CN113724450A - Medicine supplementing mechanism, medicine selling machine and control method of medicine supplementing mechanism and medicine selling machine - Google Patents

Abstract

The application provides an automatic medicine supplementing mechanism, a medicine selling machine and a control method of the automatic medicine supplementing mechanism. The medicine supplementing units can form a medicine supplementing unit, the medicine supplementing unit is provided with a pull-out mechanism similar to a drawer, the medicine supplementing unit can be pulled out independently relative to the medicine storing units as a whole, the medicine conveying unit can move in a three-dimensional mode and takes away medicines in the medicine storing units or the medicine supplementing units, the medicine supplementing units can automatically lift the medicines in the medicine storing units or the medicine supplementing units to the original height after the medicines in the medicine storing units or the medicine supplementing units are taken away, and the upper surfaces of the medicines in all the medicine storing units or the medicine storing units are located on the same horizontal plane again.

Description

Medicine supplementing mechanism, medicine selling machine and control method of medicine supplementing mechanism and medicine selling machine

Technical Field

The application relates to the technical field of medicine management, in particular to an automatic medicine supplementing mechanism, an automatic medicine selling machine and a control method of the automatic medicine supplementing mechanism and the 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 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 to realize the control of the medicine suction mechanism through two servo motors. Although this solution can get the medicine from the upper part of the medicine storage unit, there are other disadvantages to this solution: because the current medicine snatchs the mechanism generally the volume great, the medicine size that stores in each medicine memory cell is different to the medicine surplus quantity in each medicine memory cell also differs, cause the top surface height of the medicine of piling up in different memory cells also to be different, if adopt and snatch the mechanism and snatch the medicine, its displacement volume of snatching the head in XYZ axle direction needs complicated calculation and control, especially the stroke on vertical height is difficult to the accurate control, this has not only increaseed the degree of difficulty of control greatly, and vertical stroke control fault easily snatchs failure or destroys the medicine.

Disclosure of Invention

The application provides an automatic medicine supplementing mechanism, automatic medicine supplementing mechanism can be used to sell medicine machine, drugstore etc to sell the medicine machine and exemplify, sell the medicine machine and include the shell, get the medicine mouth, automatic medicine supplementing mechanism includes the control unit, medicine migration unit, stores up medicine unit, benefit medicine unit, medicine and mends the position unit.

The control unit comprises a control circuit or a processor with a control function to control the medicine conveying unit, the medicine storage unit, the medicine supplementing unit and the medicine supplementing unit, 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.

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 rail is arranged in parallel 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 drive of an X-axis driving motor, and the X-axis motor is mounted on the X-axis 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 either a manipulator or a clamping head.

The plurality of the tonic units can form a tonic group, and the tonic group is at least one or two or more. The medicine supplementing group is provided with a pulling-out mechanism, so that the medicine supplementing group can be pulled out independently relative to the medicine storage unit as a whole. Specifically, the pulling-out mechanism comprises a sliding rail arranged at the bottom or the side of the herbal supplement unit, and the herbal supplement unit can be pulled out along the sliding rail. The medicine supplementing group comprises a plurality of medicine supplementing units, and the supplemented medicines are stacked and stored in the medicine supplementing units of the medicine supplementing group in a classified mode.

The plurality of medicine supplementing units and the medicine storage units have corresponding relations, namely the medicine storage units and the medicine supplementing units which store the same medicine or consumable materials have corresponding relations. And the corresponding relation between the medicine supplementing unit and the medicine storage unit is stored in a memory of the control unit. Meanwhile, the coordinate position of the medicine replenishing unit of the medicine replenishing group in the XY-axis plane is stored in the memory of the control unit.

Store up medicine unit or tonifying qi exhaustion and draw together the unit 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 storehouse, carries the medicine mouth of getting through medicine migration unit with the medicine to the confession is taken. In particular, the side supports are side plates.

The control unit comprises a control circuit or a processor with a control function so as to realize the control of the automatic medicine supplementing mechanism.

