CN111017455A

CN111017455A - Pharmacy dispensing robot

Info

Publication number: CN111017455A
Application number: CN201911192522.5A
Authority: CN
Inventors: 赖源发; 陈实; 赵晶; 冯亚栋; 黄华斌; 庒峙厦
Original assignee: Xiamen Huaxia University
Current assignee: Xiamen Huaxia University
Priority date: 2019-11-28
Filing date: 2019-11-28
Publication date: 2020-04-17
Anticipated expiration: 2039-11-28
Also published as: CN111017455B

Abstract

According to the pharmacy dispensing robot, the intervention of a manipulator is eliminated, the dispensing process can be completed from the medicine boxes to the medicine box accommodating component, the spiral medicine discharging channels are innovatively used as connecting media channels of a plurality of dispensing machines, the dispensing process is completely automatic by matching with the conveying belt component, the number of lifting actions of the detachable ejector rods can be selected by the pharmacy dispensing machines in the pharmacy dispensing robot according to the number of the medicine boxes needing to be dispensed, so that the medicine dispensing machines can achieve the effect that the number of the medicine boxes can be selected, damaged medicine boxes can be placed into the medicine preparation boxes, and the medicine dispensing efficiency is improved.

Description

Pharmacy dispensing robot

Technical Field

The invention relates to the technical field of medical instruments, in particular to a pharmacy dispensing robot.

Background

The automatic pharmacy is highly favored by hospitals due to high automation degree and strong stability. However, the pharmacy dispensing robot in the prior art is generally a manipulator type robot, the robot uses a manipulator to grab medicines, the medicine box external package is possibly damaged when the medicines are grabbed, although a flexible claw type manipulator appears in the prior art, the robot needs a medicine box to slowly grab when the medicines are dispensed, so that the problem of low dispensing efficiency is caused, and the manipulator type robot is complex in structure, needs to be regularly maintained, and the pharmacy dispensing cost is invisibly increased. And use this robot after all need to examine the medicine in service behavior through artificial mode when settling accounts the medicine every day, artifical check is comparatively loaded down with trivial details. As patent document 1, there is disclosed a pharmacy medicine transportation vehicle, in which a medicine gripping manipulator is provided, but the manipulator may directly contact a medicine box, and thus the exterior of the medicine box is torn, and the manipulator is further provided with a motor and the like, so that there are problems of complicated structure and high maintenance cost; as another example, patent document 2 discloses a multi-joint flexible manipulator, which can be applied to the grasping of fragile and fragile objects and irregular objects with various shapes and sizes because the manipulator is set to generate grasping force by the action of fluid-driven expansion muscles, and although the manipulator is used for a longer time, the manipulator adds additional expansion muscles 13 and other parts, which further increases the later maintenance cost; further, as shown in patent document 3, there is disclosed a medicine feeder in which medicine cartridges are placed in a medicine cartridge accommodating member 10, the medicine cartridges are pushed up after entering a medicine cartridge accommodating chamber and finally reach a medicine cartridge outflow path 11, and then the medicine cartridges are moved to a medicine feeding robot 30 by a swing arm 21 of a rotation member 20 for subsequent processing, but the medicine feeder can continuously feed only one row of medicines on the upper layer of the medicine cartridge accommodating member 10 and cannot select medicine cartridges to be fed at intervals, and therefore, it cannot dispense medicines while the medicines are still in the medicine cartridge accommodating member 10, and it is also necessary to perform medicine dispensing by a robot in subsequent processes, which reduces the degree of automation of a pharmacy, and further, it is not possible to select the number of medicine cartridges to be fed as required, to select an operation to feed medicine cartridges which are not adjacent as required, or to perform a removal operation for a medicine cartridge which has been broken, the flexibility is poor and with only one cartridge receiving member 10, dispensing of the medicament from the cartridge in the case of the cartridge receiving member 10 cannot be achieved.

[ patent document 1] CN108056886A

[ patent document 2] CN101554730B

[ patent document 3] CN103144890B

In summary, in the prior art, there is no pharmacy dispensing robot that can dispense medicines while the medicine boxes are still located in the medicine box accommodating members, has selectable number of medicine boxes and selectable positions of medicine boxes, can remove damaged medicine boxes, uses a spiral channel for dispensing medicines without using a manipulator, and combines multiple medicine feeders to work through the spiral channel as an intermediary.

Disclosure of Invention

In order to overcome the defects of the existing medicine distribution device, the invention provides a technical scheme that a pharmacy dispensing robot comprises a spiral top column and a spiral medicine discharging channel arranged on the outer side of the spiral top column along the axial direction of the spiral top column, a plurality of pharmacy medicine feeders comprising a channel selection mechanism, a medicine box containing component and a support frame are connected to the periphery of the spiral medicine discharging channel through connecting channels, a conveying belt is arranged at the outlet of the spiral medicine feeding channel, a plurality of adjacent medicine baskets are arranged on the conveying belt in parallel, a medicine dispensing platform is fixed on the right side of the conveying belt, the upper plane of the conveying belt is flush with the upper plane of the medicine dispensing platform, the connecting channel has a certain gradient, thereby can make the medicine box can slide after through gravity and fall into spiral medicine channel of giving medicine to the next life or life, connect the spiral medicine channel of giving medicine to the end connection of passageway, connect the passageway selection mechanism of medicine machine in the other one end of passageway.

