CN113044456B - Medicine replenishing mechanism capable of being pulled out, medicine discharging and selling machine and control method thereof - Google Patents
Medicine replenishing mechanism capable of being pulled out, medicine discharging and selling machine and control method thereof Download PDFInfo
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- CN113044456B CN113044456B CN202110270181.XA CN202110270181A CN113044456B CN 113044456 B CN113044456 B CN 113044456B CN 202110270181 A CN202110270181 A CN 202110270181A CN 113044456 B CN113044456 B CN 113044456B
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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
- B65G1/0464—Storage devices mechanical with access from above
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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
- B65G1/06—Storage devices mechanical with means for presenting articles for removal at predetermined position or level
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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
Abstract
The application provides a medicine supplementing mechanism capable of being pulled out, a medicine discharging machine, a medicine selling machine and a control method of the medicine supplementing mechanism. Each drug storage group has a pull-out unit so that each drug storage group can be pulled out individually as a whole with respect to the other drug storage groups. The pulling-out unit comprises a sliding rail arranged at the bottom or the side of the medicine storage unit, and the medicine storage unit can be pulled out along the sliding rail. The medicine taking unit can move in a three-dimensional mode, medicines in the medicine storage unit are taken away, and the medicine position supplementing unit can automatically enable the upper surfaces of the medicines in all the medicine storage units to be in the same horizontal plane again after the medicines in the medicine storage unit are taken away. This application has prevented to get the medicine first longitudinal displacement too much and has destroyed the medicine box or the longitudinal displacement is not enough and the condition of the failure of getting it filled, simultaneously, the design can let the displacement control of getting the medicine head become simple like this.
Description
Technical Field
The application relates to the technical field of medicine management, in particular to a pull-out medicine replenishing mechanism, a pull-out medicine selling machine and a control method of the pull-out medicine replenishing mechanism and the pull-out medicine selling machine.
Background
The prior art has appeared automatic medicine selling machines, and chinese patent publication No. CN 106327690A discloses a medicine replenishing mechanism of an automatic medicine selling machine, the medicine storing groove is obliquely arranged, when the medicine blocking curtain is pulled down by the height of one medicine box, the medicine box is not shielded, and the medicine box slides down due to the gravity of the medicine box, so as to realize medicine discharging. Although the medicine discharging mode is simple in structure, the medicine discharging mode depends on the gravity of the medicine box, when the medicine box is light, or the medicine box on the upper layer is stacked too much, and the friction force between the medicine box on the lower layer and the bottom plate is too large, the smooth medicine discharging is difficult to realize. In an automatic high-speed medicine dispensing system disclosed in the patent CN106743041A of the invention, a quick medicine-dispensing mechanism is connected and arranged below a medicine outlet, the quick medicine-dispensing mechanism comprises an annular synchronous belt moving along the front-back direction and a stirring boss arranged on the outer surface of the annular synchronous belt, the medicines stacked in a medicine storage groove fall on the annular synchronous belt due to self weight, the stirring boss ejects a box of medicine every 1-week of the operation of the annular synchronous belt, and the medicines on the medicine storage groove fall in sequence every box of medicine discharged from the bottom layer. Although the structure realizes quick medicine discharging, the poking mechanism is driven by the annular belt, the volume is large, the precious equipment space is occupied in the medicine selling mechanism, the hitting force of the poking mechanism on the medicine box is not easy to control, and the poking mechanism is not suitable for fragile medicines. Therefore, the technical scheme of discharging the medicine from the lower part of the medicine storage unit has defects.
The Chinese patent publication No. CN 110902234A discloses a medicine replenishing and dispensing all-in-one machine which utilizes a six-axis robot or a three-coordinate manipulator to grasp medicines. The Chinese published invention patent CN 109650061A discloses a pneumatic medicine taking manipulator, which consists of a synchronous belt transmission system, a medicine storage bin and a medicine suction mechanism, wherein the synchronous belt transmission system drives a synchronous belt pulley through two servo motors to realize the control of the medicine suction mechanism. Although this solution can get the medicine from the upper part of the medicine storage unit, there are other disadvantages to this solution: the general medicines are stacked and stored in the medicine storage unit and have a certain effective period, and the mechanical arm can take the medicines from the upper part of the medicine storage unit, but when the medicine storage is insufficient, the medicines can be supplemented from the upper part, so that the newly arrived medicines are stacked on the original medicines, the newly arrived medicines are taken away firstly when the medicines are taken, and the medicines at the bottom of the medicine storage unit are easy to expire and cause unnecessary loss.
Disclosure of Invention
The application provides a benefit medicine mechanism that can pull out, benefit medicine mechanism can be used to sell medicine machine, drugstore etc to sell the medicine machine for the example, sell the medicine machine and include the shell, get medicine mouth, the control unit, medicine migration unit, benefit medicine mechanism.
The medicine supplementing mechanism comprises a plurality of medicine storage groups, and each medicine storage group comprises a medicine storage unit, a pull-out unit and a medicine position supplementing unit.
The medicine conveying unit can adopt a three-coordinate displacement mechanism arranged above the medicine storage unit, the three-coordinate displacement mechanism comprises an X-axis slide rail, a Y-axis slide rail, a Z-axis slide rail and a medicine taking head, the X-axis slide rails are arranged in parallel along the X-axis direction, an X-axis mounting frame is mounted on the X-axis slide rails, the X-axis mounting frame can slide on the X-axis slide rails under the drive of an X-axis driving motor, and the X-axis motor is mounted on the X-axis slide rails; the Y-axis slide rail is arranged on the X-axis mounting rack along the Y-axis direction, a Y-axis mounting rack and a Y-axis motor are arranged on the Y-axis slide rail, and the Y-axis mounting rack can slide on the Y-axis slide rail under the driving of the Y-axis motor; install Z axle slide rail along Z axle direction on the Y axle mounting bracket, install Z axle motor on the Z axle slide rail with get the medicine head, it can slide on Z axle slide rail under the drive of Z axle motor to get the medicine head. The medicine taking head is a manipulator or a clamping head.
