Automatic medicine dispensing robot

Abstract

The utility model relates to an automatic medicine dispensing mechanical hand belongs to automatic medicine dispensing equipment field, aims at solving the defect that existing device force and stroke are insufficient, structure is complex and cost is high, it includes the medicine cabinet both sides of the medicine slide way of laminated arrangement, longitudinal shift mechanism, transverse shift mechanism on longitudinal shift mechanism, the medicine receiving box on transverse shift mechanism and the controller of controlling each mechanism. Longitudinal shift mechanism contains first motor, synchronous wheel belt and transmission shaft, and transverse shift mechanism contains second motor, synchronous wheel belt and horizontal slide rail. The medicine receiving box includes the box body and control mechanism, and the third motor in control mechanism can synchronously drive medicine receiving board control mechanism and medicine dispensing board control mechanism, realizes medicine receiving board retraction and medicine dispensing board opening and closing respectively. The utility model with single motor drive core mechanism simplifies structure, reduces cost and failure risk, and motion is stable and adapts high frequency use, can be integrated in automatic medicine selling machine, hospital automatic medicine dispensing cabinet, satisfies multi -category medicine precision transfer demand.

Description

Technical Field

[0001] This utility model belongs to the technical field of automated drug dispensing equipment, and mainly relates to an automatic drug dispensing robot. Background Technology

[0002] In automated drug dispensing equipment such as automatic drug vending machines and hospital automatic drug dispensing cabinets, a drug dispensing device is needed to achieve precise transfer of drugs from the chute to the manual dispensing port in order to meet the automatic dispensing needs of multiple types of drugs.

[0003] Currently, the field of automated medicine vending machines does not yet have a suitable integrated dispensing robot. While hospital automated medicine dispensing cabinets have similar devices, they generally suffer from technical defects: one type uses electromagnets for drive, but due to the limitations of equipment size and weight, the output force of the electromagnets is relatively small, the stroke is limited, and the stability and service life are difficult to meet the requirements of long-term high-frequency use; another type uses a dual-motor drive system with lead screws and slide rails, which not only leads to a complex device structure and high manufacturing costs, but also increases the cost and failure risk of the electrical control system because it requires separate control of two motors.

[0004] Therefore, there is an urgent need for a drug dispensing robot that is simple in structure, low in cost, stable in motion, and capable of multi-action coordination through a single drive source, in order to make up for the shortcomings of existing technologies and adapt to the application scenarios of automatic drug vending machines and hospital automatic drug dispensing cabinets. Utility Model Content

[0005] To overcome the above-mentioned shortcomings, this utility model provides an automatic drug dispensing robot.

[0006] The technical solution adopted by this utility model to solve its technical problem is as follows: An automated drug dispensing robotic arm includes: Several medicine dispensing chutes are stacked inside the medicine cabinet; The longitudinal movement mechanism is located on both sides of the medicine cabinet. A transverse movement mechanism is laterally mounted on the longitudinal movement mechanism and can be moved to any height of the drug delivery chute via the longitudinal movement mechanism; A medicine receiving box is mounted on the horizontal moving mechanism and can be moved to any horizontal position of the medicine dispensing chute via the horizontal moving mechanism; the medicine receiving box includes a box body and a control mechanism located on one side of the box body. The control mechanism includes: The medicine dispensing plate control mechanism can control the rotation of the medicine dispensing plate at the bottom of the box, thereby realizing the opening and closing of the bottom of the box; The medicine receiving plate control mechanism can control the extension and retraction of the medicine receiving plate at the upper end of the box, so that the medicine receiving plate can be connected to or separated from the medicine dispensing slide. The third motor is mounted on the side wall of the control mechanism and is used to simultaneously drive the drug dispensing plate control mechanism and the drug receiving plate control mechanism. The controller is used to control the longitudinal and transverse mechanisms to move to a designated position, and to control the third motor to realize the receiving and dispensing actions of the medicine receiving box.

[0007] The longitudinal movement mechanism includes: The first motor is fixed at the bottom of the medicine cabinet and is electrically connected to the controller. Two sets of first synchronous pulleys are symmetrically arranged on both sides of the medicine cabinet. Each set of first synchronous pulleys is further divided into upper and lower two, which are respectively located on the upper side wall and the lower side wall of the medicine cabinet. Two first synchronous belts are respectively installed on the two sets of first synchronous pulleys; A drive shaft is disposed between the first synchronous pulleys located on the two side walls at the lower end of the medicine cabinet. It is used to connect and synchronize the two first synchronous pulleys. The drive shaft is connected to the output end of the first motor through a gearbox.