Preferably, the pharmacy medicine feeding machine comprises a medicine box accommodating component, a support frame, a medicine box pushing mechanism, a medicine jacking device, a medicine box outflow channel, a camera and a channel selection mechanism, wherein the medicine jacking device is positioned at the bottom end of the medicine box accommodating component, the medicine box outflow channel is positioned at the top end of the medicine box accommodating component, the camera is installed in the medicine box outflow channel and is used for collecting an appearance image of the medicine box, the support frame is arranged on the right side of the medicine box accommodating component in parallel, the medicine box pushing mechanism is fixedly arranged at the top of the support frame, the medicine box pushing mechanism extends into the medicine box outflow channel and is used for pushing out the medicine box in the medicine box outflow channel, the medicine jacking device comprises a lifting bottom plate, a lifting cylinder and a detachable ejector rod, the detachable ejector rod is slidably arranged at the top of the lifting bottom plate, one end, the size of the top surface of each detachable ejector rod is the same as that of the bottom surface of a single medicine box after being placed into the medicine box containing component, each detachable ejector rod can independently lift through a power mechanism, the lifting height of each detachable ejector rod is the height size of one medicine box, and the channel selection mechanism comprises a medicine preparation channel, a medicine feeding channel and a channel selection driving module used for selecting the medicine preparation channel or the medicine feeding channel to align with the medicine box outflow channel.

Preferably, the power mechanism comprises a telescopic cylinder, a driving rod, a swinging connecting rod, an iron block, an electromagnet, a rotating pin, a strip-shaped hole and a sliding wedge block, the telescopic cylinder is fixedly arranged at the bottom end of the lifting bottom plate through a fixing support, the driving rod is fixedly arranged at the left end of the telescopic cylinder, the driving rod can horizontally slide relative to the lifting bottom plate through the telescopic cylinder, the axis of the driving rod is superposed with the central line of the lifting bottom plate along the height direction of the medicine box accommodating component, a plurality of electromagnets are uniformly distributed at the two ends of the driving rod, the swinging connecting rod is fixed at the bottom of the lifting bottom plate through the rotating pin and can rotate around the rotating pin, the rotating pin is positioned at the middle position of the swinging connecting rod, the iron block is arranged at one end of the swinging connecting rod and corresponds to the electromagnet, the sliding wedge, the detachable ejector rod is sleeved outside the sliding wedge block, guide blocks are arranged on two sides of the detachable ejector rod, a guide groove matched with the guide blocks is arranged in the medicine box containing component, and the guide groove is arranged along the vertical direction.

Preferably, passageway selection mechanism still includes backup pad and support column, the support column sets up in four edges of backup pad bottom, passageway selection drive module includes driving motor and lead screw, the passageway of preparing medicine slides with the passageway of adding medicine and sets up in the backup pad, the slip direction of passageway of preparing medicine and the passageway of adding medicine is perpendicular with medicine box outflow channel, driving motor is fixed to be set up in the backup pad and is located one side of the passageway of preparing medicine, lead screw one end is rotated and is set up in driving motor, be provided with on passageway of preparing medicine and the passageway of adding medicine and can be with the screw hole of lead screw meshing, the lead screw passes to rotate after passageway of preparing medicine and the passageway of adding medicine and connects on the.

Preferably, prepare medicine case at the fixed medicine preparation that is provided with of medicine preparation channel end, and prepare medicine case and set up in the backup pad, guarantee when preparing medicine channel and the passageway of adding medicine to switch, prepare medicine case and can not touch the interface channel.

Preferably, the sliding wedge block comprises a triangular block and a bolt, the bolt penetrates through the strip-shaped hole and is rotatably connected with the swing connecting rod, and the bottom of the detachable ejector rod is provided with a triangular hole matched with the triangular block, so that the detachable ejector rod can ascend and descend when the sliding wedge block slides horizontally.

Preferably, in order to adapt to the angle change generated when the swing connecting rod rotates, the electromagnet is in a mounting mode of being rotatably connected to the driving rod, and therefore the electromagnet and the iron block can be well attracted when the swing connecting rod rotates.

Preferably, a plurality of rows of electromagnets are arranged at two ends of the driving rod, and the electromagnets symmetrically arranged on two ends of the driving rod in the same row have the same power-on action and the same power-off action.

Preferably, the number of the rows of the electromagnets is equal to the number of the medicine boxes capable of being accommodated in the medicine box accommodating member, and the medicine boxes in the medicine box accommodating member are arranged in a single row.

Preferably, the front end of the cartridge accommodating member is of an openable door type structure.

