw is connected with a driving motor.

[0011] According to some embodiments of the utility model, the X-axis movement assembly comprises a sliding rod and a moving rod, the medicine taking mechanism is slidingly connected to the sliding rod, the medicine taking mechanism is provided with a driving wheel and a driven wheel, and the driving wheel and the driven wheel cooperate to clamp the moving rod.

[0012] According to some embodiments of the utility model, the medicine taking mechanism is provided with a medicine unloading component, the extraction component is connected to the medicine unloading component, and the medicine unloading component can drive the extraction component to tilt to automatically drop the medicine on the tray.

[0013] According to some embodiments of the utility model, the automatic intelligent medicine taking equipment is provided with a bottom plate and a plurality of groups of medicine shelves, the bottom plate is provided with sliding rails, the medicine shelves are slidingly connected to the sliding rails and are provided with locking structures.

[0014] According to some embodiments of the utility model, the medicine taking robot is arranged between the two groups of medicine shelves, and the extraction component is arranged on the both sides of the medicine taking mechanism.

[0015] According to some embodiments of the utility model, the stand is provided with a socket, the both ends of the horizontal bracket are provided with plug plates, the plug plates are inserted into the socket, and the end of the plug plate is provided with a downward protruding anti-dropping part.

[0016] Additional aspects and advantages of the utility model will be partially given in the following description, partially will become obvious from the following description, or will be understood through the practice of the utility model. BRIEF DESCRIPTION OF DRAWINGS

[0017] The utility model will be further explained in combination with the drawings and embodiments, wherein:

[0018] Figure 1 Structure diagram of the automatic intelligent medicine taking equipment of some embodiments of the present application;

[0019] Figure 2 Structure diagram of a medicine rack and a medicine taking robot in some embodiments of the present application;

[0020] Figure 3 Structure diagram of Figure 2 a medicine rack and a medicine taking robot;

[0021] Figure 4 Structure diagram of Figure 3 A partial enlarged view of the A place;

[0022] Figure 5 Partial enlarged exploded view of some embodiments of the present application Figure 1 ;

[0023] Figure 6 Partial enlarged exploded view of some embodiments of the present application Figure 2 .

[0024] The reference signs are as follows:

[0025] The medicine rack 100, the stand 110, the socket 111, the horizontal bracket 120, the storage area 121, the plugboard 122, the sensing component 123, the tray 130, the carrying part 131, the charging station 140, the sliding block 150, the supporting boss 160, the medicine taking robot 200, the Z-axis movement assembly 210, the Y-axis movement assembly 220, the X-axis movement assembly 230, the sliding rod 231, the moving rod 232, the medicine taking mechanism 240, the extraction component 241, the detection component 242, the charging connector 243, the driving wheel 244, the driven wheel 245, the bottom plate 300, the sliding rail 310. DETAILED DESCRIPTION

[0026] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the drawings, wherein the same or similar reference signs represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary and are only used to explain the present application, and cannot be understood as a limitation of the present application.

[0027] In the description of the present application, it should be understood that the orientation description, such as the orientation or position relationship indicated by up, down, front, back, left, right, etc. is based on the orientation or position relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as a limitation of the present application.

[0028] In the description of the utility model, if several meanings are one or more, the meaning of multiple is two or more, greater than, less than, more than, etc. Understand as not including the number, above, below, within, etc. Understand as including the number. If it is described to the first, second, it is only used for distinguishing the purpose of technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features or implicitly indicating the relationship between the indicated technical features.

[0029] In the description of the utility model, unless otherwise explicitly limited, the words such as setting, installation, connection should be understood broadly, and the person skilled in the art can determine the specific meaning of the above words in the utility model according to the specific content of the technical scheme. In the description of the utility model, the description of reference terms such as 'one embodiment','some embodiments', 'illustrative embodiment', 'example','specific example' or'some examples' means that the specific features, structures, materials or characteristics described in combination with the embodiment or example are included in at least one embodiment or example of the utility model. In the description of the specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the described specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner. In the description of the specification, the description of reference terms such as 'one embodiment','some embodiments', 'illustrative embodiment', 'example','specific example' or'some examples' means that the specific features, structures, materials or characteristics described in combination with the embodiment or example are included in at least one embodiment or example of the utility model. In the description of the specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the described specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0030] Referring to Figures 1 to 6 The utility model provides a kind of automated wisdom medicine taking equipment, to realize the automation, intelligentization of medicine storage and medicine taking operation, significantly improve the medicine deployment efficiency of hospital, pharmacy and the like, reduce the work burden of medical staff, and reduce the error that can be caused by manual operation.

