CN113787500A

CN113787500A - Intelligent robot that medicine automatic identification was taken

Info

Publication number: CN113787500A
Application number: CN202111006106.9A
Authority: CN
Inventors: 向宏清; 田昌英; 汤木翠
Original assignee: Sichuan Cancer Hospital
Current assignee: Sichuan Cancer Hospital
Priority date: 2021-08-30
Filing date: 2021-08-30
Publication date: 2021-12-14

Abstract

The invention discloses an intelligent robot for automatically identifying and taking medicines, which comprises a moving chassis, wherein a rotating assembly is arranged inside the moving chassis, the output end of the rotating assembly is connected with a turntable, a box body and a first lifting assembly are respectively arranged on the outer wall of the top of the turntable, a control box is arranged on the outer wall of one side of the box body, an adjusting assembly is arranged on one side wall of the first lifting assembly, and a taking assembly is arranged on one side wall of the adjusting assembly. Through the identification module who sets up, host system, data storage module, grip block and the subassembly of taking, store medicine information through data storage module, the medicine information that will take is scanned through first camera, first camera is with medicine information transmission to identification module, identification module sends information to host system, host system takes the subassembly according to the medicine information control of storing in advance, the subassembly drive grip block of taking takes the medicine bottle, thereby realize the effect of automatic getting it filled.

Description

Intelligent robot that medicine automatic identification was taken

Technical Field

The invention relates to the field of medicine identification, in particular to an intelligent robot for automatically identifying and taking medicines.

Background

In terms of the objects used: it is used by people to prevent, treat and diagnose diseases of people, purposefully regulate the physiological function of people, and has specified application symptoms, usage and dosage requirements; in terms of using method: in addition to the appearance, patients cannot recognize the inherent quality, many drugs need to be used under the guidance of doctors and are not selected by the patients, and the use effect is largely determined by various factors such as the use method, the amount and the time of the drugs.

The medicine is generally placed on goods shelves, when taking to the medicine, needs medical personnel to get it filled, because the medicine kind is loaded down with trivial details, the artifical phenomenon that takes trouble that gets it filled exists, when the demand of getting it filled is great, has manpower resources to occupy more problem, consequently, needs a medicine automatic identification intelligent robot who takes to solve the problem that proposes in the above-mentioned background art.

Disclosure of Invention

Aiming at the problems, the intelligent robot for automatically identifying and taking the medicines has the advantages of high automation degree and automatic medicine identification and taking.

The technical scheme of the invention is as follows: an intelligent robot for automatically identifying and taking medicines comprises a moving chassis, wherein a rotating assembly is arranged inside the moving chassis, the output end of the rotating assembly is connected with a turntable, a box body and a first lifting assembly are respectively installed on the outer wall of the top of the turntable, a control box is installed on the outer wall of one side of the box body, an adjusting assembly is installed on one side wall of the first lifting assembly, an taking assembly is installed on one side wall of the adjusting assembly, a first camera is installed on the outer wall of the top of the taking assembly, a clamping plate is fixedly installed on the side wall of the taking assembly, a second lifting assembly is installed on the outer wall of one side of the box body, a bearing plate is installed on the side wall of the second lifting assembly, an adsorption assembly is installed on the outer wall of the top of the bearing plate, the output end of the adsorption assembly is connected with a sucker, and a first spring is installed on the outer wall of the bottom of the bearing plate, the bottom end of the first spring is connected with a disc, a second spring is arranged on the outer wall of the bottom of the disc, and one end of the second spring is connected with the sucker;

the inside of control box is provided with identification module, host system and data storage module respectively, identification module with host system electric connection, host system respectively with data storage module with first camera electric connection, the medicine bottle information that first camera scanning needs to be taken, with medicine information transmission to identification module, identification module sends information to host system, host system controls the subassembly of taking according to the medicine information of storing in advance, the subassembly of taking drives the grip block and takes the medicine bottle, through the cooperation between second spring and the first spring, when the sucking disc absorbs the medicine box, play the effect of buffering, prevent to damage the medicine box.

