CN115535607B

CN115535607B - Pick-up mechanism

Info

Publication number: CN115535607B
Application number: CN202110739576.XA
Authority: CN
Inventors: 代斌; 廖文
Original assignee: Meilan Hangzhou Pharmaceutical Technology Co ltd
Current assignee: Meilan Hangzhou Pharmaceutical Technology Co ltd
Priority date: 2021-06-30
Filing date: 2021-06-30
Publication date: 2023-05-16
Anticipated expiration: 2041-06-30
Also published as: CN116409627A; CN115535607A; CN116461980A

Abstract

The present disclosure describes a pickup mechanism for picking up a medicine bottle mounted on a mounting mechanism, the mounting mechanism having a pushing member, a blocking member, and a medicine bottle bin formed therebetween for mounting the medicine bottle, the pickup mechanism including a base, a trigger member, a center arm, a first side arm linked with the center arm, and a second side arm linked with the center arm and configured to be movable toward or away from the first side arm, when the pickup mechanism picks up the medicine bottle, the base being moved toward the mounting mechanism such that the blocking member is opened by the trigger member, the pushing member transferring the medicine bottle along the medicine bottle bin via the opened blocking member between the center arm, the first side arm and the second side arm, the center arm being driven by a driving member in a manner of approaching the medicine bottle and linking the first side arm and the second side arm to move toward each other to clamp the medicine bottle in a manner of abutting the medicine bottle from three directions by the center arm, the first side arm, and the second side arm, respectively. According to the present disclosure, it is possible to automatically pick up the medicine bottles stored in the storage bin.

Description

Pick-up mechanism

Technical Field

The present disclosure relates to a pick-up mechanism.

Background

Infusion is a medical method commonly used in clinic, by which liquid substances such as medical fluids, nutritional fluids, etc. can be infused into a patient to assist in patient recovery. When a patient needs to receive transfusion, etc., a plurality of different transfusion medicines are often required to be mixed according to the state of illness so as to prepare therapeutic liquid medicine with better curative effect. In clinic, medical personnel and the like can transfer the medicines in different containers such as medicine bottles into an infusion bag for mixing so as to obtain the treatment liquid required by patients.

Currently, medical staff and the like often use manual operation to prepare therapeutic liquid medicine required for infusion to a patient. For example, when pipetting between a vial and an infusion bag, a manual operation is used to access the desired vial from a reservoir where the vial is stored.

However, since medical staff in medical institutions are still deficient at present, manual operation is difficult to perform efficient drug solution preparation when a large amount of infusion demands are faced. Accordingly, there is a need to provide a device that can assist medical personnel in dispensing fluids, and in particular, to provide a pick-up mechanism that can automatically pick up vials in a reservoir that stores the vials.

Disclosure of Invention

The present disclosure has been made in view of the above-described conventional art, and an object thereof is to provide a pickup mechanism capable of automatically picking up a medicine bottle.

To this end, the present disclosure provides a pickup mechanism for picking up a medicine bottle mounted on a mounting mechanism, the mounting mechanism having an openable blocking member, a pushing member capable of exerting a pushing action, and a medicine bottle bin formed between the blocking member and the pushing member for mounting a medicine bottle, and the pushing member exerting an action on the medicine bottle toward the blocking member when the medicine bottle bin is mounted with the medicine bottle, the pickup mechanism being provided on a side close to the blocking member, the pickup mechanism including a base configured to be movable relative to the mounting mechanism, a center arm provided on the base and configured to be movable close to or away from the mounting mechanism, a first side arm linked with the center arm, a second side arm provided on the base and configured to be movable in opposition to or away from the first side arm, a driving member provided on the base and configured to drive the center arm, and a side arm provided on the base close to the mounting mechanism, the pickup mechanism being configured to move toward the medicine bottle bin toward the first side arm and the gripper member, the pickup mechanism being configured to be moved toward the gripper mechanism via the first side arm and the gripper mechanism, the pickup mechanism being opened in a gripper mode, the central arm is driven by the driving member to approach the medicine bottle and moves in opposite directions to link the first side arm and the second side arm so as to clamp the medicine bottle by abutting the medicine bottle from three directions respectively, and when the picking mechanism is configured in the release mode, the central arm is driven by the driving member to move away from the medicine bottle and moves in opposite directions to link the first side arm and the second side arm so as to release the medicine bottle.