The invention has the beneficial effects that:

1) the pharmacy dispensing robot of the invention does not need to adopt a mechanical arm to grasp medicines, but adopts a spiral medicine discharging channel with a simple structure as a medicine dispensing mode, a plurality of medicine feeding machines are connected to the periphery of the spiral medicine discharging channel through a connecting channel, each medicine feeding machine is specially used for dispensing a medicine, a scanning terminal reads the type of the required medicine and the type required by each medicine from a medicine list of a patient, the medicine feeding machines filled with different medicines are driven to act, and finally medicine boxes pushed out of all the medicine feeding machines are gathered in the spiral medicine discharging channel, so that the medicines grasped by one medicine list of the patient can be completely dispensed at one time, then the medicine boxes reach an outlet at the bottom end of the channel after passing through the spiral medicine discharging channel, a medicine basket is arranged at the outlet of the spiral medicine discharging channel, the medicine boxes slide into the medicine basket and then are conveyed to a medicine dispensing platform by a conveying belt, the medicine can be distributed, automatic medicine dispensing is realized, the efficiency is high, and the medicine dispensing can be realized without adopting a manipulator;

2) the medicine feeding machine in the pharmacy dispensing robot is characterized in that a medicine jacking device is arranged at the bottom of a medicine box containing component, the lifting height of the medicine jacking device is the height distance of one medicine box, the medicine jacking device comprises a detachable ejector rod capable of independently lifting, the detachable ejector rod can act according to the appearance of the medicine box shot by a camera arranged in a medicine box outflow channel, the action is matched with a channel selection mechanism 27 positioned at the outlet of the medicine box outflow channel to act, when the condition that the appearance of the medicine box is damaged and the medicine is exposed exists is detected, the detachable ejector rod at the position is controlled to jack the medicine box into the medicine box outflow channel, then the channel selection mechanism 27 acts to select the medicine preparing channel to be aligned with the medicine box outflow channel, and finally the medicine box pushing mechanism is controlled to push out a pushing block 23 so as to push the damaged medicine box into the medicine preparing box at the tail end of the medicine preparing channel, the medicine feeding machine has the advantages that a worker can accumulate certain medicines in the medicine preparation box and then determine whether the medicines can be recycled, and the multiple modules of the medicine feeding machine can feed the medicines according to the required quantity of the medicine boxes under the synergistic effect, so that the damaged medicine boxes can be prevented from entering the medicine feeding channel and being distributed to patients;

3) the medicine box containing component stores the medicine box, the medicine box can be placed into the medicine box containing component only by opening the medicine box containing component when the medicine needs to be supplemented, the medicine feeding is simple, and meanwhile, the medicine box is stored in the medicine box containing component, so that the medicine can be checked only by the medicine box containing component when the medicine is checked every day, and the checking is convenient and quick;

4) the medicine jacking device comprises the detachable ejector rod, the ejector rod is provided with a square structure and a round structure so as to adapt to different types of medicines, such as a square medicine box or a round medicine tank, so that the application range of the medicine distribution device is further improved, and the medicine distribution device converts horizontal driving force into vertical extension of the ejector rod through a sliding wedge block structure, so that the medicine distribution device can be arranged to be compact in structure;

5) the medicine box containing component is made of transparent materials, so that the quantity of medicines can be determined conveniently when the medicines are checked;

6) the power mechanism in the medicine jacking device selects the transversely arranged telescopic cylinder as a power source, the horizontal motion of the telescopic cylinder is converted into the lifting motion of the detachable ejector rods through the swinging connecting rods and the sliding wedge blocks, and the plurality of swinging connecting rods are adopted, so that the lifting motion of the plurality of detachable ejector rods can be simultaneously controlled through the telescopic motion of the telescopic cylinder, the iron blocks are arranged at the tail ends of the plurality of swinging connecting rods, the corresponding electromagnets are arranged on the driving rods driven by the telescopic cylinder, and the corresponding electromagnets are powered on or powered off, so that the engagement or the disengagement between the swinging connecting rods and the driving rods is realized, the number of the lifting motions of the detachable ejector rods and the specific lifting motion position of the detachable ejector rods can be skillfully selected, and the medicine box selection flexibility of the medicine feeding machine is further improved.

7) The medicine feeding machine in the pharmacy dispensing robot enables the medicine jacking device which moves vertically and the medicine box pushing device which moves horizontally to be matched for use, the medicine boxes are automatically conveyed, and finally the required medicine boxes are pushed into the medicine box gathering channel to achieve medicine distribution.

Drawings

FIG. 1 is a schematic overall structure diagram of a pharmacy dispensing robot of the invention;

FIG. 2 is a schematic structural view of a medicine feeding machine according to the present invention;

FIG. 3 is a bottom view of the drug lifting device of the present invention;

FIG. 4 is a front view of the drug lifting device of the present invention;

FIG. 5 is a top view of the drug lifting device of the present invention;

FIG. 6 is a view A-A of FIG. 5;

fig. 7 is a top view of the drug lifting device with the removable top bar removed.

Description of the reference symbols

1. A cartridge housing member; 2. a support frame; 3. a medicine box pushing mechanism; 4. a drug lifting device; 5. a cartridge outflow channel; 6. a lifting bottom plate; 7. a lift cylinder; 8. the ejector rod can be disassembled; 9. a swing link; 10. a drive rod; 11. an iron block; 12. an electromagnet; 13. a telescopic cylinder; 14. a rotation pin; 15. sliding the wedge; 16. a triangular block; 17. a bolt; 18. a strip-shaped hole; 19. a guide slot hole; 20. a triangular hole; 21. a guide block; 22. a telescopic cylinder; 23. a pushing block; 24. a channel side plate; 25. a channel roof; 26. a camera; 27. a channel selection mechanism; 28. a medicine preparing channel; 29. a medicine feeding channel; 30. a drive motor; 31. a screw rod; 32. a support plate; 33. a support pillar; 34. a screw jack post; 35. a spiral medicine feeding channel; 36. a connecting channel; 37. preparing a medicine box; 38. a conveyor belt; 39. a medicine basket; 40. a medicine dispensing platform.