In a further technical scheme, the rotating assembly comprises a first motor, a first conical tooth, a rotating shaft and a second conical tooth, the first motor is located on the inner wall of the bottom of the moving chassis, the output end of the first motor is connected with the first conical tooth, the top end of the rotating shaft is connected with the rotating disc, the second conical tooth is located on the side wall of the rotating shaft, the first conical tooth is connected with the second conical tooth in a meshed mode, the main control module is electrically connected with the first motor, the first motor drives the first conical tooth to rotate, the first conical tooth drives the second conical tooth to rotate with the rotating shaft, the rotating disc rotates, and the clamping plate and the sucking disc are rotationally adjusted.

In a further technical scheme, a first sliding groove is formed in the outer wall of the top of the movable chassis, the movable chassis is connected with the rotary table in a clamped mode through the first sliding groove, the rotary table rotates through the first sliding groove, and stability of the rotary table in the rotating process is improved.

In a further technical scheme, first lifting unit includes an electric telescopic handle, a slide bar and a lifter plate, an electric telescopic handle is located on the outer wall of the top of the turntable, the lifter plate is located on the lateral wall of the slide bar, an output end of the electric telescopic handle is connected with the lifter plate, a main control module is electrically connected with the electric telescopic handle, an output end of the electric telescopic handle drives the lifter plate to adjust height, and the slide bar promotes the lifting stability of the lifter plate.

In a further technical scheme, the adjusting part includes second electric telescopic handle and connecting plate, second electric telescopic handle is located on a lateral wall of lifter plate, second electric telescopic handle's output with the connecting plate is connected, host system with second electric telescopic handle electric connection, second electric telescopic handle output drive connecting plate remove, and the grip block is located the medicine bottle position, is convenient for take the medicine bottle.

In a further technical scheme, the subassembly of taking includes third electric telescopic handle, fixed block, centre gripping arm, connecting rod and arc piece, third electric telescopic handle is located on the lateral wall of connecting plate, third electric telescopic handle's output passes the fixed block with the arc piece is connected, the one end of centre gripping arm with the fixed block is articulated mutually, the one end of connecting rod with the centre gripping arm is articulated mutually, the other end of connecting rod with the arc piece is articulated mutually, the other end of centre gripping arm with grip block fixed connection, host system with third electric telescopic handle electric connection, through third electric telescopic handle output drive arc piece, drive the connecting rod motion through the arc piece, make the connecting rod drive the operation of centre gripping arm, the centre gripping arm drives the grip block and presss from both sides the medicine bottle and get.

In a further technical scheme, the grip block includes slipmat and blotter, the blotter is located the inside of slipmat, the slipmat prevents that the grip block from taking place to drop when pressing from both sides the medicine bottle, and the blotter cushions the medicine bottle.

In a further technical scheme, the second lifting unit includes lead screw, second motor, first carousel and second carousel, the second motor is located on one side outer wall of box, the output of second motor with first carousel is connected, the second carousel through the pivot with the lead screw is connected, first carousel through rotate the belt with the second carousel is connected, on the lateral wall of lead screw with the loading board is connected, host system with second motor electric connection, the first carousel of second motor drive rotate, and first carousel drives the second carousel through rotating the belt and rotates, and the second carousel drives the lead screw and rotates, and the loading board carries out lift adjustment through the lead screw, is convenient for adjust the height of loading board.

In a further technical scheme, fixed mounting has the connecting frame on the inner wall of box, fixed mounting has the lifter on the lateral wall of loading board, the lifter with connecting frame looks joint, the lifter goes up and down through the connecting frame, promotes the stability that the loading board goes up and down.

In a further technical scheme, the adsorption component comprises a suction pump, a hose and a second camera, the suction pump is located on the outer wall of the top of the bearing plate, the output end of the suction pump is connected with the hose, the second camera is located on the outer wall of the bottom of the bearing plate, the main control module is respectively electrically connected with the suction pump and the second camera, the second camera scans the medicine box, the suction pump enables the suction cup to generate vacuum through the hose, the suction cup generates suction force, and the medicine box is adsorbed and taken.