The medicine selling machine comprises a plurality of medicine storage groups, the medicine storage groups are arranged side by side and are approximately at the same height in the longitudinal direction, and each medicine storage group comprises one or more medicine storage units. Each drug storage group has a pull-out unit so that each drug storage group can be pulled out individually as a whole with respect to the other drug storage groups. The pulling-out unit comprises a sliding rail arranged at the bottom or the side of the medicine storage unit, and the medicine storage unit can be pulled out along the sliding rail.
The medicine storage unit comprises a bottom supporting piece and a side supporting piece, the bottom supporting piece and the side supporting piece form an accommodating space of medicines, the medicines are stacked in the accommodating space to form a medicine stack, and the medicines are conveyed to the medicine taking port through the medicine conveying unit. Specifically, the lateral supporting member is a side plate, the side plate is provided with a plurality of horizontal clamping grooves, and the distance between the horizontal clamping grooves is equal to the height of the single medicine stacked and stored in the medicine storage unit.
The control unit comprises a control circuit or a processor with a control function so as to control the medicine transportation unit and the medicine replenishing mechanism.
The medicine supplementing mechanism comprises a plurality of medicine supplementing units, each medicine storing unit corresponds to one medicine supplementing unit, and each medicine supplementing unit comprises a lifting part, a supporting part and a driving part.
In a first aspect, the lifting component is a lifting belt which is longitudinally arranged, the lifting belt comprises a plurality of lifting belts, each medicine storage unit corresponds to one lifting belt, and the top ends of the plurality of lifting belts are all on the same horizontal plane. The support component includes the screens board and promotes the tray, the screens board with it is the level setting to promote the tray, the screens board is in promote on the tray, first fastener has on the screens board, it has the second fastener to promote on the tray, the block can be dismantled to first fastener and second fastener, first fastener can set up the lower surface at the screens board, the second fastener can set up the upper surface at the promotion tray, first fastener and second fastener also can set up respectively at the screens board and promote the outward flange of tray. When the first clamping piece and the second clamping piece are clamped, the clamping plate and the lifting tray can be lifted as a whole, and when the first clamping piece and the second clamping piece are separated, the lifting tray can be lifted independently from the clamping plate. The screens board still has the third card and closes the piece, the third card closes the piece and has first state and second state, when the third card closes the piece and is in the first state, the screens board is contactless with the curb plate of storage medicine unit, and the screens board can lift with promoting the tray together, when the third card closes the piece and is in the second state, the third card closes in can inserting the horizontal draw-in groove of storage medicine unit curb plate, and the restriction the lift of screens board. Specifically, the third engaging member is a retractable engaging member, the retractable engaging member is in a first state when retracted, and the pop-up state is in a second state when ejected.
The medicine boxes in the medicine storage unit are stacked on the clamping plate to be stored to form a medicine stack, and one end of the lifting tray is fixed on the lifting belt or fixed on the lifting belt through a sliding block. The drive part is a lifting motor, and the lifting belt can move up and down along the vertical direction under the drive of the lifting motor, so that the lifting tray supports the medicine boxes in a stacked state to move up and down. The stroke of the lifting motor is controlled by the control unit, the lifting tray is lifted to be integral multiple of the height of a single medicine stacked and stored in the medicine storage unit, so that the position where the clamping plate on the lifting tray stays corresponds to the height of the horizontal clamping groove on the side plate of the medicine storage unit, and the third clamping piece of the clamping plate can be inserted into the horizontal clamping groove of the side plate of the medicine storage unit when the third clamping piece is in the second state. The top of promotion belt is provided with the medicine and mends a position sensor, the height information that medicine storage unit top medicine box can be detected to the medicine is mended a position sensor, promotes the height information of the top medicine box of the medicine storehouse on the tray promptly to give the control unit with the height information transmission of this top medicine box. Because the top of many promotion belts all is on same horizontal plane, and the top of each promotion belt all is provided with the medicine and mends a sensor, therefore these medicines are mended a sensor and are in the coplanar basically.
In a second aspect, the lifting component is a longitudinally arranged lead screw, the lead screw comprises a plurality of lead screws, each medicine storage unit corresponds to one lead screw, and the top ends of the plurality of lead screws are all on the same horizontal plane. The supporting component includes the screens board and promotes the tray, the screens board with it is the level setting to promote the tray, the screens board is in on promoting the tray, the medicine box in the medicine storage unit piles up on the screens board and deposits and form the medicine storehouse, the one end that promotes the tray is fixed on the slider, drive component is the lifting motor, the slider can be under the drive that promotes the motor along vertical direction up-and-down motion on the lead screw, makes it supports the medicine box displacement from top to bottom that is the state of piling up to promote the tray. The top of lead screw is provided with the medicine and mends a position sensor, the medicine mends a position sensor and can detect the height information who promotes the top medicine box of medicine stack on the tray to send the height information of this top medicine box to the control unit. Because the top of many lead screws all is on same horizontal plane, and the top of each lead screw all is provided with medicine and mends a position sensor, therefore these medicines are mended a position sensor and are in the coplanar basically.
The automatic medicine supplementing unit comprises at least one additional standby clamping plate, and the standby clamping plate can be placed inside the medicine selling machine and is completely the same as the clamping plate in the medicine storage unit. If the medicine selling machine comprises clamping plates with different sizes, at least one standby clamping plate with different sizes needs to be prepared in the medicine selling machine.
The medicine position supplementing sensor comprises a light emitter and a light receiver which are arranged side by side, when a medicine box at the top of a medicine box stack on the lifting tray reaches the height of the medicine position supplementing sensor, detection light emitted by the light emitter is reflected by the medicine box and then received by the light receiver, the light receiver sends reflected light information to the control unit, and the control unit obtains the height of the medicine box at the top of the medicine box stack on the lifting tray reaching the medicine position supplementing sensor according to the transmitted light information; after the top medicine box of the medicine box stack on the lifting tray is taken away by the medicine taking head, the light receiver cannot receive the detection light reflected by the medicine boxes, and the control unit cannot receive the reflected light information, so that the control unit judges that the top medicine box of the medicine box stack on the lifting tray does not reach the height of the medicine position supplementing sensor. After the medicine in the medicine storage unit is taken away by the medicine taking head, the medicine storage unit with the medicine taken away is in a medicine shortage state, the control unit cannot receive reflected light information sent by the medicine position supplementing sensor at the top of the medicine storage unit, therefore, the control unit judges that the top medicine box of the medicine box stack on the lifting tray of the medicine storage unit does not reach the height of the medicine position supplementing sensor, the control unit controls the lifting motor to drive the lifting tray to ascend until the top medicine box of the medicine box stack on the lifting tray reaches the height of the medicine position supplementing sensor, the control unit receives the reflected light information sent by the medicine position supplementing sensor at the top of the medicine storage unit again, and the control unit controls the lifting motor to stop driving the lifting tray to ascend. Through the control, the medicine boxes at the top in each medicine storage unit can be ensured to be generally positioned on the same horizontal plane.
