CN112897044A - Intelligent automatic medicine dispensing and taking system for pharmacy - Google Patents
Intelligent automatic medicine dispensing and taking system for pharmacy Download PDFInfo
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- CN112897044A CN112897044A CN202110084500.8A CN202110084500A CN112897044A CN 112897044 A CN112897044 A CN 112897044A CN 202110084500 A CN202110084500 A CN 202110084500A CN 112897044 A CN112897044 A CN 112897044A
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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
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/901—Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B43/00—Forming, feeding, opening or setting-up containers or receptacles in association with packaging
- B65B43/42—Feeding or positioning bags, boxes, or cartons in the distended, opened, or set-up state; Feeding preformed rigid containers, e.g. tins, capsules, glass tubes, glasses, to the packaging position; Locating containers or receptacles at the filling position; Supporting containers or receptacles during the filling operation
- B65B43/46—Feeding or positioning bags, boxes, or cartons in the distended, opened, or set-up state; Feeding preformed rigid containers, e.g. tins, capsules, glass tubes, glasses, to the packaging position; Locating containers or receptacles at the filling position; Supporting containers or receptacles during the filling operation using grippers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B43/00—Forming, feeding, opening or setting-up containers or receptacles in association with packaging
- B65B43/42—Feeding or positioning bags, boxes, or cartons in the distended, opened, or set-up state; Feeding preformed rigid containers, e.g. tins, capsules, glass tubes, glasses, to the packaging position; Locating containers or receptacles at the filling position; Supporting containers or receptacles during the filling operation
- B65B43/48—Feeding or positioning bags, boxes, or cartons in the distended, opened, or set-up state; Feeding preformed rigid containers, e.g. tins, capsules, glass tubes, glasses, to the packaging position; Locating containers or receptacles at the filling position; Supporting containers or receptacles during the filling operation using reciprocating or oscillating pushers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B43/00—Forming, feeding, opening or setting-up containers or receptacles in association with packaging
- B65B43/42—Feeding or positioning bags, boxes, or cartons in the distended, opened, or set-up state; Feeding preformed rigid containers, e.g. tins, capsules, glass tubes, glasses, to the packaging position; Locating containers or receptacles at the filling position; Supporting containers or receptacles during the filling operation
- B65B43/52—Feeding or positioning bags, boxes, or cartons in the distended, opened, or set-up state; Feeding preformed rigid containers, e.g. tins, capsules, glass tubes, glasses, to the packaging position; Locating containers or receptacles at the filling position; Supporting containers or receptacles during the filling operation using roller-ways or endless conveyors
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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
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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
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Medical Preparation Storing Or Oral Administration Devices (AREA)
Abstract
The invention discloses an automatic medicine distributing and taking system for an intelligent pharmacy, which belongs to the field of intelligent pharmacies and comprises at least one automatic medicine distributing machine, at least one line patrol robot and at least one medicine storing and taking cabinet, wherein the at least one automatic medicine distributing machine is positioned on one side of a track line, the at least one line patrol robot is used for carrying medicine baskets and driving the medicine baskets to move along the vertical direction and the horizontal direction, the at least one line patrol robot moves along the track line, and the at least one medicine storing and taking cabinet; the medicine basket is used for storing the medicine baskets, and at least one medicine storing and taking cabinet is positioned on the other side of the trajectory line. The automatic medicine distributing and taking system for the intelligent pharmacy provided by the invention reconstructs the arrangement mode of the intelligent pharmacy, and the automatic medicine distributing machine, the line patrol robot and the matched medicine storing and taking cabinet are arranged, so that the automation of the medicine distributing and taking processes is realized, and the foundation is laid for unmanned medicine taking windows and remote appointment medicine taking.
Description
Technical Field
The invention relates to the field of intelligent pharmacies, in particular to an automatic dispensing and taking system for an intelligent pharmacy.
Background
Along with the related technology of the intelligent pharmacy, the related technology of the intelligent pharmacy is gradually matured day by day, the cost and the difficulty of main equipment and software in the development process of the intelligent pharmacy gradually focus on how to set an automatic medicine dispensing and taking system, the information system part of the hospital at the present stage is relatively perfect, but the automation of the whole flow of medicine dispensing and taking is difficult to realize in the real sense, the existing medicine dispensing machine mainly has a plurality of single machines, a large number of tracks are needed in the process of conveying the medicines by integrating the single machine, and the large number of tracks are difficult to effectively cooperate with a medicine storing and taking cabinet.
In order to solve this problem, the following solutions are adopted in the prior art: (1) adopt an automatic medicine-dispensing machine to correspond a plurality of medicines and store the cabinet, for example: chinese patent document publication No. CN206991313U discloses a remote self-service medicine taking device, which comprises a pharmacy computer, a plurality of doctor computers, an automatic medicine dispensing machine, a plurality of payment terminals and a plurality of medicine storage cabinets, wherein the doctor computers are connected with the pharmacy computer through wireless network wireless communication, the payment terminals are electrically connected with the doctor computers in a one-to-one correspondence manner, the automatic medicine dispensing machine is electrically connected with the pharmacy computer, the automatic medicine dispensing machine is provided with a plurality of medicine dispensing ports, and the plurality of medicine dispensing ports of the automatic medicine dispensing machine are communicated with the medicine storage cabinets in a one-to-one correspondence manner. However, the above solutions are theoretically feasible and difficult to implement, because a large number of tracks need to be arranged between the medicine dispensing ports corresponding to the medicine storage cabinets, which is obviously difficult to implement in a limited space, even the space occupied by the tracks is far larger than the volume of the automatic medicine dispensing machine, and each track also needs a corresponding power device, so that the cost is very high. (2) And the medicine taking frame is conveyed by adopting a movable trolley. Chinese patent publication No. CN206353351U discloses a parallel warehouse style passageway of automatic drugstore multi-window sends out medicine mechanism and control system fast, including the host computer, the medicine storage frame, get it filled the frame and put the frame, the medicine storage frame includes electronic slide rail, touch switch and track, install the medicine storage box on the electronic slide rail, touch switch is located one side of medicine storage box and passes through the bolt fastening on electronic slide rail, install the travelling car on the track, it installs controller two to put the frame top, the below of controller two is provided with electronic telescopic joint, the frame of getting it filled has been placed on the electronic telescopic joint, the front mounted of the frame of getting it filled has control panel, data transmitter is installed at the control panel top, the back plate of the frame of getting it filled is iron plate, and the outside central point at the back plate inlays there is the bar code. This kind of overall arrangement mode also needs to install a large amount of tracks, when it is applied to big-and-middle-sized drugstore, easily leads to crisscross and the cost is higher when the track is arranged, and this kind of medicine dispensing mechanism is difficult to carry out effectual combination with access medicine cabinet simultaneously, because it is difficult to transfer the frame of putting to each get thing check of access medicine cabinet through the manual work, so it is difficult to realize the automatic medicine of getting in the true sense.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention aims to provide an automatic medicine dispensing and taking system for an intelligent pharmacy, which reconstructs the arrangement mode of the intelligent pharmacy, and realizes automation of medicine dispensing and taking processes, unmanned medicine taking window and remote reservation medicine taking foundation by arranging a line patrol robot capable of driving a medicine basket to move up and down and horizontally and a matched medicine storing and taking cabinet.
