CN108189042B

CN108189042B - Endowment robot with intelligent medicine chest

Info

Publication number: CN108189042B
Application number: CN201711457936.7A
Authority: CN
Inventors: 潘晓明; 彭罗
Original assignee: Chongqing Youbanhome Technology Co ltd
Current assignee: Chongqing Youbanhome Technology Co ltd
Priority date: 2017-12-28
Filing date: 2017-12-28
Publication date: 2020-06-05
Anticipated expiration: 2037-12-28
Also published as: CN108189042A

Abstract

An endowment robot with an intelligent medicine chest belongs to the field of robots, and comprises a robot body, a medicine dispensing mechanism and a medicine conveying mechanism, wherein the medicine dispensing mechanism and the medicine conveying mechanism are arranged in the robot body and can dispense medicines automatically; the medicine dispensing mechanism is used for sequentially taking out various tablets one by one according to the quantity from each medicine bottle loaded with the tablets; and the medicine feeding mechanism is used for pushing out the tablets put into the medicine feeding mechanism at regular time. The invention can realize automatic medicine dispensing and automatic medicine feeding.

Description

Endowment robot with intelligent medicine chest

Technical Field

The invention relates to the field of robots, in particular to an aged-care robot with an intelligent medicine chest.

Background

With the overall step of the aged society in China, the aged care service is more and more important. The endowment service is a comprehensive service for meeting the daily life needs of the old and facilitating the life of the old. Most of the existing endowment services are provided manually, and the input cost is very high.

Because of the continuous deterioration of the body functions and the increase of diseases of the elderly, basically most of the elderly need to take various kinds of medicines regularly in order to relieve physical ailments of the elderly. The existing endowment service needs special personnel to dispense, take and deliver medicines for each old person at regular time, the operation is very troublesome, and the old person can easily take wrong medicines due to human errors. In view of this, in order to make the endowment service more standardized and precise, the applicant introduced an endowment robot capable of automatic medicine dispensing and automatic medicine feeding.

Disclosure of Invention

The invention aims to provide an aged-care robot with an intelligent medicine box, which can automatically dispense medicines and automatically send the medicines.

In order to achieve the above purpose, the following scheme is provided:

the endowment robot with the intelligent medicine chest comprises a robot body, a medicine dispensing mechanism and a medicine conveying mechanism, wherein the medicine dispensing mechanism and the medicine conveying mechanism are arranged in the robot body and can dispense medicines automatically;

the medicine dispensing mechanism is used for sequentially taking out various tablets one by one according to the quantity from each medicine bottle loaded with the tablets;

and the medicine feeding mechanism is used for pushing out the tablets put into the medicine feeding mechanism at regular time.

The principle and the effect are as follows:

the vial loaded with the tablets is placed in a dispensing mechanism, which sequentially takes out the various tablets one by one in a metered manner. The staff puts into the tablet and send the medicine mechanism in, is pushed away the tablet by sending the medicine mechanism.

The automatic medicine dispensing device can dispense medicines automatically through the medicine dispensing mechanism, can automatically feed the medicines through the medicine feeding mechanism, and can enable the medicine feeding mechanism to push out tablets at regular time only by loading the medicines dispensed by the medicine dispensing mechanism into the medicine feeding mechanism by a worker, so that the automatic medicine feeding is realized. The invention not only saves the time of dispensing and delivering the medicine for the staff, but also provides more standardized and precise medicine delivery service for each old person.

Further, the dispensing mechanism comprises a medicine bottle tray, a medicine conveying pipe and a medicine discharging box which are sequentially connected from top to bottom;

the medicine bottle tray is provided with a plurality of partitions for loading medicine bottles, one partition corresponds to one medicine bottle, and the bottom of each partition is provided with a medicine outlet for allowing the tablets to pass through individually and a baffle plate capable of covering the medicine outlet; the baffle is provided with magnetic stripes, and the bottom of each partition is provided with an electromagnet capable of adsorbing the magnetic stripes;

the drug delivery pipe comprises branch pipes communicated with the drug outlets and a main pipe communicated with the branch pipes; a counter and a microcontroller for controlling the counting of the counter are arranged in the main pipe; the microcontroller controls each electromagnet to be powered off in sequence, and simultaneously controls the counter to count the number of each tablet in sequence;

the medicine outlet box is used for receiving the tablets from the medicine conveying pipe.

In use, the respective tablet-containing vial is opened and a vial opening is positioned on each partition towards the drug outlet. The on-off of each electromagnet on the separation bottom is controlled by the microcontroller to enable the electromagnets to adsorb or not adsorb the magnetic stripes, so that the baffle blocks or exposes the medicine outlet. When the baffle blocks the medicine outlet, the tablets in the medicine bottle can not enter the branch pipe. When the baffle exposes out the medicine mouth, the tablet in the medicine bottle can enter into the branch pipe, makes the tablet in the medicine bottle enter into the branch pipe under the effect of gravity, enters into house steward again by the branch pipe, enters into out the medicine case at last. While in the manifold, the manifold counts the number of tablets by a counter. Because only one baffle is opened at a time, and only one tablet is allowed to pass through each medicine outlet, the tablets in the header pipe always pass through one tablet at a time, so that the counter can clearly count the number of each tablet in each medicine package, and the medicine dispensing is conveniently and accurately finished.

Further, the medicine feeding mechanism comprises a medicine cylinder for sequentially containing tablets and a pushing pipe communicated with the upper part of the medicine cylinder; the bottom of the medicine cylinder is provided with a first pushing mechanism used for moving up and down; the first pushing mechanism is provided with a free end, and the free end of the first pushing mechanism is connected with a push plate used for pushing the tablets upwards along the medicine cylinder; the top of the medicine cylinder is provided with a guide mechanism for leading the tablets to enter the pushing pipe; the first pushing mechanism has a driving mechanism for being controlled by the robot body.

When the automatic pushing device is used, the robot drives the first pushing mechanism to push the push plate and all tablets on the push plate upwards through the driving mechanism. The guide mechanism causes the tablets to enter the push tube as they are pushed to the top of the cartridge. The old can take out the tablet to take through pushing the tube.

