CN108996090B - Medicine discharging device, automatic pharmacy and automatic medicine discharging method - Google Patents
Medicine discharging device, automatic pharmacy and automatic medicine discharging method Download PDFInfo
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- CN108996090B CN108996090B CN201810529044.1A CN201810529044A CN108996090B CN 108996090 B CN108996090 B CN 108996090B CN 201810529044 A CN201810529044 A CN 201810529044A CN 108996090 B CN108996090 B CN 108996090B
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- medicine
- connecting rod
- medicine discharging
- medicine storage
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
Abstract
The invention discloses a medicine discharging device, an automatic pharmacy and an automatic medicine discharging method. Automatic change drugstore contains the frame, it is the rectangle array in the frame and is provided with the multiunit and goes out the medicine device, and still installs biax cartesian robot in the frame, installs on the biax cartesian robot and gets the medicine steamer tray and be used for providing the power component of power for drive assembly. The medicine discharging device, the automatic pharmacy and the automatic medicine discharging method can realize accurate medicine discharging, and when the medicine discharging device discharges a first box of medicine, the pressing block of the medicine discharging device can press a second box of medicine, so that the situations of less medicine discharging and more medicine discharging can be avoided; the medicine discharging device is not provided with a power source, when corresponding medicine needs to be discharged, the power assembly can be in butt joint with the driving assembly corresponding to the medicine discharging device, so that the medicine is discharged to the medicine taking drawer, the cost can be saved, and the failure rate is reduced.
Description
Technical Field
The invention relates to the field of medicine automation, in particular to a medicine discharging device, an automatic pharmacy and an automatic medicine discharging method.
Background
At present, automation in the field of medicine tends to be great, a plurality of automatic medicine room products appear on the market, the functions of medicine discharging devices of a plurality of products are not stable enough, and the situations of more medicine products and less medicine products are frequently easy to appear, so that medicine management is not facilitated. And a plurality of groups of medicine discharging devices are contained in one automatic medicine room, and each medicine discharging device is provided with a power element (such as a motor), so that the cost is high, the control is complex, and the failure rate is greatly improved.
Disclosure of Invention
The purpose of the invention is as follows: in order to overcome the defects in the prior art, the invention provides the medicine discharging device, the automatic pharmacy and the automatic medicine discharging method which are stable in medicine discharging, low in cost and simple to control.
The technical scheme is as follows: in order to achieve the purpose, the medicine discharging device comprises an obliquely arranged medicine storage track, a medicine discharging assembly is arranged at the lower end of the medicine storage track, and the medicine discharging assembly comprises a first connecting rod, a second connecting rod, a third connecting rod, a stop lever and a pressing block; one end of each of the first connecting rod and the second connecting rod is hinged on the medicine storage track, and the other ends of the first connecting rod and the second connecting rod are connected through a third connecting rod; the first connecting rod is arranged at the lowest end of the medicine storage track, the stop lever is fixed on the first connecting rod, and the stop lever is stopped at the outlet position of the medicine storage track in an initial state; the pressing block is mounted on the second connecting rod through a sliding part and is suspended in front of the medicine storage track; the sliding piece can slide relative to the second connecting rod, and a spring is arranged between the sliding piece and the second connecting rod; a torsion spring is arranged between the first connecting rod and the medicine storage track, and a limiting rod for limiting the initial position of the first connecting rod is arranged on the medicine storage track; the medicine discharging device also comprises a driving component for driving the first connecting rod or the second connecting rod of the medicine discharging component to rotate.
Further, the pressing block is connected with the sliding piece in a rotating mode, and an angle retaining piece is arranged between the pressing block and the sliding piece; and a sliding track for the sliding part to slide is arranged on the second connecting rod.
Furthermore, the sliding track is arc-shaped, and the center of the arc is the rotation center of the second connecting rod relative to the medicine storage track.
Furthermore, the angle retaining piece is a Z-shaped elastic torsion metal wire, and two ends of the Z-shaped elastic torsion metal wire are respectively fixed on the pressing block and the sliding piece; the two angle retaining pieces are symmetrically arranged on two sides of the relative rotation center of the pressing piece and the sliding piece.