[0008] The lateral movement mechanism includes: A crossbar has two sliders at both ends. The sliders are mounted on the first synchronous belt of the longitudinal movement mechanism via a synchronous belt pressure plate. The sliders can move up and down along the longitudinal slide rail according to the movement of the synchronous belt. The second motor is located at one end of the crossbar and is electrically connected to the controller. Two second synchronous pulleys are respectively disposed at both ends of the crossbar, and one of the second synchronous pulleys is connected to the output end of the second motor for transmission. The second synchronous belt is disposed on the two second synchronous pulleys; A transverse slide rail is provided on the crossbar along the length of the crossbar. A slider is provided at the lower end of one side of the medicine receiving box. The slider is slidably disposed on the transverse slide rail. The slider is fixed to the second synchronous belt by a synchronous pulley pressure plate.

[0009] The drug dispensing plate control mechanism includes: The first cam is connected to the output end of the third motor; The first pin is located at the upper end of the control mechanism; The first connecting rod has one end rotatably connected to the first pin and the other end is provided with a third connecting rod. The first connecting rod rests on the first cam and swings as the first cam rotates. The dispensing plate is hinged to the bottom of the medicine receiving box via a rotating shaft, one end of which is connected to the third connecting rod.

[0010] The drug receiving plate control mechanism includes: The second cam is connected to the output end of the third motor; The second pin is located at the lower end of the control mechanism; The second slide is fixed to the side wall of the control mechanism; The second connecting rod rests on the second cam and swings as the second cam rotates, with one end of it rotatably connected to the second pin. A slide rail is slidably disposed within the second slide block, and one end of the slide rail is hinged to the end of the second connecting rod via a connector; The medicine receiving plate is located at the other end of the slide rail.

[0011] Due to the adoption of the technical solution described above, this utility model has the following advantages: 1) The structure is simplified and highly integrated. The longitudinal movement mechanism, the transverse movement mechanism and the medicine receiving box are each driven by a single motor. Compared with the dual-motor screw drive scheme, the number of motors and redundant transmission components are reduced, and the overall structure is more compact, making it suitable for automatic medicine vending machines and hospital medicine dispensing cabinets of different sizes.

[0012] 2) Manufacturing and operating costs are significantly reduced. By simplifying the number of motors and electrical control links, the cost of purchasing and assembling parts is reduced, the risk of failure in multi-motor collaborative control is reduced, and the service life of the equipment is extended.

[0013] 3) Achieving multi-action coordination from a single drive source, with the third motor synchronously driving the extension and retraction of the receiving plate and the opening and closing of the dispensing plate, solves the problems of dispersed actions and complex control in existing devices, and improves the continuity and efficiency of the dispensing process.

[0014] 4) Strong motion stability: Both longitudinal and lateral movements adopt synchronous belt and slide rail transmission, which reduces motion deviation and meets the needs of long-term high-frequency drug dispensing. At the same time, the stacked drug dispensing slide design can be adapted to the classification and dispensing of multiple types of drugs.

[0015] 5) It has wide adaptability and can be directly integrated into automated drug dispensing equipment in different scenarios such as automatic drug vending machines and hospital automatic drug dispensing cabinets, without the need for major modifications to the original equipment structure, and has high application flexibility. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of this utility model; Figure 2 This is a side view of the present invention; Figure 3 This is the front view of this utility model; Figure 4 This is a schematic diagram of the medicine receiving box and the transverse moving structure of this utility model; Figure 5 This is the front view of the medicine receiving box of this utility model.

[0017] in: 1. Drug-dispensing slide; 2. Longitudinal movement mechanism; 201. First motor; 202. First synchronous pulley; 203. First synchronous belt; 204. Drive shaft; 3. Transverse movement mechanism; 301. Second motor; 302. Second synchronous pulley; 303. Second synchronous belt; 304. Crossbar; 305. Transverse slide rail; 4. Medicine receiving box; 41. Box body; 42. Control mechanism; 421. Third motor; 422. Drug dispensing plate control mechanism; 4221. First cam; 4222. First connecting rod; 4223. First pin; 4224. Discharge plate; 4225. Third connecting rod; 423. Drug receiving plate control mechanism; 4231. Second cam; 4232. Second connecting rod; 4233. Second pin; 4234. Second slide block; 4235. Slide rail; 4236. Receiving plate; Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. The components of the embodiments of this utility model described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0019] According to such Figure 1 The automatic drug dispensing robot shown includes a drug dispensing slide 1, a longitudinal movement mechanism 2, a transverse movement mechanism 3, a drug receiving box 4, and a controller (not shown).

