CN113997306A - Automatic medicine taking robot - Google Patents
Automatic medicine taking robot Download PDFInfo
- Publication number
- CN113997306A CN113997306A CN202111492104.5A CN202111492104A CN113997306A CN 113997306 A CN113997306 A CN 113997306A CN 202111492104 A CN202111492104 A CN 202111492104A CN 113997306 A CN113997306 A CN 113997306A
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- medicine
- medicine taking
- taking
- filled
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- 239000003814 drug Substances 0.000 title claims abstract description 250
- 229940079593 drug Drugs 0.000 claims abstract description 27
- 238000006073 displacement reaction Methods 0.000 claims abstract description 17
- 239000000843 powder Substances 0.000 claims description 39
- 230000007246 mechanism Effects 0.000 claims description 16
- 230000005540 biological transmission Effects 0.000 claims description 8
- 238000001514 detection method Methods 0.000 claims description 3
- 230000005484 gravity Effects 0.000 claims description 3
- 238000005303 weighing Methods 0.000 claims description 3
- 238000005096 rolling process Methods 0.000 claims description 2
- 230000009471 action Effects 0.000 description 12
- 238000009434 installation Methods 0.000 description 8
- 241000252254 Catostomidae Species 0.000 description 2
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000001179 sorption measurement Methods 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
Abstract
The invention provides an automatic medicine taking robot, which comprises a guide displacement assembly, a medicine taking assembly connected with the guide displacement assembly and a medicine charging assembly for taking out medicines and containing the medicines from the medicine taking assembly, wherein the guide displacement assembly has the freedom degrees of longitudinal translation and lifting so as to control the medicine taking assembly to be aligned with medicine boxes on medicine cabinets needing to take medicines, the medicine taking assembly has the freedom degree of transverse translation, the two ends of the medicine taking assembly are respectively provided with a medicine taking part, so that the medicines are taken from the medicine cabinets on two sides at the same position, the medicine charging assembly is arranged below the medicine taking assembly, the medicine taking parts move to be aligned with the medicine charging assembly after taking medicines, the medicines are released and discharged into the medicine charging assembly, the automatic medicine taking robot is controlled in a full-automatic mode without manual intervention, a plurality of required medicines can be taken out according to preset, the dosage is accurate and controllable, and the medicine taking efficiency and the reliability are improved, the error rate is reduced.
Description
Technical Field
The invention relates to the technical field of automatic medicine taking, in particular to an automatic medicine taking robot.
Background
With the development of society and the increasing living standard of people, people prefer to select a large hospital with better medical environment when hospitalizing, so that the number of medical visits of the large hospital is increased every year. Nowadays, pharmacies in outpatient clinics of various hospitals generally still manually find and take medicines, the mode workload of manually taking medicines is large, the work error rate is high easily caused after long-time work, and the accuracy of medicine dispensing directly relates to the medication safety of patients, so that the problem needs to be solved by researching, developing and designing an automatic medicine taking robot.
Patent CN110666768A discloses an automatic medicine taking robot, which carries a lifting manipulator with a wheel type vehicle body, realizes automatic grabbing or sucking of boxes, bottled medicines and the like, and has the characteristics of large moving range, free movement and the like.
It should be noted that the above background description is only for the convenience of clear and complete description of the technical solutions of the present application and for the understanding of those skilled in the art. Such solutions are not considered to be known to the person skilled in the art merely because they have been set forth in the background section of the present application.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provide an automatic material taking robot arranged between medicine taking cabinets so as to improve the problems in the background art.
In order to achieve the purpose, the invention provides an automatic medicine taking robot which comprises a guide displacement assembly, a medicine taking assembly connected with the guide displacement assembly and a medicine charging assembly for taking out medicine from the medicine taking assembly to be contained, wherein the guide displacement assembly has longitudinal translation and lifting freedom degrees so as to control the medicine taking assembly to be aligned with a medicine box which is arranged on a medicine cabinet and needs to take medicine, the medicine taking assembly has transverse translation freedom degrees, medicine taking parts are uniformly arranged at two ends of the medicine taking assembly so as to take medicine from the medicine cabinet on two sides at the same position, the medicine charging assembly is arranged below the medicine taking assembly, and the medicine taking parts move to be aligned with the medicine charging assembly after taking medicine and release the medicine and drop the medicine into the medicine charging assembly.