Furthermore, the medicine position supplementing sensor can also realize medicine shortage alarm of the medicine storage unit. When the control unit cannot receive the height information of the medicine box at the top of the medicine storage unit sent by the medicine position supplement sensor at the top of the medicine storage unit, the control unit controls the lifting motor to drive the lifting tray to ascend, if the lifting tray is prompted to ascend by the motor at a specified height, the control unit cannot receive the reflected light information sent by the medicine position supplement sensor at the top of the medicine storage unit, and the control unit sends the medicine shortage information of the medicine storage unit; or the control unit acquires the height of the lifting part and the quantity of the missing medicines in the medicine storage unit through the stroke of the lifting motor, and when the quantity of the missing medicines reaches a certain threshold value, the control unit sends out the medicine shortage information of the medicine storage unit.
The application also provides a medicine replenishing control method based on the medicine replenishing mechanism and the medicine selling machine in the embodiment, which comprises the following steps of:
the method comprises the following steps: pulling out the medicine storage group where the medicine storage unit to be supplemented is located; at the moment, the first clamping piece of the clamping plate of the medicine storage unit and the second clamping piece of the lifting tray are in a clamping state, meanwhile, the third clamping piece of the clamping plate is in a first state, the clamping plate is not in contact with the side plate of the medicine storage unit, and the clamping plate and the lifting tray are taken as a whole.
Step two: adjusting a third clamping piece of the clamping plate to be in a second state, namely inserting the third clamping piece into the horizontal clamping groove at the corresponding position of the side plate of the medicine storage unit, and limiting the lifting of the clamping plate;
step three: releasing the clamping state of the first clamping piece of the clamping plate and the second clamping piece of the lifting tray, so that the clamping plate is separated from the lifting tray;
step four: the lifting motor drives the lifting tray to descend, and the descending height is equal to Nh 2 +h 1 Wherein the thickness of the clamping plate is h 1 The height of the single medicine stacked and stored in the medicine storage unit is h 2 And N is the number of the supplementary medicines, which is less than or equal to the number of the medicines missing in the medicine storage unit. At this time, since the third engaging member of the engaging plate is inserted into the horizontal engaging groove at the corresponding position of the side plate of the medicine storage unit, the position of the engaging plate is not changed, and the height of the medicine stacked on the engaging plate is also not changed.
Step five: placing a standby clamping plate on the lifting tray, clamping a first clamping piece of the standby clamping plate and a second clamping piece of the lifting tray to form a whole, and simultaneously, enabling a third clamping piece of the standby clamping plate to be in a first state and inserting a horizontal cardA medicine filling gap corresponding to the amount of the supplemented medicine is formed between the clamping plate in the groove and the standby clamping plate, and the height of the medicine filling gap is about Nh 2 。
Step six: and filling N boxes of medicines to be supplemented into the medicine filling gaps.
Step seven: adjusting a third clamping piece of the clamping plate inserted into the horizontal clamping groove to a first state, so that the third clamping piece of the clamping plate is not inserted into the horizontal slot any more, and simultaneously, the clamping plate is drawn out from the medicine stack to be used as a new standby clamping plate, and meanwhile, the original medicines in the medicine storage unit are stacked on the newly supplemented medicines to form a new medicine stack;
step eight: the lifting motor drives the lifting tray to rise, and the rising height is h1, so that the height of the medicine in the medicine stack corresponds to the horizontal clamping groove of the side plate of the medicine storage unit.
Further, the medicine selling machine further comprises an equipment area inside, and preferably, the equipment area is located below the medicine storage unit. The equipment area is used for installing refrigeration equipment, storage units and the like.
The application provides a benefit medicine mechanism and medicine selling machine that can pull out, benefit medicine mechanism includes that the control unit, medicine migration unit, storage medicine unit and medicine mend the position unit, and the medicine migration unit can three-dimensionally move, takes away the medicine in the storage medicine unit, and the medicine that the position unit can be in the storage medicine unit is taken the back away, and the medicine in the unit is promoted to original height to the automation in will storing up the medicine unit for the upper surface of medicine is in same horizontal plane again in all storage medicine units. This application need not to set up special contact pick up with the height that confirms whether descend to the medicine box place on getting it filled, has prevented that the first longitudinal displacement of getting it filled too much and destroys the medicine box or the longitudinal displacement is not enough and the circumstances of the failure of getting it filled. Meanwhile, the design can enable the displacement control of the medicine taking head to be very simple, and after the control unit receives the medicine taking instruction, the control unit can immediately find out the corresponding medicine storage unit and the displacement of the medicine taking head on the three axes of XYZ from the database without any calculation, so that the control flow is simplified.
Drawings
FIG. 1 is a front view of a medicine dispenser of the present invention;
FIG. 2 is a three-coordinate medication taking unit of the present application;
FIG. 3 is a schematic view of the present application showing the drug storage unit in a pulled-out state;
FIG. 4 is a schematic view of a medicine fill-in unit of the present application;
fig. 5 is a schematic view of a drug storage unit of the present application in a drug-deficient state;
FIG. 6 is a schematic view of a drug storage unit of the present application in a first state for drug replacement;
FIG. 7 is a schematic view of a drug storage unit of the present application in a second state for replenishing a drug;
FIG. 8 is a schematic view of a drug storage unit of the present application in a third state for replenishing a drug;
FIG. 9 is a schematic view of a fourth state of the drug storage unit of the present application;
fig. 10 is a schematic view of the position coding of the drug storage unit of the present application.