The invention has the beneficial effects that:

1. according to the medicine taking device, through the arranged identification module, the main control module, the data storage module, the clamping plate and the taking assembly, medicine information is stored through the data storage module, the medicine information needing to be taken is scanned through the first camera, the first camera transmits the medicine information to the identification module, the identification module sends the information to the main control module, the main control module controls the taking assembly according to the medicine information stored in advance, and the taking assembly drives the clamping plate to take medicine bottles, so that the automatic medicine taking effect is achieved.

2. According to the medicine box, due to the arrangement of the sucking disc, the first spring and the second spring, when the sucking disc adsorbs the medicine box, the sucking disc is in contact with the surface of the medicine box, the first spring and the second spring are matched with each other to buffer the medicine box, and therefore the medicine box is prevented from being damaged by the sucking disc.

3. According to the medicine taking device, the first motor drives the first conical tooth to rotate, the first conical tooth drives the second conical tooth to rotate together with the rotating shaft, so that the rotating disc rotates, the sucking disc and the clamping plate are adjusted in a rotating mode, and the effect of facilitating medicine taking is achieved.

Drawings

FIG. 1 is a schematic structural diagram of an embodiment of the present invention;

FIG. 2 is a schematic perspective view of an embodiment of the present invention;

FIG. 3 is a sectional view of a planar structure of a mobile chassis according to an embodiment of the present invention;

FIG. 4 is a sectional view of a three-dimensional structure of a case according to an embodiment of the present invention;

FIG. 5 is a schematic plan view of a carrier plate according to an embodiment of the present invention;

FIG. 6 is a schematic perspective view of a pick-up assembly according to an embodiment of the present invention;

FIG. 7 is a schematic plan view of the non-slip mat and the cushion according to the embodiment of the present invention;

FIG. 8 is a schematic diagram of electrical connection relationships according to an embodiment of the invention.

Description of reference numerals:

1. moving the chassis; 2. a rotating assembly; 21. a first motor; 22. a first conical tooth; 23. a rotating shaft; 24. a second tapered tooth; 3. a first chute; 4. a turntable; 5. a box body; 6. a first lifting assembly; 61. a first electric telescopic rod; 62. a slide bar; 63. a lifting plate; 7. an adjustment assembly; 71. a second electric telescopic rod; 72. a connecting plate; 8. taking the component; 81. a third electric telescopic rod; 82. a fixed block; 83. a clamp arm; 84. a connecting rod; 85. an arc-shaped block; 9. a first camera; 10. a clamping plate; 101. a non-slip mat; 102. a cushion pad; 11. a second lifting assembly; 111. a screw rod; 112. a second motor; 113. a first turntable; 114. a second turntable; 12. a control box; 13. a connecting frame; 14. a lifting rod; 15. a carrier plate; 16. an adsorption component; 161. a getter pump; 162. a hose; 163. a second camera; 17. a disc; 18. a first spring; 19. a second spring; 20. and (4) sucking discs.

Detailed Description

The embodiments of the present invention will be further described with reference to the accompanying drawings.

Example (b):

