CN113060458A - Automatic medicine taking mechanism, medicine discharging and selling machine and control method thereof - Google Patents
Automatic medicine taking mechanism, medicine discharging and selling machine and control method thereof Download PDFInfo
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- CN113060458A CN113060458A CN202110268183.5A CN202110268183A CN113060458A CN 113060458 A CN113060458 A CN 113060458A CN 202110268183 A CN202110268183 A CN 202110268183A CN 113060458 A CN113060458 A CN 113060458A
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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 an automatic mechanism of getting it filled and sell medicine machine, it includes the shell, gets the medicine mouth and gets the medicine mechanism automatically to sell the medicine machine, the automatic mechanism of getting it filled includes the control unit, gets the medicine unit, stores up medicine unit and medicine and mends a position unit, and it can three-dimensional movement to get the medicine unit, takes away the medicine in the storage medicine unit away, and the medicine that the medicine mend a position unit can be in the storage medicine unit is taken away the back away, and the medicine in the unit is promoted to original height to storing up medicine automatically for the upper surface of medicine is in same horizontal plane again in all storage medicine units. The medicine box is prevented from being damaged due to excessive longitudinal displacement of the medicine taking head or the situation that the medicine taking fails 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 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.
Description
Technical Field
The application relates to the technical field of medicine management, in particular to an automatic medicine taking mechanism, an automatic medicine selling machine and a control method of the automatic medicine taking mechanism and the automatic medicine selling machine.
Background
At present, controllable medicine taking mechanisms appear in pharmacies and medicine vending machines, and the existing medicine taking mechanisms mainly comprise the following types: in the medicine taking mechanism of the automatic medicine selling machine disclosed in the chinese patent publication No. CN 106327690A, 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 thereof, so that the medicine is discharged. 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. An automatic high-speed medicine dispensing system disclosed in the chinese patent publication No. CN 106743041A is characterized in that a quick medicine-dispensing mechanism is connected and arranged below a medicine outlet, the quick medicine-dispensing mechanism comprises an annular synchronous belt running in the front-back direction and a stirring boss arranged on the outer surface of the annular synchronous belt, medicines stacked in a medicine storage tank fall on the annular synchronous belt due to the self weight, the stirring boss ejects one box of medicine every 1 week of the running of the annular synchronous belt, and every box of medicine is ejected at the bottom layer, and the medicines on the medicine storage tank fall in sequence. 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. When a plurality of medicines in different medicine grooves need to be stirred, the medicines can not be discharged simultaneously, and the medicine discharging efficiency is low.
In addition, chinese patent publication No. CN 110902234A discloses a complementary dispensing all-in-one machine which uses a six-axis robot or a three-coordinate manipulator to grasp a medicine, but the six-axis robot or the three-coordinate manipulator has a large volume, is expensive in manufacturing cost, and is complicated to control. The Chinese patent publication CN 109650061A discloses a pneumatic medicine taking manipulator, which comprises 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, and the medicine suction mechanism is linearly displaced, but the control is complex, the three-dimensional movement is difficult to realize, and the medicine suction mechanism cannot suck a plurality of rows of medicines.
Moreover, the size of the medicine stored in each medicine storage unit is different, and the remaining amount of the medicine in each medicine storage unit is different, so that the heights of the top surfaces of the medicines stacked in different storage units are different, if the medicine is grabbed by the grabbing mechanism, the displacement of the grabbing head in the XYZ axis direction needs to be calculated and controlled in a complex way, especially the stroke in the longitudinal height is difficult to control accurately, so that the control difficulty is greatly increased, and the grabbing is easy to fail or damage the medicine due to the control error of the longitudinal stroke.
Disclosure of Invention
The application provides an automatic get it filled mechanism and sell medicine machine, sell the medicine machine and include the shell, get the medicine mouth and get it filled mechanism automatically. The automatic medicine taking mechanism comprises a control unit, a medicine taking unit, a medicine storage unit and a medicine position supplementing unit.