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 and the medicine supplementing units are stacked on the supporting parts to be stored to form a medicine stack, one end of the supporting part is fixed on the lifting part, the lifting part can move up and down along the vertical direction under the driving of the driving part, the top of the lifting part is provided with a medicine supplementing sensor, 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 promotion part is the promotion belt of vertical setting, it is many to promote the belt, and every stores up medicine unit and the unit of mending corresponds a promotion belt, many tops that promote the belt all are on 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 medicine storage unit and the tonifying qi medicinal 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 promotion motor, it can be along vertical direction up-and-down motion under the drive that promotes the motor to promote the belt, makes 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 is multiple, each medicine storage unit and each medicine supplementing unit correspond to one lead screw, and the top ends of the multiple 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 box in medicine storage unit and the tonifying prescription 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 arrangement is the lifting motor, the slider can be under the drive that promotes the motor along the 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, the light emitter and the light receiver are arranged side by side, the control unit sends reflected light information according to the medicine position supplementing sensor at the top of the medicine receiving and storing unit or the medicine supplementing unit, and the driving component is controlled to drive the supporting component to ascend, so that medicine boxes at the top of each medicine storing unit and/or each medicine supplementing unit are all located on the same horizontal plane.

Similarly, the medicine replenishing unit and the medicine storing unit have the same medicine replenishing function, that is, each medicine replenishing unit also has a medicine replenishing unit, so that the medicine boxes at the top in the medicine replenishing units are all positioned on the same horizontal plane. In the first aspect, the medicine supplementing group can be designed to have the same structure as a single medicine storage group, and only the medicine supplementing group is provided with a pulling-out mechanism and can be pulled out horizontally relative to the medicine storage group, so that the universality of the equipment can be improved, and the medicine boxes at the tops of the medicine storage group and the medicine supplementing group are positioned on the same horizontal plane. In another aspect, the depository and the restitution set have the same structure, i.e. both the depository and the restitution set have a pull-out mechanism.

The application also provides a medicine supplementing control method based on the automatic medicine supplementing mechanism and the medicine selling machine, which comprises the following steps of:

the method comprises the following steps: the control unit enters a drug replenishing mode of the drug storage unit, and in this mode, the drug taking function is temporarily stopped.

Step two: the control unit determines a medicine storage unit needing medicine supplement, searches a medicine supplement unit corresponding to the medicine storage unit needing medicine supplement, judges whether the corresponding medicine supplement unit has medicine, and executes a third step if the medicine is available or executes a sixth step if the medicine is not available.

Step three: the control unit controls the lifting tray of the medicine storage unit needing medicine supplement to descend, the descending height is h, and the height of the single medicine stacked and stored in the medicine storage unit is h.

Step four: the control unit inquires a medicine storage unit needing medicine supplement and the coordinate position of the corresponding medicine supplement unit, controls a medicine taking head of the medicine conveying unit to move to the top of the medicine supplement unit corresponding to the medicine storage unit needing medicine supplement, takes the medicine at the top of the medicine supplement unit away from the medicine taking head, moves to the top of the medicine storage unit needing medicine supplement, releases the medicine, and completes the process of supplementing the medicine from the medicine supplement unit to the medicine storage unit, and a lifting tray of the medicine supplement unit ascends by the height h;

step five: the control unit controls the medicine conveying unit to return to the initial position and executes the step two;

step six: the control unit sends out the suggestion that the medicine is lacked to the unit of making up medicine. In this case, since the medicine storage unit of the medicine vending machine is short of a certain amount of medicine and the replenishing unit is not replenished with the medicine, the medicine in the medicine vending machine needs to be replenished and an operator needs to fill the replenishing unit with the medicine.

Further, the present application provides a medicine supplement control method for a medicine supplement unit, which is based on the automatic medicine supplement mechanism and the medicine selling machine, and includes the following steps:

the method comprises the following steps: the control unit enters a medicine supplementing mode of a medicine supplementing unit and determines the medicine supplementing unit needing medicine supplementation; in this mode, the medicine dispensing function is temporarily stopped.

Step two: the lifting tray of the replenishing unit requiring the replenishing is lowered to the lowest position.

Step three: pulling out the tonic group to be supplemented.