as shown in fig. 1-8, an intelligent robot for automatically identifying and taking medicines comprises a moving chassis 1, a rotating assembly 2 is arranged inside the moving chassis 1, the output end of the rotating assembly 2 is connected with a turntable 4, the rotating assembly 2 drives the turntable 4 to be rotatably adjusted, a box body 5 and a first lifting assembly 6 are respectively arranged on the outer wall of the top of the turntable 4, a control box 12 is arranged on the outer wall of one side of the box body 5, an adjusting assembly 7 is arranged on one side wall of the first lifting assembly 6, the heights of the first lifting assembly 6 and the adjusting assembly 7 are adjusted, a taking assembly 8 is arranged on one side wall of the adjusting assembly 7, the adjusting assembly 7 can drive the taking assembly 8 to be telescopically adjusted, a first camera 9 is arranged on the outer wall of the top of the taking assembly 8, the first camera 9 scans information of medicine bottles to be taken, a clamping plate 10 is fixedly arranged on the side wall of the taking assembly 8, the taking component 8 drives the clamping plate 10 to clamp the medicine bottle, the clamping plate 10 comprises an anti-skid pad 101 and a buffer pad 102, the buffer pad 102 is located inside the anti-skid pad 101, when the anti-skid pad 101 contacts the medicine bottle, the anti-skid effect is achieved, the medicine bottle is prevented from being damaged by being clamped by the buffer pad 102, a second lifting component 11 is installed on the outer wall of one side of the box body 5, a bearing plate 15 is installed on the side wall of the second lifting component 11, the height of the bearing plate 15 is adjusted by the second lifting component 11, an adsorption component 16 is installed on the outer wall of the top of the bearing plate 15, the output end of the adsorption component 16 is connected with a suction cup 20, after the adsorption component 16 is started, the suction cup 20 generates suction force to suck the medicine bottle, a first spring 18 is installed on the outer wall of the bottom of the bearing plate 15, the bottom end of the first spring 18 is connected with a disc 17, a second spring 19 is installed on the outer wall of the bottom of the disc 17, and one end of the second spring 19 is connected with the suction cup 20, through cooperation between second spring 19 and first spring 18, when absorbing the medicine box, play the effect of buffering, the inside of control box 12 is provided with identification module respectively, host system and data storage module, identification module and host system electric connection, host system respectively with data storage module and first camera 9 electric connection, identification module is arrived with medicine information transmission to first camera, identification module sends host system with information, host system takes the subassembly according to the medicine information control of storing in advance, the subassembly of taking drives the grip block and takes the medicine bottle.

In another embodiment, the rotating assembly 2 includes a first motor 21, a first tapered tooth 22, a rotating shaft 23 and a second tapered tooth 24, the first motor 21 is located on the inner wall of the bottom of the moving chassis 1, the output end of the first motor 21 is connected to the first tapered tooth 22, the top end of the rotating shaft 23 is connected to the rotating disc 4, the second tapered tooth 24 is located on the side wall of the rotating shaft 23, the first tapered tooth 22 is connected to the second tapered tooth 24 in a meshing manner, the main control module is electrically connected to the first motor 21, the outer wall of the top of the moving chassis 1 is provided with a first sliding slot 3, the moving chassis 1 is connected to the rotating disc 4 through the first sliding slot 3, the output end of the first motor 21 drives the first tapered tooth 22 to rotate, the first tapered tooth 22 drives the second tapered tooth 24 to rotate with the rotating shaft 23, so that the rotary plate 4 rotates through the first sliding groove 3, thereby facilitating the rotation adjustment of the clamping plate 10 and the suction cup 20.

In another embodiment, the first lifting assembly 6 includes a first electric telescopic rod 61, a sliding rod 62 and a lifting plate 63, the first electric telescopic rod 61 is located on the top outer wall of the turntable 4, the lifting plate 63 is located on the side wall of the sliding rod 62, the output end of the first electric telescopic rod 61 is connected with the lifting plate 63, the output end of the first electric telescopic rod 61 drives the lifting plate 63 to perform height adjustment, the lifting plate 63 has stability when lifted by the sliding rod 62, the main control module is electrically connected with the first electric telescopic rod 61, the adjusting assembly 7 includes a second electric telescopic rod 71 and a connecting plate 72, the second electric telescopic rod 71 is located on one side wall of the lifting plate 63, the output end of the second electric telescopic rod 71 is connected with the connecting plate 72, the main control module is electrically connected with the second electric telescopic rod 71, the output end of the second electric telescopic rod 71 drives the connecting plate 72 to enable the holding plate 10 to be located at the medicine bottle position, subassembly 8 of taking includes third electric telescopic handle 81, the fixed block 82, centre gripping arm 83, connecting rod 84 and arc piece 85, third electric telescopic handle 81 is located the lateral wall of connecting plate 72, the output of third electric telescopic handle 81 passes fixed block 82 and is connected with arc piece 85, the one end of centre gripping arm 83 is articulated mutually with fixed block 82, the one end of connecting rod 84 is articulated mutually with centre gripping arm 83, the other end of connecting rod 84 is articulated mutually with arc piece 85, the other end and the grip block 10 fixed connection of centre gripping arm 83, host system and third electric telescopic handle 81 electric connection, through third electric telescopic handle 81 output drive arc piece 85, arc piece 85 drives connecting rod 84 motion, connecting rod 84 drives the operation of centre gripping arm 83, centre gripping arm 8 drives grip block 10 and presss from both sides the medicine bottle.