The automatic medicine taking mechanism comprises a plurality of medicine storage units, each medicine storage unit comprises a bottom supporting piece and a side supporting piece, the bottom supporting pieces and the side supporting pieces form an accommodating space for medicines, the medicines are stacked and stored in the accommodating space for the medicines, and the medicines are conveyed to the medicine taking port through the medicine taking units to be taken. The control unit comprises a control circuit or a processor with a control function so as to control the medicine taking unit, the medicine storage unit and the medicine position supplementing unit. The control unit is provided with a memory, the memory stores the corresponding relation between medicines and the medicine storage unit and the three-dimensional moving coordinate of the medicine taking head from the initial position to the top of any medicine storage unit, and the control unit further comprises the three-dimensional moving coordinate of the medicine taking head from the top of any medicine storage unit to the medicine identification unit identification area, from the medicine identification unit identification area to the medicine release area and from the medicine release area to the initial position.
The medicine storage units are arranged side by side or in a spatial array, and the coordinates of each medicine storage unit in an XY-axis plane are determined in a coding mode.
The medicine taking unit is a three-coordinate medicine taking unit above the medicine storage unit, the three-coordinate medicine taking unit is provided with a medicine taking head, and the medicine taking head of the three-coordinate medicine taking unit can move in a three-dimensional space so as to extract medicines in any medicine storage unit. In this application the medicine of medicine storage unit is medicine box, medicine bottle or consumptive material etc.. The three-coordinate medicine taking unit comprises an X-axis slide rail, a Y-axis slide rail, a Z-axis slide rail and a medicine taking head, wherein the X-axis slide rail comprises an X-axis driving slide rail and an X-axis driven slide rail, the X-axis driving slide rail and the X-axis driven slide rail are arranged in parallel along the X-axis direction, an X-axis mounting frame is mounted on the X-axis driving slide rail and the X-axis driven slide rail, the X-axis mounting frame can slide on the X-axis slide rail under the driving of an X-axis driving motor, and the X-axis motor is mounted on the X-axis driving slide rail; 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 vacuum adsorption head, or a manipulator, or a clamping head.
The medicine selling machine further comprises a medicine identification unit, wherein the medicine identification unit is arranged inside the medicine selling machine to acquire medicine information of medicines on the medicine taking head and send the medicine information to the control unit. The medicine identification unit is the camera, including the light filling lamp on the camera, the camera is used for acquireing the image information of getting the overhead medicine of taking medicine, the medicine identification unit can also be the radio frequency and read the unit, reads the medicine information that contains in the radio frequency chip on the pharmaceutical packaging, perhaps the medicine identification unit can also be and sweep a yard unit, acquires the medicine information through the identification code such as bar code, two-dimensional code that reads on the pharmaceutical packaging.
The automatic medicine taking mechanism comprises a plurality of medicine supplementing units, each medicine storing unit corresponds to one medicine supplementing unit, each medicine supplementing unit comprises a lifting part, a supporting part and a driving part, medicine boxes in the medicine storing units are stacked on the supporting parts to be stored to form a medicine stack, one end of each supporting part is fixed on the lifting part, the lifting parts can move up and down along the vertical direction under the driving of the driving parts, the tops of the lifting parts are provided with medicine supplementing sensors, and the medicine supplementing sensors are basically located on the same plane. The medicine position supplementing sensor can detect height information of a top medicine box of a medicine stack on the supporting component and sends the height information of the top medicine box to the control unit.
Further, the lifting component is a lifting belt which is longitudinally arranged, each medicine storage unit of the lifting belt corresponds to one lifting belt, and the top ends of the plurality of lifting belts are all on the same horizontal plane. The supporting part is for promoting the tray, it is the level setting to promote the tray, and the medicine box in the medicine storage unit piles up on promoting the tray and deposits formation medicine storehouse, the one end that promotes the tray is fixed promote on the belt, drive unit is the lifting motor, promote the belt and can promote along vertical direction up-and-down motion under the drive that promotes the motor, make it supports the medicine box displacement from top to bottom that is the stacked state to promote the tray. The top of promotion belt 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 storehouse on the tray to send the height information of this top medicine box for the control unit.
On the other hand, the lifting component is a lead screw which is longitudinally arranged, 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 is for promoting the tray, it is the level setting to promote the tray, and the medicine box in the medicine storage unit piles up on promoting the tray and deposits formation medicine storehouse, the one end that promotes the tray is fixed on the slider, drive unit is the lifting motor, the slider can be under the drive of lifting 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 stacked state 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.