The whole intelligent medicine box is a cartridge clip type medicine box, the tablets are sequentially loaded into the medicine box like bullets, and the tablets are pushed into the pushing pipe through the first pushing mechanism and the guide mechanism, so that the old can take the tablets through the pushing pipe to take the tablets. The robot can enable the rear guide mechanism to be linked only by controlling the first pushing mechanism to move upwards through the driving mechanism, so that the whole pushing process is coherent and complete. And the staff in the endowment service only needs to uniformly configure various tablets into tablets according to the amount that the old people eat at every time and put into the cartridge case, and then the robot can automatically send and dispense medicines without the need of the staff to send and dispense medicines. The operation is very convenient.

Furthermore, a first motor used for driving the medicine bottle tray to shake is connected to the medicine bottle tray, and the first motor is controlled by the microcontroller to be started or stopped.

The tablets can be fed into the branch pipe by the first motor, in addition to using kinetic energy generated by the movement of the robot itself. Drive the shake of medicine bottle dish through first motor, make the tablet in the medicine bottle can enter into the branch pipe fast. Drive the shake of medicine bottle dish through first motor, make the tablet in the medicine bottle can enter into the branch pipe fast. The first microcontroller can be used for controlling the operation of the first motor, the electromagnet and the counter. The robot can control the whole dispensing mechanism to work only through the first microcontroller. If the first microcontroller is not available, the robot needs to control the work of the first motor, the electromagnet and the counter respectively through a control mechanism of the robot. By using the first microcontroller, the dispensing machine can be formed into a dispensing mechanism which can be matched with a robot for use and can be independently used.

Further, a support plate is arranged at the circumferential position of the main pipe at the upper part of the medicine outlet box, and a strip bag placed in advance is arranged on the support plate; the long bag is of a barrel-shaped structure with openings at two ends; an annular seam is reserved between the support plate and the main pipe, and the long bag extends downwards to surround the main pipe; the cutting machine is used for sealing the part of the strip bag below the main pipe to form a medicine containing bag, and is also used for sealing the part containing the tablets to form the medicine containing bag and cutting the medicine containing bag from the medicine containing bag after each batch of tablets fall into the medicine containing bag.

The elongated bag is dropped through the annular slit in the support plate to surround the outlet of the manifold. The cutting machine will be located the rectangular bag of house steward below and seal, make rectangular bag form the medicine containing bag that one end was sealed, the tablet that falls down in the house steward this moment can enter into the medicine containing bag, treat that the tablet all falls into the medicine containing bag after, the cutting machine seals medicine containing bag and the tablet of the inside again, in the time of sealing, the part of the tablet in the medicine containing bag has been sealed with the cutting machine, form the cartridge bag, in the formation cartridge bag, the part above the cutting machine also made the cartridge bag has formed a new medicine containing bag, the cutting machine cuts off the cartridge bag from the medicine containing bag. The medicine bag at this time is a collection of various tablets which the old people need to take at one time, and the robot can automatically pack the tablets by controlling the work of the cutting machine.

Further, the cutting machine comprises a second motor controlled by the first microcontroller, and a cutter and a pressing plate which are driven by the second motor to move in opposite directions; and a heating resistance wire controlled by a first microcontroller to work is arranged on the cutter.

The cutting machine is controlled to work through the first microcontroller, the second motor in the cutting machine drives the cutter and the pressing plate to move oppositely, so that the cutter and the pressing plate form pressure for clamping the strip bags or the medicine containing bags, and in the clamping process, the heating resistance wires on the cutter heat and seal the strip bags or the medicine containing bags. Wherein, the second motor adopts current connected mode with cutter and clamp plate can.

Further, the propelling tube is arranged obliquely downwards in a direction away from the medicine cartridge.

The push tube is arranged obliquely downwards from the connection with the medicine box to the end far away from the medicine box, so that the tablets entering the push tube can be pushed outwards along the push tube under the action of gravity. The cartridge bag pushing device is labor-saving and practical, and can ensure that the cartridge bag can be pushed out by proper force as long as the inclination of the pushing pipe is preset.

Furthermore, the guide mechanism comprises a partition plate arranged on the wall of the bottom surface of the pushing pipe and used for preventing the tablets from falling back into the medicine box, a top block which is connected to the top of the medicine box in a sliding mode and used for being pushed upwards by the tablets, and a baffle plate which is used for plugging the pushing pipe and preventing the partition plate from extending into the medicine box; the top block and the baffle are integrally formed.

The bottom surface of the pushing pipe refers to the position of the pushing pipe on the side wall close to the ground. After the first pushing mechanism pushes the tablets upwards to move, the first pushing mechanism moves downwards again, the tablets are pushed upwards to push the ejector block under the pushing of the first pushing mechanism, the ejector block and the baffle move upwards together, the baffle is exposed out of the communicating port between the pushing pipe and the medicine cylinder, the baffle can not stop the partition, and the partition stretches into the medicine cylinder. At this point, the first pushing mechanism moves downward, and the tablets fall onto the partition plate under the action of gravity, slide along the partition plate into the pushing tube, and then are delivered out of the medicine cartridge by the pushing tube.

Whole process is moved to the kicking block by the tablet top and is begun, because the kicking block is integrated into one piece with the baffle, when the kicking block was moved upward by the top, the baffle also upward movement together makes during the baffle that is blockked by the baffle stretches into the cartridge case, prevents the route that the tablet fell back, makes the propelling movement pipe that is blockked by the baffle expose, when the tablet can't fall back down to the cartridge case from original route, can only move to the propelling movement pipe along the baffle.

The whole propelling movement process of guiding mechanism links with the propelling movement process of first propelling movement mechanism, and the structure sets up exquisitely, and the motion process links up convenient to use.

Further, the tablet package is a vacuum medicine package; the medicine bag is provided with magnetic sheets with magnetic poles arranged up and down, and the magnetic sheets are permanent magnets.