In order to achieve the purpose, the invention adopts the following technical scheme:
the invention provides an automatic medicine dispensing and taking system for an intelligent pharmacy, which comprises a trajectory line, at least one automatic medicine dispensing machine, at least one patrol robot and at least one medicine storing and taking cabinet, wherein the at least one automatic medicine dispensing machine is used for feeding medicine boxes into medicine baskets, the at least one automatic medicine dispensing machine is positioned on one side of the trajectory line, one side of each automatic medicine dispensing machine is provided with a medicine taking position, the at least one medicine taking position is positioned on the trajectory line, the at least one patrol robot is used for carrying the medicine baskets and driving the medicine baskets to move along the vertical direction and the horizontal direction, the at least one patrol robot moves along the trajectory line, the at least one medicine storing and taking cabinet is used for storing the medicine baskets, the at least one medicine storing and taking cabinet is positioned on the other side of the trajectory line, the patrol robot carries the medicine baskets to take medicines through the medicine taking positions corresponding to the at least one automatic medicine dispensing machine in sequence, and moving to the corresponding medicine storing and taking cabinet, and putting the medicine basket into the corresponding medicine storing and taking cabinet.
The invention further adopts the technical scheme that an authentication position corresponding to the medicine taking position is arranged on one side of each medicine taking position, a first short-distance transceiver is arranged on the line patrol robot, a second short-distance transceiver is arranged on the automatic medicine dispensing machine, when the line patrol robot moves to the authentication position, the first short-distance transceiver sends first authentication information to the second short-distance transceiver of the automatic medicine dispensing machine, and the automatic medicine dispensing machine executes medicine preparation and dispensing operation after the first authentication information is verified.
The invention further adopts the technical scheme that the line patrol robot comprises a mechanical arm for clamping a medicine basket, a boundary detector is arranged on the mechanical arm, the automatic medicine distributor comprises a medicine preparation conveying belt, a first medicine outlet channel and a medicine preparation outlet, the first medicine outlet channel is arranged in the medicine preparation outlet and positioned at the tail end of the medicine preparation conveying belt, a boundary calibration sheet is arranged on the medicine preparation outlet, when the line patrol robot moves to the medicine taking position, the front-back distance of the line patrol robot and the height of the mechanical arm are adjusted, so that after the boundary detector detects the boundary calibration sheet, the mechanical arm sends the medicine basket to the position below the first medicine outlet channel, and the automatic medicine distributor conveys a part or all of medicine in a medicine list to the medicine basket through the first medicine outlet channel.
The invention further adopts the technical scheme that the bulk drug dispensing system further comprises a bulk drug dispensing room, wherein the bulk drug dispensing room comprises an annular conveying line and at least one dispensing table used for pharmacists to dispense bulk drugs, the at least one dispensing table is positioned on one side of the annular conveying line, one side of the bulk drug dispensing room is provided with an authentication position and a drug taking position, and the authentication position and the drug taking position are positioned on the trajectory line.
The technical scheme includes that a second medicine outlet channel is arranged on one side of the bulk medicine configuration room, a plurality of medicine storage channels used for storing bulk medicines are arranged on the annular conveying line, an electric push rod is arranged at one end of each medicine storage channel, the second medicine outlet channel is located on the other side of the annular conveying line, and after the electric push rods acquire bulk medicine pushing instructions from a bulk medicine control cabinet, the bulk medicines in the medicine storage channels are pushed into the second medicine outlet channel by executing the bulk medicine pushing instructions and are conveyed into medicine baskets on the line patrol robot through the second medicine outlet channel.
The technical scheme of the invention is that the bulk drug preparation room further comprises a power supply device and a power receiving rod which are electrically connected with the electric push rods, wherein an annular power transmission line matched with the annular power transmission line in shape is arranged above the annular power transmission line, and the power supply device is electrically communicated with the annular power transmission line through the power receiving rod.
The medicine storing and taking cabinet comprises a frame body and a plurality of storage lattices, wherein the storage lattices are positioned in the frame body, two side walls of each storage lattice are provided with accommodating grooves for accommodating two clamping rods of a manipulator, and the depth of each accommodating groove is greater than or equal to the diameter of each clamping rod.
The technical scheme is that the medicine storing and taking cabinet is provided with a control panel with a display screen and a scanner, the display screen is used for displaying patient identity information and a medicine packaging state, the scanner is used for acquiring information codes on patient bills, and the display screen and the scanner are both electrically connected with the control panel.
The invention further adopts the technical scheme that the medicine basket posture regulator further comprises a posture regulator for regulating the position of the medicine basket, the posture regulator comprises a placing table and a horizontal push rod, the horizontal push rod is positioned at one side of the placing table, and two clamping rods of the manipulator are respectively provided with a limiting stop lever matched with the posture regulator.