[0031] Automated wisdom medicine taking equipment includes several medicine shelves 100 and medicine taking robot 200, and medicine shelf 100 is used as the storage carrier of medicine, and its structural design fully considers the stability of medicine storage, space utilization and the convenience of medicine taking. The number of medicine shelf 100 is set according to use demand and pharmacy space.

[0032] Specifically, the medicine shelf 100 consists of two uprights 110 and multiple horizontal supports 120. The two uprights 110 provide a stable support frame for the entire medicine shelf 100 and are typically made of high-strength metal materials, such as stainless steel or aluminum alloy, to ensure structural stability and durability when carrying a large number of medicines. The bottom of the uprights 110 is usually equipped with anti-slip pads or fixing devices to prevent the medicine shelf 100 from sliding or tipping over during use.

[0033] Multiple horizontal shelves 120 are vertically spaced between two upright shelves 110, forming the main storage area for medicines. The two ends of each horizontal shelf 120 are detachably connected to the two upright shelves 110, a design with several advantages. Firstly, the detachable connection allows for adjustment of the spacing between the horizontal shelves 120 according to actual needs, flexibly adapting to the storage requirements of medicines of different sizes. For example, for larger medicines, the spacing between adjacent horizontal shelves 120 can be appropriately increased; while for smaller medicines, the spacing can be decreased to fully utilize the storage space. Secondly, when a horizontal shelf 120 is damaged or needs replacement, the detachable connection makes maintenance and replacement more convenient, eliminating the need for large-scale disassembly and reassembly of the entire medicine rack 100.

[0034] Each horizontal shelf 120 is equipped with multiple storage areas 121, which rationally divide the space of the horizontal shelf 120, allowing medicines to be stored according to certain rules for easy retrieval and use. Metal or plastic plates can be used to separate the storage areas 121. Each storage area 121 is equipped with a tray 130 for placing medicines. The design of the tray 130 fully considers the stability and safety of medicine placement; its material is typically plastic or metal with a certain strength and toughness, and its surface is specially treated to prevent medicines from sliding or falling during handling.

[0035] The tray 130 is also equipped with a transport section 131 located outside the storage area 121. The presence of the transport section 131 facilitates the drug retrieval operation of the drug retrieval robot 200. Specifically, the transport section 131 can be a protruding structure, a groove structure, or a specific snap-fit ​​structure provided on the edge of the tray 130, and its shape and size are adapted to the design of the extraction component 241 of the drug retrieval robot 200. When the drug retrieval robot 200 needs to remove the tray 130, its extraction component 241 can accurately cooperate with the transport section 131, thereby smoothly bringing the tray 130 out of the storage area 121.

[0036] The drug retrieval robot 200 is a key device for realizing automated drug retrieval operations. It consists of a Z-axis motion component 210, a Y-axis motion component 220, an X-axis motion component 230, and a drug retrieval mechanism 240. Through coordinated work, the drug retrieval mechanism 240 can move precisely in three-dimensional space, thereby accurately reaching the storage area 121 where the target drug is located to perform the drug retrieval operation.

[0037] The Z-axis motion component 210 is fixed to one side of the stand 110 and serves as the actuator for the vertical movement of the medicine-retrieving robot 200. The Z-axis motion component 210 typically employs a motor-driven screw-nut transmission mechanism or a synchronous belt transmission mechanism. Taking the screw-nut transmission mechanism as an example, the motor is connected to the screw via a coupling. When the motor rotates, it drives the screw to rotate, causing the nut to move linearly along the screw. The Y-axis motion component 220 is connected to the Z-axis motion component 210. Driven by the Z-axis motion component 210, the Y-axis motion component 220 can perform vertical lifting and lowering movements. The Y-axis motion component 220 itself is also an actuator for the horizontal (Y-axis) movement of the medicine-retrieving robot 200. Its structure and working principle are similar to the Z-axis motion component 210, but the direction of movement is different. The movement of the Y-axis motion component 220 allows the medicine-retrieving mechanism 240 to move closer to or further away from the storage area 121 in the horizontal direction.