The medicine taking device comprises a three-coordinate medicine taking unit 1, a medicine storage unit 2, a medicine filling unit 3, a pulling-out unit 4, a medicine taking opening 5, a control unit 6, a medicine storage group 7, a side plate 8, an equipment area 9, a medicine box 10, a slide rail 11, a shell 12, a horizontal clamping groove 13, an X-axis slide rail 1-1, a Y-axis slide rail 1-2, a Z-axis slide rail 1-3, a medicine taking head 1-4, an X-axis mounting rack 1-5, an X-axis motor 1-6, a Y-axis mounting rack 1-7, a Y-axis motor 1-8, a Z-axis motor 1-9, a lifting belt 3-1, a lifting motor 3-2, a lifting tray 3-3, a medicine filling sensor 3-4, a clamping plate 3-7, a standby clamping plate 3-8, a first clamping member 3-9, a second clamping member 3-10 and a third clamping member 3-11.
Detailed Description
The present application is further illustrated by the following specific examples.
The application provides a can pull out mechanism of making up prescription, the mechanism of making up prescription can be used to medicine selling machine, drugstore etc. as shown in figure 1 to the medicine selling machine is the example, the medicine selling machine includes shell 12, gets medicine mouth 5, the control unit 6, medicine migration unit 1, the mechanism of making up prescription.
The medicine supplementing mechanism comprises a plurality of medicine storage units 7, and each medicine storage unit 7 comprises a medicine storage unit 2, a pull-out unit 4 and a medicine position supplementing unit 3.
As shown in fig. 1, the plurality of medicine storage units 2 may be arranged side by side or in a spatial array, i.e. a multi-row and multi-column structure (as shown in fig. 10), and the coordinate position of each medicine storage unit 2 on the horizontal plane (i.e. the XY-axis plane) may be determined by means of coding. The medicine migration unit 1 can adopt a three-coordinate medicine migration unit 1 (as shown in fig. 2) arranged above the medicine storage unit 2, the three-coordinate medicine migration unit 1 is provided with a medicine taking head 1-4, and the medicine taking head 1-4 of the three-coordinate medicine migration unit 1 can move in a three-dimensional space to extract medicines in the medicine storage unit 2. The medicine of the medicine storage unit 2 is a medicine box 10, a medicine bottle or a consumable material and the like. The three-coordinate medicine migration unit 1 comprises an X-axis slide rail 1-1, a Y-axis slide rail 1-2, a Z-axis slide rail 1-3 and a medicine taking head 1-4, wherein the X-axis slide rail 1-1 is arranged in parallel along the X-axis direction, and in the embodiment, the X-axis direction is the left-right side direction of the medicine selling machine shown in the figure 1. An X-axis mounting rack 1-5 is mounted on the X-axis sliding rail 1-1, the X-axis mounting rack can slide on the X-axis sliding rail under the driving of an X-axis driving motor 1-6, and the X-axis motor is mounted on the X-axis sliding rail 1-1; the Y-axis slide rail 1-2 is arranged on the X-axis mounting rack along a Y-axis direction, the Y-axis direction is a direction perpendicular to the X axis in a horizontal plane, a Y-axis mounting rack 1-7 and a Y-axis motor 1-8 are arranged on the Y-axis slide rail 1-2, and the Y-axis mounting rack 1-7 can slide on the Y-axis slide rail under the driving of the Y-axis motor 1-8; z-axis slide rails 1-3 are installed on the Y-axis installation rack 1-7 along the Z-axis direction, Z-axis motors 1-9 and the medicine taking heads 1-4 are installed on the Z-axis slide rails, and the medicine taking heads 1-4 can slide on the Z-axis slide rails under the driving of the Z-axis motors 1-9.
The three-coordinate displacement mechanism in the above embodiment is only one implementation way for grabbing the medicine in the medicine storage unit 2, and other design types of coordinate displacement mechanisms may be adopted to achieve the same purpose, for example, a multi-row two-dimensional coordinate displacement mechanism may be provided to achieve the same purpose. The medicine taking heads 1 to 4 are vacuum adsorption heads in the embodiment, and the medicine boxes 10 in the medicine storage unit 2 are sucked through vacuum adsorption. In other alternative embodiments, the medicine taking head may also adopt a manipulator or a clamping head to take the medicine by grabbing or clamping.
As shown in fig. 1 and 3, the medicine vending machine includes a plurality of medicine storage units 7, for example, 7 medicine storage units 7, the medicine storage units 7 are arranged side by side and have substantially the same height in the longitudinal direction, each medicine storage unit 7 includes one or more medicine storage units 2, and each medicine storage unit 7 includes 8 medicine storage units 2 in the drawing, but if the volume of the stored medicines or consumables is large, each medicine storage unit 7 may include only one medicine storage unit 2. As shown in fig. 10, the plurality of medicine storage units 2 may be arranged side by side (only when the plurality of medicine storages 7 include only one medicine storage unit 2) or may be arranged in a spatial array, i.e. a multi-row and multi-column structure, and the coordinate position of each medicine storage unit 2 on the horizontal plane (i.e. the XY-axis plane) may be determined by means of coding.
As shown in the figures, each magazine 7 has a drawer-like pull-out unit 4, so that each magazine 7 as a whole can be pulled out individually relative to the other magazines 7. Specifically, the pulling-out unit 4 includes a slide rail disposed at the bottom or the side of the drug storage 7, and the drug storage 7 can be pulled out along the slide rail. The pull-out unit 4 may also be optionally equipped with a damping structure, a stopping structure or a handle structure similar to those of the prior art, which will not be described in detail herein.
Store up medicine unit 2 and include bottom support piece and lateral part support piece, bottom support piece and lateral part support piece constitute the accommodation space of medicine, the medicine piles up the storage in the medicine accommodation space and forms the medicine stack, carries the medicine through medicine migration unit 1 and gets medicine mouth 5 to supply to take. In particular, the side supports are side plates 8. As shown in fig. 1, the side plate 8 includes a plurality of horizontal slots 13, and the distance between the horizontal slots 13 is equal to the height of the single medicine stacked and stored in the medicine storage unit 2.
The control unit comprises a control circuit or a processor with a control function so as to realize the control of the medicine supplementing mechanism.