The staff places evacuation formation vacuum cartridge bag in same cartridge bag after will all kinds of tablets configuration, not only can reduce the volume of whole cartridge bag like this, can place more cartridge bags in making a cartridge bag, can also make the medicine in the cartridge bag save time under the condition of isolated air longer. The magnetic sheet is the permanent magnet, and the magnetic pole of the magnetic sheet in every cartridge bag all sets up from top to bottom, so long as every cartridge bag all places in the cartridge case according to same orientation, and the magnetic pole is opposite on the one side that two adjacent cartridge bags are close to each other from top to bottom, can make between two cartridge bags because two opposite magnetic poles are close to each other and adsorb together, easily makes all cartridge bags form a unified whole, conveniently packs into the cartridge case with all cartridge bags fast, also makes things convenient for the collection arrangement of all cartridge bags.

Furthermore, the top block is provided with magnetic blocks with magnetic poles arranged up and down, and the magnetic blocks are permanent magnets; the magnetic block and the magnetic sheet are the same in magnetic pole at one side close to each other.

The magnetic blocks are arranged on the top block, and the magnetic poles of the magnetic blocks in the direction close to the magnetic blocks are the same as the magnetic poles of the magnetic blocks, so that in the process that the medicine bag is pushed upwards, when the medicine bag does not contact the top block, the repulsive force generated between the magnetic blocks can push the top block upwards to move upwards, the baffle integrally formed with the top block can expose the push pipe, in the process that the push pipe is exposed by the baffle, the baffle in the chute exposed due to the separation of the baffle extends into the medicine box, the uppermost medicine bag and the medicine bag behind the uppermost medicine bag are knocked open, the uppermost medicine bag falls onto the baffle under the action of gravity and the repulsive force between the magnetic blocks, moves towards the push pipe along the baffle and is finally sent out by the push pipe.

Drawings

FIG. 1 is a schematic structural diagram of an embodiment of an aged-care robot with an intelligent medicine chest;

FIG. 2 is a schematic structural diagram of a dispensing mechanism in an embodiment of the nursing robot with an intelligent medicine chest;

FIG. 3 is a schematic structural diagram of a dispensing mechanism in an embodiment of the nursing robot with an intelligent medicine chest of the invention;

FIG. 4 is a schematic structural diagram of a medicine feeding mechanism in an embodiment of the endowment robot with an intelligent medicine chest;

fig. 5 is a schematic view of still another configuration of a medicine feeding mechanism in an embodiment of the nursing robot having an intelligent medicine box according to the present invention.

Detailed Description

The following is further detailed by the specific embodiments:

reference numerals in the drawings of the specification include: reference numerals in the drawings of the specification include: medicine bottle dish 1, medicine conveying pipe 2, go out medicine case 3, first baffle 4, branch pipe 5, house steward 6, backup pad 7, folding ring 8, separate 9, electro-magnet 10, magnetic stripe 11, medicine bag 12, cutter 13, clamp plate 14, bearing plate 15, support 16, first bottom plate 17, first appearance board 18, medicine bottle 19, switch 20, cartridge case 21, cylinder 22, push pedal 23, medicine package 24, propelling movement pipe 25, baffle 26, spring 27, second baffle 28, kicking block 29, hood 30, second appearance board 31, second bottom plate 32.

The embodiment is basically as shown in the attached figure 1: endowment robot with intelligence medical kit, including the robot and install dispensing mechanism and the mechanism of sending medicine in the robot, wherein, in order to dismantle, dispensing mechanism can enough use with the robot cooperation with the mechanism of sending medicine, also can independently go out and use with other mechanism cooperations. In order to achieve the purpose, the medicine dispensing mechanism and the medicine feeding mechanism respectively comprise a bottom plate and an outer display plate, one end of the bottom plate is welded with one end of the outer display plate, the bottom plate and the outer display plate form a semi-enclosed shape and can enclose the medicine dispensing mechanism and the medicine feeding mechanism respectively, all structures installed on the bottom plate and the bottom plate can slide into an installation groove formed in the robot body along the bottom plate, and the outer display plate and other appearance structures of the robot body form a complete robot appearance structure together.

In this embodiment, two mounting grooves are formed in the upper and lower parts of the belly part of the robot, the dispensing mechanism is mounted in the upper mounting groove through the outer panel and the bottom panel thereof, and the dispensing mechanism is mounted in the lower mounting groove through the outer panel and the bottom panel thereof. For the convenience of description later, the exterior plate and the bottom plate in the dispensing mechanism are respectively referred to as a first exterior plate 18 and a first bottom plate 17, and the exterior plate and the bottom plate in the dispensing mechanism are respectively referred to as a second exterior plate 31 and a second bottom plate 32.

As shown in fig. 2 and fig. 3, the dispensing mechanism comprises a medicine bottle tray 1, a medicine conveying pipe 2 and a medicine discharging box 3 which are sequentially connected from top to bottom, a first bottom plate 17 used for bearing the structures is welded at the bottom of the medicine discharging box 3, and an outer display plate vertical to the bottom plate is welded at the right side of the medicine discharging box 17. The whole outer display board can block the medicine bottle tray 1, the medicine conveying pipe 2 and the medicine outlet box 3 from the outside.

As shown in fig. 2 and 3, the medicine bottle tray 1 may be a circular tray, and includes 6 partitions 9 for loading medicine bottles 19 one by one, a medicine outlet for allowing the medicine tablets to pass through is formed at the bottom of each partition 9, and a first blocking plate 4 for covering and blocking the medicine outlet is hinged to the bottom of the medicine bottle tray 1. One end of the first baffle 4 is hinged with the bottom surface of the medicine bottle tray 1, a magnetic strip 11 is embedded in the other end of the first baffle 4, the magnetic strip 11 is a permanent magnet, and an electromagnet 10 for adsorbing the magnetic strip 11 is arranged at the bottom of each partition 9 on the medicine bottle tray 1; when the electromagnet 10 is powered on, the electromagnet 10 generates an attraction force for adsorbing the first baffle 4, so that the first baffle 4 is tightly attached to the medicine bottle tray 1, and the first baffle 4 prevents the tablets in the separated 9 medicine bottles 19 from falling into the branch pipe 5. When the electromagnet 10 is powered off, the electromagnet 10 can not adsorb the first baffle 4 without the row, the first baffle 4 rotates downwards under the action of gravity, the medicine outlet is exposed, and the tablets in the medicine bottle 19 enter the branch pipe 5 through the medicine outlet one by one. The medicine outlet is limited in diameter, so that only one tablet is allowed to pass through the medicine outlet at a time. The structure which only allows one-way passage and is similar to the existing expansion sleeve can be arranged at the medicine outlet.