In the pickup mechanism according to the present disclosure, the pickup mechanism includes a base movable relative to the mounting mechanism, a touch member provided on the base, and a center arm, a first side arm, and a second side arm provided on the base and cooperating to form a holding space, and the center arm is movable close to the mounting mechanism and movable in opposite directions in conjunction with the first side arm and the second side arm. The holding space can be brought close to the mounting mechanism for mounting the medicine bottle by moving the base toward the mounting mechanism, and the blocking member of the mounting mechanism can be opened by the activating member, whereby the pushing member can transfer the medicine bottle to the holding space. Further, by driving the center arm so as to approach the mounting mechanism, the first side arm and the second side arm can be moved toward each other in conjunction with each other, and the center arm, the first side arm, and the second side arm can be brought into contact with the vial from three directions, respectively, to thereby hold the vial. In this case, the pickup mechanism can automatically pick up the medicine bottles mounted on the mounting mechanism.

In the pickup mechanism according to the present disclosure, the blocking member may include a movable portion movably provided at the mouth of the vial housing, a transmission portion that is linked with the movable portion and is configured to provide a service action that enables the movable portion to be separated from the mouth of the vial housing, and a restoring portion that is linked with the movable portion and is configured to provide a restoring action that enables the movable portion to be restored to the mouth of the vial housing. In this case, the movable portion can be moved away from the mouth of the medicine bottle bin by actuating the transmission portion, and the movable portion can be returned to the mouth of the medicine bottle bin by the return portion, whereby an openable and closable blocking member can be provided.

Further, in the pickup mechanism according to the present disclosure, the movable portion is optionally configured to be movable to intersect with and away from the medicine bottle bin to actuate the movable portion away from the mouth of the medicine bottle bin.

In addition, in the pickup mechanism according to the present disclosure, optionally, the transmission portion is located on a travel path of the trigger member when the base moves in a manner to approach the loading mechanism. In this case, the actuation member can be actuated to actuate the transmission portion by the movement of the base, whereby the configuration of the power source can be simplified.

In addition, in the pickup mechanism according to the present disclosure, optionally, the trigger member includes a guide surface having a predetermined guide path having a first direction substantially along the medicine bottle position and a second direction intersecting the first direction, and when the transmission portion moves along the predetermined guide path as compared to the guide surface, the transmission portion moves away from the medicine bottle position in the second direction to move the movable portion away from a mouth of the medicine bottle position. In this case, the transmission part is moved away from the medicine bottle bin by the guide surface of the actuating member, whereby it is possible to facilitate moving the movable part away from the mouth of the medicine bottle bin.

In the pickup mechanism according to the present disclosure, the center arm, the first side arm, and the second side arm may be provided on the base so as to be movable, and the first side arm and the second side arm may be provided on both sides of the center arm so as to be opposed to each other, and first guide grooves and second guide grooves may be provided on both wings of the center arm so as to be opposed to each other, the first guide grooves and the second guide grooves may be gradually apart from each other in a direction approaching the mounting mechanism, the first side arm may have a first slide shaft and the first slide shaft may be movably fitted in the first guide grooves, the second side arm may have a second slide shaft and the second slide shaft may be movably fitted in the second guide grooves, and when the center arm moves so as to approach the mounting mechanism, the first slide shaft may be guided by the first guide grooves and the second slide shaft may be guided by the second guide grooves so as to move the first side arm and the second side arm toward each other. In this case, the linkage structure of the center arm with the first side arm and the second side arm can be simplified by the design of the guide groove and the slide shaft.

In addition, in the pickup mechanism according to the present disclosure, optionally, a center rail along a front-rear direction, and a first rail and a second rail respectively provided on opposite sides of the center rail and along a left-right direction are provided on the base, the center arm is provided on the center rail and configured to be movable along the center rail, the first side arm is provided on the first rail and configured to be movable along the first rail, and the second side arm is provided on the second rail and configured to be movable along the second rail.

In the pickup mechanism according to the present disclosure, the center arm, the first side arm, and the second side arm may be elongated, and the first side arm and the second side arm may be closer to the mounting mechanism than the center arm.

In addition, in the pickup mechanism according to the present disclosure, the trigger member may be provided on the first side arm or the second side arm. This can simplify the structure.

In addition, in the pickup mechanism according to the present disclosure, optionally, a moving member configured to move the base including a first rail laid in a left-right direction, a second rail laid on the first rail in an up-down direction and configured to be movable along the first rail, a third rail laid on the second rail in a front-back direction and configured to be movable along the second rail, and a motor configured to be acted on in the front-back direction is further included, the base being movably provided on the third rail and driven by the motor. Thus, the base can be moved in three dimensions, and the placement mechanism on which the medicine bottle is placed can be moved closer to the base.