Detailed Description

The present invention is further illustrated by the following examples, which are not intended to be limiting in any way, and any modifications or alterations based on the teachings of the present invention are intended to fall within the scope of the present invention.

As shown in fig. 1, which is a schematic view of the overall structure of the pharmacy dispensing robot of the present invention, the pharmacy dispensing robot includes a spiral pillar 34 and a spiral medicine discharging channel 35 disposed outside the spiral pillar 34 along the axial direction of the spiral pillar 34, a plurality of pharmacy dispensing machines including a channel selection mechanism 27, a medicine box housing member 1 and a support frame 2 are connected to the periphery of the spiral medicine discharging channel 35 through a connecting channel 36, a conveyor belt 38 is disposed at the outlet of the spiral medicine discharging channel 35, a plurality of adjacent medicine baskets 39 are disposed in parallel on the conveyor belt 38, a medicine dispensing platform 40 is fixed on the right side adjacent to the conveyor belt 38, and the upper plane of the conveyor belt 38 is flush with the upper plane of the medicine dispensing platform 40. After obtaining the information of the types and the quantities of the medicines on the medicine list of the patient at the scanning terminal, the information is transmitted to each medicine feeding machine, the medicine feeding machine selects the corresponding types and the quantities of the medicine boxes from the corresponding medicine box containing member 1, pushes the medicine boxes into the connecting channel 36, slides into the spiral medicine discharging channel 35 from the connecting channel 36, finally converges the medicine boxes on the spiral medicine discharging channel 35, finally slides into the medicine basket 39 at the outlet of the spiral medicine discharging channel 35 from the spiral medicine discharging channel 35, when the medicine boxes of all the medicine feeding machines are completely fed and no medicine box exists in the spiral medicine discharging channel 35, the medicine list scanned at the scanning terminal is judged to be fed completely, the conveying belt 38 is started to move a medicine basket distance to the right, so that the other corresponding adjacent empty medicine baskets are positioned at the outlet of the spiral medicine discharging channel 35, and the worker can distribute the distributed medicines to the patient when the medicine baskets cross the spiral medicine discharging channel 35, of course, when there are many patients, the conveyor belt 38 can push a plurality of medicine baskets to the medicine dispensing platform 40 for uniform medicine dispensing. Preferably, the medicine baskets 39 are provided with labels, and after the scanning terminal scans the medicine list of the patient, the medicine list is in one-to-one correspondence with the labels on the medicine baskets 39, so that medicine dispensing is more convenient, and medicine dispensing errors are avoided. Preferably, the connecting channel 36 has a slope so that the medicine box can slide into the spiral medicine discharging channel 35 by gravity, the end of the connecting channel 36 is connected with the spiral medicine discharging channel 35, and the other end of the connecting channel 36 is connected with the channel selecting mechanism 27 of the medicine connecting machine. Preferably, judge whether the medicine is finished, can all accomplish the medicine feeding through setting up the camera on spiral support pillar 34, after the medicine feeding is all accomplished to the medicine feeding machine, shoot through the camera and whether have the medicine box in spiral medicine discharging channel 35 and in connecting channel 36, if do not have the medicine box, judge that the medicine is finished. Preferably, the conveyor belt 38 is a conventional conveyor belt of the prior art, and has drive rollers at both ends, and a conveyor belt is disposed on the drive rollers. Preferably, in order to ensure the safety of the worker, the rightmost end of the conveyor belt 38 is located at the outlet of the spiral medicine discharging channel 35, so that the worker can dispense medicines on the medicine dispensing platform 40 after the first medicine basket 39 is filled with medicines and conveyed to the medicine dispensing platform 40.

As shown in fig. 2-7, the pharmacy medicine feeder of the present invention comprises a medicine box accommodating member 1, a supporting frame 2, a medicine box pushing mechanism 3, a medicine lifting device 4, a medicine box outflow channel 5, a camera 26 and a channel selection mechanism 27, wherein the medicine lifting device 4 is located at the bottom end of the medicine box accommodating member 1, the medicine box outflow channel 5 is located at the top end of the medicine box accommodating member 1, the camera 26 is installed in the medicine box outflow channel 5 for collecting the appearance images of the medicine boxes, the supporting frame 2 is arranged at the right side of the medicine box accommodating member 1 in parallel, the medicine box pushing mechanism 3 is fixedly arranged at the top of the supporting frame 2, the medicine box pushing mechanism 3 extends into the medicine box outflow channel 5 for pushing out the medicine boxes in the medicine box outflow channel 5, the medicine lifting device 4 comprises a lifting bottom plate 6, a lifting cylinder 7 and a detachable push rod 8, the, one end of a lifting cylinder 7 is fixedly arranged at the bottom end of the lifting bottom plate 6, the other end of the lifting cylinder 7 is fixedly arranged on the bottom plate of the medicine box accommodating member 1, the size of the top surface of each detachable ejector rod 8 is the same as that of the bottom surface of a single medicine box after being put into the medicine box accommodating member 1, each detachable ejector rod 8 can independently lift through a power mechanism, and preferably, the lifting height of each detachable ejector rod 8 is the height size of one medicine box; the channel selection mechanism 27 comprises a medicine preparing channel 28, a medicine feeding channel 29 and a channel selection driving module for selecting the medicine preparing channel 28 or the medicine feeding channel 29 to be aligned with the medicine box outflow channel 5;