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 supporting component 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 a control unit, and the control unit obtains the height of the medicine box at the top of the medicine box stack on the supporting component reaching the medicine position supplementing sensor according to the emitted light information; when the top medicine boxes of the medicine box stack on the supporting component are taken away by the medicine taking head, the control unit cannot receive reflected light information, the control unit judges that the top medicine boxes of the medicine box stack on the supporting component do not reach the height of the medicine position supplementing sensor, the control unit controls the driving component to drive the supporting component to ascend until the top medicine boxes of the medicine box stack on the supporting component reach the height of the medicine position supplementing sensor, the control unit receives the reflected light information sent by the medicine position supplementing sensor on the top of the medicine storage unit again, and the control unit controls the driving component to stop driving the supporting component to ascend.
The medicine selling machine further comprises a display screen and a medicine reading unit on the shell, and the display screen can be a touch screen or a non-touch screen combined with a physical keyboard. The medicine reading unit is used for reading medicine information of the medicine falling from the medicine taking port and displaying the medicine information on the display screen, and the medicine reading unit can be a scanning unit, a radio frequency reading unit and the like. Optionally, a printing device can be optionally installed on the casing of the medicine vending machine for printing the taken medicine information.
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 control method of an automatic medicine taking mechanism, which is based on the automatic medicine taking mechanism and comprises the following steps:
the method comprises the following steps: the medicine taking heads of the three-coordinate medicine taking units are located at initial positions, and the upper surfaces of the medicines in all the medicine storage units are approximately located on the same horizontal plane;
step two: after the control unit receives a medicine taking instruction, corresponding medicines in the medicine taking instruction to corresponding medicine storage units, and searching three-dimensional moving coordinates of the medicine taking head from an initial position to the top of the medicine storage units;
step three: the control unit controls the three-coordinate medicine taking unit to displace the medicine taking head to the surface of the medicine on the uppermost part of the top of the medicine storage unit according to the three-dimensional moving coordinate and take away the medicine on the uppermost part; wherein, the displacement of the medicine taking head on the Z axis is a determined value;
step four: the control unit controls the three-coordinate medicine taking unit to move the medicine taking head to the identification area of the medicine identification unit, and the medicine identification unit acquires the medicine information of the medicine taking head for taking the medicine;
step five: the control unit controls the three-coordinate medicine taking unit to move the medicine taking head to the medicine releasing area and controls the medicine taking head to release the medicine box; the medicine box slides to the medicine taking opening for the user to take away.
Step six: the control unit controls the three-coordinate medicine taking unit to return the medicine taking head to the initial position, controls the medicine supplementing unit to supplement the medicine in the medicine storage unit taking the medicine away, integrally lifts the medicine box in the medicine storage unit upwards, and enables the upper surfaces of the medicines in all the medicine storage units to be in the same horizontal plane again after lifting.
Step six still further includes lacks the medicine detection step, and when the control unit can't receive the height information that this top medicine box was sent to the medicine position filling sensor at this medicine storage unit top, the control unit control medicine position filling unit's drive part drive supporting component rises, if drive part drive supporting component has risen a specified height (predetermine height value), the control unit still can't receive the height information that this top medicine box was sent to the medicine position filling sensor at this medicine storage unit top, the control unit sends this medicine storage unit's lacks the medicine information.