According to the pickup mechanism of the present disclosure, it is possible to automatically pick up the medicine bottles stored in the storage bin.

Drawings

The present disclosure will now be explained in further detail by way of example only with reference to the accompanying drawings, in which:

fig. 1 is a schematic diagram illustrating a storage cabinet to which examples of the present disclosure relate.

Fig. 2 is a schematic diagram showing a mounting mechanism according to an example of the present disclosure.

Fig. 3 is a schematic diagram illustrating a blocking member according to an example of the present disclosure.

Fig. 4 is a schematic top view illustrating a picking mechanism according to an example of the present disclosure picking a vial from a loading mechanism.

FIG. 5A is a schematic diagram illustrating a vial in accordance with an example of the present disclosure prior to transfer to a picking mechanism; fig. 5B is a schematic diagram illustrating a vial according to an example of the present disclosure after transfer to a pick-up mechanism.

FIG. 6A is a schematic diagram illustrating the closing of a blocking member in accordance with examples of the present disclosure; fig. 6B is a schematic diagram illustrating the opening of a blocking member according to an example of the present disclosure.

FIG. 7A is a schematic top view illustrating the central arm, first side arm, and second side arm of a pick-up mechanism according to an example of the present disclosure in a release mode; fig. 7B is a schematic top view illustrating the central arm, the first side arm, and the second side arm when the pick-up mechanism according to the examples of the present disclosure is in pick-up mode.

FIG. 8A is a schematic bottom view illustrating the central arm, first side arm, and second side arm of the picking mechanism according to the examples of the present disclosure in a release mode; fig. 8B is a schematic bottom view illustrating the central arm, the first side arm, and the second side arm when the pick-up mechanism according to the examples of the present disclosure is in pick-up mode.

Fig. 9 is a schematic diagram showing a moving member of the pickup mechanism according to the example of the present disclosure.

Fig. 10 is a flow chart illustrating a picking up of a medicine bottle by a picking mechanism according to an example of the present disclosure.

Detailed Description

Hereinafter, preferred embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. In the following description, the same members are denoted by the same reference numerals, and overlapping description thereof is omitted. In addition, the drawings are schematic, and the ratio of the sizes of the components to each other, the shapes of the components, and the like may be different from actual ones.

It should be noted that the terms "comprises" and "comprising," and any variations thereof, in this disclosure, such as a process, method, system, article, or apparatus that comprises or has a list of steps or elements is not necessarily limited to those steps or elements expressly listed or inherent to such process, method, article, or apparatus, but may include or have other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

In addition, headings and the like referred to in the following description of the disclosure are not intended to limit the disclosure or scope thereof, but rather are merely indicative of reading. Such subtitles are not to be understood as being used for segmenting the content of the article, nor should the content under the subtitle be limited only to the scope of the subtitle.

It should be noted that the number of the substrates, as used herein, "front side", "forward", "rearward", "forward-rearward", "left", "right", etc.; relative positional and relative directional terms such as "right", "rightward", "left-right", "upper", "upward", "downward", "upward-downward" and the like, reference is made to a normal operating posture and should not be considered limiting.

The present embodiment relates to a pickup mechanism for picking up a vial placed on a placement mechanism. In the present embodiment, the pickup mechanism may also be referred to as a gripping mechanism, a gripping device, or the like, and by the pickup mechanism of the present embodiment, the vials placed on the placement mechanism can be automatically picked up. In some examples, the loading mechanism and the picking mechanism according to the present embodiment may be applied in a storage cabinet, thereby providing a storage cabinet capable of storing medicine bottles and automatically picking up medicine bottles.

Fig. 1 is a schematic diagram illustrating a storage cabinet 100 to which examples of the present disclosure relate.

As described above, in the present embodiment, the loading mechanism 10 can be used to load a medicine bottle 200 (described later), and the pickup mechanism 20 can pick up the medicine bottle 200 loaded on the loading mechanism 10. In addition, in some examples, the loading mechanism 10 and the pickup mechanism 20 may be applied to the storage cabinet 100.

In some examples, the storage cabinet 100 may include a cabinet 30 having an accommodation space, and the loading mechanism 10 and the pickup mechanism 20 may be disposed in the accommodation space of the cabinet 30 (see fig. 1). In some examples, the storage bin 100 may also include a support shelf 40 (see fig. 1). The support frame 40 may be disposed in the receiving space of the cabinet 30, and the support frame 40 may be used to support a plurality of the loading mechanisms 10.