preferably, the power mechanism comprises a telescopic cylinder 13, a driving rod 10, a swinging connecting rod 9, an iron block 11, an electromagnet 12, a rotating pin 14, a strip-shaped hole 18 and a sliding wedge 15, the telescopic cylinder 13 is fixedly arranged at the bottom end of the lifting bottom plate 6 through a fixing bracket, the driving rod 10 is fixedly arranged at the left end of the telescopic cylinder 13, the driving rod 10 can horizontally slide relative to the lifting bottom plate 6 through the telescopic cylinder 13, the axis of the driving rod 10 is overlapped with the central line of the lifting bottom plate 6 when viewed along the height direction of the medicine box accommodating member 1, a plurality of electromagnets 12 are uniformly distributed at the two ends of the driving rod 10, the swinging connecting rod 9 is fixed at the bottom of the lifting bottom plate 6 through the rotating pin 14 and can rotate around the rotating pin 14, the rotating pin 14 is positioned at the middle position of the swinging connecting rod 9, one end of the swinging connecting rod 9 is provided with the iron block 11, the, the sliding wedge block 15 passes through the strip-shaped hole 18 and is arranged on the top surface of the lifting bottom plate 6 in a sliding manner, the detachable ejector rod 8 is sleeved outside the sliding wedge block 15, guide blocks 21 are arranged on two sides of the detachable ejector rod 8, a guide groove matched with the guide blocks 21 is arranged in the medicine box containing member 1, and the guide groove is arranged along the vertical direction; the electromagnet 12 is only magnetic when being powered on, at the moment, the electromagnet 12 attracts the iron block 11, so that the sliding of the driving rod 10 can be converted into the swinging of the swinging connecting rod 9, during the operation, the telescopic action is realized through the telescopic cylinder 13, the driving rod 10 is driven to slide left and right, the attracted electromagnet 12 and the iron block 11 drive the swinging connecting rod 9 to rotate, the sliding wedge block 15 can horizontally slide, the detachable ejector rod 8 is driven to lift up and down, the number of medicine boxes pushed into the medicine box outflow channel 5 and the positions of the medicine boxes can be selected according to actual needs, the attraction force ratio of the electromagnet 12 and the iron block 11 is larger, and the electromagnet 12 and the iron block 11 cannot be disengaged when the detachable ejector rod 8 drives the medicine boxes to move up;

preferably, the channel selection mechanism further includes a support plate 32 and support columns 33, the support columns 33 are disposed at four corners of the bottom end of the support plate 32, the channel selection driving module includes a driving motor 30 and a screw rod 31, the medicine preparing channel 28 and the medicine feeding channel 29 are slidably disposed on the support plate 32, such as by disposing a guide slide rail on the support plate 32, the bottom ends of the medicine preparing channel 28 and the medicine feeding channel 29 are disposed with guide grooves matched with the guide slide rail, and the sliding directions of the medicine preparing channel 28 and the medicine feeding channel 29 are perpendicular to the medicine box outflow channel 5, so that when the medicine preparing channel 28 and the medicine feeding channel 29 slide, the tail ends of the medicine preparing channel 28 or the medicine feeding channel 29 are aligned with the outlet of the medicine box outflow channel 5; preferably, the driving motor 30 is fixedly arranged on the supporting plate 32 and located at one side of the medicine preparing channel 28, one end of the screw rod 31 is rotatably arranged on the driving motor 30, threaded holes capable of being meshed with the screw rod 31 are formed in the medicine preparing channel 28 and the medicine feeding channel 29, and the screw rod 31 is rotatably connected to the screw rod seat after passing through the medicine preparing channel 28 and the medicine feeding channel 29; as shown in fig. 1, the medicine feeding channel 29 is aligned with the outlet of the medicine box flowing channel 5 in a normal state, after the camera detects that the medicine box package is damaged, the electromagnets of the row corresponding to the corresponding medicine box are powered on, the telescopic cylinder 13 drives the driving rod 10 to act, so that the corresponding swing connecting rod 9 rotates, the corresponding detachable ejector rod 8 is further pushed to ascend, the medicine box of the row is pushed to extend into the medicine box flowing channel 5, then the driving motor 30 is controlled to rotate, the lead screw 31 is driven to rotate, the medicine preparing channel 28 and the medicine feeding channel 29 slide simultaneously, finally, the medicine preparing channel 28 is aligned with the outlet of the medicine box flowing channel 5, the medicine box pushing mechanism 3 is driven to act, and the damaged medicine box is pushed into the medicine preparing channel 28 by the pushing block 23;

preferably, a medicine preparing box 37 is fixedly arranged at the tail end of the medicine preparing channel 28, and the medicine preparing box 37 is arranged in the supporting plate 32, so that when the medicine preparing channel 28 and the medicine feeding channel 29 are switched, the medicine preparing box 37 does not touch the connecting channel 36;