In another embodiment, the second lifting assembly 11 includes a screw 111, a second motor 112, a first rotating disc 113 and a second rotating disc 114, the second motor 112 is disposed on an outer wall of one side of the box 5, an output end of the second motor 112 is connected to the first rotating disc 113, the second rotating disc 114 is connected to the screw 111 through a rotating shaft, the first rotating disc 113 is connected to the second rotating disc 114 through a rotating belt, a side wall of the screw 111 is connected to the bearing plate 15, the main control module is electrically connected to the second motor 112, a connecting frame 13 is fixedly mounted on an inner wall of the box 5, a lifting rod 14 is fixedly mounted on a side wall of the bearing plate 15, the lifting rod 14 is connected to the connecting frame 13, the output end of the second motor 112 drives the first rotating disc 113 to rotate, the first rotating disc 113 drives the second rotating disc 114 to rotate through the rotating belt, the second rotating disc 114 drives the screw 111 to rotate, the bearing plate 15 is lifted and adjusted by the screw 111, make lifter 14 go up and down through the connecting frame 13, promote the stability that loading board 15 goes up and down to be convenient for adjust the height of loading board 15.

In another embodiment, the suction assembly 16 includes a suction pump 161, a hose 162 and a second camera 163, the suction pump 161 is located on the top outer wall of the loading plate 15, an output end of the suction pump 161 is connected to the hose 162, the second camera 163 is located on the bottom outer wall of the loading plate 15, the second camera 163 scans information of a medicine box to be taken, so that the medicine box is sucked and taken by the suction cup 20, the main control module is electrically connected to the suction pump 161 and the second camera 163, the suction pump 161 pumps air out of the suction cup 20 through the hose 162, so that the suction cup 20 generates suction force, and the suction cup 20 sucks and takes the medicine box.

The working principle of the invention is as follows: master control module is controlled respectively, first motor 21, first camera 9, first electric telescopic handle 61, second electric telescopic handle 71, third electric telescopic handle 81, second camera 163, second motor 112, aspirator pump 161, in use, at first when taking to the medicine bottle, first camera 9 scans the information that needs the medicine bottle of taking, first camera 9 is with the medicine bottle information transmission of scanning to identification module, carry out the analysis through master control module, it moves the medicine bottle position to remove chassis 1, first electric telescopic handle 61 drives lifter plate 63 and adjusts the height, second electric telescopic handle 71 drives connecting plate 72 and stretches out suitable position, third electric telescopic handle 81 drives arc piece 85, arc piece 85 drives connecting rod 84 and centre gripping arm 83, carry out the centre gripping through grip block 10 to the medicine and take.

When taking the medicine box, the second camera 163 recognizes the information of the medicine box, the mobile chassis 1 moves to the position of the medicine box, the first rotary table 113 is driven to rotate by the second motor 112, the first rotary table 113 drives the second rotary table 114 to rotate by rotating the belt, the second rotary table 114 drives the screw rod 111 to rotate, the loading plate 15 is adjusted by lifting through the screw rod 111, the suction pump 161 is started, so that the suction cup 20 generates suction force to adsorb the medicine box for taking.

The above-mentioned embodiments only express the specific embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention.

Claims

1. An intelligent robot for automatically identifying and taking medicines comprises a moving chassis and is characterized in that a rotating assembly is arranged inside the moving chassis, the output end of the rotating assembly is connected with a turntable, a box body and a first lifting assembly are respectively installed on the outer wall of the top of the turntable, a control box is installed on the outer wall of one side of the box body, an adjusting assembly is installed on one side wall of the first lifting assembly, an taking assembly is installed on one side wall of the adjusting assembly, a first camera is installed on the outer wall of the top of the taking assembly, a clamping plate is fixedly installed on the side wall of the taking assembly, a second lifting assembly is installed on the outer wall of one side of the box body, a bearing plate is installed on the side wall of the second lifting assembly, an adsorption assembly is installed on the outer wall of the top of the bearing plate, and the output end of the adsorption assembly is connected with a sucker, a first spring is mounted on the outer wall of the bottom of the bearing plate, a disc is connected to the bottom end of the first spring, a second spring is mounted on the outer wall of the bottom of the disc, and one end of the second spring is connected with the sucker;

the control box is internally provided with an identification module, a main control module and a data storage module respectively, wherein the identification module is electrically connected with the main control module, and the main control module is electrically connected with the data storage module and the first camera respectively.