[0020] Several drug dispensing slides 1 are stacked and fixed inside the medicine cabinet in a vertical direction, with each layer of drug dispensing slides 1 corresponding to the storage and export channel of a type of medicine.

[0021] The longitudinal movement mechanism 2 is symmetrically installed on the inner sidewalls of both sides of the medicine cabinet. The transverse movement mechanism 3 is transversely connected between the two longitudinal movement mechanisms 2 and is fixed to the synchronous belt of the longitudinal movement mechanism 2 by the synchronous belt pressure plate. It can move vertically up and down with the longitudinal movement mechanism 2.

[0022] The slider at the lower end of one side of the medicine receiving box 4 is embedded in the transverse slide rail of the transverse moving mechanism 3. The slider is connected to the synchronous belt of the transverse moving mechanism 3 through the synchronous wheel pressure plate, and can move horizontally with the transverse moving mechanism 3.

[0023] The controller is electrically connected to the first motor 201 of the longitudinal movement mechanism 2, the second motor 301 of the transverse movement mechanism 3, and the third motor 421 of the medicine receiving box 4, respectively, and is used to receive commands and control the actions of each mechanism. The controller is fixed behind the operation panel on the outside of the medicine cabinet, receives medicine dispensing commands via wired signal, and has a built-in coordinate positioning algorithm that can automatically match the height and horizontal coordinates of the target medicine dispensing slide according to the medicine information.

[0024] like Figure 1-3 As shown, the longitudinal movement mechanism 2 is used to drive the transverse movement mechanism 3 and the medicine receiving box 4 to move in the vertical direction, so as to achieve the height alignment of the medicine receiving box 4 with the target medicine dispensing slide 1.

[0025] The first motor 201 is fixed to the mounting base at the lower end of the medicine cabinet by bolts. Its output end is connected to the transmission shaft 204 through a gearbox. The gearbox is used to adjust the speed and transmit torque.

[0026] Two sets of first synchronous pulleys 202 are fixed to the upper and lower ends of both sides of the medicine cabinet through bearing seats. Each set includes two synchronous pulleys, upper and lower, and the first synchronous pulleys at the lower ends of both sides are connected through a drive shaft 204 to realize the synchronous rotation of the synchronous pulleys on both sides.

[0027] Two first synchronous belts 203 are respectively fitted onto two sets of first synchronous pulleys 202 on both sides, and the outer surface of the synchronous belt is fixed to the slider on the crossbar 304 of the transverse mechanism 3 by the synchronous belt pressure plate.

[0028] During operation, the controller starts the first motor 201, and the motor torque is transmitted to the transmission shaft 204 through the gearbox. The transmission shaft 204 drives the first synchronous pulleys 202 at the lower ends on both sides to rotate, which in turn drives the first synchronous belt 203 to move up and down. Finally, it drives the crossbar 304 and the entire transverse movement mechanism 3 to move up and down smoothly along the longitudinal slide rail. The longitudinal slide rail is fixed to the two side walls of the medicine cabinet and slides with the sliders at both ends of the crossbar.

[0029] like Figure 1 and 4 As shown, the lateral movement mechanism 3 is used to drive the medicine receiving box 4 to move in the horizontal direction, so as to achieve horizontal alignment between the medicine receiving box 4 and the target medicine dispensing slide 1.

[0030] The sliders at both ends of the crossbar 304 are fixed to the first synchronous belt 203 of the longitudinal movement mechanism 2 on both sides through the synchronous belt pressure plate. Driven by the first synchronous belt 203, the sliders move up and down on the longitudinal slide rail. The crossbar 304 constitutes the mounting base of the transverse movement mechanism 3.

[0031] The second motor 301 is fixed to one end of the crossbar 304 via a motor mount, and its output shaft is connected to the second synchronous pulley 302 at that end via a key to achieve torque transmission.

[0032] Two second synchronous pulleys 302 are fixed to both ends of the crossbar 304 by bearing seats respectively. The second synchronous belt 303 is sleeved on the two second synchronous pulleys 302. The inner surface of the synchronous belt is fixed to the slider of the medicine receiving box 4 by the synchronous pulley pressure plate.