preferably, the sliding wedge 15 comprises a triangular block 16 and a bolt 17, the bolt 17 passes through a strip-shaped hole 18 and is rotatably connected with the swing connecting rod 9, and the bottom of the detachable ejector rod 8 is provided with a triangular hole 20 matched with the triangular block 16, so that the detachable ejector rod 8 can be lifted and lowered when the sliding wedge 15 horizontally slides;

preferably, guide slots 19 are symmetrically arranged on both sides of the strip-shaped hole 18, and guide blocks matched with the guide slots 19 are arranged at the bottom of the triangular block 16, so that the sliding wedge 15 can smoothly slide;

preferably, the medicine box pushing mechanism 3 comprises a pushing block 23 and a telescopic cylinder 22, the medicine box outflow channel 5 comprises a channel top plate 25 and a channel side plate 24, and the pushing block 23 extends into a space enclosed by the channel top plate 25 and the channel side plate 24 to push the medicine box to flow out;

preferably, a camera 26 is mounted to the lower end of the tunnel ceiling 25;

preferably, in order to facilitate the observation of the number of cartridges inside the cartridge housing member 1, the cartridge housing member 1 is made of a transparent material;

preferably, in order to observe whether the medicine box ejected by the medicine ejecting device meets the requirement or not, a camera can be arranged on the channel top plate 25, so that the condition of the medicine box to be ejected can be observed in real time, if the medicine box does not meet the requirement, the telescopic cylinder 13 is driven to return again, a proper electromagnet 12 is selected to perform power-on operation, and finally a proper medicine box is selected;

preferably, in addition to the coupling of the swing link 9 to the driving rod 10 by means of the electromagnet 12 and the iron block 11, a telescopic rod driven by an electromagnet, for example, provided on the driving rod 10, a hole provided in the swing link 9, into or into which the telescopic rod extends or retracts, may be used to couple the swing link 9;

preferably, in order to adapt to the angle change generated when the swing link 9 rotates, the electromagnet on the driving rod 10 can be installed in a way of being rotatably connected to the driving rod 10, so that the electromagnet can adapt to the angle change when rotating;

preferably, the electromagnets 12 symmetrically arranged on both ends of the driving rod 10 in the same row have the same power-on and power-off actions, and a plurality of rows of electromagnets 12 are arranged on both ends of the driving rod 10;

preferably, the number of the rows of the electromagnets 12 is equal to the number of the medicine boxes which can be accommodated in the medicine box accommodating member 1, and the medicine boxes in the medicine box accommodating member 1 are arranged in a single row;

preferably, the front end of the medicine box accommodating member 1 is of an openable door type structure, so that the front end can be opened for putting the medicine box into the medicine box accommodating member 1;

preferably, the detachable ejector rod is of a square structure or a round structure so as to adapt to different types of medicines;

preferably, the height dimension of channel side plate 24 is the height dimension of a cartridge.

The pharmacy dispensing robot provided by the invention has the working process that: after a worker scans a medicine list of a patient through a scanning terminal, such as a handheld scanning terminal, medicine dispensing information corresponding to a label on a medicine basket 39 is generated, such as a label capable of representing the medicine basket 39 by using numbers, the medicine dispensing information is marked with the medicine list and printed out, the label of the medicine basket 39 is marked obviously by printed paper, after the medicine dispensing information obtained by the scanning terminal is obtained by a medicine feeding machine, the corresponding medicine feeding machine is selected to work, medicines of different types and quantities on the medicine list are pushed into a connecting channel 36 and finally flow onto a spiral medicine discharging channel 35 and fall onto the medicine basket 39 at the outlet of the spiral medicine discharging channel 35, a camera arranged on a spiral top pillar 34 starts to work after the medicine is completely dispensed by the medicine feeding machine, the connecting channel 36 and the spiral medicine discharging channel 35 are shot to judge whether medicine boxes exist or not, if no medicine box exists, the medicine feeding is judged to be completed, the conveyor belt 38 is started to move the position of one medicine basket rightwards, the medicine basket is pushed to the medicine dispensing platform 40, the staff checks the medicines in the medicine basket according to printed paper, and the medicines can be sent to a patient after checking.