[0038] The X-axis motion component 230 is connected to the Y-axis motion component 220, and the drug retrieval mechanism 240 can move in the horizontal direction (X-axis direction) through the X-axis motion component 230. The X-axis motion component 230 can also be a motor-driven transmission mechanism, which enables the drug retrieval mechanism 240 to move precisely in the length direction of the horizontal bracket 120, so as to accurately reach the target storage area 121.

[0039] The dispensing mechanism 240 moves along the X-axis motion assembly 230 and can move to any storage area 121. The dispensing mechanism 240 is equipped with an extraction component 241, which carries away the tray 130 via the transport section 131. The design of the extraction component 241 is customized according to the specific structure of the transport section 131 on the tray 130.

[0040] In addition, to further improve the accuracy and automation of medication dispensing, multiple sensing components 123 are installed on the horizontal tray 120. Each sensing component 123 corresponds to a storage area 121 and is located below the tray 130. The function of the sensing components 123 is to help the medication dispensing mechanism 240 to accurately position itself. Common types of sensing components 123 include magnetic sensors, photoelectric sensors, and contact switches.

[0041] To ensure that the dispensing mechanism 240 can accurately reach the target storage area 121, the dispensing mechanism 240 is equipped with a detection component 242 to identify the sensing component 123. The type of detection component 242 is selected according to the type of sensing component 123. For example, if the sensing component 123 is a contact switch, the detection component 242 is a structure that can trigger the contact switch; if the sensing component 123 is a photoelectric sensor, the detection component 242 can be a photoelectric receiver that can receive the light signal emitted or reflected by the photoelectric sensor, and determine whether the position is accurate by detecting the intensity or presence of the light signal. When the dispensing mechanism 240 is moving, if the detection component 242 detects the sensing component 123 of the target storage area 121 in real time, the dispensing mechanism 240 stops moving and performs the dispensing operation.

[0042] The workflow and technical effects of the automated intelligent medicine dispensing equipment are as follows:

[0043] When medication is needed, the automated smart medication dispensing equipment operates according to the following workflow:

[0044] First, medical staff or relevant personnel input the required medication information through an operating terminal (such as a computer or touchscreen). The operating terminal then transmits the medication information to the control system of the medication dispensing robot 200.

[0045] The control system of the medicine retrieval robot 200 determines the specific location coordinates (including the coordinates of the Z-axis, Y-axis and X-axis) of the storage area 121 where the target medicine is located based on the received medicine information and the medicine storage location data pre-stored in the system.

[0046] Then, the control system sequentially controls the Z-axis motion component 210, the Y-axis motion component 220, and the X-axis motion component 230, causing the drug dispensing mechanism 240 to move along a predetermined path to the storage area 121 where the target drug is located. During the movement, the detection component 242 of the drug dispensing mechanism 240 identifies the sensing component 123 on the horizontal bracket 120 in real time to ensure that the drug dispensing mechanism 240 can accurately reach the target storage area 121.

[0047] When the medication dispensing mechanism 240 reaches the target storage area 121, its extraction component 241 cooperates with the transport component 131 on the tray 130, causing the medication dispensing mechanism 240 to move along the Y-axis and carry the tray 130 out of the storage area 121. Next, the medication dispensing robot 200, through the coordinated operation of the Z-axis motion component 210, the Y-axis motion component 220, and the X-axis motion component 230, moves the tray 130 to the edge of the medicine shelf 100 for easy access by medical personnel. Finally, the tray 130 is returned to the storage area 121.

[0048] Automated intelligent medication dispensing equipment offers significant technological advantages, eliminating the tedious process of medical staff remembering the location of medications or searching for them on a computer, greatly improving dispensing efficiency and reducing patient waiting time. Furthermore, because the dispensing process is automated, it reduces errors that could occur with manual operation, improving the accuracy and safety of medication dispensing. In addition, the equipment boasts excellent scalability and adaptability, allowing for flexible configuration and adjustment to meet the medication storage needs of different locations, thus demonstrating broad application prospects.

[0049] In some embodiments of this utility model, the transport part 131 of the tray 130 is a protruding structure with insertion holes at both ends, and the extraction part 241 of the medicine retrieval robot 200 is an electric gripper, and the electric gripper is provided with a pin that matches the insertion hole.