The application provides an automatic mechanism of getting it filled and sell medicine machine, the automatic mechanism of getting it filled includes the control unit, gets the unit of getting it filled, stores up the medicine unit and medicine and mends the position unit, and the unit of getting it filled can three-dimensional removal, takes away the medicine in the unit of storing up the medicine, and the medicine that the position unit can be in storing up the medicine unit is taken away the back, and the medicine in the unit of will storing up the medicine automatically promotes original height for the upper surface of medicine is in same horizontal plane again in all units of storing up the medicine. This application need not to set up special contact pick-up on getting it filled the head in order to confirm whether descend to the height at medicine box place, has prevented to get it filled the head longitudinal displacement 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 a three-coordinate medicine taking unit of the present application in an initial position;
FIG. 4 is a schematic diagram of a three-coordinate medicine taking unit of the present application in a medicine taking state;
FIG. 5 is a schematic diagram of a three-coordinate medication taking unit of the present application in a medication information reading state;
FIG. 6 is a schematic view of a three-coordinate medication dispensing unit of the present application in a drug release state;
FIG. 7 is a schematic view of a medicine fill-in unit of the present application;
FIG. 8 is a schematic view of the drug fill unit of the present application in a drug-out state;
FIG. 9 is a schematic view of a second embodiment of a medicine replenishment 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 camera 4, a medicine taking opening 5, a control unit 6, a display screen 7, a medicine reading unit 8, an equipment area 9, a medicine box 10, a slide rail 11, a shell 12, an X-axis driving slide rail 1-1, an X-axis driven slide rail 1-2, a Y-axis slide rail 1-3, a Z-axis slide rail 1-4, a medicine taking head 1-5, an X-axis mounting rack 1-6, an X-axis motor 1-7, a Y-axis mounting rack 1-8, a Y-axis motor 1-9, a Z-axis motor 1-10, a lifting belt 3-1, a lifting motor 3-2, a lifting tray 3-3, a medicine filling sensor 3-4, a lead screw 3-5 and a slide block 3-6.
Detailed Description
The present application is further illustrated by the following specific examples.
The application provides an automatic medicine taking mechanism, the automatic medicine taking mechanism can be used for medicine selling machines, pharmacies and the like, as shown in fig. 1, the medicine selling machines take the example of the medicine selling machines, and the medicine selling machines comprise shells 12, medicine taking ports 5, control units 6, medicine taking units, medicine storage units 2 and medicine filling units 3. Parallel mechanism of getting it filled includes a plurality of storage medicine units 2, it includes bottom support piece and lateral part support piece to store up the medicine unit, 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, carries the medicine with the medicine through the unit of getting it filled and gets medicine mouth 5 to supply to take. The control unit comprises a control circuit or a processor with a control function to control the medicine taking unit, the medicine storage unit 2 and the medicine filling unit 3, the control unit is provided with a memory, the memory stores the corresponding relation between medicines and the medicine storage unit and three-dimensional moving coordinates of the medicine taking head from an initial position to the top of any medicine storage unit, and the control unit further comprises three-dimensional moving coordinates of the medicine taking head from the top of any medicine storage unit to a medicine identification unit identification area, from the medicine identification unit identification area to a medicine release area and from the medicine release area to the initial position. The top of the drug storage unit refers to the position of the upper surface of the uppermost drug of the drug storage unit when the drug is present in the drug storage unit.
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 structure with multiple rows and multiple columns, and the coordinate position of each medicine storage unit 2 on the horizontal plane (i.e. the XY-axis plane) can be determined by means of coding. The medicine taking unit can adopt a three-coordinate medicine taking unit 1 (shown in figure 1) arranged above a medicine storage unit 2, the three-coordinate medicine taking unit 1 is provided with a medicine taking head 1-5, and the medicine taking head 1-5 of the three-coordinate medicine taking 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 is a medicine box, a medicine bottle or consumable material and the like. As shown in fig. 2, the three-coordinate medicine taking unit 1 includes an X-axis driving slide rail 1-1, an X-axis driven slide rail 1-2, a Y-axis slide rail 1-3, a Z-axis slide rail 1-4, and a medicine taking head 1-5, wherein the X-axis driving slide rail 1-1 and the X-axis driven slide rail 1-2 are arranged in parallel side by side along an X-axis direction, and in this embodiment, the X-axis direction is the left-right side direction of the medicine selling machine shown in fig. 1. An X-axis mounting rack 1-6 is mounted on the X-axis driving slide rail 1-1 and the X-axis driven slide rail 1-2, the X-axis mounting rack can slide on the X-axis driving slide rail 1-1 and the X-axis driven slide rail 1-2 under the driving of an X-axis driving motor 1-7, and the X-axis motor is mounted on the X-axis driving slide rail 1-1; the Y-axis slide rail 1-3 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 1-8 and a Y-axis motor 1-9 are arranged on the Y-axis slide rail 1-3, and the Y-axis mounting rack 1-8 can slide on the Y-axis slide rail under the driving of the Y-axis motor 1-9; z-axis slide rails 1-4 are installed on the Y-axis installation rack 1-8 along the Z-axis direction, Z-axis motors 1-10 and the medicine taking heads 1-5 are installed on the Z-axis slide rails, and the medicine taking heads 1-5 can slide on the Z-axis slide rails under the driving of the Z-axis motors 1-10.