Further, the driving assembly comprises a driving shaft rotatably mounted on the medicine storage track and an abutting member fixedly mounted on the driving shaft, and the driving shaft transmits power to the second connecting rod through a bevel gear set.
Furthermore, the butt joint piece is disc-shaped, and a plurality of clamping jaws are distributed on the circumference of the outward surface of the butt joint piece.
Automatic change drugstore contains the frame, it is the rectangle array in the frame and is provided with the multiunit and goes out the medicine device, and still installs biax cartesian robot in the frame, installs on the biax cartesian robot and gets the medicine steamer tray and be used for providing the power component of power for drive assembly.
Further, the power assembly comprises a motor, a linear actuating element and a power output piece which can be butted with the butting piece; the power output part is fixed in the circumferential direction relative to the output shaft of the motor and can axially translate relative to the output shaft, the axial translation motion of the power output part is driven by the linear execution element, and the inlet of the medicine taking drawer is provided with the correlation sensor.
Furthermore, the power output piece is disc-shaped, and a plurality of second clamping jaws are distributed on the circumference of one surface of the power output piece facing the medicine discharging device.
The control system drives the double-shaft rectangular coordinate robot to move so that the power assembly and the medicine taking drawer move to the front of a medicine discharging device corresponding to a medicine, then controls a linear execution element to act so that a power output part extends out to be in butt joint with a butt joint part, and then controls a motor to drive the power output part to rotate so that the butt joint part rotates along with the power output part, so that the medicine discharging assembly acts to separate a box of medicine; and performing reciprocating operation according to the process until all required medicines are discharged, and then controlling the double-shaft rectangular coordinate robot to drive the medicine taking drawer to a fixed position by the control system so as to allow a worker to take medicines.
Has the advantages that: the medicine discharging device, the automatic pharmacy and the automatic medicine discharging method can realize accurate medicine discharging, when the medicine discharging device discharges a first box of medicine, the pressing block of the medicine discharging device can press a second box of medicine, so that the second box of medicine cannot be discharged, meanwhile, the injection sensor on the medicine taking drawer can detect whether the first box of medicine is discharged successfully, and the situations of less medicine discharge and more medicine discharge are effectively avoided; the medicine discharging device is not provided with a power source, when corresponding medicine needs to be discharged, the power assembly can be in butt joint with the driving assembly corresponding to the medicine discharging device, so that the medicine is discharged to the medicine taking drawer, the cost can be greatly saved, and the failure rate is reduced.
Drawings
FIG. 1 is a first perspective view of the dispensing device;
FIG. 2 is a second perspective view of the dispensing device;
FIG. 3 is an enlarged view of portion A of FIG. 2;
FIG. 4 is a front elevation view of an automated pharmacy;
FIG. 5 is a side view of an automated pharmacy;
FIG. 6 is a combination diagram of the medicine discharging device, the medicine taking drawer and the power assembly;
FIG. 7 is a block diagram of a power assembly;
fig. 8 is a structural view of a biaxial cartesian robot.
Detailed Description
The present invention will be further described with reference to the accompanying drawings.
The medicine discharging device shown in fig. 1 and fig. 2 comprises a medicine storage track 1 which is obliquely arranged (the preferable inclination angle of the medicine storage track 1 is 20 °), a medicine discharging component 2 is arranged at the lower end of the medicine storage track 1, and the medicine discharging component 2 comprises a first connecting rod 21, a second connecting rod 22, a third connecting rod 23, a stop lever 24 and a pressing block 25; one end of each of the first connecting rod 21 and the second connecting rod 22 is hinged on the medicine storage track 1, and the other end of each of the first connecting rod 21 and the second connecting rod 22 is connected through a third connecting rod 23; the first connecting rod 21 is arranged at the lowest end of the medicine storage track 1, the stop lever 24 is fixed on the first connecting rod 21, and in an initial state, the stop lever 24 is stopped at the outlet position of the medicine storage track 1; the pressing block 25 is mounted on the second connecting rod 22 through a sliding part 26, and the pressing block 25 is suspended in front of the medicine storage track 1; the sliding piece 26 can slide relative to the second connecting rod 22, and a spring 27 is arranged between the sliding piece 26 and the second connecting rod 22; a torsion spring 29 is arranged between the first connecting rod 21 and the medicine storage track 1, and a limiting rod 210 for limiting the initial position of the first connecting rod 21 is arranged on the medicine storage track 1; the medicine discharging device also comprises a driving component 3 for driving the first connecting rod 21 or the second connecting rod 22 of the medicine discharging component 2 to rotate.