2. The intelligent robot for automatically identifying and taking medicines according to claim 1, wherein the rotating assembly comprises a first motor, a first conical tooth, a rotating shaft and a second conical tooth, the first motor is located on the inner wall of the bottom of the moving chassis, the output end of the first motor is connected with the first conical tooth, the top end of the rotating shaft is connected with the rotating disc, the second conical tooth is located on the side wall of the rotating shaft, the first conical tooth is meshed with the second conical tooth, and the main control module is electrically connected with the first motor.

3. The intelligent robot for automatically identifying and taking medicines according to claim 1, wherein a first sliding groove is formed in the outer wall of the top of the moving chassis, and the moving chassis is clamped with the rotary table through the first sliding groove.

4. The intelligent robot for automatically identifying and taking medicines according to claim 1, wherein the first lifting assembly comprises a first electric telescopic rod, a sliding rod and a lifting plate, the first electric telescopic rod is located on the outer wall of the top of the rotary table, the lifting plate is located on the side wall of the sliding rod, the output end of the first electric telescopic rod is connected with the lifting plate, and the main control module is electrically connected with the first electric telescopic rod.

5. The intelligent robot for automatically identifying and taking medicines according to claim 4, wherein the adjusting assembly comprises a second electric telescopic rod and a connecting plate, the second electric telescopic rod is located on one side wall of the lifting plate, an output end of the second electric telescopic rod is connected with the connecting plate, and the main control module is electrically connected with the second electric telescopic rod.

6. The intelligent robot for automatically identifying and taking medicines according to claim 5, characterized in that the taking assembly comprises a third electric telescopic rod, a fixed block, a clamping arm, a connecting rod and an arc-shaped block, the third electric telescopic rod is positioned on the side wall of the connecting plate, the output end of the third electric telescopic rod penetrates through the fixed block and is connected with the arc-shaped block, one end of the clamping arm is hinged with the fixed block, one end of the connecting rod is hinged with the clamping arm, the other end of the connecting rod is hinged with the arc-shaped block, the other end of the clamping arm is fixedly connected with the clamping plate, and the main control module is electrically connected with the third electric telescopic rod.

7. The intelligent robot for automatically identifying and taking medicines according to claim 1, wherein the clamping plate comprises a non-slip mat and a cushion mat, and the cushion mat is positioned inside the non-slip mat.

8. The intelligent robot for automatically identifying and taking medicines according to claim 1, wherein the second lifting assembly comprises a screw rod, a second motor, a first rotary disc and a second rotary disc, the second motor is located on the outer wall of one side of the box body, the output end of the second motor is connected with the first rotary disc, the second rotary disc is connected with the screw rod through a rotating shaft, the first rotary disc is connected with the second rotary disc through a rotating belt, the side wall of the screw rod is connected with the bearing plate, and the main control module is electrically connected with the second motor.

9. The intelligent robot for automatically identifying and taking medicines according to claim 1, is characterized in that a connecting frame is fixedly mounted on the inner wall of the box body, a lifting rod is fixedly mounted on the side wall of the bearing plate, and the lifting rod is connected with the connecting frame in a clamping manner.

10. The intelligent robot for automatically identifying and taking medicines according to claim 1, wherein the adsorption assembly comprises an air suction pump, a hose and a second camera, the air suction pump is located on the outer wall of the top of the bearing plate, the output end of the air suction pump is connected with the hose, the second camera is located on the outer wall of the bottom of the bearing plate, and the main control module is electrically connected with the air suction pump and the second camera respectively.