Mend medicine mechanism and include that a position unit 3 is mended to a plurality of medicines, and every stores up medicine unit 2 and corresponds a medicine and mend position unit 3, position unit 3 is mended including lifting means, supporting component and drive assembly to the medicine, like the embodiment of the position unit 3 is mended to the medicine that figure 4 shows, lifting means is vertical lifting belt 3-1 who sets up, lifting belt 3-1 includes many, and every stores up medicine unit 2 and corresponds a lifting belt 3-1, many lifting belt 3-1's top all is on same horizontal plane. Referring to fig. 5, the support member includes a catching plate 3-7 and a lifting tray 3-3, the clamping plate 3-7 and the lifting tray 3-3 are horizontally arranged, the clamping plate 3-7 is arranged above the lifting tray, the clamping plate 3-7 is provided with a first clamping piece 3-9, the lifting tray is provided with a second clamping piece 3-10, the first snap-fit member 3-9 and the second snap-fit member 3-10 may be detachably snapped together, the first engaging member 3-9 can be disposed on the lower surface of the engaging plate 3-7, the second engaging member 3-10 can be disposed on the upper surface of the lifting tray, the first engaging member 3-9 and the second engaging member 3-10 may be provided at outer edges of the engaging plate 3-7 and the lifting tray, respectively. When the first engaging member 3-9 and the second engaging member 3-10 are engaged, the engaging plate 3-7 and the lifting tray can be lifted as a whole, and when the first engaging member 3-9 and the second engaging member 3-10 are separated, the lifting tray can be lifted independently from the engaging plate 3-7. The clamping plate 3-7 is further provided with a third clamping piece 3-11, the third clamping piece 3-11 is provided with a first state and a second state, when the third clamping piece 3-11 is in the first state, the clamping plate 3-7 is not in contact with the side plate 8 of the medicine storage unit 2, the clamping plate 3-7 can lift together with the lifting tray, and when the third clamping piece 3-11 is in the second state, the third clamping piece 3-11 can be inserted into the horizontal clamping groove 13 of the side plate 8 of the medicine storage unit 2 and limits the lifting of the clamping plate 3-7. Specifically, the third engaging member 3-11 is a retractable engaging member, the retractable engaging member is in a first state when retracted, and the pop-up state is in a second state when ejected.
Particularly, the automatic medicine replenishing unit comprises at least one additional standby clamping plate 3-8, and the standby clamping plate 3-8 can be placed inside the medicine selling machine and is completely the same as the clamping plate 3-7 in the medicine storage unit 2 for use in medicine replenishing. If the medicine vending machine comprises different medicines or consumables with larger size difference, the standby blocking plates 3-8 of the medicine storage unit 2 also have different sizes correspondingly, so that at least one standby blocking plate 3-8 with different sizes needs to be prepared inside the medicine vending machine in order to complete the supplement of different medicines.
As shown in the figure, the medicine boxes 10 in the medicine storage unit 2 are stacked on the clamping plates 3-7 to form a medicine stack, and one end of the lifting tray 3-3 is fixed on the lifting belt 3-1 or fixed on the lifting belt 3-1 through a sliding block. The driving part is a lifting motor 3-2, and the lifting belt 3-1 can move up and down along the vertical direction under the driving of the lifting motor 3-2, so that the lifting tray 3-3 supports the medicine boxes 10 in a stacked state to move up and down. The stroke of the lifting motor 3-2 is controlled by the control unit, the lifting height of the lifting tray is integral multiple of the height of a single medicine stacked and stored in the medicine storage unit 2, so that the stop position of the clamping plate 3-7 on the lifting tray corresponds to the height of the horizontal clamping groove 13 on the side plate 8 of the medicine storage unit 2, and the third clamping part 3-11 of the clamping plate 3-7 can be inserted into the horizontal clamping groove 13 of the side plate 8 of the medicine storage unit 2 when in the second state. The top of the lifting belt 3-1 is provided with a medicine position supplementing sensor 3-4, the medicine position supplementing sensor 3-4 can detect height information of the medicine boxes 10 on the top of the medicine storage unit 2, namely height information of the medicine boxes 10 on the top of the medicine stack on the lifting tray 3-3, and sends the height information of the medicine boxes 10 on the top to the control unit. As the top ends of the plurality of lifting belts 3-1 are all on the same horizontal plane, and the top of each lifting belt 3-1 is provided with the medicine filling position sensor 3-4, the medicine filling position sensors 3-4 are basically on the same plane.
One embodiment of the medicine filling position sensor 3-4 is shown in fig. 7, the medicine filling position sensor 3-4 comprises a light emitter and a light receiver, the light emitter and the light receiver are arranged side by side, when the top medicine box 10 of the stack of medicine boxes 10 on the lifting tray 3-3 reaches the height of the medicine filling position sensor 3-4, the detection light emitted by the light emitter is reflected by the medicine box 10 and then received by the light receiver, the light receiver sends reflected light information to the control unit, and the control unit obtains the height of the top medicine box 10 of the stack of medicine boxes 10 on the lifting tray reaching the height of the medicine filling position sensor 3-4 according to the emitted light information; when the top medicine box 10 of the stack of medicine boxes 10 on the lifting tray 3-3 is taken away by the medicine taking head, the light receiver cannot receive the detection light reflected by the medicine box 10, and the control unit cannot receive the reflected light information, so that the control unit judges that the top medicine box 10 of the stack of medicine boxes 10 on the lifting tray 3-3 does not reach the height of the medicine position supplementing sensor 3-4. After the medicine taking head takes the medicine in the medicine storage unit 2 away, as shown in fig. 8, the medicine storage unit 2 with the medicine taken away is in a medicine shortage state, the control unit cannot receive the reflected light information sent by the medicine position supplement sensor 3-4 at the top of the medicine storage unit 2, therefore, the control unit judges that the top medicine box 10 of the stack of the medicine boxes 10 on the lifting tray 3-3 of the medicine storage unit 2 does not reach the height of the medicine position supplement sensor 3-4, the control unit controls the lifting motor 3-2 to drive the lifting tray 3-3 to ascend until the top medicine box 10 of the stack of the medicine boxes 10 on the lifting tray 3-3 reaches the height of the medicine position supplement sensor 3-4, the control unit receives the reflected light information sent by the medicine position supplement sensor 3-4 at the top of the medicine storage unit 2 again, the control unit controls the lifting motor 3-2 to stop driving the lifting tray 3-3 to ascend. By such control, the medicine boxes 10 at the top of each medicine storage unit 2 can be ensured to be on the same horizontal plane.