[0050] The insertion hole is square, while the end of the pin is chamfered for ease of processing and smooth insertion and removal. The size of the insertion hole is determined based on actual usage requirements and the pin's dimensions. It must ensure a tight insertion to prevent loosening or dislodgement during medication dispensing, while also avoiding excessive force during insertion and removal, which would affect dispensing efficiency. The depth of the insertion hole is also precisely calculated; too shallow a hole may lead to unstable fitting between the pin and the hole, while too deep a hole increases the insertion and removal stroke, reducing dispensing speed. The inner wall of the insertion hole is typically smoothed to reduce friction during pin insertion and removal, extending the lifespan of both the insertion hole and the pin.

[0051] The electric gripper, used as extraction component 241, is a common standard part. The electric gripper mainly consists of a motor, a transmission mechanism, and the gripper body. The motor is the power source for the electric gripper, typically using a DC motor or a stepper motor, characterized by fast response speed and high control precision. The transmission mechanism converts the rotational motion of the drive motor into the opening and closing motion of the gripper body; common transmission mechanisms include gear transmission and lead screw-nut transmission.

[0052] When the medicine-dispensing robot 200 moves above the target tray 130, the control system sends a closing command to the electric gripper. The drive motor of the electric gripper starts working, driving the gripper body to close via the transmission mechanism. The pin is inserted into the socket, thus achieving a reliable connection between the tray 130 and the medicine-dispensing mechanism 240. After dispensing the medicine, the control system sends an opening command. The electric gripper opens, the pin is pulled out of the socket, and the tray 130 is smoothly placed in the designated position.

[0053] In some other embodiments of this utility model, a design scheme for a transport unit 131 and an extraction component 241 based on the principle of magnetic adsorption is proposed. The transport unit 131 of the tray 130 is made of iron, and the extraction component 241 of the medicine-dispensing robot 200 is an electromagnet, which can attract the transport unit 131 when energized.

[0054] The handling unit 131 uses iron components, primarily because iron has excellent magnetic conductivity, enabling it to generate a strong attraction force with the electromagnet. The shape of the iron components can be designed according to the overall structure and load-bearing requirements of the pallet 130; common shapes include plate-like and block-like forms. To increase the contact area between the iron components and the electromagnet and improve the attraction stability, the surface of the iron components is usually smoothed to remove burrs and impurities.

[0055] The electromagnet, as the extraction component 241, is a key component in the entire drug extraction process. The electromagnet mainly consists of an iron core, a coil, and a shell. The iron core is typically made of a soft magnetic material with high permeability, such as silicon steel sheet. This material can rapidly generate a strong magnetic field when energized and quickly disappear when de-energized, which helps improve the electromagnet's response speed and control accuracy. The coil is wound around the iron core. When current flows through the coil, a magnetic field is generated, thus giving the electromagnet an attractive force. Factors such as the number of turns of the coil, the wire diameter, and the current magnitude all affect the strength of the electromagnet's attractive force. In practical design, reasonable selection and calculation are required based on the weight of the tray 130 and the attraction requirements. The shell protects the coil and iron core, and also prevents the electromagnet from scratching or damaging the tray 130 or other components during the attraction process.

[0056] When the medicine-dispensing robot 200 needs to dispense medicine, the control system sends an energizing command to the electromagnet. Current flows through the electromagnet's coil, generating a magnetic field that attracts the iron transport part 131 of the tray 130. During the attraction process, the electromagnet's attraction force can be adjusted by controlling the current to ensure stable attraction of the tray 130 without damaging it or the medicine due to excessive force. Once the medicine-dispensing robot 200 has moved the tray 130 to the designated position, the control system sends an de-energizing command to the electromagnet. The electromagnet's magnetic field disappears, the attraction force is released, and the tray 130 is returned to the storage area 121. This design based on the attraction of iron components and an electromagnet has advantages such as simple structure, fast response speed, and convenient control, effectively improving the efficiency and accuracy of medicine dispensing.