The three-coordinate medicine taking unit in the above embodiment is only one implementation way for grabbing the medicine in the medicine storage unit, and other design types of three-coordinate medicine taking units can be adopted to achieve the same purpose. The medicine taking heads 1-5 adopt vacuum adsorption heads in the embodiment, and the medicine boxes in the medicine storage unit 2 are sucked through the vacuum adsorption effect. 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. 9, the plurality of medicine storage units are arranged in an array, and the installation positions thereof are determined. Referring to fig. 10, taking two rows of 8 medicine storage units as an example, the codes of the medicine storage units in the first row are respectively A1-A4, the codes of the medicine storage units in the second row are B1-B4, and the coordinates of each medicine storage unit in the XY-axis plane are determined, so that the three-coordinate medicine taking unit can be controlled to move the medicine taking head to the position above the specified medicine storage unit. As shown in fig. 3, the medicine vending machine further includes a medicine identification unit, and the medicine identification unit is disposed inside the medicine vending machine to obtain medicine information of the medicine on the medicine dispensing head, and send the medicine information to the control unit. In this embodiment, the medicine identification unit is a camera 4, the camera 4 includes a fill light, the camera 4 is used for obtaining image information of the medicine on the medicine taking head, and then sends the image information to the control unit, and the control unit identifies the medicine information of the medicine on the medicine taking head according to the image information, such as image information of characters and patterns on the medicine package. In other alternative embodiments, the medicine identification unit may also be a radio frequency reading unit that reads medicine information contained in a radio frequency chip on the medicine package, or the medicine identification unit may also be a code scanning unit that obtains the medicine information by reading an identification code such as a barcode, a two-dimensional code, or the like on the medicine package. In fig. 3, the medicine taking head of the three-coordinate medicine taking unit 1 is located at the initial position, the upper surfaces of the medicines in all the medicine storage units are substantially at the same horizontal plane, and when the control unit receives a medicine taking command for taking the medicine in the a2 medicine storage unit, the control unit controls the three-coordinate medicine taking unit to move the medicine taking head to be right above the a2 medicine storage unit, and then the medicine taking head reaches the top of the a2 medicine storage unit, namely the surface of the uppermost medicine box, through the displacement in the Z-axis direction, so as to suck the medicine boxes in the a2 medicine storage unit (see fig. 4). Referring to fig. 5, the control unit continues to control the three-coordinate medicine taking unit to move the medicine taking head to a position right above the camera 4, the camera 4 and the light supplement lamp are turned on, the camera 4 obtains image information on a medicine box package on the medicine taking head, and then transmits the image information to the control unit, the control unit obtains medicine information of the medicine box on the medicine taking head by identifying the image information, and meanwhile, because the uppermost medicine box of the A2 medicine storage unit is taken away by the medicine taking head, the upper surface of the uppermost medicine box in the A2 medicine storage unit is lower than the upper surfaces of the medicine boxes in other medicine storage units. Referring next to fig. 6, the control unit continues to control the three-coordinate medicine taking unit to move the medicine taking head to the medicine releasing area, which is directly above an obliquely arranged slide 11 in this embodiment, and controls the medicine taking head to release the medicine boxes, and the medicine boxes fall onto the slide 11 and slide to the medicine taking opening 5 for the user to take. After the medicine taking is finished, the control unit controls the three-coordinate medicine taking unit to return the medicine taking head to the initial position, controls the medicine position supplementing unit to supplement the medicine in the A2 medicine storage unit taking the medicine away, integrally and upwards lifts the medicine box in the A2 medicine storage unit, and after the medicine box is lifted, the upper surfaces of the medicines in all the medicine storage units are located on the same horizontal plane again.