[0033] The transverse slide rail 305 is fixed on the crossbar 304 along the length of the crossbar 304. The slider of the medicine receiving box 4 is slidably engaged with the transverse slide rail 305 to limit the movement direction of the medicine receiving box 4.

[0034] During operation, the controller starts the second motor 301, which drives the second synchronous pulley 302 at one end to rotate. The second synchronous belt 303 moves with the synchronous pulley, thereby driving the medicine receiving box 4 to slide horizontally along the transverse slide rail 305 and move precisely to the bottom of the target medicine dispensing slide 1.

[0035] like Figure 4 and 5 As shown, the medicine receiving box 4 is used to receive the medicine discharged from the medicine dispensing slide 1 and transfer the medicine to the medicine dispensing port. Its core is to synchronously control the extension and retraction of the medicine receiving plate and the opening and closing of the medicine dispensing plate through the third motor 421.

[0036] The medicine receiving box 4 is divided into a box body 41 and a control mechanism 42. The box body 41 is an open-top structure with a closable bottom. The control mechanism 42 is fixed to one side wall of the box body 41 by bolts.

[0037] like Figure 5 As shown, the dispensing plate control mechanism 422 is used to control the opening and closing of the bottom of the box 41 to release the medicine.

[0038] The first cam 4221 is fixed to the output shaft of the third motor 421 by a key connection and rotates synchronously with the output shaft of the motor.

[0039] The first link 4222 is hinged to the edge of the first cam 4221 via a hinge shaft, and one end is hinged to the upper end of the control mechanism 42 via a first pin 4223. The other end of the first link 4222 is provided with a third link 4225.

[0040] The dispensing plate 4224 is hinged to the bottom opening of the housing 41 via a pivot. One end of the pivot extends to one side of the control mechanism 42, and the other end is connected to the third link 4225.

[0041] During operation, the third motor 421 drives the first cam 4221 to rotate, and the cam protrusion pushes the first connecting rod 4222 to swing around the first pin 4223. The third connecting rod 4225 causes the medicine dispensing plate 4224 to rotate around the pivot, and the bottom of the box 41 opens. After the cam protrusion rotates away, the medicine dispensing plate 4224 closes under the action of the return spring (not shown).

[0042] like Figure 5As shown, the receiving plate control mechanism 423 is used to control the extension and retraction of the receiving plate to achieve connection or separation with the drug dispensing slide 1.

[0043] The second cam 4231 and the first cam 4221 are coaxially fixed on the output shaft of the third motor 421. The two rotate synchronously, and the cam protrusions are distributed at a preset angle.

[0044] The second link 4232 is hinged to the edge of the second cam 4231 via a hinge shaft, and one end is hinged to the lower end of the control mechanism 42 via a second pin 4233.

[0045] The second slide block 4234 is fixed to the side wall of the control mechanism 42 by bolts. The slide rail 4235 slides through the second slide block 4234. One end of the slide rail is hinged to the end of the second connecting rod 4232 through a connector, and the other end is fixedly connected to the medicine receiving plate 4236.

[0046] During operation, the third motor 421 drives the second cam 4231 to rotate. The cam protrusion pushes the second connecting rod 4232 to swing around the second pin 4233, thereby pulling the slide rail 4235 to slide within the second slide block 4234, so that the medicine receiving plate 4236 can extend or retract towards the medicine slide 1. When the medicine receiving plate 4236 extends, it connects with the outlet end of the medicine slide 1 to form a transition channel for the medicine to slide into the box 41.

[0047] The core of this automated drug dispensing robot is to coordinate the movements of three motors through a controller to achieve an automated process of "positioning-receiving-transferring-dispensing". The specific steps are as follows: After receiving the dispensing command, the controller analyzes the layer information of the dispensing chute 1 corresponding to the target drug, starts the first motor 201, and the longitudinal movement mechanism 2 drives the receiving box 4 to rise and fall to the height of the target layer.

[0048] Start the second motor 301, and the lateral movement mechanism 3 drives the medicine receiving box 4 to move horizontally, so that the opening of the medicine receiving box 4 is directly opposite the outlet of the target medicine feeding slide 1.

[0049] When the third motor 421 is started, the second cam 4231 drives the medicine receiving plate 4236 to extend and connect with the medicine dispensing slide 1. Under the action of gravity, the medicine slides from the medicine dispensing slide 1 into the box 41 of the medicine receiving box 4.