Step four: the operator fills the medication into the unit of the supplement to be supplemented and pushes the set of supplements back into place. In this step, the number of drugs replenished by the replenishing unit cannot exceed the maximum capacity of the replenishing unit.

Step five: the control unit controls the medicine boxes at the top of the medicine supplementing units in the medicine supplementing set to be substantially positioned on the same horizontal plane; through the steps, the heights of the medicine stacks in the medicine supplementing units in the medicine supplementing groups are approximately level and are positioned on the same horizontal plane.

Step six: the control unit finishes the medicine supplementing mode of the medicine supplementing unit, and the medicine selling machine can normally take the medicine.

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 an automatic medicine supplementing mechanism and a medicine selling machine, the automatic medicine supplementing mechanism comprises a control unit, a medicine transporting unit, a medicine storage unit, a medicine supplementing unit and a medicine supplementing unit. The medicine migration unit can three-dimensionally move, takes away the medicine in the medicine storage unit or the medicine supplementing unit, and the medicine that the position unit can be in the medicine storage unit is taken away the back, and the medicine that will store up in medicine unit and the medicine supplementing unit automatically promotes to original height for the upper surface of medicine is in same horizontal plane again in all medicine storage units. Tonifying medicine unit group, can pull out alone for storing up the medicine unit, this application need not to set up special contact pick-up head in order to confirm whether descend to the height at medicine box place, has prevented to get it filled that first longitudinal displacement is too much and destroys the medicine box or the longitudinal displacement is not enough and the circumstances of 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. Meanwhile, the medicine supplementing personnel can also supplement the medicines to the medicine selling machine by filling the medicines into the medicine supplementing unit, the medicine selling machine is convenient and quick, and meanwhile, after the medicines in the medicine storing unit are taken out, the medicines in the medicine supplementing unit are supplemented into the medicine storing unit, so that the first-in first-out of the medicines is realized, and the overdue overstock of the medicines is avoided.

Drawings

FIG. 1 is a front view of a medicine dispenser of the present invention;

FIG. 2 is a three-coordinate drug transfer unit of the present application;

FIG. 3 is a schematic drawing of the supplement drug unit of the present application;

FIG. 4 is a schematic view of a medicine fill-in unit of the present application;

FIG. 5 is a schematic view of the drug filling unit of the present application in a drug-deficient state;

FIG. 6 is a schematic view of a second embodiment of a medicine replenishment unit of the present application;

fig. 7 is a schematic diagram of the position coding of the drug storage unit of the present application.

The medicine dispensing device comprises a three-coordinate medicine conveying 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 filling unit 7, a side plate 8, an equipment area 9, a medicine box 10, a slide rail 11, a shell 12, a medicine filling group 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 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 supplementing mechanism, automatic medicine supplementing mechanism can be used to sell medicine machine, drugstore etc. as shown in fig. 1 to the medicine machine of selling is the example, the medicine machine of selling includes shell 12, gets medicine mouth 5, automatic medicine supplementing mechanism includes the control unit 6, medicine migration unit 1, stores up medicine unit 2, supplements medicine unit 7, medicine and mends position unit 3.

Sell the medicine machine and include a plurality of medicine storage unit 2, medicine storage unit includes 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, transports the unit through the medicine and carries the medicine mouth 5 of getting it filled to supply to take. The control unit comprises a control circuit or a processor with a control function so as to control the medicine conveying unit, the medicine storage unit 2 and the medicine supplementing unit 7, and the control unit is provided with a memory, wherein 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 or medicine supplementing unit. The top of the medicine storage unit or the medicine supplementing unit refers to the position of the upper surface of the uppermost medicine of the medicine storage unit or the medicine supplementing unit when the medicine exists in the medicine storage unit or the medicine supplementing 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 migration unit can adopt a three-coordinate medicine migration unit 1 (shown in figure 1) 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 is a medicine box, a medicine bottle or consumable material and the like. As shown in fig. 2, the three-coordinate medicine migration unit 1 includes 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, where the X-axis slide rail 1-1 is arranged in parallel along an X-axis direction, and in this embodiment, the X-axis direction is a left-right direction of the medicine selling machine shown in fig. 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 medicine transporting unit in the above embodiment is only one implementation way for grabbing the medicines in the medicine storage unit or the medicine replenishing unit or replenishing the medicines in the medicine storage unit, and other design types of three-coordinate medicine transporting units can be adopted to achieve the same purpose. The medicine taking heads 1-4 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 or put down the medicine by grabbing or clamping.