The drug delivery pipe 2 comprises branch pipes 5 which are correspondingly communicated with the 6 drug outlets one by one and a main pipe 6 which is communicated with each branch pipe 5; the inner wall of the main pipe 6 is provided with a counter for counting the number of tablets entering the main pipe; the counter in the scheme adopts the existing counter. The counter is connected with a detection module used for triggering the counter to count, the detection module comprises a light-emitting lamp embedded on the inner wall of the manifold 6 and a photoresistor used for receiving light of the light-emitting lamp, and the light-emitting lamp and the photoresistor are controlled to be started or stopped by the first microcontroller. The light emitting lamps and the photo resistors are respectively disposed on opposite sides below the manifold 6. When the tablet falls, the tablet blocks the light of the luminescent lamp, so that the photoresistor cannot receive the light, and the photoresistor transmits an electric signal to the counter to enable the counter to count. So that the counter can count all the tablets falling into the manifold 6.

The medicine discharge box 3 is used for receiving various tablets from the medicine conveying pipe 2 and packaging the tablets received each time into a medicine package 24. A support plate 7 is clamped at the circumferential position of the main pipe 6 at the upper part of the medicine outlet box 3, and a strip bag placed in advance is placed on the support plate 7; the long bag is of a barrel-shaped structure with openings at two ends. In order to conveniently store the long bag, a folding ring 8 for opening the long bag and axially folding the long bag is placed on the support plate 7. This folding ring 8 comprises an upper ring and a lower ring between which a spring 27 is connected. The elongate bag is opened entirely and folded in its axial direction so that the elongate bag is folded into an annular configuration by the folding ring 8. The folding rings 8 surround the manifold 6, leaving a slit in the lower folding ring 8 for the bottom of the elongated bag to protrude through. Similarly, an annular seam is reserved between the support plate 7 and the header pipe 6, and the strip bag extends downwards to surround the header pipe 6; the walls of the elongate bags are drawn downwardly so as to surround the outlet of the manifold 6. A cutting machine for sealing the part of the long bag positioned below the main pipe 6 to form the medicine containing bag 12 is arranged on the inner wall of the medicine outlet box 3 below the main pipe 6, and after the tablets fall into the medicine containing bag 12, the cutting machine seals the part containing the tablets to form the medicine containing bag 24 and cuts the medicine containing bag 24 from the medicine containing bag 12.

The elongate bag is suspended through an annular slit in the support plate 7 to surround the outlet of the manifold 6. The cutting machine seals the long strip bags below the header pipe 6, the long strip bags form the medicine containing bags 12 with one sealed end, at the moment, tablets falling from the header pipe 6 can enter the medicine containing bags 12, after the tablets fall into the medicine containing bags 12, the cutting machine seals the medicine containing bags 12 together with the tablets inside, when the sealing is carried out, the parts of the medicine containing bags 12, which are filled with the tablets, are sealed by the cutting machine, medicine packages 24 are formed, when the medicine packages 24 are formed, the part above the medicine packages 24 is also formed into a new medicine containing bag 12 by the cutting machine, and the medicine packages 24 are cut off from the medicine containing bags 12 by the cutting machine. The medicine package 24 is a collection of various tablets that the old man needs to take at a time, and the robot can automatically pack the tablets by controlling the operation of the cutter.

The cutting machine comprises a second motor controlled by a first microcontroller, and a cutting knife 13 and a pressing plate 14 which are driven by the second motor to move in opposite directions; and a heating resistance wire controlled by a first microcontroller to work is arranged on the cutter 13. The cutting machine is controlled to work through the first microcontroller, the second motor in the cutting machine drives the cutter 13 and the pressing plate 14 to move oppositely, so that the cutter 13 and the pressing plate 14 form pressure for clamping the strip bag or the medicine containing bag 12, and in the clamping process, the heating resistance wire on the cutter 13 heats and seals the strip bag or the medicine containing bag 12. The connection mode of the second motor, the cutter 13 and the pressing plate 14 can be the existing connection mode. Whole cutting machine is similar to a tongs that is burnt hot, can heat the cutting by its rectangular bag of cliping, can carry out hot melt to it again and seal when the cutting. The cutting machine is provided with a switch 20 which is arranged downwards and can be pressed upwards to start a second motor to drive the cutter 13 and the pressing plate 14 to clamp the strip bag or the medicine containing bag 12. A vertically arranged bracket 16 with a big end down and a prismatic table structure is welded in the medicine discharging box 3, and the bracket 16 is hinged with an L-shaped bearing plate 15. The upward convex end of the pressure bearing plate 15 is opposite to the switch 20, and the horizontally arranged end of the pressure bearing plate 15 is positioned under the cutter 13 and the medicine containing bag 12. When the tablets fall into the medicine containing bag 12 and a certain weight is accumulated, the medicine containing bag 12 and the tablets therein rotate the pressure bearing plate 15 around the joint, so that the part of the pressure bearing plate 15 right below the medicine containing bag 12 rotates downwards, and the convex part of the pressure bearing plate 15 rotates upwards. The protrusion of the pressure bearing plate 15 pushes the switch 20 in the process of upward rotation, and the second motor is started, so that the second motor drives the cutter 13 and the pressing plate 14 to clamp the medicine containing bag 12 above the tablets, form the medicine bag 24 and cut off the medicine bag 24 from the medicine containing bag 12. The connection structure between the second motor and the cutter 13 and the pressing plate 14 can be the existing common structure, in this example, a screw rod and a screw seat are adopted, the second motor drives the screw rod to rotate, so that the two screw seats on the screw rod move oppositely, and the cutter 13 and the pressing plate 14 are respectively arranged on one screw seat.