Further, the direction displacement subassembly includes vertical guide slot, longitudinal rail and vertical guide rail, longitudinal rail hangs fixedly, longitudinal rail with the lateral wall of longitudinal rail is fixed, the top of vertical guide rail with longitudinal rail swing joint, vertical guide rail is provided with walking portion, walking portion is located the inside of longitudinal rail, in order to drive vertical rail is followed longitudinal rail removes, get it filled the subassembly with vertical guide rail swing joint can follow vertical rail goes up and down.
Furthermore, the longitudinal guide rail is in a dovetail shape, a dovetail groove is formed at the top end of the vertical guide rail, and the dovetail groove is matched with the longitudinal guide rail in the dovetail shape to form movable connection.
Further, the walking portion is including the walking mount table, be provided with vertical driving motor on the walking mount table, vertical driving motor passes through transmission bevel gear group and is connected with the pivot, the tip of pivot is provided with the walking wheel, the walking wheel with vertical guide slot roll connection.
Further, the subassembly of getting it filled is including getting it filled the mount table, get it filled and be provided with drive mechanism and the lift drive portion of getting it filled on the mount table, get it filled the portion with it connects to get it filled drive mechanism, the lift drive portion including lift driving motor and with the lifting gear that the drive of lift driving motor is connected, be formed with on the vertical guide rail with lifting rack of lifting gear meshing.
Further, the actuating mechanism that gets it filled is including setting up get it filled drive division on the mount table of getting it filled, get it filled drive division including get it filled driving motor, with get it filled driving motor transmission connection the worm wheel and with worm wheel meshed's worm, the both ends of worm are provided with one respectively get it filled portion, it is the sucking disc of getting it filled portion, the inside cavity of worm, be provided with the vacuum aspiration pump on the worm, the worm both ends are provided with control get it filled the valve of sucking disc.
Furthermore, both ends of the worm are provided with a distance measuring sensor.
Further, the powder charge subassembly include with get powder charge mount table fixed connection's powder charge mount table, the activity is provided with the powder charge fly leaf on the powder charge mount table, the slider of powder charge fly leaf lower surface with the slide rail sliding connection of powder charge mount table upper surface, just the powder charge fly leaf with the lead screw drive portion that sets up on the powder charge mount table is connected, be provided with a plurality of powder charge casees on the powder charge fly leaf, the powder charge case has different specifications, the reason equipartition has been put to the reason equipartition on each curb plate of powder charge case, the bottom of powder charge case is provided with weighing sensor.
Furthermore, a medicine pressing mechanism is further arranged on the medicine loading mounting table and comprises a medicine pressing mounting support and a medicine pressing cylinder arranged on the medicine pressing mounting support, a medicine pressing plate is arranged at the end of a piston rod of the medicine pressing cylinder and corresponds to an upper opening of the medicine loading box, and the medicine loading boxes are the same in length and width and different in height.
Further, the medicine boxes are arranged in the medicine cabinet in a forward inclining mode, so that the medicine can supplement the vacant medicine boxes after being sucked under the action of gravity.
The scheme of the invention has the following beneficial effects:
according to the automatic medicine taking robot, the medicine taking assembly is aligned with the medicine boxes through the guide displacement assembly arranged between the two adjacent medicine cabinets, the medicine taking parts are uniformly arranged at the two ends of the medicine taking assembly, so that medicines can be taken from the medicine cabinets on the two sides at the same position without turning to the aligned medicine boxes and the like, the comprehensive medicine taking efficiency is improved, the medicine charging assemblies below the medicine taking assembly can automatically discharge and collect medicines after the medicines are released, the taking and collecting actions of the medicines are completed, the automatic medicine taking robot is controlled in a full-automatic mode without manual intervention, various required medicines can be taken out according to the preset mode, the medicine taking efficiency and reliability are improved, and the error rate is reduced;
in the embodiment, the medicine charging boxes of the medicine charging assemblies are provided with various specifications and can be switched, so that the robot can take out medicines with preset volume or weight, the medicine amount is ensured to be accurate through the medicine pressing mechanism, and the applicability of the robot is further improved;
other advantages of the present invention will be described in detail in the detailed description that follows.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
fig. 2 is a schematic view of the overall structure and the medicine cabinet of the present invention.