[0057] In some embodiments of this utility model, the medicine dispensing mechanism 240 includes a storage battery and a charging connector 243. A charging station 140 is provided on the side wall of the support frame 110, and the charging connector 243 can be connected to the charging station 140 to charge the storage battery. The storage battery provides power to all components. The type of storage battery can be a lithium battery, which has advantages such as high energy density, low self-discharge rate, and long service life, and can meet the needs of the medicine dispensing mechanism 240 for long-term, high-frequency operation. The capacity of the storage battery is calculated and determined based on the power consumption and working time of each component of the medicine dispensing mechanism 240, ensuring that the medicine dispensing mechanism 240 can complete a certain number of medicine dispensing tasks after a full charge.

[0058] The charging connector 243 is located on the side of the dispensing mechanism 240, and its shape and size match the interface of the charging station 140. The charging connector 243 typically employs a flexible contact design; when the dispensing mechanism 240 moves to a position adjacent to the charging station 140, the charging connector 243 automatically and securely contacts the interface of the charging station 140, ensuring a stable and reliable electrical connection during charging. To prevent safety issues such as short circuits and leakage during charging, both the charging connector 243 and the interface of the charging station 140 are insulated and equipped with corresponding protection circuits.

[0059] When the dispensing mechanism 240 detects insufficient battery power, the control system automatically moves it to the nearest charging station 140, connecting the charging connector 243 to the interface of the charging station 140 to begin charging. During charging, the charging control module monitors the battery's charging status in real time. Once the battery is fully charged, it automatically cuts off the charging power to prevent overcharging and damage. The dispensing mechanism 240 uses a battery, enabling offline operation and eliminating the need for a mobile power connection, thus reducing costs.

[0060] In some embodiments of this utility model, the X-axis motion assembly 230 includes a slide rod and a lead screw, the drug dispensing mechanism 240 is slidably connected to the slide rod and has a nut fitted onto the lead screw, and the lead screw is connected to a drive motor.

[0061] The slide bar is a guide component of the drug dispensing mechanism 240, providing stable guidance for its movement. The slide bar is typically made of high-precision metal, such as stainless steel, with a finely machined surface exhibiting high straightness and surface roughness to reduce friction and vibration during movement, ensuring smooth and accurate movement. The drug dispensing mechanism 240 is connected to the slide bar via a sliding connection, usually achieved using linear bearings or sliders. The linear bearings or sliders are mounted on the slide bar, allowing them to slide freely while preventing the drug dispensing mechanism 240 from shifting during movement.

[0062] The lead screw is the transmission component of the X-axis motion assembly 230, used to convert the rotary motion of the drive motor into the linear motion of the drug dispensing mechanism 240. A suitable lead screw type is selected based on actual requirements. Both ends of the lead screw are mounted on the Y-axis motion assembly 220 via bearing seats, ensuring the lead screw can rotate freely.

[0063] The X-axis motion assembly 230 based on the slide bar, lead screw and drive motor has the advantages of simple structure, smooth transmission and high control accuracy, and can meet the requirements of automated intelligent drug dispensing equipment for the movement performance of the drug dispensing mechanism 240.

[0064] Reference Figure 5 andFigure 6 In some other embodiments of this utility model, the X-axis motion assembly 230 includes a slide rod 231 and a moving rod 232. The drug dispensing mechanism 240 is slidably connected to the slide rod 231. The drug dispensing mechanism 240 is provided with a driving wheel 244 and a driven wheel 245, which cooperate to clamp the moving rod 232. The slide rod 231 serves as a guide, and its material, processing precision, and installation method are similar to those of the embodiments based on the slide rod, lead screw, and drive motor described above, ensuring that the drug dispensing mechanism 240 can slide smoothly and accurately on the slide rod.

[0065] The movable rod 232 is a key transmission component in this design. It is arranged parallel to the slide rod 231 and is typically made of high-strength metal. The surface of the movable rod 232 undergoes special treatment to increase the friction between the driving wheel 244 and the driven wheel 245 as they roll.

[0066] The medicine dispensing mechanism 240 is connected to the slide rod 231 via a sliding connection, and is equipped with a driving wheel 244 and a driven wheel 245. The driving wheel 244 and driven wheel 245 can be made of rubber or polyurethane, possessing good friction performance and wear resistance, ensuring sufficient friction with the moving rod 232 for stable transmission. The driving wheel 244 is driven to rotate by a drive device, which can be a motor connected to the driving wheel 244 via a reducer to provide suitable speed and torque. The driven wheel 245 is mounted on the medicine dispensing mechanism 240 via a rotating shaft, allowing it to rotate freely. Its function is to cooperate with the driving wheel 244 to clamp the moving rod 232, enabling the medicine dispensing mechanism 240 to move along the moving rod 232 as the driving wheel 244 rotates.