As shown in fig. 3, the plurality of medicine storage units are arranged in an array, and the installation positions thereof are determined. Referring to fig. 7, 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 a plurality of medicine storage units can be coded into one medicine storage group, so that the medicine selling machine comprises a plurality of medicine storage groups. The coordinates of each drug storage unit in the XY-axis plane are determined, so that the three-coordinate drug delivery unit can be controlled to move the drug taking head above the designated drug storage unit, and the coordinate position of each drug storage unit in the XY-axis plane is stored in the memory of the control unit. When taking medicines from the medicine storage unit or the medicine supplementing unit, taking the medicine storage unit as an example, the medicine taking head of the three-coordinate medicine transporting unit 1 is located at an initial position, the upper surfaces of the top medicines in all the medicine storage units are substantially at the same horizontal plane, and after the control unit receives a medicine taking instruction for taking the medicines in the A2 medicine storage unit, the three-coordinate medicine transporting unit is controlled 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, and sucks the medicine boxes in the A2 medicine storage unit. Meanwhile, since 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 the other medicine storage units. Finally, the medicine filling unit of the A2 medicine storage unit enables the medicine stack in the A2 medicine storage unit to rise, and enables the medicine on the top of the A2 medicine storage unit to be at the same level with the medicine on the top of other medicine storage units. The tonic unit also has the same control method.

As shown in the figure, a plurality of the tonic units can constitute a tonic group, and the tonic group is at least one, or two or more. For example, the group of remedies has a drawer-like pull-out mechanism, so that the group of remedies can be pulled out separately as a unit relative to the unit for storing the medicines. Specifically, the pulling-out mechanism comprises a sliding rail arranged at the bottom or the side of the herbal supplement unit, and the herbal supplement unit can be pulled out along the sliding rail. The pull-out mechanism can also be optionally matched with a damping structure, a stopping structure or a handle structure similar to the drawer in the prior art, and the details are not repeated. The drug supplementing group comprises a plurality of drug supplementing units separated by partition plates, and the supplemented drugs are stacked and stored in the drug supplementing units of the drug supplementing group in a classified manner.

The plurality of medicine supplementing units and the medicine storage units have corresponding relations, namely the medicine storage units and the medicine supplementing units which store the same medicine or consumable materials have corresponding relations. For example, the tonic group has 8 tonic units, which are respectively C1 to C8, the medicine storage units take 8 in two rows as an example, the codes of the medicine storage units in the first row are respectively a1-a4, and the codes of the medicine storage units in the second row are B1-B4, when corresponding, a one-to-one correspondence relationship may be adopted, that is, 8 tonic units correspond to 8 medicine storage units, or a non-one-to-one correspondence relationship may also be adopted, for example, the C1 tonic unit, the C2 tonic unit, and the a1-a2 medicine storage unit all store the same medicine or consumable, and then the C1 tonic unit and the C2 tonic unit establish a correspondence relationship with the a1-a2 medicine storage units at the same time. If the number of the medicine storage units is larger than that of the medicine supplementing units, a corresponding relation is established between one medicine supplementing unit and a plurality of medicine storage units, for example, the medicine supplementing group comprises 8 medicine supplementing units from the C1 medicine supplementing unit to the C8 medicine supplementing unit, the number of the medicine storage groups is eight, each medicine storage group comprises 8 medicine storage units, and each medicine supplementing unit can be set to correspond to 8 medicine storage units of one medicine storage group. And the corresponding relation between the medicine supplementing unit and the medicine storage unit is stored in a memory of the control unit. Meanwhile, the coordinate position of the medicine supplementing unit of the medicine supplementing group on the XY axis plane adopts the same determining method as that of the medicine storing unit, and the coordinate of each medicine supplementing unit on the XY axis plane is determined, so that the three-coordinate medicine transporting unit can be controlled to move the medicine taking head to the position above the appointed medicine supplementing unit. The coordinate positions of the medicine replenishing units of the medicine replenishing group in the XY-axis plane are also stored in the memory of the control unit. Since the memory of the control unit stores the coordinate positions of each medicine supplementing unit and each medicine storing unit on the XY-axis plane, the control unit can easily control the medicine taking head to move between the medicine storing unit and the medicine supplementing unit of the medicine supplementing group.