The pressing block 25 is rotatably connected with the sliding part 26, an angle retaining part 28 is arranged between the pressing block 25 and the sliding part 26, the medicine storage rail 1 is obliquely arranged, the angle retaining part 28 can keep the pressing block 25 parallel to the bottom surface of the medicine storage rail 1, and after the pressing block 25 contacts with a medicine box, the pressing block 25 can have a certain rotating floating space, so that the pressing block 25 is ensured to be in surface contact with the medicine box, and the effect of increasing friction is achieved; the second link 22 is provided with a slide rail 221 on which the slide member 26 slides. Preferably, the sliding track 221 is arc-shaped, and the center of the arc is the rotation center of the second link 22 relative to the medicine storage track 1. Thus, after the pressing piece 25 contacts the medicine box, the pressing piece 25 does not change the position along with the movement of the second connecting rod 22.
As shown in fig. 3, the angle holder 28 is a zigzag elastic torsion wire, and two ends of the zigzag elastic torsion wire are respectively fixed to the pressing block 25 and the sliding member 26; the angle maintaining members 28 are two, and the two angle maintaining members 28 are symmetrically arranged on both sides of the relative rotation center of the pressing piece 25 and the sliding piece 26. The angle holder 28 is simple in structure and highly practical.
The driving assembly 3 comprises a driving shaft 31 rotatably mounted on the medicine storage track 1 and an abutment member 32 fixedly mounted on the driving shaft 31, wherein the driving shaft 31 transmits power to the second connecting rod 22 through a bevel gear set 33. The butt-joint part 32 is a disk shape, and a plurality of clamping jaws 321 are distributed on the circumference of the outward surface of the butt-joint part.
The medicine discharging principle of the medicine discharging device is as follows: when the driving assembly 3 is driven by power transmitted from the outside (namely, a power assembly 7 hereinafter) to drive the second connecting rod 22 to rotate, the second connecting rod 22 drives the first connecting rod 21 to rotate together through the third connecting rod 23, the pressing block 25 arranged on the second connecting rod 22 presses the second medicine box on the medicine storage track 1 due to the rotation of the second connecting rod 22 before the stop lever 24 rotates to a position where the stop lever no longer blocks the outlet of the medicine storage track 1, and the spring 27 starts to be pulled along with the continuous rotation of the second connecting rod 22, so that the pressure of the pressing block 25 on the second medicine box is increased, and the position of the pressing block 25 does not change any more; when the stop lever 24 rotates to the position where the outlet of the medicine storage track 1 is no longer blocked, the first box of medicine on the medicine storage track 1 slides out to the outside of the medicine storage track 1 under the action of self gravity to finish medicine discharging. After the medicine is discharged, the power input to the driving assembly 3 from the outside (hereinafter, the power assembly 7) is released, the first link 21 is restored to the initial state by the action of the torsion spring 29, and in the initial state, the first link 21 abuts against the limiting rod 210, and the second link 22 is also restored to the initial position by the action of the first link 21.
Automatic change drugstore, as shown in figure 4 and figure 5, contain frame 4, it is the rectangle array and is provided with the multiunit device of drawing medicine on the frame 4, and still installs biax cartesian robot 5 on the frame 4, installs on the biax cartesian robot 5 and gets it filled steamer tray 6 and be used for providing the power component 7 of power for drive assembly 3, and the entrance of the steamer tray 6 of getting it filled is provided with correlation sensor (not shown in the figure), and whether there is the medicine to penetrate sensor detectable and get into the figure of getting it filled steamer tray 6 and detectable entering and getting it filled steamer tray 6. The structure of the two-axis cartesian robot 5 is shown in fig. 8, which is a common structure and belongs to the prior art, and is not specifically described here.