According to a further technical scheme, the line patrol robot further comprises a vertical displacement mechanism and a horizontal displacement mechanism, the vertical displacement mechanism drives the horizontal displacement mechanism to move up and down, the manipulator is fixed on the horizontal displacement mechanism and comprises a first clamping rod, a second clamping rod and a clamping rod driver, and the clamping rod driver drives the first clamping rod and the second clamping rod to clamp the medicine basket.
The invention has the beneficial effects that:
the invention provides an automatic medicine dispensing and taking system for an intelligent pharmacy, wherein a line patrol robot is arranged between an automatic medicine dispensing machine and a medicine storing and taking cabinet and can drive a medicine basket to move up and down and horizontally, at least one medicine taking position is positioned on one side of a track line, and the extending direction of the track line sequentially passes through each medicine taking position, so that no matter how many automatic medicine dispensing machines are arranged, the line patrol robot provided by the application can take any whole medicine on a medicine list and can place the medicine basket into the corresponding medicine storing and taking cabinet, the medicine dispensing and taking processes are automatically processed, a patient can obtain the whole medicine corresponding to the medicine list only by scanning a code or identity authentication in other modes, and a foundation is laid for unmanned medicine taking windows and remote reservation medicine taking. In addition, the automatic medicine distributing and taking system for the intelligent pharmacy is further provided with a medicine distributing and dispensing room, the medicine is conveyed to the second medicine outlet channel through the annular conveying line, the second medicine outlet channel is located on one side of the track line, and therefore the line patrol robot can take the medicine and take the medicine, the problem that in the prior art, the medicine needs to be manually checked and then put into a basket or a bag is fundamentally solved, and the problem that the medicine needs to be manually integrated at the medicine taking window and then handed over to a patient is solved.
Drawings
FIG. 1 is a schematic diagram of an automatic dispensing and taking system according to an embodiment of the present invention;
FIG. 2 is a top view of an automatic dispensing machine provided in accordance with an embodiment of the present invention, including a line patrol robot;
FIG. 3 is a front view of an automatic dispensing machine provided in an embodiment of the present invention, including a line patrol robot;
FIG. 4 is a side view of an automatic dispensing machine provided in accordance with an embodiment of the present invention, without a roving robot;
FIG. 5 is a top view of a line patrol robot provided in an embodiment of the present invention, including a drug basket;
FIG. 6 is a side view of a line patrol robot provided in an embodiment of the present invention, without a drug basket;
FIG. 7 is a block diagram of a bulk drug dispensing room provided in an embodiment of the present invention, including a line patrol robot;
FIG. 8 is a partial view of a bulk drug dispensing configuration room provided in accordance with an embodiment of the present invention, including a line patrol robot;
FIG. 9 is a partial view A of a bulk dispensing configuration chamber provided in an embodiment of the present invention;
FIG. 10 is a front view of an access cabinet provided in an embodiment of the present invention;
FIG. 11 is a top view of a storage and retrieval cabinet according to an embodiment of the present invention, including a line patrol robot, with the storage and retrieval cabinet cut away from the C-C section;
FIG. 12 is a partial view B of an access cabinet provided in an embodiment of the present invention;
fig. 13 is a structural diagram of an attitude adjuster according to an embodiment of the present invention, including a line patrol robot.
In the figure:
1. an automatic dispensing machine; 2. a line patrol robot; 5. a medicine basket; 6. taking a medicine position; 21. a trajectory line; 3. a medicine cabinet is stored and taken; 7. an authentication bit; 22. a first close-range transceiver; 15. a second close-range transceiver; 23. a manipulator; 24. a vertical displacement mechanism; 25. a horizontal displacement mechanism; 231. a boundary detector; 11. a medicine preparation conveying belt; 12. a first medicine outlet channel; 131. a boundary calibration sheet; 13. a medicine preparation outlet; 4. a bulk drug preparation room; 41. an annular conveying line; 42. a dispensing table; 43. a second medicine outlet channel; 411. a drug storage channel; 412. an electric push rod; 44. a bulk drug control cabinet; 45. a power supply device; 46. a power receiving pole; 47. a ring-shaped transmission line; 31. a frame body; 32. a storage grid; 321. accommodating grooves; 33. a control panel; 34. a scanner; 35. a display screen; 8. an attitude adjuster; 81. a placing table; 82. a horizontal push rod; 233. a limiting stop lever; 235. a first clamping bar; 232. a second clamping bar; 234. a clamping bar driver; 9. preparing the medicine into a room; 100. a medicine preparation control cabinet; 211. a primary trace line; 212. a backup trajectory line; 213. a transition trajectory.
Detailed Description
The technical scheme of the invention is further explained by the specific implementation mode in combination with the attached drawings.