[ description of reference ]
1-medicine cabinet; 2-a kit; 3-longitudinal guide groove; 4-longitudinal guide rails; 5-vertical guide rails; 6, a walking installation platform; 7-longitudinal driving motor; 8-a drive bevel gear set; 9-a rotating shaft; 10-a traveling wheel; 11-a medicine taking installation table; 12-a lifting drive motor; 13-lifting gear; 14-a lifting rack; 15-medicine taking driving motor; 16-a worm gear; 17-a worm; 18-medicine taking sucker; 19-vacuum air pump; 20-a valve; 21-a charge installation table; 22-filling a medicine box; 23-a charge movable plate; 24-a lead screw drive; 25-pressing mounting bracket; 26-a pressing cylinder; 27-pressing the medicine board.
Detailed Description
In order to make the technical problems, technical solutions and advantages of the present invention more apparent, the following detailed description is given with reference to the accompanying drawings and specific embodiments. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention. In addition, the technical features involved in the different embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Unless expressly stated or limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning a locked connection, a releasable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
As shown in fig. 1 and 2, an embodiment of the present invention provides an automatic medicine taking robot, which includes a guide displacement assembly, a medicine taking assembly connected to the guide displacement assembly, and a medicine charging assembly for taking out medicine from the medicine taking assembly. The guiding displacement assembly is arranged between two adjacent medicine cabinets 1 and has the freedom degrees of longitudinal translation and lifting so as to control the medicine taking assembly to be aligned with the medicine boxes 2 needing to be taken from the medicine cabinets 1. The component of getting it filled has the degree of freedom of horizontal translation, and both ends equipartition has been put the portion of getting it filled to get it filled to the medicine cabinet of both sides in same position, and need not to turn to again and align medicine box 2 etc. has promoted the comprehensive efficiency of getting it filled. The powder charge subassembly sets up in the below of getting the medicine subassembly, gets to remove after the material portion gets it and aligns with the powder charge subassembly, makes its blanking to the powder charge subassembly in with the medicine release, accomplishes taking out and collecting action of medicine, adopts full automated mode control, need not manual intervention, can take out multiple required medicine according to predetermineeing, and the dose is controllable, has promoted and has got medicine efficiency and reliability, has reduced the error rate.
In this embodiment, the guide displacement assembly comprises a longitudinal guide channel 3, a longitudinal guide rail 4 and a vertical guide rail 5. The longitudinal guide groove 3 is fixedly suspended on a ceiling of a pharmacy, the longitudinal guide rail 4 and the vertical guide rail 5 are arranged in parallel and fixed with two outer side walls of the longitudinal guide groove 3, the longitudinal guide rail 4 is preferably in a dovetail shape, a dovetail groove is formed at the top end of the vertical guide rail 5, and the dovetail groove is matched with the dovetail-shaped longitudinal guide rail 4 to form movable connection. Meanwhile, the vertical guide rail 5 is provided with a walking part which is positioned inside the longitudinal guide groove 3 to drive the vertical guide rail 5 to move along the longitudinal guide groove 3, so that the medicine taking assembly is aligned to the medicine cabinets 1 at different positions. The medicine taking assembly is movably connected with the vertical guide rail 5 and can lift along the vertical guide rail 5 to align the medicine boxes 2 with different heights.