This has the additional advantage that the medicine replenishment unit 3 positions the top medicine boxes 10 in each medicine storage unit 2 substantially at the same level. For example, after the control unit receives a medicine taking instruction for taking a medicine in the a2 medicine storage unit, the control unit needs to control the three-coordinate displacement mechanism to displace the medicine taking head to be right above the a2 medicine storage unit and suck the topmost medicine box 10 in the a2 medicine storage unit, the control unit only needs to determine the coordinate displacement of the medicine taking head on the XY axis according to the number of the medicine storage unit 2, and the Z axis (i.e. the displacement of the medicine taking head in the longitudinal direction) only needs to descend by a fixed height value without considering whether each medicine storage unit 2 is lack of medicine, and a special contact sensor is not needed to be arranged on the medicine taking head to determine whether the medicine box 10 is descended to the height of the medicine box 10, so that the situation that the medicine taking head is damaged due to excessive longitudinal displacement or fails to cause medicine taking due to insufficient longitudinal displacement is prevented. Meanwhile, the design can enable the displacement control of the medicine taking head to be very simple, and after the control unit receives the medicine taking instruction, the control unit can immediately find out the corresponding medicine storage unit 2 and the displacement of the medicine taking head on the three axes of XYZ from the database without any calculation.
Further, the medicine supplementing sensor 3-4 can also realize medicine shortage alarm of the medicine storage unit 2. When the control unit cannot receive reflected light information sent by the medicine position supplement sensor 3-4 at the top of the medicine storage unit 2, the control unit controls the lifting motor 3-2 to drive the lifting tray 3-3 to ascend, if the lifting motor 3-2 drives the lifting tray 3-3 to ascend by a specified height, for example, the whole height of a medicine storage space of the medicine storage unit 2, the control unit still cannot receive the reflected light information sent by the medicine position supplement sensor 3-4 at the top of the medicine storage unit 2, the fact that medicines in the medicine storage unit 2 are all taken away is indicated, the control unit sends medicine shortage information of the medicine storage unit 2, and the medicine shortage information can be transmitted to the outside and also can be displayed on a display screen or is alarmed through sound and light. On the other hand, because the height of the lifting part is determined by the stroke of the driving part, the control unit can know the height of the lifting part through the stroke of the motor, so that the quantity of the missing medicines in the medicine storage unit 2 is further known, and when the quantity of the missing medicines reaches a certain threshold value, the control unit sends out the medicine missing information of the medicine storage unit 2.
The medicine filling unit 3 may also adopt other embodiments, for example, the lifting component is a longitudinally arranged screw rod, the screw rod includes a plurality of screw rods, each medicine storage unit 2 corresponds to one screw rod, and the top ends of the plurality of screw rods are all on the same horizontal plane. The support component comprises clamping plates 3-7 and lifting trays 3-3, the clamping plates 3-7 and the lifting trays 3-3 are horizontally arranged, the clamping plates 3-7 are arranged on the lifting trays, medicine boxes 10 in the medicine storage unit 2 are stacked on the clamping plates 3-7 to form medicine stacks, one ends of the lifting trays 3-3 are fixed on sliding blocks, the driving component is a lifting motor, the sliding blocks can move up and down on lead screws along the vertical direction under the driving of the lifting motor 3-2, and therefore the lifting trays 3-3 support the medicine boxes 10 in the stacked state to move up and down. The top of the lead screw is provided with a medicine position supplementing sensor 3-4, and the medicine position supplementing sensor 3-4 can detect height information of a top medicine box 10 of a medicine stack on the lifting tray 3-3 and sends the height information of the top medicine box 10 to the control unit. As the top ends of the plurality of screw rods are all on the same horizontal plane, and the top of each screw rod is provided with the medicine position supplementing sensor 3-4, the medicine position supplementing sensors 3-4 are basically on the same plane.
The application also provides a medicine supplementing control method based on the medicine supplementing mechanism and the medicine selling machine in the embodiment, which comprises the following steps:
the method comprises the following steps: pulling out the medicine storage group 7 where the medicine storage unit 2 to be supplemented is located, as shown in fig. 3; at this time, the first engaging member 3-9 of the engaging plate 3-7 of the medicine storage unit 2 and the second engaging member 3-10 of the lifting tray are in the engaging state, and the third engaging member 3-11 of the engaging plate 3-7 is in the first state, the engaging plate 3-7 is not in contact with the side plate 8 of the medicine storage unit 2, and the engaging plate 3-7 and the lifting tray are integrated as a whole, as shown in fig. 5. Specifically, because the medicine storage unit 2 of the application comprises the medicine position supplementing sensor 3-4, the control unit can send the medicine shortage information of the medicine storage unit 2, and after a medicine selling machine is opened by a medicine supplementing person, the corresponding medicine storage group 7 is pulled out according to the medicine shortage information.
Step two: adjusting the third clamping piece 3-11 of the clamping plate 3-7 to a second state, namely, inserting the third clamping piece 3-11 into the horizontal clamping groove 13 at the corresponding position of the side plate 8 of the medicine storage unit 2, and limiting the lifting of the clamping plate 3-7, as shown in fig. 6;
step three: the first clamping pieces 3-9 of the clamping plates 3-7 and the second clamping pieces 3-10 of the lifting tray are released from the clamping state, so that the clamping plates 3-7 are separated from the lifting tray;
step four: the elevating motor 3-2 drives the elevating tray to descend, as shown in fig. 7, by a height Nh2+ h1, wherein the thickness of the blocking plate 3-7 is h1, and the height of the single medicine stacked and stored in the medicine storage unit 2 is h2, wherein N is the number of supplementary medicines, which is less than or equal to the number of medicines missing in the medicine storage unit 2. At this time, since the third engaging member 3-11 of the engaging plate 3-7 is inserted into the horizontal engaging groove 13 of the side plate 8 of the medicine storage unit 2, the position of the engaging plate 3-7 is not changed and the height of the medicine stacked on the engaging plate 3-7 is also not changed.