Store up medicine unit or tonifying qi exhaustion and draw together the unit 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 and gets medicine mouth 5 for taking. In particular, the side supports are side plates.

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 and each medicine supplementing unit are provided with one medicine supplementing unit, each medicine supplementing unit comprises a lifting part, a supporting part and a driving part, the medicine storing units are taken as examples, the medicine supplementing unit shown in figure 7 is an embodiment of the medicine supplementing unit, each lifting part is a lifting belt 3-1 which is longitudinally arranged, each 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. 5, 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.

Similarly, the medicine replenishing unit and the medicine storing unit have the same medicine replenishing function, that is, each medicine replenishing unit also has a medicine replenishing unit, so that the medicine boxes at the top in the medicine replenishing units are all positioned on the same horizontal plane. If the cost is reduced, the medicine supplementing group can be designed to have the same structure as a single medicine storage group, and only the medicine supplementing group is provided with a pulling-out mechanism and can be pulled out horizontally relative to the medicine storage group, so that the universality of the equipment can be improved, and the medicine boxes on the tops of the medicine storage group and the medicine supplementing group are positioned on the same horizontal plane. In another embodiment, the drug storage group and the drug supplementation group have the same structure, that is, the drug storage group and the drug supplementation group both have a pull-out mechanism, in this case, one or more of the drug storage groups are actually used as drug supplementation groups, that is, the drug storage group which cannot be pulled out due to locking of the pull-out mechanism is used as a drug storage space, and the drug storage group which can be pulled out due to unlocking of the pull-out mechanism is used as a drug supplementation space.

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. Similarly, taking a drug from a patch unit would have the same benefits.

Further, the medicine supplementing position sensor 3-4 can also realize medicine shortage alarm of the medicine storage unit or the medicine supplementing unit. Taking a medicine storage unit as an example, 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 lifting 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 lack information of the medicine storage unit, and the medicine lack information can be transmitted to the outside and also can be displayed on a display screen or can be used for alarm prompt 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 is further known, 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.

Referring to fig. 6, 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 comprises a clamping plate and a lifting tray 3-3, the clamping plate and the lifting tray 3-3 are horizontally arranged, the clamping plate is arranged above the lifting tray, medicine boxes 10 in the medicine storage unit are stacked on the clamping plate to be stored to form a medicine stack, one end of the lifting tray 3-3 is fixed on a sliding block 3-6, the driving component is a lifting motor 3-2, the sliding block 3-6 can move up and down along the vertical direction on a lead screw 3-5 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 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.

The application also provides a medicine supplementing control method based on the automatic medicine supplementing mechanism and the medicine selling machine in the embodiment, which comprises the following steps of:

the method comprises the following steps: the control unit enters a medicine supplementing mode of the medicine storage unit; the medicine storage unit medicine supplementing mode can be started by an operator or can be automatically started by the control unit, and the control unit can obtain the medicine shortage information of the medicine storage unit, so that the control unit can enter the medicine storage unit medicine supplementing mode when the quantity of medicines of one or more medicine storage units or the quantity of certain medicines is reduced to a preset stock threshold, and the medicine taking function is temporarily stopped in the mode.