[0067] When the medicine-retrieving robot 200 needs to retrieve medicine, the control system sends a command to the drive motor, which starts rotating, driving the active wheel 244 to rotate. Since the active wheel 244 and the passive wheel 245 clamp the moving rod 232, the medicine-retrieval mechanism 240 will move along the moving rod 232 under the action of friction. At the same time, since the medicine-retrieval mechanism 240 is slidably connected to the slide rod 231, the slide rod 231 plays a guiding role, ensuring that the medicine-retrieval mechanism 240 will not deviate during the movement.

[0068] In the operation of automated intelligent medicine dispensing equipment, after the dispensing mechanism 240 completes the extraction of medicine from the target tray 130, a key step is to efficiently and accurately unload the medicine from the tray 130 and deliver it to the designated location. In some embodiments, the dispensing mechanism 240 is equipped with a medicine unloading component, and the extraction component 241 is connected to the medicine unloading component. The medicine unloading component can drive the extraction component 241 to tilt, so as to automatically drop the medicine on the tray 130.

[0069] The dispensing mechanism 240 features a compact overall design and high functional integration. The unloading components can employ electric push rods, motor-driven fixed-angle rotation structures, etc. As the tilt angle increases, the medicine on the tray 130 begins to slide under gravity. When the tilt angle reaches a certain level, the medicine will automatically fall off the tray 130. To ensure that the medicine falls accurately to the designated location, a guiding device, such as a guide chute, is typically installed below the dispensing mechanism 240. The outlet end of the guide chute points towards the target collection container or conveying device, smoothly guiding the medicine to the designated location.

[0070] Reference Figure 1 In some embodiments, the automated intelligent medicine dispensing device has a base plate 300 and multiple sets of medicine racks 100. The base plate 300 is provided with a slide rail 310, the medicine racks 100 are slidably connected to the slide rail 310, and are provided with a locking structure.

[0071] The base plate 300 is the basic support component of the entire automated intelligent medicine dispensing equipment. It can be a separate component or the floor of the pharmacy. The slide rail 310 is fixedly installed on the base plate 300. The slide rail 310 is generally made of stainless steel, which has good wear resistance and corrosion resistance. The shape of the slide rail 310 is usually T-shaped or dovetail-shaped.

[0072] Reference Figure 3 The bottom surface of the medicine shelf 100 is provided with a slider 150 that matches the slide rail, which is installed on the bottom of the medicine shelf 100 by bolts or other fixing methods. The inner surface of the slider 150 is in close contact with the outer surface of the slide rail 310, which can reduce friction and improve the smoothness of sliding during the sliding process. The locking structure is a key component to ensure that the medicine shelf 100 is fixed in a specific position. Common locking structures include spring snap-on type and bolt fastening type. By setting the slide rail 310 on the base plate 300 and the slider 150 and locking structure on the medicine shelf 100, the position of the medicine shelf 100 can be flexibly adjusted according to actual needs. For example, the medicine shelf 100 can be rearranged according to the type of medicine and the frequency of use to facilitate the management and access of medicines. In order to improve the stability of the medicine shelf 100, multiple distributed support bosses 160 are provided on the bottom surface of the medicine shelf 100. The support bosses 160 contact the base plate 300 to provide stable support.

[0073] Furthermore, for multiple sets of medicine shelves 100, a medicine retrieval robot 200 is arranged between two sets of medicine shelves 100. The medicine retrieval mechanism 240 is equipped with extraction components 241 on both sides, which can remove medicines from the two sets of medicine shelves 100, thereby reducing equipment costs.