Step five: the spare blocking plate 3-8 is placed on the lifting tray, the first blocking piece 3-9 of the spare blocking plate 3-8 is blocked with the second blocking piece 3-10 of the lifting tray, so that the spare blocking plate 3-8 and the lifting tray are integrated, meanwhile, the third blocking piece 3-11 of the spare blocking plate 3-8 is in the first state, a medicine filling gap corresponding to the number of the supplemented medicines is formed between the blocking plate 3-7 inserted into the horizontal clamping groove 13 and the spare blocking plate 3-8, and the height of the medicine filling gap is about N h 2.
Step six: n boxes of medicine to be replenished are filled in the medicine filling gaps as shown in fig. 8.
Step seven: adjusting the third locking member 3-11 of the locking plate 3-7 inserted into the horizontal slot 13 to the first state, so that the third locking member 3-11 of the locking plate 3-7 is no longer inserted into the horizontal slot, and at the same time, the locking plate 3-7 is pulled out from the drug stack to serve as a new standby locking plate 3-8, and simultaneously, the original drug in the drug storage unit 2 is stacked on the new supplement drug to form a new drug stack, as shown in fig. 9;
step eight: the lifting motor 3-2 drives the lifting tray to rise to a height h1, so that the height of the medicines in the medicine stack corresponds to the horizontal clamping groove 13 of the side plate 8 of the medicine storage unit 2.
For example, 10 boxes of medicines can be stacked in a certain medicine storage unit 2, when the clamping plate 3-7 is at the lowest position, namely the initial position, the height of the upper surface of the topmost medicine box 10 of the medicine stack on the clamping plate 3-7 is H, H is 10H2, and H2 is the height of each box of medicines, and 9 horizontal clamping grooves 13 are uniformly arranged on the side plate 8 of the medicine storage unit 2 at the heights of H2, 2H2 and 3H2 … … 9H2, so that no matter how many boxes of medicines are taken from the medicine stack, the clamping plate 3-7 is lifted to any position of H2, 2H2 and 3H2 … … 9H2, and the third clamping part 3-11 of the clamping plate 3-7 can be inserted into the horizontal clamping groove 13 corresponding to the height. After 7 boxes of medicines are taken away from the medicine stack, the lifting support plate of the medicine storage unit 2 correspondingly rises by the height of the 7 boxes of medicines, namely 7H, so that the height of the medicine box 10 at the top of the medicine storage unit 2 is still H, the clamping plates 3-7 are inserted into the horizontal clamping grooves 13 at the positions corresponding to the heights of the side plates 8 and 7H of the medicine storage unit 2, the clamping plates 3-7 are separated from the lifting support plate, and the clamping plates 3-7 and the rest 3 boxes of medicines on the clamping plates 3-7 are temporarily fixed at the longitudinal positions. If 5 boxes of medicines need to be replenished, a medicine replenishing person can input the quantity of the replenished medicines and the medicine storage unit 2 where the medicines are located through the screen, the lifting motor 3-2 of the medicine storage unit 2 automatically drives the lifting tray to descend for 5 hours, and the height of the lifting tray is 5 hours, and the height of the clamping plate 3-7 is 7 hours, so that a medicine replenishing gap of 5 hours is formed between the lifting tray and the clamping plate 3-7, and the 5 boxes of medicines are filled in the medicine replenishing gap.
The first clamping pieces 3-9 of the clamping plates 3-7 and the second clamping pieces 3-10 of the lifting tray are disengaged, when the third clamping pieces 3-11 are in the first state, the clamping plates 3-7 are not in contact with the side plates 8 of the medicine storage unit 2, the clamping plates 3-7 can lift together with the lifting tray, and when the third clamping pieces 3-11 are in the second state, the third clamping pieces 3-11 can be inserted into the horizontal clamping grooves 13 of the side plates 8 of the medicine storage unit 2 and limit the lifting of the clamping plates 3-7.
Further, the medicine selling machine further comprises a device area 9 inside, and preferably, the device area 9 is located below the medicine storage unit 2. The equipment area 9 is used for installing refrigeration equipment, storage units and the like.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and the scope of the present invention is not limited thereto, and any person skilled in the art can conceive of changes or substitutions within the technical scope of the present invention.
Claims (8)
1. The medicine supplementing mechanism is characterized by comprising a plurality of medicine storage groups, wherein each medicine storage group comprises a medicine storage unit, a pull-out unit and a medicine position supplementing unit;
the plurality of medicine storage groups are arranged side by side, and each medicine storage group comprises one or more medicine storage units; each medicine storage group is provided with a pull-out unit, so that each medicine storage group can be pulled out independently relative to other medicine storage groups as a whole;
the medicine storage unit comprises a bottom support piece and a side support piece, the bottom support piece and the side support piece form a medicine accommodating space, medicines are stacked and stored in the medicine accommodating space to form a medicine stack, the side support piece is a side plate, the side plate comprises a plurality of horizontal clamping grooves, and the distance between the horizontal clamping grooves is equal to the height of a single medicine stacked and stored in the medicine storage unit;
the medicine supplementing mechanism comprises a plurality of medicine supplementing units, each medicine storage unit corresponds to one medicine supplementing unit, each medicine supplementing unit comprises a lifting part, a supporting part and a driving part, and the medicine supplementing units are used for enabling the top medicine boxes in the medicine storage units to be located on the same horizontal plane;
the lifting components comprise a plurality of lifting components, each medicine storage unit corresponds to one lifting component, the top ends of the lifting components are all on the same horizontal plane, the top of each lifting component is provided with a medicine position supplementing sensor, the medicine position supplementing sensors detect height information of medicine boxes on the tops of the medicine storage units, and the medicine position supplementing sensors of the medicine storage units are basically located on the same plane;
the supporting component comprises a clamping plate and a lifting tray, the clamping plate and the lifting tray are horizontally arranged, the clamping plate is arranged above the lifting tray, a first clamping piece is arranged on the clamping plate, a second clamping piece is arranged on the lifting tray, the first clamping piece and the second clamping piece are detachably clamped, when the first clamping piece and the second clamping piece are clamped, the clamping plate and the lifting tray can be lifted integrally, and when the first clamping piece and the second clamping piece are separated, the lifting tray can be lifted independently from the clamping plate; the screens board has the third card and closes the piece, the third card closes the piece and has first state and second state, when the third card closes the piece and is in the first state, the screens board is contactless with the curb plate of storage medicine unit, and the screens board can lift with promoting the tray together, when the third card closes the piece and is in the second state, the third card closes in can inserting the horizontal draw-in groove of storage medicine unit curb plate, and the restriction the lift of screens board.