As shown in fig. 1 to 13, the automatic dispensing and medicine taking system for intelligent pharmacy provided in this embodiment includes a trajectory line 21, at least one automatic dispensing machine 1, at least one patrol robot 2, and at least one medicine storing and taking cabinet 3, for common medium and large prescriptions, a plurality of automatic dispensing machines 1 are generally selectively arranged in a row, preferably the number of patrol robots 2 may be equal to the number of automatic dispensing machines 1 or less than the number of automatic dispensing machines 1, and the number of medicine storing and taking cabinets 3 is reasonably set according to the patient flow rate of the hospital or the area of the medicine taking area. At least one automatic dispensing machine 1 is located on one side of the trajectory line 21, namely the upper side of the figure, a plurality of automatic dispensing machines 1 are arranged in rows, and a part of the trajectory line 21 is located in a medicine preparation configuration room 9, the automatic dispensing machines 1 are used for sending prepared medicine preparation boxes into a medicine basket 5, one side of each automatic dispensing machine 1 is provided with a medicine taking position 6, and at least one medicine taking position 6 is located on the trajectory line 21. At least one line patrol robot 2 is used for carrying medicine baskets 5 and driving the medicine baskets 5 to move along the vertical direction and the horizontal direction, at least one line patrol robot 2 moves along a track line 21, at least one medicine storing and taking cabinet 3 is used for storing the medicine baskets 5, at least one medicine storing and taking cabinet 3 is positioned at the other side of the track line 21, namely the lower side of the drawing, the line patrol robot 2 sequentially takes medicines through at least one automatic medicine dispensing machine 1 and then moves to the corresponding medicine storing and taking cabinet 3, the medicine baskets 5 are placed into the corresponding medicine storing and taking cabinet 3, when the line patrol robot is used, at least one automatic medicine dispensing machine 1 is positioned at one side of the track line 21, as one side of each automatic medicine dispensing machine 1 is provided with a medicine taking position 6, and at least one medicine taking position 6 is positioned on the track line 21, after the line patrol robot 2 moves for a circle along the track line 21, all the automatic medicine dispensing machines 1 are inevitable, that is, no matter how many rows of automatic dispensing machines 1 are set by the prescription, the inspection robot 2 can acquire any one of the whole medicine preparation in the whole medicine preparation configuration room 9, and the whole medicine generally refers to box medicine or bottle medicine filling. Further, since at least one of the medicine storing and taking cabinets 3 is located on the other side of the track line 21, the inspection robot 2 may pass through all the medicine storing and taking cabinets 3, that is, the medicine basket 5 can be placed in any storage cell 32 of any one medicine storing and taking cabinet 3. Preferably, the track line 21 on one side of each automatic dispensing machine 1 is divided into a main track line 211 and a standby track line 212, the main track line 211 and the standby track line 212 between two adjacent automatic dispensing machines 1 are communicated through a transition track line 213, at least one automatic dispensing machine 1 is located on one side of the main track line 211, when the inspection robot 2 does not need to pass through a certain automatic dispensing machine 1, the standby track line 212 can be rapidly passed, and when route selection is needed, a shortest-path algorithm can be adopted, so that congestion of a plurality of inspection robots 2 is avoided, the working efficiency of each inspection robot 2 is improved, and each inspection robot 2 can directly move to a target automatic dispensing machine 1 to take medicine. Similarly, a similar design may be adopted for the medicine storing and taking cabinet 3, so that the inspection robot 2 can directly move to the target medicine storing and taking cabinet 3 for medicine storing and taking without queuing, and the main track line 211 and the standby track line 212 corresponding to the medicine storing and taking cabinet 3 are not shown in the figure. Therefore, the automatic medicine dispensing and taking system for the intelligent pharmacy, provided by the invention, has the advantages that the line patrol robot 2 is arranged between the automatic medicine dispensing machine 1 and the medicine storing and taking cabinet 3, the line patrol robot 2 can drive the medicine baskets to move up and down and horizontally, and the extending direction of the track line 21 sequentially passes through each medicine taking position 6, so that no matter how many automatic medicine dispensing machines 1 are arranged, the line patrol robot provided by the application can take any whole medicine on the medicine list, and meanwhile, the medicine baskets 5 can be placed into the corresponding medicine storing and taking cabinet 3, so that the medicine dispensing and taking processes are fully called for automatic treatment, and a patient can obtain any whole medicine or multiple medicines corresponding to the medicine list of the patient only by code scanning or other modes of identity authentication.
As shown in fig. 1 to 6, to avoid the problem of incorrect dispensing of the automatic dispensing machine 1, further, the dispensing control cabinet 100 related to the automatic dispensing and fetching system for intelligent pharmacy provided in this embodiment may simultaneously send first authentication information to the line patrol robot 2 and the automatic dispensing machine 1, where the first authentication information includes patient identity information, a line patrol robot number corresponding to the patient, an automatic dispensing machine number corresponding to the patient, and the like. The authentication positions 7 corresponding to the medicine taking positions 6 are arranged on one side of each medicine taking position 6, at least one of the authentication positions is located on the track line 21, when the inspection robot 2 moves to a certain automatic medicine dispensing machine 1 needing medicine dispensing, the inspection robot is firstly suspended or slowly moved through the authentication position 7 on one side of the automatic medicine dispensing machine 1, the inspection robot 2 and the automatic medicine dispensing machine 1 mutually acquire the receiving and sending information of the other party in the suspension or slow moving process, the first authentication information of the other party is verified respectively, after the information is determined to be correct, the automatic medicine dispensing machine 1 dispenses the medicine, the corresponding inspection robot 2 moves to the medicine taking positions 6 again to take the medicine, and therefore the automatic medicine dispensing machine 1 is effectively prevented from mistakenly dispensing the whole medicine. Further preferably, a first short-range transceiver 22 is arranged on the inspection robot 2, a second short-range transceiver 15 is arranged on the automatic dispensing machine 1, the first short-range transceiver 22 and the second short-range transceiver 15 can be authenticated by using short-range communication authentication methods such as NFC, bluetooth or infrared, when the inspection robot 2 moves to the authentication position 7, the first short-range transceiver 22 transmits the first authentication information to the second short-range transceiver 15 of the corresponding automatic medicine dispenser 1, after the corresponding automatic dispensing machine 1 completes the first authentication information check, the dispensing control cabinet 100 acquires the dispensing information, i.e. the prescription, of the drug list of the patient from the hospital diagnosis and treatment system, and the medicine list of the patient is bound with the number of the only medicine basket 5, and then medicine dispensing operation is carried out according to the medicine list, namely, the automatic medicine dispensing machine 1 executes the whole medicine dispensing operation after the first authentication information is verified to be correct. The inspection robot 2 places the medicine basket 5 below the first medicine outlet channel 12 of the automatic medicine dispensing machine 1 through the manipulator 23, receives the medicine dispensed by the automatic medicine dispensing machine 1 through the medicine basket 5, and finishes the medicine taking operation of the medicine dispensing.