Step two: the control unit determines a medicine storage unit needing medicine supplement, searches a medicine supplement unit corresponding to the medicine storage unit needing medicine supplement, and judges whether the corresponding medicine supplement unit has medicine, if so, the step three is executed, and if not, the step six is executed; since the memory of the control unit stores the corresponding relationship between the medicine storage unit and the medicine supplement unit, for example, the medicine supplement unit A2 needs to supplement the medicine, the control unit obtains the medicine supplement unit corresponding to the medicine storage unit A2 as the medicine supplement unit C2, and the medicine or consumable part identical to the medicine storage unit A2 is stored in the medicine supplement unit C2. And because each medicine supplementing unit is provided with a medicine supplementing unit, the control unit can also acquire the medicine shortage information of any medicine supplementing unit, namely, whether the medicine exists in the C2 medicine supplementing unit corresponding to the A2 medicine storage unit needing medicine supplementing or not can be known, and if the medicine exists in the C2 medicine supplementing unit, the control unit can control the medicine moving unit to supplement the medicine or consumable materials in the C2 medicine supplementing unit to the A2 medicine storage unit.

Step three: the control unit controls the lifting tray of the medicine storage unit needing medicine supplement to descend, the descending height is h, and the height of a single medicine stacked and stored in the medicine storage unit is h; thus, the stack of drugs in the a2 unit is lowered by the height of one drug cassette as a whole, and if the a2 unit does not already contain any drugs, its lifting tray is located at the top of the a2 unit, which is lowered by the height of one drug cassette, also freeing up the storage space for one drug cassette.

Step four: the control unit inquires a medicine storage unit needing medicine supplement and the coordinate position of the corresponding medicine supplement unit, controls a medicine taking head of the medicine conveying unit to move to the top of the medicine supplement unit corresponding to the medicine storage unit needing medicine supplement, takes the medicine at the top of the medicine supplement unit away from the medicine taking head, moves to the top of the medicine storage unit needing medicine supplement, releases the medicine to complete the process of supplementing the medicine from the medicine supplement unit to the medicine storage unit, meanwhile, a medicine position supplementing unit of the medicine supplement unit enables a lifting tray of the medicine supplement unit to lift, the lifting height is h, and the medicine on the medicine supplement unit and the tops of other medicine supplement units generally return to the same horizontal plane again;

step five: the control unit controls the medicine conveying unit to return to the initial position and executes the step two;

step six: the control unit sends out the suggestion that the medicine is lacked to the unit of making up medicine. In this case, since the medicine storage unit of the medicine vending machine is short of a certain amount of medicine and the replenishing unit is not replenished with the medicine, the medicine in the medicine vending machine needs to be replenished and an operator needs to fill the replenishing unit with the medicine.

Further, the present application provides a method for controlling drug supplement of a drug supplement unit, which includes the following steps:

the method comprises the following steps: the control unit enters a medicine supplementing mode of a medicine supplementing unit and determines the medicine supplementing unit needing medicine supplementation; the medicine supplementing mode of the medicine supplementing unit is started by an operator, in the mode, the operator needs to open the shell of the medicine selling machine, and the medicine taking function is temporarily stopped.

Step two: the lifting tray of the medicine supplementing unit needing to be supplemented descends to the lowest position, when the medicine in the medicine supplementing unit at the lowest position is in the maximum storage amount, the position of the lifting tray is located, the medicine supplementing unit is provided with the medicine position supplementing unit, the tops of medicine stacks on the lifting tray of the medicine supplementing unit needing not to be supplemented are all at the same horizontal height, the lifting tray of the medicine supplementing unit needing to be supplemented descends to the lowest position, the tops of the medicine stacks on the lifting tray can be lower than those of other medicine supplementing units, or the medicines on the lifting tray are all taken away, so that an operator can visually see which medicine supplementing units need to be supplemented, and the number of the medicine lacking can be estimated approximately.

Step three: pulling out the tonic group to be supplemented; the said tonic group is pulled out separately from the medicine storage group. Specifically, because the benefit medicine unit of this application includes that the medicine mends a position sensor, consequently the control unit learns the scarce medicine information of benefit medicine unit, and after the medicine selling machine was opened to the benefit medicine personnel, according to lack the medicine information and pull out corresponding benefit medicine group, if the benefit medicine group is only one, then only need directly pull out this benefit medicine group can.

Step four: the operator fills the medication into the unit of the supplement to be supplemented and pushes the set of supplements back into place. In this step, the number of the medicines filled by the medicine filling unit cannot exceed the maximum capacity of the medicine filling unit, that is, the height of the medicine stack on the lifting tray cannot exceed the height of the medicine filling sensor of the medicine filling unit.