In order to provide a longer shelf life for the formed pack 24, projections are provided on the cutting edge of the cutter, the distance between two adjacent projections being less than the diameter of the tablet. Thus, when the medicine package is sealed by the cutter, the medicine package is not sealed, and a plurality of gaps with the length distance between the bulges are reserved on the medicine package. And a vacuum machine is communicated below the medicine outlet box 3, the medicine bag enters the vacuum machine, and the vacuum machine vacuumizes and seals the medicine bag. The vacuum machine can be a household vacuum machine sold in the market. The vacuumized medicine package is more beneficial to preservation.

The bottom surface of the medicine bottle tray 1 is welded with a first motor for driving the medicine bottle tray 1 to shake. In addition to using the kinetic energy generated by the movement of the robot itself, it is also possible to feed the tablets into the branch pipe 5 by means of the first motor. The medicine bottle tray 1 is driven to shake by the first motor, so that the tablets in the medicine bottles 19 can quickly enter the branch pipes 5.

The first microcontroller is installed on the bottom plate and is used for controlling the rotation of the first motor, controlling the on-off of the electromagnet 10 and controlling the recounting of the counter. When the first microcontroller controls one electromagnet 10 to be switched off, the first microcontroller controls the counter to count again, so that the number of each tablet can be counted clearly, and the first microcontroller counts and records the total number in each dosage.

The first microcontroller can be used to control the operation of the first motor, the electromagnet 10 and the counter. The robot can control the whole dispensing mechanism to work only through the first microcontroller. Without the first microcontroller, the robot needs to control the operation of the first motor, the electromagnet 10 and the counter, respectively, by the control mechanism of the robot. By using the first microcontroller, the dispensing machine can be formed into a dispensing mechanism which can be matched with a robot for use and can be independently used.

First microcontroller adopts the STM32 singlechip, and 2 IO mouths on the STM32 singlechip are used for controlling first motor and counter respectively, come control electro-magnet 10 with 6 IO mouths at least. Wherein, each IO port for controlling the on-off of the electromagnet 10 is connected with a relay for respectively controlling the on-off of each electromagnet 10, and the specific structure thereof adopts the current general circuit structure, which is not described herein.

When the dispensing mechanism is used, the first outer display plate 18 is firstly pulled outwards, so that the first bottom plate 17 pulls the whole dispensing mechanism out of a part of the structure from the robot body. The respective tablet-filled vial 19 is opened and the mouth of the vial 19 is positioned on each partition 9 towards the outlet. The work of a first controller used for controlling each electronic device in the medicine dispensing mechanism is controlled by a central processing unit in the robot body.

The first microcontroller controls the on-off of the electromagnet 10 on the bottom of each partition 9 to enable the electromagnet 10 to adsorb or not adsorb the magnetic strip 11, and the first baffle 4 blocks or exposes the medicine outlet. When the first baffle 4 blocks the medicine outlet, the tablets in the medicine bottle 19 can not pass into the branch pipe 5. When the first baffle 4 is exposed out of the medicine outlet, the tablets in the medicine bottle 19 can enter the branch pipe 5, particularly when the robot body moves, the robot body moves to drive the medicine bottle tray 1 to vibrate, so that the tablets in the medicine bottle 19 enter the branch pipe 5 under the action of gravity and vibration force, enter the main pipe 6 through the branch pipe 5, and finally enter the medicine outlet box 3 to be packed with other tablets to form a medicine package 24. While in the manifold 6, the manifold 6 counts the number of tablets by a counter. Since only one first shutter 4 is opened at a time and only one tablet is allowed to pass through each outlet, the tablets in the manifold 6 always pass one at a time, which enables the counter to count clearly the number of each tablet in each pack 24, facilitating accurate dispensing.

In order for the dispensing mechanism to be able to be used independently, the first motor mounted on the vial tray 1 can provide the power for the tablets to fall down into the manifold 5 when there is no robot body or the robot body is stationary. And dispensing mechanism mainly still is used for cooperating the robot to use, can accomplish automatically in the robot and dispense, has accomplished the tablet packing in a medicine case 3, has avoided the condition that the tablet was omitted, conveniently loads the cartridge bag 24 after packing and send the medicine in sending the medicine mechanism, makes the old man when getting it filled, what take is a cartridge bag 24, clean health, convenient operation.

As shown in figures 4 and 5, the medicine feeding mechanism comprises a medicine container 21 for containing medicine bags 24 from top to bottom in sequence and a pushing pipe 25 communicated with the side wall of the upper part of the medicine container 21. The push tube 25 is inclined downward away from the medicine cartridge 21 to communicate with a medicine taking port formed in the second display plate 31. Propelling movement pipe 25 and cartridge case 21 threaded connection, joint or lock joint (integrated into one piece has the connecting pipe that outwards stretches out on the lateral wall of cartridge case 21, and it has the external screw thread to open on the lateral wall of connecting pipe, and it has the internal thread that matches to open on the inside wall of propelling movement pipe 25. or, it has the joint groove to open on the connecting pipe, and integrated into one piece has the lug that can insert the joint groove on propelling movement pipe 25. or, install the buckle on propelling movement pipe 25, and it has the eye of the knot that is used for supplying the buckle to pass to open on the connecting pipe.)

The cartridge 21 includes a housing portion for sequentially housing the medicine bags 24 from above and a power portion for mounting the first pushing mechanism. The holding part and the power part are arranged up and down. The holding part is in threaded connection, clamped connection or fastened connection with the power part.

A first pushing mechanism used for moving up and down is installed in the power part; the free end of the first pushing mechanism is connected to a push plate 23 for pushing the pack 24 up along the cartridge 21. The inner wall of the containing part is provided with a sliding rail for the push plate 23 to extend into the containing part and slide up and down along the containing part. In order to facilitate the stable up-and-down movement of the push plate 23, the push plate 23 is integrally formed with a slide block extending outwards, the slide block and the slide rail are arranged in a one-to-one correspondence manner, and the slide block extends into the slide rail and slides up and down along the slide rail. In order to facilitate the storage of the medicine bag 24 and the sliding of the push plate 23, the storage part can be selected to be cylindrical, the push plate 23 can be selected to be circular sheet, the sliding block is circumferentially arranged on the push plate 23, and the sliding rail is circumferentially arranged on the inner wall of the storage part. The first pushing mechanism can be selected from an air cylinder 22, a hydraulic cylinder or an electric push rod. The first pushing mechanism is provided with a driving mechanism for driving the first pushing mechanism to move, and the driving mechanism is controlled by the robot. The driving mechanism is a switch 20 or a control chip which is arranged on the cylinder 22, the hydraulic cylinder or the electric push rod and is used for starting the work of the driving mechanism. This switch 20 or control chip can be activated or deactivated by robot control via electrical signals. The technology of controlling the driving mechanism to open or close by an electric signal is the prior art and will not be described again. When the first pushing mechanism selects the air cylinder 22, the air cylinder 22 is provided with a piston rod which extends up and down, and the free end of the piston rod is connected with the push plate 23.