[0074] Reference Figure 2 and Figure 3In some embodiments of this utility model, the upright frame 110 is provided with multiple sets of sockets 111, and the horizontal bracket 120 has insert plates 122 at both ends. The insert plates 122 are inserted into the sockets 111, and the ends of the insert plates 122 are provided with downwardly protruding anti-detachment parts. The sockets 111 on the upright frame 110 are designed according to the shape and size of the insert plates 121, and the common shape of the sockets 111 is rectangular. The thickness and width of the insert plates 122 are determined according to the size of the sockets 111. The ends of the insert plates 122 are provided with downwardly protruding anti-detachment parts, which can be trapezoidal or wedge-shaped. The function of the anti-detachment parts is to prevent the insert plates 122 from accidentally coming out of the sockets 111 after they are inserted into them. When the insert plates 122 are inserted into the sockets 111, the anti-detachment parts will be blocked by the edge of the sockets 111, and the insert plates 122 can only be pulled out of the sockets 111 by applying a certain upward external force. The design of the socket 111, the insert plate 122, and the anti-detachment part is simple in structure and easy to install. It can effectively ensure the connection stability between the upright frame 110 and the horizontal bracket 120, and provide a solid foundation for the normal operation of the medicine dispensing mechanism 240.

[0075] The embodiments of the present utility model have been described in detail above with reference to the accompanying drawings. However, the present utility model is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present utility model.

Claims

1. An automated smart medicine dispensing device, characterized in that, include: A medicine rack includes two uprights and multiple horizontal brackets. The multiple horizontal brackets are distributed vertically at intervals. The two ends of each horizontal bracket are detachably connected to the two uprights. Multiple storage areas are provided on each horizontal bracket. A tray is provided in each storage area to hold medicines. The tray is provided with a handling part located outside the storage area. The medicine-dispensing robot includes a Z-axis motion component, a Y-axis motion component, an X-axis motion component, and a medicine-dispensing mechanism. The Z-axis motion component is fixed to one side of the stand. The Y-axis motion component is connected to the Z-axis motion component. The X-axis motion component is connected to the Y-axis motion component. The medicine-dispensing mechanism moves along the X-axis motion component and can move to any of the storage areas. The medicine-dispensing mechanism is equipped with an extraction component, which carries the tray away through the transport part. The horizontal bracket is equipped with multiple sensing components, each corresponding to a storage area, and the sensing components are located below the tray. The dispensing mechanism is equipped with a detection component to identify the sensing components.

2. The automated smart pill dispensing device of claim 1, wherein, The conveying part is provided with insertion holes at both ends, and the extraction component is an electric gripper, which is provided with a pin that cooperates with the insertion hole.

3. The automated smart pill dispensing device of claim 1, wherein, The transport unit is made of iron, and the extraction component is an electromagnet. When the electromagnet is energized, it can attract the transport unit. 4.The automated smart pill dispensing device according to claim 2 or 3, characterized in that, The medicine dispensing mechanism has a storage battery and a charging connector. A charging station is provided on the side wall of the stand. The charging connector can be connected to the charging station to charge the storage battery.

5. The automated smart pill dispensing device of claim 1, wherein, The X-axis motion assembly includes a slide rod and a lead screw. The drug dispensing mechanism is slidably connected to the slide rod and has a nut fitted onto the lead screw. The lead screw is connected to a drive motor.

6. The automated smart pill dispensing device of claim 1, wherein, The X-axis motion assembly includes a slide rod and a moving rod. The medicine dispensing mechanism is slidably connected to the slide rod. The medicine dispensing mechanism is provided with a driving wheel and a driven wheel. The driving wheel and the driven wheel cooperate to clamp the moving rod.

7. The automated smart pill dispensing device of claim 1, wherein, The dispensing mechanism is equipped with a dispensing component, and the extraction component is connected to the dispensing component. The dispensing component can drive the extraction component to tilt so as to automatically drop the medicine on the tray.

8. The automated smart pill dispensing device of claim 1, wherein, The automated intelligent medicine dispensing device has a base plate and multiple sets of medicine racks. The base plate is provided with slide rails, the medicine racks are slidably connected to the slide rails, and are equipped with a locking structure. 9.The automated smart pill dispensing device of claim 8, wherein, The medicine-dispensing robot is positioned between the two sets of medicine shelves, and extraction components are provided on both sides of the medicine-dispensing mechanism.

10. The automated smart pill dispensing device of claim 1, wherein, The upright frame is provided with an insertion port, and the two ends of the horizontal bracket are provided with insertion plates. The insertion plates are inserted into the insertion port, and the ends of the insertion plates are provided with downward protruding anti-detachment parts.

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