The medicine replenishment unit will be described in detail below. The automatic medicine taking mechanism comprises a plurality of medicine supplementing units, each medicine storing unit corresponds to one medicine supplementing unit, each medicine supplementing unit comprises a lifting part, a supporting part and a driving part, the medicine supplementing unit comprises a lifting part, the supporting part and the driving part, an embodiment of the medicine supplementing unit shown in figure 7 is provided, the lifting part is a lifting belt 3-1 which is longitudinally arranged, the lifting belt 3-1 comprises a plurality of medicines, each medicine storing unit corresponds to one lifting belt 3-1, and the top ends of the plurality of lifting belts are all on the same horizontal plane. The support component is a lifting tray 3-3, the lifting tray 3-3 is horizontally arranged, the medicine boxes 10 in the medicine storage unit are stacked on the lifting tray 3-3 to form a medicine stack, one end of the lifting tray 3-3 is fixed on the lifting belt 3-1, the drive component is a lifting motor 3-2, the lifting belt 3-1 can move up and down in the vertical direction under the driving of the lifting motor 3-2, and the lifting tray 3-3 supports the medicine boxes in the stacked state to move up and down. 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 medicine boxes at the top of the medicine storage unit, namely height information of the medicine boxes at the top of the medicine stack on the lifting tray 3-3, and sends the height information of the medicine boxes at the top to the control unit. Because the top ends of the plurality of lifting belts are all on the same horizontal plane, and the top of each lifting belt 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 a top medicine box of a medicine box stack on the lifting tray 3-3 reaches the height of the medicine filling position 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 a control unit, and the control unit obtains the height of the top medicine box of the medicine box stack on the lifting tray reaching the medicine filling position sensor according to the transmitted light information; when the top medicine box of the medicine box stack 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, 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 3-3 does not reach the height of the medicine position supplementing sensor. When the medicine taking head takes the medicine in the medicine storage unit away, as shown in fig. 8, the medicine storage unit with the medicine taken away is in a medicine shortage state, the control unit cannot receive the information of reflected light sent by the medicine position supplementing sensor 3-4 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 3-3 of the medicine storage unit does not reach the height of the medicine position supplementing 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 of the medicine box stack on the lifting tray 3-3 reaches the height of the medicine position supplementing sensor 3-4, the control unit receives reflected light information sent by the medicine position supplementing sensor 3-4 at the top of the medicine storage unit again, and the control unit controls the lifting motor 3-2 to stop driving the lifting tray 3-3 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.
This has the additional advantage that the medicine replenishment unit 3 places the top cassette in each storage unit 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 medicine taking unit to move the medicine taking head to be right above the a2 medicine storage unit and suck the topmost medicine box 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, the Z axis (namely the longitudinal displacement of the medicine taking head) only needs to descend by a fixed height value without considering whether each medicine storage unit 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 taking head descends to the height of the medicine box, so that the situation that the medicine box is damaged due to excessive longitudinal displacement of the medicine taking head or the medicine taking head is not damaged due to insufficient longitudinal displacement and the medicine taking fails 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 corresponding medicine storage unit and the displacement of the medicine taking head on the three axes of XYZ can be found out from the database at once without any calculation.
Further, the medicine supplementing sensor 3-4 can also realize medicine shortage alarm of the medicine storage unit. 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, the control unit controls the lifting motor 3-2 to drive the lifting tray 3-3 to ascend, if the prompting motor 3-2 drives the lifting tray 3-3 to ascend by a specified height, such as the whole height of a medicine storage space of the medicine storage unit, the control unit cannot still receive the reflected light information sent by the medicine position supplement sensor 3-4 at the top of the medicine storage unit, the fact that all medicines in the medicine storage unit are taken away is indicated, the control unit sends medicine shortage information of the medicine storage unit, and the medicine shortage information can be transmitted to the outside and also can be displayed on a display screen or is subjected to audible and visual alarm prompting.
Referring to fig. 9, in another embodiment of the medicine replenishing unit, the lifting component is a longitudinally arranged lead screw 3-5, the lead screw 3-5 comprises a plurality of lead screws 3-5, each medicine storage unit corresponds to one lead screw 3-5, and the top ends of the plurality of lead screws 3-5 are all on the same horizontal plane. The support component is a lifting tray 3-3, the lifting tray 3-3 is horizontally arranged, the medicine boxes 10 in the medicine storage unit are stacked on the lifting tray 3-3 to form a medicine stack, one end of the lifting tray 3-3 is fixed on a sliding block 3-6, the drive component is a lifting motor 3-2, the sliding block 3-6 can move up and down on a screw rod 3-5 along the vertical direction under the drive of the lifting motor 3-2, and the lifting tray 3-3 supports the medicine boxes in the stacked state to move up and down. The top of the screw rod 3-5 is provided with a medicine position supplementing sensor 3-4, and the medicine position supplementing sensor 3-4 can detect the height information of the top medicine box of the medicine stack on the lifting tray 3-3 and send the height information of the top medicine box to the control unit. As the top ends of the plurality of screw rods 3-5 are all on the same horizontal plane, and the top of each screw rod 3-5 is provided with the medicine position supplement sensor 3-4, the medicine position supplement sensors 3-4 are basically on the same plane.