As shown in fig. 6 and 7, the power assembly 7 includes a motor 71, a linear actuator 72, and a power take-off 73 that can be docked with the docking member 32; the power take-off 73 is fixed circumferentially relative to the output shaft of the electric motor 71 and is axially translatable relative thereto, the axial translational movement of which is driven by the linear actuator 72. The linear actuator 72 is an electromagnet, and when the electromagnet is energized, the telescopic rod of the electromagnet extends to enable the power output part 73 to be in butt joint with the butt joint part 32, and when the electromagnet is de-energized, the telescopic rod is retracted by a spring of the electromagnet, and the power output part 73 is separated from the butt joint part 32. Specifically, the pto 73 is provided with a sleeve having an inner hole and a hole key groove, and the output shaft of the motor 71 is provided with a sliding key which can slide in the hole key groove of the sleeve, which is a common measure.
Similar to the structure of the docking element 32, the pto 73 has a disk shape, and a plurality of second claws 721 are circumferentially distributed on a surface of the pto facing the medicine discharging device.
The automatic medicine discharging method comprises the steps that a double-shaft rectangular coordinate robot 5, a power assembly 7 and an opposite-jet sensor are connected with a control system, when the control system receives a signal that a certain medicine is needed, the control system drives the double-shaft rectangular coordinate robot 5 to move so that the power assembly 7 and a medicine taking drawer 6 move to the front of a medicine discharging device corresponding to the medicine, then a linear execution element 72 is controlled to act so that a power output element 73 extends out to be in butt joint with a butt joint element 32, then the control system controls a motor 71 to drive the power output element 73 to rotate so that the butt joint element 32 rotates along with the power output element, and therefore a medicine box is separated by the action of a medicine discharging assembly 2; and performing reciprocating operation according to the process until all required medicines are discharged, and then controlling the double-shaft rectangular coordinate robot 5 to drive the medicine taking drawer 6 to a fixed position by the control system so as to allow a worker to take medicines. In the medicine taking process, the control system judges whether the medicine discharging device discharges the medicine and whether the medicine discharging number is correct or not by reading the feedback data of the correlation sensor, and the accuracy of medicine discharging is further ensured.
The medicine discharging device, the automatic pharmacy and the automatic medicine discharging method can realize accurate medicine discharging, when the medicine discharging device discharges a first box of medicine, the pressing block of the medicine discharging device can press a second box of medicine, so that the second box of medicine cannot be discharged, meanwhile, the injection sensor on the medicine taking drawer can detect whether the first box of medicine is discharged successfully, and the situations of less medicine discharge and more medicine discharge are effectively avoided; the medicine discharging device is not provided with a power source, when corresponding medicine needs to be discharged, the power assembly can be in butt joint with the driving assembly corresponding to the medicine discharging device, so that the medicine is discharged to the medicine taking drawer, the cost can be greatly saved, and the failure rate is reduced.
The above description is only of the preferred embodiments of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention and these are intended to be within the scope of the invention.
Claims (6)
1. Go out medicine device, its characterized in that: the medicine storage device comprises an obliquely arranged medicine storage track (1), a medicine discharging component (2) is arranged at the lower end of the medicine storage track (1), and the medicine discharging component (2) comprises a first connecting rod (21), a second connecting rod (22), a third connecting rod (23), a stop lever (24) and a pressing block (25); one ends of the first connecting rod (21) and the second connecting rod (22) are hinged on the medicine storage track (1), and the other ends of the first connecting rod and the second connecting rod are connected through a third connecting rod (23); the first connecting rod (21) is arranged at the lowest end of the medicine storage track (1), the stop lever (24) is fixed on the first connecting rod (21), and the stop lever (24) is stopped at the outlet position of the medicine storage track (1) in an initial state; the pressing block (25) is mounted on the second connecting rod (22) through a sliding part (26), and the pressing block (25) is suspended in front of the medicine storage track (1); the sliding piece (26) can slide relative to the second connecting rod (22), and a spring (27) is arranged between the sliding piece (26) and the second connecting rod (22); a torsion spring (29) is arranged between the first connecting rod (21) and the medicine storage track (1), and a limiting rod (210) for limiting the initial position of the first connecting rod (21) is arranged on the medicine storage track (1); the medicine discharging device also comprises a driving component (3) which drives the first connecting rod (21) or the second connecting rod (22) of the medicine discharging component (2) to rotate.