[0050] After the medicine is received, the third motor 421 continues to rotate, and the medicine receiving plate 4236 retracts. After the medicine receiving plate 4236 is fully retracted, the controller controls the first motor 201 and the second motor 301 to start, driving the medicine receiving box 4 to move above the medicine dispensing port.

[0051] The third motor 421 rotates to a preset angle, and the first cam 4221 drives the medicine dispensing plate 4224 to open, so that the medicine falls from the bottom of the box 41 into the medicine dispensing port, completing one medicine dispensing process.

[0052] After the medication is administered, each mechanism resets under the control of the controller and awaits the next instruction.

[0053] The parts not detailed above are existing technologies and therefore have not been described in detail.

Claims

1. An automatic drug dispensing robot, characterized in that: include: Several medicine dispensing chutes are stacked inside the medicine cabinet; The longitudinal movement mechanism is located on both sides of the medicine cabinet. A transverse movement mechanism is laterally mounted on the longitudinal movement mechanism and can be moved to any height of the drug delivery chute via the longitudinal movement mechanism; A medicine receiving box is mounted on the horizontal moving mechanism and can be moved to any horizontal position of the medicine dispensing chute via the horizontal moving mechanism; the medicine receiving box includes a box body and a control mechanism located on one side of the box body. The control mechanism includes: The medicine dispensing plate control mechanism can control the rotation of the medicine dispensing plate at the bottom of the box, thereby realizing the opening and closing of the bottom of the box; The medicine receiving plate control mechanism can control the extension and retraction of the medicine receiving plate at the upper end of the box, so that the medicine receiving plate can be connected to or separated from the medicine dispensing slide. The third motor is mounted on the side wall of the control mechanism and is used to simultaneously drive the drug dispensing plate control mechanism and the drug receiving plate control mechanism. The controller is used to control the longitudinal and transverse mechanisms to move to a designated position, and to control the third motor to realize the receiving and dispensing actions of the medicine receiving box.

2. The automatic drug dispensing robot according to claim 1, characterized in that: The longitudinal movement mechanism includes: The first motor is fixed at the bottom of the medicine cabinet and is electrically connected to the controller. Two sets of first synchronous pulleys are symmetrically arranged on both sides of the medicine cabinet. Each set of first synchronous pulleys is further divided into upper and lower two, which are respectively located on the upper side wall and the lower side wall of the medicine cabinet. Two first synchronous belts are respectively installed on the two sets of first synchronous pulleys; A drive shaft is disposed between the first synchronous pulleys located on the two side walls at the lower end of the medicine cabinet. It is used to connect and synchronize the two first synchronous pulleys. The drive shaft is connected to the output end of the first motor through a gearbox.

3. The automatic drug dispensing robot according to claim 2, characterized in that: The lateral movement mechanism includes: A crossbar has two sliders at both ends. The sliders are mounted on the first synchronous belt of the longitudinal movement mechanism via a synchronous belt pressure plate. The sliders can move up and down along the longitudinal slide rail according to the movement of the synchronous belt. The second motor is located at one end of the crossbar and is electrically connected to the controller. Two second synchronous pulleys are respectively disposed at both ends of the crossbar, and one of the second synchronous pulleys is connected to the output end of the second motor for transmission. The second synchronous belt is disposed on the two second synchronous pulleys; A transverse slide rail is provided on the crossbar along the length of the crossbar. A slider is provided at the lower end of one side of the medicine receiving box. The slider is slidably disposed on the transverse slide rail. The slider is fixed to the second synchronous belt by a synchronous pulley pressure plate.

4. The automatic drug dispensing robot according to claim 1, characterized in that: The drug dispensing plate control mechanism includes: The first cam is connected to the output end of the third motor; The first pin is located at the upper end of the control mechanism; The first connecting rod has one end rotatably connected to the first pin and the other end is provided with a third connecting rod. The first connecting rod rests on the first cam and swings as the first cam rotates. The dispensing plate is hinged to the bottom of the medicine receiving box via a rotating shaft, one end of which is connected to the third connecting rod.

5. The automatic drug dispensing robot according to claim 1, characterized in that: The drug receiving plate control mechanism includes: The second cam is connected to the output end of the third motor; The second pin is located at the lower end of the control mechanism; The second slide is fixed to the side wall of the control mechanism; The second connecting rod rests on the second cam and swings as the second cam rotates, with one end of it rotatably connected to the second pin. A slide rail is slidably disposed within the second slide block, and one end of the slide rail is hinged to the end of the second connecting rod via a connector; The medicine receiving plate is located at the other end of the slide rail.

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