As shown in fig. 1 to 6, the inspection robot 2 includes a manipulator 23 for gripping the medicine basket 5, a boundary detector 231 is provided on the manipulator 23, and the boundary detector 231 is composed of a plurality of distance sensors or photoelectric sensors. The automatic medicine dispensing machine 1 comprises a medicine dispensing conveying belt 11, a first medicine outlet channel 12 and a medicine dispensing outlet 13, the first medicine outlet channel 12 is arranged in the medicine dispensing outlet 13, the first medicine outlet channel 12 is located at the tail end of the medicine dispensing conveying belt 11, a boundary calibration sheet 131 is arranged on the medicine dispensing outlet 13, when the line patrol robot 2 moves to the medicine taking position 6, the front-back distance of the line patrol robot 2 and the height of a manipulator 23 are adjusted, after the boundary detector 231 detects the boundary calibration sheet 131 on the medicine dispensing outlet 13, the manipulator 23 sends a medicine basket 5 to the position below the first medicine outlet channel 12, and the automatic medicine dispensing machine 1 conveys a part or all of the whole medicines on a medicine list to the medicine basket 5 through the first medicine outlet channel 12. The purpose of the boundary detector 231 is to enable the manipulator 23 to accurately convey the medicine basket 5 to the lower part of the first medicine outlet channel 12, so as to ensure that all or part of the medicine on the medicine list which is in charge of a certain automatic medicine dispensing machine 1 can fall into the medicine basket 5, when the patrol robot 2 moves to the medicine taking position 6, the manipulator 23 is driven to move up and down through the vertical displacement mechanism 24, the left and right movement of the manipulator 23 can be realized through the back and forth movement of the patrol robot 2 along the track line 21 direction, so that the medicine basket 5 is aligned with the lower part of the first medicine outlet channel 12, as most of the first medicine outlet channel 12 is positioned in the medicine outlet 13, the manipulator 23 is driven to move back and forth through the horizontal displacement mechanism 25, the patrol robot 2 pushes the medicine basket 5 into the medicine outlet 13 and is positioned under the first medicine outlet channel 12, the medicine basket 5 receives the medicine which is conveyed to the first medicine outlet channel 12 by the medicine conveying belt 11, the inspection robot 2 takes out the medicine basket 5 from the medicine preparation outlet 13, so that the whole medicine is prepared by a certain automatic medicine preparation machine 1. Preferably, the patrol robot 2 can take any one of the medicine dispensing units 9 for dispensing after passing through each of the at least one automatic medicine dispensing units 1 in turn. Further preferably, be provided with first camera and light filling lamp (not shown in the drawing) in first passageway 12 below of going out medicine, in the in-process that the whole medicine was provided, shoot the whole medicine of whole medicine conveyer belt 11 output through first camera for pharmacist can long-rangely carry out the one-level verification to the uniformity of medicine and medicine list, can the light filling through the light filling lamp when light is not enough.
As shown in fig. 5 and 6, in order to facilitate the patrol robot 2 to drive the medicine baskets 5 to perform three-dimensional motions along the X, Y and Z axes, the patrol robot 2 further includes a vertical displacement mechanism 24 and a horizontal displacement mechanism 25, the vertical displacement mechanism 24 drives the horizontal displacement mechanism 25 to move up and down, the horizontal displacement mechanism drives the manipulator 23 to move back and forth, and the patrol robot 2 moves back and forth along the trajectory line 21 to drive the manipulator 23 to move left and right. The manipulator 23 is fixed on the horizontal displacement mechanism 25, the manipulator 23 comprises a first clamping rod 235, a second clamping rod 232 and a clamping rod driver 234, the clamping rod driver 234 drives the first clamping rod 235 and the second clamping rod 232 to clamp the medicine basket 5, and the clamping rod driver 234 drives the first clamping rod 235 and the second clamping rod 232 to clamp or loosen the medicine basket 5, so that the medicine basket 5 is clamped by the line patrol robot 2. The manipulator 23 is optionally provided with a second camera (not shown in the drawings), and a picture of the inspection robot 2 after the medicine is taken or dispersed can be shot through the second camera, so that a pharmacist can remotely perform secondary inspection on the consistency of the medicine and the prescription, the inspection is difficult due to the fact that the medicine is shielded mutually in the picture during the secondary inspection, and the manual tertiary inspection can be assisted to ensure that the medicine dispensing information is correct.
As shown in fig. 7, in order to implement automatic management on the dispensing of bulk drugs, further, the automatic drug dispensing and taking system for an intelligent pharmacy further includes a bulk drug dispensing room 4, the bulk drug dispensing room 4 includes an annular conveying line 41 and at least one dispensing table 42 for pharmacists to dispense bulk drugs, an automatic dispensing machine (not shown in the figure) may be selectively disposed on one side of the dispensing table 42, that is, a tablet counter, which assists the pharmacists to dispense bulk drugs, and considering that bulk drugs still need to be checked by pharmacists most of the time at present, if bulk drugs no longer need to be checked by pharmacists at a later date, a fully automatic dispensing machine may be disposed on one side of the annular conveying line 41 to implement automatic dispensing of bulk drugs. At least one dispensing table 42 is positioned on one side of the annular conveying line 41, and an authentication site 7 and a medicine taking site 6 are provided on one side of the bulk medicine distribution room 4. The medicine preparation control cabinet 100 related to the automatic medicine dispensing and taking system for the intelligent pharmacy provided in this embodiment simultaneously sends second authentication information to the inspection robot 2 and the medicine dispensing control cabinet 44 in the medicine dispensing and dispensing room 4, the second authentication information includes patient identity information, the inspection robot number corresponding to the patient, the dispensing station number and the medicine storage channel number corresponding to the patient, and the like, the inspection robot 2 and the medicine dispensing control cabinet 44 perform authentication of the second authentication information in a manner similar to that of the first authentication information, the main difference lies in that the serial numbers of the dispensing table and the medicine storage channels need to be verified to ensure that the serial number of a certain medicine storage channel exactly corresponds to the medicine of a unique patient, namely after the inspection robot 2 passes the authentication, can correspond same patient's whole medicine and medicine that looses to effectively avoid patrolling 2 of line robot and get wrong medicine. During specific work, after the inspection robot 2 finishes taking the whole medicine of the patient through the authentication of the first authentication information and moves to the authentication position 7 of the medicine dispensing and arranging room 4, the medicine dispensing control cabinet 44 needs to find out which medicine storage channel 411 stores the medicine of the patient through the second authentication information, after the information is matched, the medicine dispensed from the medicine storage channel 411 is conveyed to the side of the inspection robot 2 through the annular conveying line 41, then the medicine dispensed from the patient in the medicine storage channel 411 is conveyed into the second medicine outlet channel 43 through the electric push rod 412, and finally falls into the medicine basket 5. Preferably, the trajectory line 21 on the side of the dispensing room 4 is divided into a main trajectory line 211 and a standby trajectory line 212, and the standby trajectory line 212 can be quickly passed when the patrol robot 2 does not need to pass through the dispensing room 4.