2. The drug replenishing mechanism according to claim 1, wherein the drug cassettes in the drug storage unit are stacked and stored on a retaining plate to form a drug stack, the lifting tray is fixed to the lifting member, and the lifting member is capable of moving up and down in a vertical direction under the driving of the driving member, so that the lifting tray supports the drug cassettes in a stacked state to be displaced up and down; the lifting tray is driven by the driving part to ascend and descend by the integral multiple of the height of a single stacked and stored medicine in the medicine storage unit, so that the position where the clamping plate on the lifting tray stays corresponds to the height of the horizontal clamping groove in the side plate of the medicine storage unit, and the third clamping piece of the clamping plate can be inserted into the horizontal clamping groove in the side plate of the medicine storage unit when being in the second state.
3. The patent mechanism according to claim 1 or 2, characterized in that it comprises at least one spare detent plate, which is identical to the detent plate in the drug storage unit.
4. A mechanism according to claim 1, wherein the medication replenishment sensor comprises a light emitter and a light receiver, the light emitter and the light receiver being arranged side by side.
5. A medicine vending machine comprising the replenishing mechanism according to any one of claims 1 to 4, wherein the medicine vending machine further comprises a housing, a medicine taking port, a control unit, a medicine transfer unit; the medicine selling machine comprises a plurality of medicine storage groups; the medicine conveying unit adopts a three-coordinate displacement mechanism arranged above the medicine storage unit, the three-coordinate displacement mechanism comprises a medicine taking head, and the medicine taking head is a manipulator or a clamping head; the control unit comprises a control circuit or a processor with a control function so as to realize the control of the medicine supplementing mechanism.
6. The vending machine of claim 5, wherein after the medicine in the medicine storage unit is taken by the medicine taking head, the control unit cannot receive the height information of the medicine box at the top of the medicine storage unit sent by the medicine position filling sensor at the top of the medicine storage unit, the control unit controls the lifting motor to drive the lifting tray to ascend until the top medicine box of the medicine box stack on the lifting tray reaches the height of the medicine position filling sensor, the control unit receives the height information of the medicine box at the top of the medicine storage unit again, and the control unit controls the lifting motor to stop driving the lifting tray to ascend.
7. The vending machine of claim 6, wherein when the control unit fails to receive the information of the height of the medicine box at the top of the medicine storage unit sent by the medicine position supplement sensor at the top of the medicine storage unit, the control unit controls the lifting motor to drive the lifting tray to ascend, and if the prompting motor drives the lifting tray to ascend by a specified height, the control unit still fails to receive the information of the reflected light sent by the medicine position supplement sensor at the top of the medicine storage unit, and sends the information of the medicine shortage of the medicine storage unit; or the control unit acquires the height of the lifting part and the quantity of the missing medicines in the medicine storage unit through the stroke of the lifting motor, and when the quantity of the missing medicines reaches a certain threshold value, the control unit sends the medicine shortage information of the medicine storage unit.
8. A medicine replenishment control method based on the medicine vending machine of claim 7, characterized in that the method comprises the following steps:
the method comprises the following steps: pulling out the medicine storage group where the medicine storage unit to be supplemented is located; at the moment, the first clamping piece of the clamping plate of the medicine storage unit and the second clamping piece of the lifting tray are in a clamping state, meanwhile, the third clamping piece of the clamping plate is in the first state, the clamping plate is not in contact with the side plate of the medicine storage unit, and the clamping plate and the lifting tray are taken as a whole;
step two: adjusting a third clamping piece of the clamping plate to be in a second state, namely inserting the third clamping piece into the horizontal clamping groove at the corresponding position of the side plate of the medicine storage unit, and limiting the lifting of the clamping plate;
step three: releasing the clamping state of the first clamping piece of the clamping plate and the second clamping piece of the lifting tray, so that the clamping plate is separated from the lifting tray;
step four: the lifting motor drives the lifting tray to descend, the descending height is Nh2+ h1, the thickness of the clamping plate is h1, the height of a single medicine stacked and stored in the medicine storage unit is h2, N is the number of supplementary medicines and is smaller than or equal to the number of medicines missing in the medicine storage unit; at the moment, the third clamping piece of the clamping plate is inserted into the horizontal clamping groove at the corresponding position of the side plate of the medicine storage unit, so that the position of the clamping plate is unchanged, and the height of the medicine stacked on the clamping plate is also unchanged;
step five: placing a standby clamping plate on the lifting tray, clamping a first clamping piece of the standby clamping plate and a second clamping piece of the lifting tray to enable the standby clamping plate and the lifting tray to be integrated, meanwhile, enabling a third clamping piece of the standby clamping plate to be in a first state, enabling a medicine filling gap corresponding to the quantity of the supplemented medicines to be formed between the clamping plate inserted into the horizontal clamping groove and the standby clamping plate, and enabling the height of the medicine filling gap to be about Nh 2;
step six: filling N boxes of medicines to be supplemented into the medicine filling gaps;
step seven: adjusting a third clamping piece of the clamping plate inserted into the horizontal clamping groove to be in a first state, so that the third clamping piece of the clamping plate is not inserted into the horizontal slot any more, and simultaneously, the clamping plate is drawn out from the medicine stack to be used as a new standby clamping plate, and meanwhile, the original medicines in the medicine storage unit are stacked on the newly replenished medicines to form a new medicine stack;
step eight: the lifting motor drives the lifting tray to rise, and the rising height is h1, so that the height of the medicines in the medicine stack corresponds to the horizontal clamping groove of the side plate of the medicine storage unit.
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| CN113460557B (en) * | 2021-07-02 | 2022-08-23 | 哈尔滨医科大学 | Medical automatic medicine dispensing instrument |
| CN113724450A (en) * | 2021-08-25 | 2021-11-30 | 北京华兴长泰物联网技术研究院有限责任公司 | Medicine supplementing mechanism, medicine selling machine and control method of medicine supplementing mechanism and medicine selling machine |
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