Step five: the control unit controls the medicine boxes at the top of the medicine supplementing units in the medicine supplementing set to be substantially positioned on the same horizontal plane; specifically, if the medicine stock of a certain medicine replenishing unit still does not reach the maximum stock after the medicine replenishing operation, namely the top of the medicine stack on the lifting tray is still lower than the height of the medicine position supplementing sensor, the lifting motor drives the lifting tray to ascend until the medicine box at the top of the medicine stack on the lifting tray reaches the height of the medicine position supplementing sensor, and the lifting is stopped.

Step six: the control unit finishes the medicine supplementing mode of the medicine supplementing unit, and the medicine selling machine can normally take the medicine.

In the control method, the medicine in the medicine storage unit is taken by the medicine selling machine when the medicine is taken, if the medicine is lacked in the medicine storage unit, the medicine is supplemented into the medicine storage unit from the medicine supplementing unit, and when the medicine supplementing personnel supplement the medicine for the medicine selling machine, the supplemented medicine is not directly put into the medicine storage unit but is filled into the medicine supplementing unit. The advantage of doing so lies in if still have the medicine that has not got up in the medicine storage unit, then medicine migration unit takes the medicine that remains in the medicine storage unit at first after, moves into the medicine storage unit with the medicine of newly filling from the unit of making up a prescription again for taking, can guarantee like this that the medicine of filling earlier is taken earlier, prevents the loss that the medicine is outdated and causes.

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 (9)

1. An automatic medicine supplementing mechanism is characterized by comprising a control unit, a medicine conveying unit, a medicine storage unit and a medicine supplementing unit;

the control unit is used for controlling the medicine transportation unit, the medicine storage unit, the medicine supplementing unit and is provided with a memory;

the medicine storage unit and the medicine supplementing unit are multiple, the medicine supplementing unit forms at least one medicine supplementing unit, and the medicine supplementing unit is provided with a pulling-out mechanism, so that the medicine supplementing unit can be pulled out independently relative to the medicine storage unit as a whole; the medicine supplementing units and the medicine storage units have corresponding relations, the medicine supplementing units and the medicine storage units with corresponding relations store the same medicine, and the corresponding relations between the medicine supplementing units and the medicine storage units are stored in a memory of the control unit;

store up the medicine unit and mend the medicine unit 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 medicine accommodation space and forms the medicine stack.

2. The automatic medicine replenishing mechanism according to claim 1, wherein the automatic medicine replenishing mechanism comprises a plurality of medicine replenishing units, each medicine storing unit and each medicine replenishing unit corresponds to one medicine replenishing unit, each medicine replenishing unit comprises a lifting part, a supporting part and a driving part, and each medicine replenishing unit is used for enabling the top medicine boxes in each medicine storing unit and each medicine replenishing unit to be located on the same horizontal plane.

3. The automatic medicine supplementing mechanism according to claim 2, wherein the lifting component comprises a plurality of lifting components, each medicine storage unit or medicine supplementing unit corresponds to one lifting component, the top ends of the plurality of lifting components are all on the same horizontal plane, a medicine supplementing position sensor is arranged at the top of each lifting component, the medicine supplementing position sensor detects height information of a medicine box at the top of each medicine storage unit or medicine supplementing unit, and the medicine supplementing position sensors of the medicine storage units or the medicine supplementing units are basically on the same plane.

4. The automatic medicine replenishing mechanism according to claim 3, wherein the lifting member is a plurality of lifting belts arranged longitudinally, one lifting belt corresponds to each of the medicine storage unit and the medicine replenishing unit, and the top ends of the plurality of lifting belts are on the same horizontal plane; the supporting component is a lifting tray which is horizontally arranged, medicine boxes in the medicine storage unit and the medicine supplementing unit are stacked and stored on the lifting tray to form a medicine stack, one end of the lifting tray is fixed on the lifting belt, the driving component is a lifting motor, and the lifting belt can move up and down along the vertical direction under the driving of the lifting motor, so that the lifting tray supports the medicine boxes in the stacked state to move up and down; 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.