As shown in fig. 7 to 9, a second medicine discharging channel 43 is disposed at one side of the bulk medicine dispensing room 4, a plurality of medicine storing channels 411 for storing bulk medicines are disposed on the annular conveying line 41, an electric push rod 412 is disposed at one end of each medicine storing channel 411, one end of each medicine storing channel 411 is also an initial end or a driving end, the second medicine discharging channel 43 is disposed at the other side of the annular conveying line 41, and after the electric push rod 412 obtains medicine conveying treatment from the bulk medicine control cabinet 44, the bulk medicines in the medicine storing channels 411 are pushed into the second medicine discharging channel 43 and then fall into the medicine basket 5 on the line patrol robot 2. When the pharmacist has prepared the bulk drugs, it is unknown whether the inspection robot 2 has moved to the authentication position 7 and the drug taking position 6 on the side of the bulk drug preparation room 4, even if it can be known in advance, if it is very difficult to realize complete synchronous control, it is necessary to temporarily store the bulk drugs, so that the inspection robot 2 can conveniently take the bulk drugs within a reasonable time. Because the annular conveying line 41 is provided with the plurality of medicine storage channels 411, after the medicine is placed on one medicine storage channel 411 and when the inspection robot 2 does not move to the medicine taking position 6 for medicine taking operation, the medicine to be scattered can rotate periodically on the annular conveying line 41 along with the medicine storage channels 411 until the inspection robot 2 moves to the authentication position 7 for authentication and the medicine basket 5 is placed through the medicine taking position 6, the medicine scattering control cabinet 44 controls the electric push rod 412 to push the medicine to be scattered of the corresponding patient into the second medicine outlet channel 43 from the medicine storage channel 411, and therefore the medicine taking operation of the inspection robot 2 is achieved.
In order to supply power to the electric push rods 412 corresponding to the plurality of rotating medicine storage channels 411, the bulk medicine preparation room 4 further comprises a power supply device 45 and a power receiving rod 46 which are electrically connected with the electric push rods 412, an annular power transmission line 47 which is matched with the annular power transmission line 41 in shape is arranged above the annular power transmission line 41, and the power supply device 45 is electrically conducted with the annular power transmission line 47 through the power receiving rod 46. The power supply device 45 is fixed on the annular conveying line 41, so that the power supply device can rotate along with the annular conveying line 41, that is, the power supply device 45 and the electric push rods 412 are relatively static, so that the electric push rods 412 and the power supply device 45 can be electrically connected to supply power to the electric push rods 412 simultaneously, the movement speed of the annular conveying line 41 is not particularly fast, and relatively speaking, the accuracy index of taking the bulk drugs is more important, so that a controller corresponding to the electric push rods 412 can receive a control signal of the bulk drug control cabinet 44 through a wireless module, the operation of pushing the bulk drugs from the drug storage channel 411 to the second drug outlet channel 43 is executed, and certainly, a relatively stable wireless module is required to be adopted, so that information interaction can be accurately performed in the movement process.
As shown in fig. 10 to 13, after the operation of taking bulk drugs is completed, the inspection robot 2 continues to move along the trajectory line 21 to the drug storage cabinet 3, the drug storage cabinet 3 includes a frame 31 and a plurality of storage cells 32, the plurality of storage cells 32 are located in the frame 31, two side walls of the storage cells 32 are provided with accommodating grooves 321 for accommodating clamping bars of the manipulator 23, and the depth of the accommodating grooves 321 is greater than or equal to the diameter of the clamping bars, so that the clamping bars of the manipulator 23 do not touch the drug basket 5 when extending into the accommodating grooves 321, and the clamping bars refer to the first clamping bar 235 and the second clamping bar 232. In short, the accommodating groove 321 is designed to accommodate the clamping bar of the manipulator 23, i.e. the first clamping bar 235 or the second clamping bar 232, and the reason for this is that since the medicine basket 5 is randomly placed in the storage lattice 32, how to ensure that the manipulator 23 can always clamp the medicine basket 5 along a certain fixed direction, firstly, it is necessary to reasonably set the shape of the medicine basket 5 and the shape of the storage lattice 32, for example: the width and the height of the storage lattice 32 are slightly larger than the width and the height of the medicine basket 5, and the length of the storage lattice 32 is slightly larger than the length of the medicine basket 5, so that the medicine basket 5 cannot be randomly placed in the storage lattice 32 and can only be placed into the storage lattice 32 along the length direction of the medicine basket 5. As will be further described below, assuming that the medicine basket 5 is placed in the storage compartment 32 along the length direction of the storage compartment 32, after the first clamping bar 235 and the second clamping bar 232 of the manipulator 23 are inserted into the receiving groove 321, it is only possible to clamp two long sides of the medicine basket 5, but not a short side, since the first clamping bar 235 and the second clamping bar 232 are inserted from the receiving groove 321, even if the medicine basket 5 is placed in a proper inclined manner, the medicine basket is aligned by the clamping action of the first clamping bar 235 and the second clamping bar 232. If not design holding tank 321, but enlarge the size of matter storage lattice 32 to first clamping bar 235 and second clamping bar 232 can stretch into, but can not guarantee this moment that first clamping bar 235 and second clamping bar 232 stretch into and can not stab bad medicine basket 5 when stretching out, so when setting up holding tank 321 and just can fine solution manipulator 23 and get medicine basket 5 operation, guarantee manipulator 23 always centre gripping medicine basket 5's long limit. Further preferably, as shown in fig. 13, the automatic medicine dispensing and taking system for an intelligent pharmacy provided in this embodiment further includes a posture adjuster 8 for adjusting the position of the medicine basket 5, the posture adjuster 8 is located at one side of the medicine cabinet 3, the posture adjuster 8 includes a placing table 81 and a horizontal push rod 82, the horizontal push rod 82 is located at one side of the placing table 81, two clamping rods of the manipulator 23 are provided with a limit stopper 233 respectively adapted to the posture adjuster 8, and the two clamping rods refer to a first clamping