2. The dispensing device of claim 1, wherein: the pressing block (25) is connected with the sliding piece (26) in a rotating mode, and an angle maintaining piece (28) is arranged between the pressing block (25) and the sliding piece (26); the second connecting rod (22) is provided with a sliding track (221) for the sliding of the sliding piece (26).
3. The dispensing device of claim 2, wherein: the sliding track (221) is arc-shaped, and the center of the arc is the rotation center of the second connecting rod (22) relative to the medicine storage track (1).
4. The dispensing device of claim 2, wherein: the angle retaining piece (28) is a Z-shaped elastic torsion metal wire, and two ends of the Z-shaped elastic torsion metal wire are respectively fixed on the pressing block (25) and the sliding piece (26); the angle retaining pieces (28) are two, and the two angle retaining pieces (28) are symmetrically arranged on two sides of the relative rotation center of the pressing piece (25) and the sliding piece (26).
5. The dispensing device of claim 1, wherein: the driving assembly (3) comprises a driving shaft (31) rotatably installed on the medicine storage track (1) and an abutting piece (32) fixedly installed on the driving shaft (31), and the driving shaft (31) transmits power to the second connecting rod (22) through a bevel gear set (33).
6. The dispensing device of claim 5, wherein: the butt joint piece (32) is disc-shaped, and a plurality of clamping jaws (321) are distributed on the circumference of the outward surface of the butt joint piece.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911422421.2A CN111056202B (en) | 2018-05-29 | 2018-05-29 | Automatic pharmacy |
| CN201911422422.7A CN111056203B (en) | 2018-05-29 | 2018-05-29 | Automatic medicine discharging method for automatic pharmacy |
| CN201810529044.1A CN108996090B (en) | 2018-05-29 | 2018-05-29 | Medicine discharging device, automatic pharmacy and automatic medicine discharging method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810529044.1A CN108996090B (en) | 2018-05-29 | 2018-05-29 | Medicine discharging device, automatic pharmacy and automatic medicine discharging method |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911422422.7A Division CN111056203B (en) | 2018-05-29 | 2018-05-29 | Automatic medicine discharging method for automatic pharmacy |
| CN201911422421.2A Division CN111056202B (en) | 2018-05-29 | 2018-05-29 | Automatic pharmacy |
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| Publication Number | Publication Date |
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| CN108996090A CN108996090A (en) | 2018-12-14 |
| CN108996090B true CN108996090B (en) | 2020-04-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201911422421.2A Active CN111056202B (en) | 2018-05-29 | 2018-05-29 | Automatic pharmacy |
| CN201810529044.1A Active CN108996090B (en) | 2018-05-29 | 2018-05-29 | Medicine discharging device, automatic pharmacy and automatic medicine discharging method |
| CN201911422422.7A Active CN111056203B (en) | 2018-05-29 | 2018-05-29 | Automatic medicine discharging method for automatic pharmacy |
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| CN201911422421.2A Active CN111056202B (en) | 2018-05-29 | 2018-05-29 | Automatic pharmacy |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201911422422.7A Active CN111056203B (en) | 2018-05-29 | 2018-05-29 | Automatic medicine discharging method for automatic pharmacy |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112237352B (en) * | 2020-09-15 | 2021-12-10 | 昊天行医学科技(北京)股份有限公司 | Flowable traditional Chinese medicine intelligent pharmacy system based on big data |
| CN113200276B (en) * | 2021-05-24 | 2022-06-14 | 滁州学院 | Automatic medicine discharging device for injection |
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2018
- 2018-05-29 CN CN201911422421.2A patent/CN111056202B/en active Active
- 2018-05-29 CN CN201810529044.1A patent/CN108996090B/en active Active
- 2018-05-29 CN CN201911422422.7A patent/CN111056203B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN111056202B (en) | 2021-06-22 |
| CN111056203A (en) | 2020-04-24 |
| CN111056203B (en) | 2021-06-22 |
| CN111056202A (en) | 2020-04-24 |
| CN108996090A (en) | 2018-12-14 |
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Inventor after: Wang Jianyu Inventor after: Hu Yushen Inventor before: Hu Yushen |
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