The pharmacy medicine feeding machine provided by the invention has the working process that: opening the medicine box containing component 1, putting the medicine box into the medicine box containing component 1, and driving the lifting cylinder 7 after the medicine box is fully placed, so as to adjust the uppermost position of the medicine box, and ensure that the uppermost position of the medicine box is just below the medicine box outflow channel 5; starting the camera 26 to shoot the appearance image of the medicine box at the uppermost layer, when a damaged medicine box exists, recording the list of the damaged medicine box, electrifying the electromagnets with the same number as the medicine box, controlling the telescopic cylinder 13 to act, driving the detachable ejector rods 8 with the corresponding number to lift up by a medicine box height, ejecting the damaged medicine box into the medicine box outflow channel 5, then controlling the driving motor 30 to rotate, driving the lead screw to rotate, aligning the medicine preparation channel with the outlet of the medicine box outflow channel 5, starting the pushing block 23 of the medicine box pushing mechanism 3 to act, pushing the damaged medicine box into the medicine preparation channel, returning the pushing block 23 to the original position, reversely rotating the driving motor 30, aligning the medicine feeding channel with the medicine box outflow channel 5, returning the telescopic cylinder 13 to act, recording the number A of the obtained electromagnets, and electrifying the electromagnets of the A column when the driving rod pushes and sends the medicine, unless the electromagnet power-on information reset signal is obtained, so that the medicine box pushing mechanism 3 can have a flat medicine box plane for the medicine boxes to run to the medicine box outflow channel outlet during pushing, but the quantity of the medicine boxes pushed next time does not count the electromagnet powered last time; if no medicine box is damaged, selecting electromagnets of corresponding number rows to be powered on according to the number of medicine boxes to be loaded, driving the telescopic cylinder 13 to act, enabling the detachable ejector rods 8 of corresponding rows to lift up by one medicine box height, pushing the corresponding number of medicine boxes into the medicine box outflow channel 5, finally driving the pushing block 23 to act, pushing the medicine boxes out of the medicine box outflow channel to enter the medicine loading channel, and carrying out subsequent medicine loading action, preferably, the acting electromagnets are continuous electromagnets, and the electromagnet close to the pushing block 23 acts to record the number B of the acting electromagnets, and then the telescopic cylinder 13 and the pushing block 23 return; if the whole row of medicine boxes need to be pushed out after one-time feeding, all the electromagnets are reset according to the power-on information, and the lifting cylinder 7 is driven to ascend at the same time, so that the top surface of the medicine box on the uppermost layer is positioned at the lower end of the medicine feeding channel; if the medicine boxes at the uppermost row have the rest medicine boxes and the number of the medicine boxes for the second time of medicine feeding is smaller than the number of the rest medicine boxes, the electromagnet column number B and the electromagnet column number C needing medicine feeding are powered, and the telescopic cylinder 13 acts to drive the electromagnet column number B and the electromagnet column number C to act together, so that the C medicine boxes are pushed to be sent out of the medicine box outflow channel 5; if the medicine box quantity of second time loading is greater than when surplus medicine box figure, all the electro-magnets in line number all get electric, telescopic cylinder 13 moves, and promote 23 actions of piece, accomplish the medicine box propelling movement, note the quantity D that still needs the loading, accomplish one deck medicine box propelling movement back, then get electric information reset with all electro-magnets, drive lift cylinder 7 simultaneously rises for the superiors' medicine box top surface is located the passageway lower extreme of loading, then control D electro-magnets in line number and get electric, accomplish the propelling movement of follow-up medicine box. After all the medicine boxes in the medicine box containing member 1 are pushed, a person is reminded to add medicine, the lifting cylinder 7 retracts to the lowest end, and the medicine box containing member acts after being filled with the medicine.

According to the pharmacy dispensing robot, the intervention of a manipulator is eliminated, the dispensing process can be completed by dispensing the medicine boxes from the medicine boxes or in the medicine box containing component, the spiral medicine discharging channels are innovatively used as connecting media channels of the plurality of medicine dispensing machines, the dispensing process is fully automated by matching with the conveying belt component, and the medicine dispensing machines in the pharmacy dispensing robot can select the number of the detachable ejector rods to realize the ascending action according to the number of the medicine boxes needing to be dispensed, so that the medicine dispensing machines can realize the selection of the number of the medicine boxes, the damaged medicine boxes can be placed in the medicine preparing boxes, and the medicine dispensing efficiency is improved.

Claims

1. Pharmacy dispensing robot, its characterized in that: comprises a spiral top pillar (34), a spiral medicine discharging channel (35) arranged on the outer side of the spiral top pillar (34) along the axial direction of the spiral top pillar (34), a plurality of pharmacy medicine feeders comprising a channel selection mechanism (27), a medicine box containing component (1) and a support frame (2) are connected to the periphery of the spiral medicine discharging channel (35) through a connecting channel (36), a conveyor belt (38) is arranged at the outlet of the spiral medicine discharging channel (35), a plurality of adjacent medicine baskets (39) are arranged on the conveyor belt (38) in parallel, a medicine dispensing platform (40) is fixed on the right side close to the conveyor belt (38), the upper plane of the conveyor belt (38) is flush with the upper plane of the medicine dispensing platform (40), the connecting channel (36) has a certain gradient, so that the medicine boxes can slide into the spiral medicine discharging channel (35) after passing through gravity, the tail end of the connecting channel (36) is connected with the spiral medicine discharging, the other end of the connecting channel (36) is connected with a channel selection mechanism (27) of the connecting herbal medicine machine.