The top of the cartridge 21 is fitted with a guide mechanism for pushing the charge 24 into the pusher tube 25. The guiding mechanism comprises a clapboard 26 which is arranged on the side wall of the bottom surface of the propelling tube 25 and is used for preventing the medicine package 24 from falling back into the medicine box 21, a top block 29 which is connected to the top of the medicine box 21 in a sliding way and is used for being pushed upwards by the medicine package 24, and a second baffle 28 which is used for plugging the propelling tube 25 and preventing the clapboard 26 from extending into the medicine box 21; the top block 29 is integrally formed with the second shutter 28. The top of the top block 29 is provided with a top cap 30, and the top cap 30 is located above the cartridge 21. The cartridge 21 has a top plate, and a guide mechanism has a top block 29 integrally connected to a slide post which penetrates the top plate and can slide up and down, and the top end of the slide post is screwed to a top cap 30. By means of the slide posts, both the top block 29 and the top cap 30 can be attached to the cartridge 21 without falling off.

The top cap 30 has a cross-sectional area greater than the cross-sectional area of the cartridge 21 and the top cap 30 covers the top of the cartridge 21 to allow the top block 29 to extend a predetermined maximum length into the cartridge 21. Each time the pack 24 is raised to this position, the top block 29 is pushed upwardly. The side wall of the cartridge 21 is provided with a groove for the top block 29 to slide up and down. By slidably coupling the top block 29 to the cartridge 21 through the groove, the top block 29 can be smoothly moved up and down while being prevented from being separated from the cartridge 21.

The tube wall of the pushing bottom tube is provided with a chute communicated with the medicine cartridge 21, the clapboard 26 is arranged in the chute, and a spring 27 used for pushing the clapboard 26 to extend into the medicine cartridge 21 is connected between the bottom of the chute and the clapboard 26.

When the second stop 28 stops the slide slot, the partition 26 cannot extend into the cartridge 21. When the second shutter 28 moves upwards to expose the chute, the compressed spring 27 returns to its shape, driving the diaphragm 26 into the cartridge 21, preventing the pack 24 from falling back into the cartridge 21.

The bottom surface of the pushing pipe 25 refers to the position of the pushing pipe 25 on the side wall close to the ground. When the first pushing mechanism pushes the medicine package 24 upwards to move upwards, the first pushing mechanism moves downwards again, the medicine package 24 pushes the top block 29 upwards under the pushing of the first pushing mechanism, so that the top block 29 and the second baffle 28 move upwards together, the second baffle 28 exposes the communication port between the pushing pipe 25 and the medicine package 21, the second baffle 28 can not stop the partition 26 any more, and the partition 26 extends into the medicine package 21. At this point, the first pushing mechanism moves downwardly and the charge 24 falls by gravity onto the partition 26 and slides along the partition 26 into the pusher tube 25 and is then carried out of the cartridge 21 by the pusher tube 25.

The whole process starts from the top movement of the medicine package 24 to the top block 29, because the top block 29 and the second baffle 28 are integrally formed, when the top block 29 is moved upwards by the top movement, the second baffle 28 moves upwards together, so that the partition 26 blocked by the second baffle 28 extends into the medicine box 21, the falling path of the medicine package 24 is prevented, the push pipe 25 blocked by the second baffle 28 is exposed, and when the medicine package 24 cannot fall back into the medicine box 21 from the original path downwards, the medicine package 24 can only move towards the push pipe 25 along the partition 26.

To facilitate filling of the pack 24, the part of the top of the cartridge 21 where the top piece 29 and the second baffle 28 are mounted does not belong to the receptacle but to the top cover of the cartridge 21. The top cover of the cartridge 21 is detachably connected (screwed, snapped or fastened) to the holding portion. Like this, when changing the portion of holding at every turn, top cap and the power portion of cartridge case 21 do not change, and the first push mechanism and the guiding mechanism of medicine feeding mechanism do not all change promptly, become the portion of holding that has loaded cartridge bag 24 only, it is more convenient to operate like this, and the cost is minimum. In order to facilitate the loading of the storage portion, the top and bottom surfaces of the storage portion may be covered with paper after the medicine package 24 is loaded into the storage portion, and when the medicine package is used, the paper on the top and bottom surfaces may be broken by the pushing force generated by the pushing mechanism, so that the medicine package 24 may move up and down. Or, each paper of the containing part is directly taken away by first sealing when in use.

The medicine bag 24 is adhered with magnetic sheets with magnetic poles arranged up and down, and the magnetic sheets are permanent magnets.

The staff places evacuation formation vacuum cartridge bag 24 in same cartridge bag 24 after all kinds of medicines have been allocated, not only can reduce the volume of whole cartridge bag 24 like this, makes can place more cartridge bags 24 in a cartridge bag 21, can also make the medicine retention time of the medicine in the cartridge bag 24 under the isolated condition of air longer. The magnetic sheet is the permanent magnet, and the magnetic pole of the magnetic sheet in every cartridge case 24 all sets up from top to bottom, so long as every cartridge case 24 all places in cartridge case 21 according to same orientation, and the magnetic pole is opposite on the face that two adjacent cartridge cases 24 of upper and lower are close to each other, can make between two cartridge cases 24 because two opposite magnetic poles are close to each other and adsorb together, easily make all cartridge cases 24 form a unified whole, conveniently pack into cartridge case 21 with all cartridge cases 24 fast, also make things convenient for the collection arrangement of all cartridge cases 24.