Wherein, the walking portion includes walking mount table 6, and the both ends of walking mount table 6 respectively with two vertical guide rail 5 fixed connection, form the structure of overall stability. The walking mounting table 6 is provided with a longitudinal driving motor 7, the longitudinal driving motor 7 is connected with a rotating shaft 9 through a transmission bevel gear set 8, the rotating shaft 9 is rotatably supported by the walking mounting table 6, walking wheels 10 are arranged at two ends of the rotating shaft, the two walking wheels 10 are respectively in rolling connection with two guide groove positions of the longitudinal guide groove 3, and the walking along the longitudinal guide groove 3 is carried out under the action of the longitudinal driving motor 7 to complete longitudinal movement.
In this embodiment, the subassembly of getting it filled is provided with drive mechanism and lift drive portion of getting it filled including the mount table 11 of getting it filled, on the mount table 11 of getting it filled, and the portion of getting it filled is connected with the drive mechanism of getting it filled, relies on the drive mechanism of getting it filled and accomplishes the action of flexible getting it filled. The lifting driving part comprises a lifting driving motor 12 and lifting gears 13 in transmission connection with the lifting driving motor 12, the lifting gears 13 are arranged in two groups, lifting racks 14 meshed with the lifting gears 13 are formed on the two vertical guide rails 5, the lifting gears 13 rotate under the action of the lifting driving motor 12 and crawl on the lifting racks 14, and the whole medicine taking assembly is driven to lift along the vertical guide rails 5. Of course, the driving manner of the lifting gear 13 and the lifting rack 14 may be replaced by a screw mechanism, and the like, and the vertical guide rail 5 may be used as a guide structure, and the embodiment is not particularly limited.
In this embodiment, the medicine taking driving mechanism includes a medicine taking driving part provided on the medicine taking mounting table 11, and the medicine taking driving part includes a medicine taking driving motor 15, a worm wheel 16 in transmission connection with the medicine taking driving motor 15, and a worm 17 engaged with the worm wheel 16. The vertical guide rail 5 is provided with a groove, the worm 17 extends out of the vertical guide rail 5 through the groove, two ends of the worm 17 are respectively provided with a medicine taking part, the medicine taking driving motor 15 drives the worm wheel 16 to rotate, and the worm 17 is controlled to move towards the two ends respectively, so that the two medicine taking parts at the two ends respectively take medicines from the medicine boxes 2 of the medicine cabinets 1 at the two sides. Consequently, only set up single motor and just can accomplish getting it filled of both sides medicine cabinet 1, and the portion of getting it filled of one end needs to withdraw after accomplishing getting it filled and make the medicine blanking to the powder charge subassembly, and the action that its was withdrawed just in time corresponds the action that stretches out of the portion of getting it filled of the other end, has further optimized the action control that both sides were got it filled, has promoted the efficiency of getting it filled.
In this embodiment, the medicine dispensing portion is a medicine dispensing suction cup 18, and the medicine is dispensed from the medicine cartridge 2 by the vacuum suction action of the medicine dispensing suction cup 18. The worm 17 is hollow, the worm 17 is provided with a vacuum air pump 19, and the inside of the worm 17 and the communicated medicine taking sucker 18 are vacuumized through the vacuum air pump 19, so that the medicine taking sucker 18 generates a vacuum adsorption effect. In addition, the two ends of the worm 17 are provided with valves 20 for controlling the medicine taking suckers 18, the opening and closing states of the pipelines are controlled through the valves 20, the opening and closing states of the medicine taking suckers 18 are preset, and the robot closes the other medicine taking sucker 18 only when the one-side medicine cabinet 1 takes medicines.
As a further improvement, in this embodiment, both ends of the worm 17 are provided with a distance measuring sensor, and the distance between the distance measuring sensor and the outer baffle of the medicine box 2 is measured, so as to ensure that the medicine taking sucker 18 has moved to a preset position (the medicine box 2 can well adsorb medicines), and to accurately control the telescopic action of the worm 17.