2. A pharmacy dispensing robot as claimed in claim 1, wherein: pharmacy medicine machine of adding medicine includes that the medicine box accepts component (1), support frame (2), medicine box pushing mechanism (3), medicine jacking device (4), medicine box outflow passageway (5), camera (26) and passageway selection mechanism (27), medicine jacking device (4) are located the medicine box and accept component (1) bottom, medicine box outflow passageway (5) are located the top that the component (1) was acceptd to the medicine box, camera (26) are installed and are used for gathering medicine box outward appearance image in medicine box outflow passageway (5), support frame (2) set up side by side in medicine box and accept component (1) right side, medicine box pushing mechanism (3) are fixed to be set up in the top of support frame (2), and medicine box pushing mechanism (3) stretch into medicine box outflow passageway (5), be used for pushing out the medicine box in medicine box outflow passageway (5), medicine jacking device (4) include lifting bottom plate (6), The medicine box storage device comprises a lifting cylinder (7) and detachable ejector rods (8), the detachable ejector rods (8) are arranged at the top of a lifting bottom plate (6) in a sliding mode, one end of the lifting cylinder (7) is fixedly installed at the bottom end of the lifting bottom plate (6), the other end of the lifting cylinder (7) is fixedly installed on a bottom plate of a medicine box containing component (1), the size of the top face of each detachable ejector rod (8) is the same as the size of the bottom face of a single medicine box after the medicine box is placed into the medicine box containing component (1), each detachable ejector rod (8) can independently lift through a power mechanism, the lifting height of each detachable ejector rod (8) is the height size of one medicine box, and a channel selection driving module comprises a medicine preparing channel (28) and a medicine feeding channel (29) and is used for selecting the medicine preparing channel (28) or the medicine feeding channel (29).

3. The pharmacy dispensing robot of claim 2, wherein: the power mechanism comprises a telescopic cylinder (13), a driving rod (10), a swinging connecting rod (9), an iron block (11), electromagnets (12), a rotating pin (14), a strip-shaped hole (18) and a sliding wedge block (15), wherein the telescopic cylinder (13) is fixedly arranged at the bottom end of the lifting bottom plate (6) through a fixing support, the driving rod (10) is fixedly arranged at the left end of the telescopic cylinder (13), the driving rod (10) can horizontally slide relative to the lifting bottom plate (6) through the telescopic cylinder (13), the axis of the driving rod (10) is superposed with the central line of the lifting bottom plate (6) along the height direction of the medicine box accommodating component (1), a plurality of electromagnets (12) are distributed at the two ends of the driving rod (10), the swinging connecting rod (9) is fixed at the bottom of the lifting bottom plate (6) through the rotating pin (14) and can rotate around the rotating pin (14), the rotating pin (14) is positioned at the middle, one end of swing connecting rod (9) is provided with iron plate (11), iron plate (11) and electro-magnet (12) are corresponding, the other end department of swing connecting rod (9) is connected with slip voussoir (15), slip voussoir (15) pass bar hole (18) and slide and set up in the top surface of lifting bottom plate (6), can dismantle ejector pin (8) cover outside sliding voussoir (15) are located, and can dismantle ejector pin (8) both sides and be provided with guide block (21), be provided with in the medicine box accommodating member (1) with guide block (21) complex guide way, the guide way sets up along vertical direction.

4. The pharmacy dispensing robot of claim 2, wherein: passageway selection mechanism still includes backup pad (32) and support column (33), support column (33) set up in four edges of backup pad (32) bottom, passageway selection drive module includes driving motor (30) and lead screw (31), it sets up on backup pad (32) to prepare medicine passageway (28) and medicine channel (29) slip, it is perpendicular with medicine box outflow passageway (5) to prepare medicine passageway (28) and the slip direction of medicine channel (29), driving motor (30) are fixed to be set up in backup pad (32) and are located one side of preparing medicine passageway (28), lead screw (31) one end is rotated and is set up in driving motor (30), be provided with the screw hole that can mesh with lead screw (31) on preparing medicine passageway (28) and medicine channel (29), lead screw (31) pass and prepare medicine passageway (28) and rotate after medicine channel (29) and connect on the lead screw seat.

5. The pharmacy dispensing robot of claim 4, wherein: a medicine preparing box (37) is fixedly arranged at the tail end of the medicine preparing channel (28), and the medicine preparing box (37) is arranged in the supporting plate (32), so that the medicine preparing box (37) can not touch the connecting channel (36) when the medicine preparing channel (28) and the medicine feeding channel (29) are switched.

6. The pharmacy dispensing robot of claim 3, wherein: sliding wedge (15) are including three corner blocks (16) and bolt (17), and strip hole (18) are passed and swing connecting rod (9) are connected in rotation to bolt (17), can dismantle ejector pin (8) bottom be provided with three corner holes (20) of three corner blocks (16) complex to when sliding wedge (15) horizontal slip, can dismantle ejector pin (8) and can go up and down.

7. The pharmacy dispensing robot of claim 2, wherein: in order to adapt to the angle change generated when the swing connecting rod (9) rotates, the electromagnet is in a mounting mode of being rotatably connected to the driving rod (10), and therefore the electromagnet and the iron block can be well attracted when the swing connecting rod (9) rotates.

8. The pharmacy dispensing robot of claim 2, wherein: the two ends of the driving rod (10) are provided with a plurality of rows of electromagnets (12), and the electromagnets (12) symmetrically arranged on the two ends of the driving rod (10) in the same row have the same power-on action and power-off action.

9. The pharmacy dispensing robot of claim 8, wherein: the number of the rows of the electromagnets (12) is equal to the number of the medicine boxes capable of being contained in the medicine box containing member (1) as the number of the detachable ejector rods (8), and the medicine boxes in the medicine box containing member (1) are arranged in a single row.

10. The pharmacy dispensing robot of claim 1, wherein: the front end of the medicine box containing component (1) is of an openable door type structure.