As shown in fig. 1, the shell of the medicine selling machine further comprises a display screen 7 and a medicine reading unit 8, the display screen 7 can be a touch screen or a non-touch screen combined with a physical keyboard, and the display screen is used for displaying medicine information sent by the control unit and medicine shortage information sent by the control unit. The medicine reading unit 8 is used for reading medicine information falling from the medicine taking port and displaying the medicine information on a display screen, and the medicine reading unit 8 can be a scanning unit, a radio frequency reading unit and the like. Optionally, a printing device can be optionally installed on the casing of the medicine vending machine for printing the taken medicine information.
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. 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 (10)
1. An automatic medicine taking mechanism is characterized by comprising a control unit, a medicine taking unit, a medicine storage unit and a medicine position supplementing unit;
the automatic medicine taking mechanism comprises a plurality of medicine storage units, each medicine storage unit comprises a bottom supporting piece and a side supporting piece, the bottom supporting pieces and the side supporting pieces form a medicine containing space, the medicines are stacked and stored in the medicine containing space, and the medicines are conveyed to the medicine taking port through the medicine taking unit;
the control unit controls the medicine taking unit, the medicine storage unit and the medicine position supplementing unit; the control unit is provided with a memory, and the memory stores the corresponding relation between the medicines and the medicine storage unit and three-dimensional moving coordinates of the medicine taking head from an initial position to the top of any medicine storage unit;
the plurality of medicine storage units are arranged side by side or in a spatial array.
The medicine taking unit is a three-coordinate medicine taking unit which is provided with a medicine taking head, and the medicine taking head of the three-coordinate medicine taking unit can move in a three-dimensional space so as to extract medicines in any medicine storage unit;
the automatic medicine taking mechanism comprises a plurality of medicine supplementing units, each medicine storing unit corresponds to one medicine supplementing unit, each medicine supplementing unit comprises a lifting part, a supporting part and a driving part, medicines in the medicine storing units are stacked on the supporting parts to form medicine stacks, one end of each supporting part is fixed on the lifting part, the lifting parts can move up and down along the vertical direction under the driving of the driving parts, the tops of the lifting parts are provided with medicine supplementing sensors, and the medicine supplementing sensors are basically located on the same plane; the medicine position supplementing sensor can detect height information of top medicines of the medicine stack on the supporting component and sends the height information of the top medicines to the control unit.
2. The automatic medication intake mechanism of claim 1, wherein the memory further stores three-dimensional movement coordinates of the medication intake head from the top of any of the medication storage units to the medication identification unit identification area, from the medication identification unit identification area to the medication release area, and from the medication release area to the initial position.
3. The automatic medicine taking mechanism according to claim 1, wherein the three-coordinate medicine taking unit 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 rail is arranged in parallel side by side along the X-axis direction, an X-axis mounting frame is mounted on the X-axis slide rail, the X-axis mounting frame can slide on the X-axis slide rail under the driving of an X-axis driving motor, and the X-axis motor is mounted on an X-axis driving slide rail; the Y-axis slide rail is arranged on the X-axis mounting rack along the Y-axis direction, a Y-axis mounting rack is 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 a Y-axis motor; install Z axle slide rail along Z axle direction on the Y axle mounting bracket, install on the Z axle slide rail get the medicine head, it can slide on Z axle slide rail under the drive of Z axle motor to get the medicine head.
4. The automatic medicine taking mechanism as claimed in claim 1, wherein the lifting component is a lifting belt arranged longitudinally, 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 supporting part is for promoting the tray, it is the level setting to promote the tray, and the medicine that stores up in the medicine unit piles up on promoting the tray and deposits formation medicine storehouse, the one end that promotes the tray is fixed promote on the belt, driving part is the lifting motor, promote the belt and can be along vertical direction up-and-down motion under the drive that promotes the motor, make it supports the medicine displacement from top to bottom that is the stacked state to promote the tray.