In this embodiment, the powder charging assembly includes a powder charging installation platform 21 fixedly connected with the powder taking installation platform 11, and a powder charging box 22 is arranged on the powder charging installation platform 21. Since it is difficult to accurately control the dose of the absorbed medicine by the medicine suction cup 18 itself, the medicine taking of a predetermined dose is performed by the medicine box 22 in the present embodiment. Specifically, a movable medicine loading movable plate 23 is arranged on the medicine loading mounting table 21, a plurality of medicine loading boxes 22 are arranged on the medicine loading movable plate 23, the medicine loading boxes 22 have different specifications, the medicine loading boxes 22 of each specification correspond to different volumes, when medicines with different volumes need to be taken out, the medicine loading boxes 22 of different specifications are determined, and when the medicine loading boxes 22 are full, the medicines with the corresponding volumes are taken out.
Medicine detection sensors are arranged on the upper edges of the side plates of the medicine loading box 22, and when each medicine detection sensor senses medicine, the whole medicine loading box 22 is full. Further, a weighing sensor is provided at the bottom of each medicine box 22, and the weight of the medicine in the medicine box 22 can be weighed to determine the weight of the medicine to be taken.
The sliding block fixed on the lower surface of the charge movable plate 23 is connected with the sliding rail on the upper surface of the charge mounting table 21 in a sliding manner, so as to guide the movement of the charge movable plate 23. The powder charging movable plate 23 is connected with a screw driving part 24 arranged on the powder charging installation platform 21, and the screw driving part 24 is used for controlling the displacement of the powder charging movable plate 23 along the powder charging installation platform 21 so as to switch different powder charging boxes 22 to be aligned with the powder taking assembly.
As a further improvement, still be provided with on powder charge mount table 21 and press medicine mechanism, including pressing medicine installing support 25 and setting up the pressure medicine cylinder 26 on pressing medicine installing support 25, the tailpiece of the piston rod portion of pressure medicine cylinder 26 is provided with presses medicine board 27, it is corresponding with the upper shed of powder charge case 22 to press medicine board 27, press the drive of medicine cylinder 26 down and enter into inside powder charge case 22, flatten accumulational medicine in the powder charge case 22, avoid subsequent release of getting it filled as far as possible can not spill to the powder charge case 22 outside, also can guarantee to get the accuracy when presetting volumetric getting it filled simultaneously. The length and width dimensions of the powder charging boxes 22 are the same, but the height dimensions are different, and the powder pressing plate 27 is matched with the length and width dimensions of the powder charging boxes 22, so that the powder charging boxes 22 can be smoothly fed from above.
In this embodiment, medicine box 2 inclines forward and arranges in medicine cabinet 1, makes the medicine replenish the vacancy that medicine box 2 appears after absorbing under the action of gravity, ensures that the homoenergetic after getting it filled sucking disc 18 and removing to preset position absorbs the medicine. At the same time, the tilted arrangement of the cartridge 2 also enables the dispensing suction cup 18 to dispense medication past the outer baffle of the cartridge 2, i.e. obliquely downwards relative to the cartridge 2.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (10)
1. The utility model provides an automatic get it filled robot, its characterized in that, including direction displacement subassembly, with the subassembly of getting it filled that direction displacement subassembly is connected and will get it filled subassembly that the subassembly of getting it filled medicine splendid attire, direction displacement subassembly has the degree of freedom of vertical translation and lift, in order to control get it filled the subassembly and aim at the medicine box that the medicine needs to get it filled cashier's office in a shop, get it filled the subassembly and have the degree of freedom of horizontal translation, and both ends equipartition has put the portion of getting it filled to in same position to both sides the medicine cabinet is got it filled, it sets up to fill the subassembly the below of getting it filled, get the portion after getting it filled remove to with it filled the subassembly and align, with medicine release and blanking extremely in the powder filled subassembly.
2. The automatic medicine taking robot according to claim 1, wherein the guide displacement assembly comprises a longitudinal guide groove, a longitudinal guide rail and a vertical guide rail, the longitudinal guide groove is fixedly suspended, the longitudinal guide rail is fixed with the outer side wall of the longitudinal guide groove, the top end of the vertical guide rail is movably connected with the longitudinal guide rail, the vertical guide rail is provided with a walking part, the walking part is positioned inside the longitudinal guide groove to drive the vertical guide rail to move along the longitudinal guide groove, and the medicine taking assembly is movably connected with the vertical guide rail and can lift along the vertical guide rail.