The top block 29 is embedded with magnetic blocks with magnetic poles arranged up and down, and the magnetic blocks are permanent magnets; the magnetic block and the magnetic sheet are the same in magnetic pole at one side close to each other.

The magnetic blocks arranged on the top block 29 have the same magnetic poles in the direction close to the magnetic blocks, so that when the medicine package 24 is pushed upwards and the medicine package 24 does not contact the top block 29, repulsive force generated between the magnetic blocks pushes the top block 29 upwards to move upwards, a baffle integrally formed with the top block 29 can expose the push tube 25, when the baffle exposes the push tube 25, the baffle 26 in the chute exposed due to the separation of the baffle extends into the medicine box 21 to knock the uppermost medicine package 24 and the medicine package 24 behind the uppermost package 24, and the uppermost medicine package 24 falls onto the baffle 26 under gravity and the beat magnetic force between the magnetic blocks and the magnetic blocks, moves towards the push tube 25 along the baffle 26 and is finally sent out by the push tube 25. The top block 29 can be pushed to move upwards by the magnetic force between the magnetic sheet and the magnetic block.

As shown in fig. 5, the top block 29 has a slope inclined from top to bottom in a direction away from the pushing pipe 25, and the top block 29 pushes the partition 26 to retract into the chute during the downward sliding process.

The inclined plane of the top block 29 inclines from top to bottom in the direction far away from the pushing tube 25, that is, the inclined plane of the top block 29 gradually approaches to the pushing tube 25 from bottom to top, when the top block 29 falls back, the top block 29 moves downwards to push the extended partition plates 26 to retract into the sliding groove, so that the partition plates 26 in the sliding groove are blocked again by the partition plates, and a passage is provided for the upward movement of the following medicine bag 24.

As shown in fig. 1 and 5, a second bottom plate 32 for placing the medicine cartridge 21 is welded to the bottom of the medicine cartridge 21, and a second display plate 31 is integrally connected to the second bottom plate 32; the push pipe 25 communicates with the second display plate 31. When the entire drug delivery mechanism is installed in the robot, only the exterior panel is visible from the outside. Because whole medicine mechanism that send is to install on the robot, can be with whole medicine mechanism integration into a convenient to detach's whole through bottom plate and outer display panel. When the device is installed, the bottom plate and the cartridge 21 on the bottom plate are directly inserted into the installation space flowing out of the robot. The cartridge clip type medicine boxes can be shielded through the external display plate, so that the whole cartridge clip type medicine boxes are used as an internal mechanism of the robot, and the robot has the functions of automatic medicine dispensing and medicine delivery. And the pushing pipe 25 together with the outer display plate can push the medicine package 24 in the medicine box 21 to the outside of the robot, so that the old can take the medicine package conveniently.

In order to facilitate the unified control of each power mechanism in the medicine feeding mechanism, a second microcontroller for driving the first pushing mechanism to move is mounted on the second bottom plate 32. The second microcontroller can adopt the STM32 singlechip equally, and the start or the closing of cylinder 22, motor or the pneumatic cylinder in the first push mechanism only need be controlled with 1 IO mouth to STM32 singlechip.

Pulleys are mounted on the bottom surfaces of the first base plate 17 and the second base plate 32. Can conveniently take out or take out into with whole medicine feeding mechanism and dispensing mechanism from the robot, conveniently to whole maintenance, the change of sending medicine mechanism and dispensing mechanism or fill cartridge case 24 in cartridge case 21.

When the medicine dispensing device is used, according to the condition that each old person takes tablets, a worker inputs related medicine dispensing operation instructions (the medicine dispensing operation instructions are the quantity of various tablets in each medicine dispensing condition specified by the existing instructions) into a central processing unit of the robot, so that the central processing unit sends the quantity of each kind of tablets in each medicine dispensing to a first microcontroller, the first microcontroller controls the on-off time of each electromagnet 10 according to the quantity of the tablets, and a counter counts the quantity of the tablets in the power-off time of the electromagnet 10, so that the quantity of the kinds of tablets loaded in the medicine bottle 19 corresponding to each electromagnet 10 can reach the required medicine dispensing quantity. After dispensing is complete, the package 24 need only be removed from the dispensing mechanism. The worker sequentially puts the magnetic sheet on the medicine bags 24 into the storage part, and then installs the storage part filled with the medicine bags 24 into the medicine container 21. The pushing time is sent to the second microcontroller through the central processing unit (the pushing time can also be directly written into the second microcontroller), the second microcontroller drives the first pushing mechanism at regular time, the whole medicine feeding mechanism pushes the medicine package 24 out to the pushing pipe 25 at regular time, and the old can directly take out the medicine package 24 from the medicine taking port on the second display plate 31 to take the tablets in the medicine package 24.

Wherein the respective medicine packages 24 are sequentially put into each of the containing portions from the top down like a bullet when the medicine packages 24 are loaded. When the medicine bag 24 is placed, the paper for blocking the top, bottom and side surfaces of the containing part is taken away first, so that the containing part can be communicated with the power part, the top cover and the pushing pipe 25. The push plate 23 in the first pushing mechanism extends into the containing part, so that the first pushing mechanism and the pushing mechanism can work. The robot body can directly control the first pushing mechanism to move up and down through the driving mechanism by an electric signal sent by the central processing unit at regular time, and also can control the second microcontroller by the central processing unit, and the second microcontroller controls the first pushing mechanism by the driving mechanism. When the driving mechanism drives the first pushing mechanism to push the push plate 23 and all the medicine bags 24 on the push plate 23 upwards. The uppermost pack 24 is pushed to the top of the cartridge 21 and the top block 29 is pushed so that the top block 29 moves upwards together with the second flap 28 connected thereto. The second shutter 28, during its upward movement, exposes the chute and the push pipe 25. The partition 26 in the chute extends into the cartridge 21 under the urging of the spring 27 and blocks the path of the uppermost charge 24 back into the receptacle. Since the push pipe 25 is disposed obliquely downward, the partition 26 disposed in the closing of the push pipe 25 is also disposed obliquely downward.