5. The automatic medicine taking mechanism as claimed in claim 1, wherein 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 part is for promoting the tray, it is the level setting to promote the tray, and the medicine that stores up in the medicine unit piles up on promoting the tray and deposits formation medicine storehouse, the one end that promotes the tray is fixed on the slider, drive unit is the lifting motor, the slider can be under the drive of lifting motor along vertical direction up-and-down motion on the lead screw, makes it supports the medicine displacement from top to bottom that is the stacked state to promote the tray.
6. The automatic medicine taking mechanism according to claim 1, wherein the medicine replenishment sensor comprises a light emitter and a light receiver, the light emitter and the light receiver are arranged side by side, when the medicine on the top of the medicine stack on the support member reaches the height of the medicine replenishment sensor, the light emitter emits detection light, the detection light is reflected by the medicine 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 on the top of the medicine stack on the support member reaching the medicine replenishment sensor according to the emitted light information; when the top medicine of the medicine stack on the supporting component is taken away by the medicine taking head, the control unit cannot receive reflected light information, the control unit judges that the top medicine of the medicine stack on the supporting component does not reach the height of the medicine position supplementing sensor, the control unit controls the driving component to drive the supporting component to ascend until the top medicine of the medicine stack on the supporting component reaches the height of the medicine position supplementing sensor, the control unit receives the reflected light information sent by the medicine position supplementing sensor on the top of the medicine storage unit again, and the control unit controls the driving component to stop driving the supporting component to ascend.
7. A medication dispenser, characterized in that the medication dispenser comprises a housing, a dispensing opening and an automatic dispensing mechanism according to any of claims 1-6.
8. The medicine vending machine according to claim 7, further comprising a medicine identification unit, wherein the medicine identification unit is arranged inside the medicine vending machine to acquire medicine information of the medicine on the medicine taking head and send the medicine information to the control unit; the medicine identification unit is a camera shooting unit, a radio frequency reading unit or a code scanning unit.
9. A control method of an automatic medicine dispensing mechanism based on the automatic medicine dispensing mechanism of any one of claims 1 to 6, characterized in that the control method comprises the steps of:
the method comprises the following steps: the medicine taking head of the three-coordinate medicine taking unit is located at an initial position, and the upper surfaces of the top medicines in all the medicine storage units are approximately located on the same horizontal plane;
step two: after the control unit receives a medicine taking instruction, corresponding medicines in the medicine taking instruction to corresponding medicine storage units, and searching three-dimensional moving coordinates of the medicine taking head from an initial position to the top of the medicine storage units;
step three: the control unit controls the three-coordinate medicine taking unit to displace the medicine taking head to the surface of the medicine on the uppermost part of the top of the medicine storage unit according to the three-dimensional moving coordinate and take away the medicine on the uppermost part; wherein, the displacement of the medicine taking head on the Z axis is a determined value;
step four: the control unit controls the three-coordinate medicine taking unit to move the medicine taking head to the identification area of the medicine identification unit, and the medicine identification unit acquires the medicine information of the medicine taking head for taking the medicine;
step five: the control unit controls the three-coordinate medicine taking unit to move the medicine taking head to the medicine release area and controls the medicine taking head to release the medicine; the medicine slides to the medicine taking opening for the user to take;
step six: the control unit controls the three-coordinate medicine taking unit to return the medicine taking head to the initial position, controls the medicine supplementing unit to supplement the medicines in the medicine storage unit taking the medicines away, integrally lifts the medicines in the medicine storage unit upwards, and enables the upper surfaces of the medicines in all the medicine storage units to be in the same horizontal plane again after lifting.
10. The method for controlling an automatic medication intake mechanism according to claim 9, wherein the sixth step further comprises: when the control unit cannot receive the height information of the medicine at the top sent by the medicine supplementing sensor at the top of the medicine storage unit, the control unit controls the driving part of the medicine supplementing unit to drive the supporting part to ascend, if the driving part drives the supporting part to ascend by a specified height, the control unit cannot still receive the height information of the medicine at the top sent by the medicine supplementing sensor at the top of the medicine storage unit, and the control unit sends the medicine shortage information of the medicine storage unit.
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