Additionally, in some examples, the storage bin 100 may also include a handling mechanism 50. The carrying mechanism 50 may extend from the accommodation space of the cabinet 30 to the outside of the cabinet 30, and the medicine bottles 200 picked up by the pickup mechanism 20 may be carried from the inside of the cabinet 30 to the outside of the cabinet 30 via the carrying mechanism 50.

Hereinafter, for convenience of description, the direction in which the pickup mechanism 20 approaches the placement mechanism 10 is understood as "forward" (the direction indicated by D1 in the embodiment of fig. 1), and correspondingly, the direction in which the pickup mechanism 20 is away from the placement mechanism 10 is understood as "rearward" (the direction indicated by D2 in the embodiment of fig. 1). And referring to the normal operation posture (for example, the placement mechanism 10 is placed in the horizontal direction, the pickup mechanism 20 is moved toward or away from the placement mechanism 10 in the horizontal direction), the horizontal leftward direction is understood as "toward the left" (the direction indicated by D3 in the embodiment of fig. 1), and correspondingly, the horizontal rightward direction is understood as "toward the right" (the direction indicated by D4 in the embodiment of fig. 1); the vertically upward direction is understood to be "upward-facing" (direction indicated by D5 in the embodiment of fig. 1), and correspondingly, the vertically downward direction is understood to be "downward-facing" (direction indicated by D6 in the embodiment of fig. 1). It should be noted that the above relative position and relative direction terms are with reference to the normal operational posture and the normal operational manner, and should not be construed as limiting.

Hereinafter, the loading mechanism 10, the pickup mechanism 20, and the pickup mechanism 20 for picking up the medicine bottles 200 loaded on the loading mechanism 10 will be described in detail with reference to the drawings.

Fig. 2 is a schematic diagram showing the mounting mechanism 10 according to the example of the present disclosure. Fig. 3 is a schematic diagram showing the blocking member 12 of the mounting mechanism 10 according to the example of the present disclosure. In order to more clearly illustrate the blocking member 12, a portion of the blocking mechanism 12 that is visually hidden from view is omitted from the drawing.

In some examples, the mounting mechanism 10 may include a carrier member 11 (see fig. 2). In some examples, the carrier member 11 may include a base plate 110 having an elongated shape, and first and

second side plates

111 and 112 disposed at opposite sides of the base plate 110, respectively. In some examples, the base plate 110, the first side plate 111, and the second side plate 112 combine to form the furrow-shaped carrier member 11.

In this embodiment, the vial 200 may be carried between the first side panel 111 and the second side panel 112. In some examples, the spacing of the first side plate 111 from the second side plate 112 is adjustable. In this case, it can be adapted to carry different sized vials 200.

In some examples, the mounting mechanism 10 may include an openable and closable blocking member 12 and a pushing member 13 (see fig. 2) that may exert a pushing action. In some examples, the blocking member 12 and the pushing member 13 may be disposed on the carrier member 11, and a vial receptacle for loading a vial 200 may be formed between the blocking member 12 and the pushing member 13. In some examples, when the vial magazine carries a vial 200, the pushing member 13 may act on the vial 200 toward the blocking member 12. In some examples, the orientation of the vial bin may be along the anterior-posterior direction. In this context, the "front-rear direction" may be understood as a direction of a line connecting the blocking member 12 and the pushing member 13 of the mounting mechanism 10, specifically, a direction from the blocking member 12 to the pushing member 13 may be understood as "forward" (i.e., a direction indicated by D1 in the embodiment of fig. 2), and a direction from the pushing member 13 to the blocking member 12 may be understood as "rearward" (i.e., a direction indicated by D2 in the embodiment of fig. 2).

In some examples, the blocking member 12 may be disposed at one end of the first side plate 111 or the second side plate 112. In some examples, the blocking member 12 may be configured to be openable and closable to form a removable blocking effect on a vial 200 carried between the first side panel 111 and the second side panel 112. For example, when there is no need to pick up a vial 200 carried between the first side plate 111 and the second side plate 112, the blocking member 12 may be closed to block the vial 200 from sliding out; when it is desired to pick up a vial 200 carried between the first side panel 111 and the second side panel 112, the blocking member 12 may be opened to facilitate removal of the vial 200.