When the partition 26 is extended, the following packs 24 are already moved downward by gravity because of the blocking of the upper pack 24 and the fact that the first pushing mechanism does not give any further upward pushing force, except that the uppermost pack 24 continues to move upward by inertia, so that the uppermost pack 24 is blocked by the completely extended partition 26 when it falls back. At this time, the medicine package 24 can only move to the outside of the robot along the pushing channel formed by the partition 26 and the pushing pipe 25. The medicine bag 24 slowly slides out of the robot under the action of the self gravity in the pushing tube 25, so that the old can take out all the medicines which need to be taken at the moment from the pushing opening formed by the pushing tube 25 on the outer display board. When medicine needs to be taken next time, the robot controls the first pushing mechanism to move upwards again. The top block 29 in the guide mechanism moves along the groove all the way to the top of the groove under the effect of inertia and then falls back along the groove to the original position. The top block 29, when it falls back, extends downwardly into the cartridge 21 and the top block 29 forces the partition 26 to retract into the chute by gravity. The top block 29 makes the second baffle 28 fall back along with the top block 29 at the same time of falling back, so that the second baffle 28 blocks the chute and the pushing pipe 25, the space of the containing part and the top cover is communicated again, and the medicine package 24 at the back can move upwards conveniently.

In the entire medicine feeding mechanism, the medicine packages 24 are sequentially loaded into the containing portions like bullets, one containing portion is like a cartridge clip filled with bullets, and the entire medicine cartridge 21 is like a gun filled with the cartridge clip and can push out the medicine packages 24. The medicine bag 24 is pushed into the pushing pipe 25 by the pushing of the first pushing mechanism and the guiding mechanism, so that the old can take the medicine bag 24 through the pushing pipe 25 and take the medicine. The robot can enable the rear guide mechanism to be linked only by controlling the first pushing mechanism to move upwards through the driving mechanism, so that the whole pushing process is coherent and complete. And the staff in the endowment service only needs to uniformly configure various medicines into the medicine bag 24 according to the amount eaten by the old at each time and then put into the medicine box 21, so that the robot can automatically send and dispense the medicines without the need of the staff to send and dispense the medicines. The operation is very convenient.

The foregoing is merely an example of the present invention, and common general knowledge in the field of known specific structures and characteristics is not described herein in any greater extent than that known in the art at the filing date or prior to the priority date of the application, so that those skilled in the art can now appreciate that all of the above-described techniques in this field and have the ability to apply routine experimentation before this date can be combined with one or more of the present teachings to complete and implement the present invention, and that certain typical known structures or known methods do not pose any impediments to the implementation of the present invention by those skilled in the art. It should be noted that, for those skilled in the art, without departing from the structure of the present invention, several changes and modifications can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicability of the patent. The scope of the claims of the present application shall be determined by the contents of the claims, and the description of the embodiments and the like in the specification shall be used to explain the contents of the claims.

Claims

1. Endowment robot with intelligence medical kit, its characterized in that:

comprises a robot body, a medicine dispensing mechanism which is arranged in the robot body and can dispense medicines automatically, and a medicine feeding mechanism which can feed medicines automatically;

the medicine feeding mechanism is used for pushing out the tablets put in the medicine feeding mechanism at regular time;

the dispensing mechanism comprises a medicine bottle tray, a medicine conveying pipe and a medicine discharging box which are sequentially connected from top to bottom;

the medicine outlet box is used for receiving tablets from the medicine conveying pipe;

a support plate is arranged at the circumferential position of the main pipe at the upper part of the medicine outlet box, and a strip bag which is placed in advance is arranged on the support plate; the long bag is of a barrel-shaped structure with openings at two ends; an annular seam is reserved between the support plate and the main pipe, and the long bag extends downwards to surround the main pipe; the cutting machine is used for sealing the part of the strip bag below the main pipe to form a medicine containing bag, and is also used for sealing the part containing the tablets to form the medicine containing bag and cutting the medicine containing bag from the medicine containing bag after each batch of tablets fall into the medicine containing bag.

2. The endowment robot with an intelligent medicine chest according to claim 1, characterized in that: the medicine feeding mechanism comprises a medicine cylinder for sequentially containing tablets and a pushing pipe communicated with the upper part of the medicine cylinder; the bottom of the medicine cylinder is provided with a first pushing mechanism used for moving up and down; the first pushing mechanism is provided with a free end, and the free end of the first pushing mechanism is connected with a push plate used for pushing the tablets upwards along the medicine cylinder; the top of the medicine cylinder is provided with a guide mechanism for leading the tablets to enter the pushing pipe; the first pushing mechanism has a driving mechanism for being controlled by the robot body.

3. The endowment robot with an intelligent medicine chest according to claim 1, characterized in that: the medicine bottle tray is connected with a first motor used for driving the medicine bottle tray to shake, and the first motor is controlled by the microcontroller to be started or closed.

4. The endowment robot with an intelligent medicine chest according to claim 1, characterized in that: the cutting machine comprises a second motor controlled by the first microcontroller, and a cutter and a pressing plate which are driven by the second motor to move in opposite directions; and a heating resistance wire controlled by a first microcontroller to work is arranged on the cutter.

5. The endowment robot with an intelligent medicine chest according to claim 2, characterized in that: the pushing pipe is arranged obliquely downwards in the direction away from the medicine cylinder.

6. The endowment robot with an intelligent medicine chest according to claim 5, wherein: the guiding mechanism comprises a partition plate arranged on the wall of the bottom surface of the pushing pipe and used for preventing the tablets from falling back into the medicine box, a top block which is connected to the top of the medicine box in a sliding mode and used for being pushed upwards by the tablets, and a baffle plate which is used for plugging the pushing pipe and preventing the partition plate from extending into the medicine box; the top block and the baffle are integrally formed.

7. The endowment robot with an intelligent medicine chest according to claim 5, wherein: the tablet package is a vacuum medicine package; the medicine bag is provided with magnetic sheets with magnetic poles arranged up and down, and the magnetic sheets are permanent magnets.

8. The endowment robot with an intelligent medicine chest according to claim 7, wherein: the top block is provided with magnetic blocks with magnetic poles arranged up and down, and the magnetic blocks are permanent magnets; the magnetic block and the magnetic sheet are the same in magnetic pole at one side close to each other.