3. The automatic medicine taking robot as claimed in claim 2, wherein the longitudinal guide rail is dovetail-shaped, a dovetail groove is formed at the top end of the vertical guide rail, and the dovetail groove is matched with the dovetail-shaped longitudinal guide rail to form movable connection.
4. The automatic medicine taking robot as claimed in claim 2, wherein the walking part comprises a walking mounting table, a longitudinal driving motor is arranged on the walking mounting table and connected with a rotating shaft through a transmission bevel gear set, a walking wheel is arranged at the end of the rotating shaft and connected with the longitudinal guide groove in a rolling manner.
5. The automatic medicine taking robot according to claim 2, wherein the medicine taking assembly comprises a medicine taking mounting table, a medicine taking driving mechanism and a lifting driving portion are arranged on the medicine taking mounting table, the medicine taking portion is connected with the medicine taking driving mechanism, the lifting driving portion comprises a lifting driving motor and a lifting gear in transmission connection with the lifting driving motor, and a lifting rack meshed with the lifting gear is formed on the vertical guide rail.
6. The automatic medicine taking robot according to claim 5, wherein the medicine taking driving mechanism comprises a medicine taking driving portion arranged on the medicine taking mounting table, the medicine taking driving portion comprises a medicine taking driving motor, a worm wheel in transmission connection with the medicine taking driving motor and a worm meshed with the worm wheel, the two ends of the worm are respectively provided with the medicine taking portion, the medicine taking portion is a medicine taking sucker, the worm is hollow, a vacuum air pump is arranged on the worm, and valves for controlling the medicine taking sucker are arranged at the two ends of the worm.
7. An automatic medicine taking robot as claimed in claim 6, wherein both ends of the worm are provided with distance measuring sensors.
8. The automatic medicine taking robot according to claim 5, wherein the medicine loading assembly comprises a medicine loading mounting table fixedly connected with the medicine taking mounting table, a medicine loading movable plate is movably arranged on the medicine loading mounting table, a sliding block on the lower surface of the medicine loading movable plate is in sliding connection with a sliding rail on the upper surface of the medicine loading mounting table, the medicine loading movable plate is connected with a lead screw driving portion arranged on the medicine loading mounting table, a plurality of medicine loading boxes are arranged on the medicine loading movable plate, the medicine loading boxes have different specifications, medicine detection sensors are arranged on upper edges of side plates of the medicine loading boxes respectively, and weighing sensors are arranged at the bottoms of the medicine loading boxes.
9. The automatic medicine taking robot according to claim 8, wherein the medicine loading mounting table is further provided with a medicine pressing mechanism, the medicine pressing mechanism comprises a medicine pressing mounting bracket and a medicine pressing cylinder arranged on the medicine pressing mounting bracket, a medicine pressing plate is arranged at the end of a piston rod of the medicine pressing cylinder, the medicine pressing plate corresponds to the upper opening of the medicine loading box, and the medicine loading boxes have the same length and width but different height.
10. An automatic medication intake robot as claimed in claim 1, wherein the cartridges are arranged forwardly inclined within the cabinet so that the medication is replenished by gravity as a result of the absence of a cartridge after the medication has been taken.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111492104.5A CN113997306A (en) | 2021-12-08 | 2021-12-08 | Automatic medicine taking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111492104.5A CN113997306A (en) | 2021-12-08 | 2021-12-08 | Automatic medicine taking robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113997306A true CN113997306A (en) | 2022-02-01 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111492104.5A Pending CN113997306A (en) | 2021-12-08 | 2021-12-08 | Automatic medicine taking robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN113997306A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115649778A (en) * | 2022-11-07 | 2023-01-31 | 昆明理工大学 | Intelligent dispensing machine at home |
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2021
- 2021-12-08 CN CN202111492104.5A patent/CN113997306A/en active Pending
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Application publication date: 20220201 |