rod 235 and a second clamping rod 232. After the operation of the medicine basket 5 is finished, the manipulator 23 continues to move to the posture adjuster 8 along the trajectory line 21, and places the medicine basket 5 on the placing table 81 of the posture adjuster 8, slightly releases the medicine basket 5, at this time, the posture adjuster 8 drives the horizontal push rod 82 to push the medicine basket 5 to make the medicine basket 5 contact with the limit stop rods 233 arranged on the first clamping rod 235 and the second clamping rod 232 of the manipulator 23, so that the medicine basket 5 is ensured to return to the original initial position at the position of the manipulator 23, the medicine taking operation can be performed, and the medicine basket 5 of the medicine taking operation is fixed at the same position on the manipulator 23 after the operation. Preferably, a basket dispatching machine can be further arranged on one side of the posture regulator 8, if part of the medicine baskets 5 are damaged or no medicine baskets 5 in the medicine cabinet 3 can be taken out, the basket dispatching machine moves to the posture regulator 8 to automatically supplement the medicine baskets 5 when the line patrol robot 2 moves, and the basket dispatching machine can be configured to be a manipulator capable of taking and placing the medicine baskets 5. As described above, the manipulator 23 may be selectively provided with a second camera, and the second camera can be used to take a picture of the inspection robot 2 after the medicine is taken or scattered, so that the pharmacist can remotely check whether the wrong medicine is taken. Unable long-range check to the time, the back of a plurality of matter storage lattices 32 is open-ended, except conveniently putting medicine basket 5 and getting it filled basket 5, still can take out medicine basket 5 from access medicine cabinet 3 for the convenience of pharmacist and test the medicine, also can set up special medicine platform of testing, let inspection robot 2 pass through the medicine platform of testing, so that pharmacist implements and tests the medicine, in order to accomplish and to rely on artificial tertiary verification, through setting up multistage verification, make the automatic medicine that issues that this embodiment provided get medicine system's rate of accuracy far higher than traditional artifical mode of checking.
As shown in fig. 10 to 13, the medicine storing and taking cabinet 3 is provided with a control panel 33 and a scanner 34 with a display screen 35, the display screen 35 is used for displaying patient identity information and a medicine packaging state, the scanner 34 is used for acquiring information codes on patient documents, and the scanner 34 is electrically connected with the control panel 33. The user supplies scanner 34 to scan through the identity code that provides forms such as two-dimensional code, scanner 34 uploads to control panel 33 after learning user's identity code information, and verify the medicine list that user's identity code corresponds, and demonstrate through display screen 35, control panel 33 opens the lattice door of corresponding storage lattice 32 through the instruction of unblanking simultaneously, the user takes out medicine basket 5 and puts back medicine basket 5 to storage lattice 32 after taking away the medicine, then close the lattice door of storage lattice 32, the medicine list that meanwhile accessible display screen 35 demonstrates is checked actually getting it filled. Furthermore, the automatic medicine dispensing and taking system for the intelligent pharmacy provided by the embodiment is networked with the hospital treatment system, so that various intelligent medicine dispensing and taking functions such as remote medicine taking or appointment medicine taking can be realized. In addition, the application also provides an automatic intelligent pharmacy automatic dispensing and taking method for the automatic dispensing and taking system for the intelligent pharmacy. Then, the system is sent to the bulk drug control cabinet 44 and the bulk drug control cabinet 100 through the hospital diagnosis and treatment system to carry out the preparation of bulk drugs and the preparation of bulk drugs. Thirdly, the inspection robot 2 performs the medicine taking operation through at least one automatic medicine dispensing machine 1, and after the complete medicine is taken, the inspection robot 2 performs the medicine taking operation through the medicine dispersing configuration room 4, and of course, the medicine taking operation and then the medicine taking operation can be completed first, and the medicine taking sequence is not limited in this embodiment. Then, through the setting second camera on the manipulator 23, take the picture after patrolling line robot 2 and getting whole medicine or bulk drug to whether the remote check of pharmacist gets wrong medicine, when the remote picture is unclear, can assist artifical check. In addition, the automatic intelligent pharmacy automatic medicine distributing and taking method further comprises the steps that the inspection robot 2 places the taken medicine in the medicine storing and taking cabinet 3, and then the medicine taking information is sent to a courier or a patient through communication tools such as short messages or public numbers, and remote medicine taking operation is implemented.
While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted for elements thereof without departing from the spirit and scope of the invention. The present invention is not to be limited by the specific embodiments disclosed herein, and other embodiments that fall within the scope of the claims of the present application are intended to be within the scope of the present invention.
Claims (10)
1. The utility model provides an intelligence drugstore is with automatic medicine dispensing system of getting it filled which characterized in that includes:
a trajectory line (21);
at least one automatic dispensing machine (1); the automatic medicine dispensing device is used for feeding medicine boxes into a medicine basket (5), at least one automatic medicine dispensing machine (1) is located on one side of the track line (21), a medicine taking position (6) is arranged on one side of each automatic medicine dispensing machine (1), and at least one medicine taking position (6) is located on the track line (21);
at least one inspection robot (2); the inspection robot (2) is used for carrying the medicine baskets (5) and driving the medicine baskets (5) to move along the vertical direction and the horizontal direction, and at least one inspection robot moves along the trajectory line (21);
at least one medicine storing and taking cabinet (3); the medicine storage cabinet is used for storing the medicine baskets (5), at least one medicine storage cabinet (3) is located on the other side of the track line (21), the inspection robot (2) carries the medicine baskets (5) sequentially pass through at least one medicine taking position (6) corresponding to the automatic medicine dispensing machine (1) to take medicines, then moves to the corresponding medicine storage cabinet (3), and the medicine baskets (5) are placed into the corresponding medicine storage cabinet (3).