5. The automatic medicine replenishing mechanism according to claim 3, wherein the lifting member is a plurality of longitudinally arranged lead screws, one lead screw corresponds to each of the medicine storing unit and the medicine replenishing unit, and the top ends of the plurality of lead screws are on the same horizontal plane; the supporting component is a lifting tray which is horizontally arranged, medicine boxes in the medicine storage unit and the medicine supplementing unit are stacked and stored on the lifting tray to form a medicine stack, one end of the lifting tray is fixed on a sliding block, the driving component is a lifting motor, and the sliding block can move up and down on a lead screw along the vertical direction under the driving of the lifting motor, so that the lifting tray supports the medicine boxes in the stacked state to move up and down; 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.

6. The automatic medicine replenishing mechanism according to claim 4 or 5, wherein the medicine replenishing sensor comprises a light emitter and a light receiver which are arranged side by side, and the control unit controls the driving part to drive the supporting part to ascend or stop according to reflected light information sent by the medicine replenishing sensor at the top of the medicine storage unit or the medicine replenishing unit, so that the medicine boxes at the top in each medicine storage unit and/or the medicine replenishing unit are substantially on the same horizontal plane.

7. A medicine vending machine comprising the automatic medicine replenishing mechanism according to claim 6, wherein the medicine vending machine further comprises a housing, a medicine taking port, a control unit, a medicine transporting unit; the medicine migration unit adopts the three-dimensional displacement mechanism that sets up in storage medicine unit top, three-dimensional displacement mechanism is including getting the medicine head, it is or manipulator or holding head to get the medicine head.

8. A medicine replenishment control method based on the medicine vending machine according to claim 7, characterized by comprising the steps of:

the method comprises the following steps: the control unit enters a medicine supplementing mode of the medicine storage unit, and in the mode, the medicine taking function is temporarily stopped;

step two: the control unit determines a medicine storage unit needing medicine supplement, searches a medicine supplement unit corresponding to the medicine storage unit needing medicine supplement, and judges whether the corresponding medicine supplement unit has medicine, if so, the step three is executed, and if not, the step six is executed;

step three: the control unit controls the lifting tray of the medicine storage unit needing medicine supplement to descend, the descending height = h1, and the height of the single medicine stacked and stored in the medicine storage unit is h 1;

step four: the control unit inquires the coordinate positions of the medicine storage units needing medicine supplement and the corresponding medicine supplement units, controls the medicine taking heads of the medicine conveying units to move to the tops of the medicine supplement units corresponding to the medicine storage units needing medicine supplement, takes the medicines at the tops of the medicine supplement units away from the medicine taking heads, moves to the tops of the medicine storage units needing medicine supplement, and releases the medicines; the lifting tray of the medicine supplementing unit rises, and the rising height = h 1;

step five: the control unit controls the medicine conveying unit to return to the initial position and executes the step two;

step six: the control unit sends out the suggestion that the medicine is lacked to the unit of making up medicine.

9. A medicine replenishment control method of a replenishment unit, which is based on the medicine vending machine of claim 7, characterized in that the control method comprises the following steps:

the method comprises the following steps: the control unit enters a medicine supplementing mode of the medicine supplementing unit and determines the medicine supplementing unit needing medicine supplementing, and in the mode, the medicine taking function is temporarily stopped;

step two: the lifting tray of the medicine supplementing unit needing medicine supplementation descends to the lowest position;

step three: pulling out a medicine supplementing group where a medicine supplementing unit to be supplemented is located, wherein the medicine supplementing unit is pulled out independently relative to the medicine storage group;

step four: an operator fills medicines into a medicine supplementing unit to be supplemented, and pushes the medicine supplementing group back to the original position, and the quantity of the medicines supplemented by the medicine supplementing unit cannot exceed the maximum capacity of the medicine supplementing unit;

step five: the control unit controls the medicine boxes at the top of the medicine supplementing units in the medicine supplementing set to be substantially positioned on the same horizontal plane;

step six: the control unit finishes the medicine supplementing mode of the medicine supplementing unit, and the medicine selling machine can normally take the medicine.

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