2. The intelligent automatic dispensing and taking system for the pharmacy according to claim 1, wherein:
one side of each medicine taking position (6) is provided with an authentication position (7) corresponding to the medicine taking position (6);
a first short-distance transceiver (22) is arranged on the inspection robot (2);
a second short-distance transceiver (15) is arranged on the automatic medicine dispensing machine (1);
when the inspection robot (2) moves to the authentication position (7), the first short-distance transceiver (22) sends first authentication information to the second short-distance transceiver (15) of the automatic dispensing machine (1), and the automatic dispensing machine (1) executes the whole-medicine dispensing operation after the first authentication information is verified.
3. The intelligent automatic dispensing and taking system for the pharmacy according to claim 1 or 2, wherein:
the line patrol robot (2) comprises a manipulator (23) for clamping a medicine basket (5);
a boundary detector (231) is arranged on the manipulator (23);
the automatic medicine dispensing machine (1) comprises a medicine preparation conveying belt (11), a first medicine outlet channel (12) and a medicine preparation outlet (13), the first medicine outlet channel (12) is arranged in the medicine preparation outlet (13) and is positioned at the tail end of the medicine preparation conveying belt (11), and a boundary calibration sheet (131) is arranged on the medicine preparation outlet (13);
when the inspection robot (2) moves to the medicine taking position (6), the front-back distance of the inspection robot (2) and the height of the manipulator (23) are adjusted, so that the boundary detector (231) detects the boundary calibration sheet (131), the manipulator (23) sends the medicine basket (5) to the lower part of the first medicine outlet channel (12), and the automatic medicine dispensing machine (1) conveys part or all of the whole medicines on the medicine list to the medicine basket (5) through the first medicine outlet channel (12).
4. The intelligent automatic dispensing and taking system for the pharmacy according to claim 1, wherein:
also comprises a bulk drug allocation room (4);
the bulk drug allocation room (4) comprises an annular conveying line (41) and at least one dispensing table (42) for pharmacists to allocate bulk drugs, wherein the at least one dispensing table (42) is positioned on one side of the annular conveying line (41);
an authentication position (7) and a medicine taking position (6) are arranged on one side of the bulk medicine configuration room (4);
the authentication site (7) and the medicine taking site (6) are located on the trajectory line (21).
5. The intelligent automatic dispensing and taking system for the pharmacy according to claim 4, wherein:
a second medicine outlet channel (43) is arranged on one side of the bulk medicine configuration room (4);
a plurality of medicine storing channels (411) for storing bulk medicines are arranged on the annular conveying line (41);
one end of each medicine storage channel (411) is provided with an electric push rod (412);
the second medicine outlet channel (43) is positioned on the other side of the annular conveying line (41);
after the electric push rod (412) acquires a bulk drug pushing instruction from the bulk drug control cabinet (44), the bulk drug pushing instruction is executed to push bulk drugs in the drug storage channel (411) to the second drug outlet channel (43), and the bulk drugs are delivered to the drug basket (5) on the line patrol robot (2) through the second drug outlet channel (43).
6. The intelligent automatic dispensing and taking system for the pharmacy according to claim 5, wherein:
the bulk drug preparation room (4) further comprises a power supply device (45) and a power receiving rod (46), wherein the power supply device (45) and the power receiving rod (46) are electrically connected with the electric push rods (412), an annular power transmission line (47) matched with the annular power transmission line (41) in shape is arranged above the annular power transmission line (41), and the power supply device (45) is electrically communicated with the annular power transmission line (47) through the power receiving rod (46).
7. The intelligent automatic dispensing and taking system for the pharmacy according to claim 1, wherein:
the medicine storing and taking cabinet (3) comprises a frame body (31) and a plurality of storage lattices (32);
a plurality of said storage compartments (32) being located within said frame (31);
two holding grooves (321) used for holding two clamping rods of the manipulator (23) are formed in two side walls of the storage lattice (32), and the depth of each holding groove (321) is larger than or equal to the diameter of each clamping rod.
8. The intelligent automatic dispensing and taking system for the pharmacy according to claim 1, wherein:
a control panel (33) with a display screen (35) and a scanner (34) are arranged on the medicine storing and taking cabinet (3);
the display screen (35) is used for displaying patient identity information and a medicine packaging state;
the scanner (34) is used for acquiring an information code on a patient document;
the display screen (35) and the scanner (34) are electrically connected with the control board (33).
9. The intelligent automatic dispensing and taking system for the pharmacy according to claim 1, wherein:
the medicine basket posture adjusting device also comprises a posture adjuster (8) for adjusting the position of the medicine basket (5);
the posture adjuster (8) comprises a placing table (81) and a horizontal push rod (82);
the horizontal push rod (82) is positioned at one side of the placing table (81);
and two clamping rods of the manipulator (23) are respectively provided with a limiting stop lever (233) matched with the posture regulator (8).
10. The intelligent automatic dispensing and taking system for the pharmacy according to claim 3, wherein:
the inspection robot (2) further comprises a vertical displacement mechanism (24) and a horizontal displacement mechanism (25);
the vertical displacement mechanism (24) drives the horizontal displacement mechanism (25) to move up and down;
the manipulator (23) is fixed on the horizontal displacement mechanism (25);
the manipulator (23) comprises a first clamping rod (235), a second clamping rod (232) and a clamping rod driver (234), and the clamping rod driver (234) drives the first clamping rod (235) and the second clamping rod (232) to clamp the medicine basket (5).
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| CN202110084500.8A CN112897044B (en) | 2021-01-21 | 2021-01-21 | Intelligent automatic medicine dispensing and taking system for pharmacy |
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Cited By (1)
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| CN111470240A (en) * | 2020-06-05 | 2020-07-31 | 北京极智嘉科技有限公司 | Container carrying robot and using method thereof |
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| CN116902464A (en) * | 2023-09-14 | 2023-10-20 | 江苏环亚医用科技集团股份有限公司 | Feeding device for pharmacy goods shelf distribution |
| CN116902464B (en) * | 2023-09-14 | 2023-11-17 | 江苏环亚医用科技集团股份有限公司 | Feeding device for pharmacy goods shelf distribution |
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