In some examples, the blocking member 12 may include a movable portion 121 movably disposed at a mouth of the medicine bottle bin, a transmission portion 122 coupled to the movable portion 121 and configured to provide a commissioning action that may unset the movable portion 121 from the mouth of the medicine bottle bin, and a recovery portion 123 coupled to the movable portion 121 and configured to provide a recovery action that may recover the movable portion 121 to the mouth of the medicine bottle bin (see fig. 3). In this case, the movable portion 121 can be moved away from the mouth of the medicine bottle bin by actuating the transmission portion 122, and the movable portion 121 can be restored to the mouth of the medicine bottle bin by the restoring portion 123, whereby the openable and closable blocking member 12 can be provided.

Additionally, in some examples, the transmission portion 122 may be configured to be movable in a manner intersecting and away from the vial bay to actuate the movable portion 121 out of the mouth of the vial bay. For example, the transmission part 122 may be configured to be movable in a left-right direction to be away from the medicine bottle bin, thereby actuating the movable part 121 to be away from the mouth of the medicine bottle bin. For example, in the embodiment shown in fig. 3, the transmission portion 122 can be moved to the right to actuate the movable portion 121 away from the mouth of the vial bin.

In the embodiment shown in fig. 2 and 3, the blocking member 12 is provided at one end of the second side plate 112, in which case the movable portion 121 is moved away from the mouth of the vial holder by acting on the drive portion 122 toward the right. It should be understood that this is only one arrangement and should not be construed as limiting, e.g. in some examples the blocking member 12 may also be provided at one end of the first side plate 111, in which case the movable part 121 may be moved away from the mouth of the vial compartment by acting on the transmission part 122 towards the left. In the following, the present embodiment will be schematically described with the blocking member 12 provided at one end of the second side plate 112.

In some examples, the transmission portion 122 may be a protrusion extending upward from the movable portion 121. In some examples, the drive portion 122 may be cylindrical, acting on the drive portion toward the right to move the drive portion 122 toward the right away from the vial bay to move the movable portion 121 away from the mouth of the vial bay (see fig. 3).

In some examples, the return portion 123 may be a torsion spring that may provide a return action to return the movable portion 121 to the mouth of the vial bay after the movable portion 121 has moved away from the mouth of the vial bay (see fig. 3).

In some examples, the pushing member 13 may be disposed on the substrate 110 and configured to be movable along the substrate 110. In some examples, the pushing member 13 may include an abutting portion 131 for abutting against the medicine bottle 200 placed in the medicine bottle bin, a power portion (not shown) connected to the abutting portion 131 and configured to act on the abutting portion 131 toward the blocking member 12, and a braking portion (not shown) configured to brake the abutting portion 131.

In the present embodiment, the medicine bottle 200 may be placed in a medicine bottle bin formed between the blocking member 12 and the pushing member 13, and the pushing member 13 may act on the medicine bottle 200 toward the blocking member 12. When the movable part 121 of the blocking member 12 leaves the mouth of the medicine bottle bin, the medicine bottle 200 can be transferred out of the medicine bottle bin along the medicine bottle bin via the opened blocking member 13 by the pushing member 13.

Fig. 4 is a schematic top view illustrating picking mechanism 20 picking vials 200 from loading mechanism 10 according to an example of the present disclosure.

In the present embodiment, the pickup mechanism 20 can pick up the medicine bottles 200 mounted on the mounting mechanism 10. In some examples, the pickup mechanism 20 may be disposed on a side proximate to the blocking member 12 (see fig. 4). Thereby, the medicine bottle 200 placed in the medicine bottle bin can be transferred to the pickup mechanism 20 via the opened blocking member 12.

In the embodiment shown in fig. 4, the picking mechanism 20 is adjacent to the mouth of the vial bay and when the movable portion 121 of the blocking member 12 is clear of the mouth of the vial bay (i.e., the blocking member 12 is opened), the vial 200 may be transferred to the picking mechanism 20 along the vial bay and via the opened blocking member 12 by the pushing member 13. In some examples, one or more vials 200 may be carried in the vial bay. When the picking mechanism 20 picks up a plurality of vials 200, the plurality of vials 200 may be transferred to the picking mechanism 20 one by one via the opened blocking member 12.

Fig. 5A is a schematic diagram illustrating a vial 200 according to an example of the present disclosure prior to transfer to the picking mechanism 20; fig. 5B is a schematic diagram illustrating a vial 200 according to an example of the present disclosure after transfer to the picking mechanism 20.

In some examples, the pickup mechanism 20 may include a base 21 configured to be movable relative to the loading mechanism 10, a center arm 22 disposed on the base 21 and configured to be movable, a first side arm 23 linked with the center arm 22, and a second side arm 24 linked with the center arm 22 and configured to be movable toward or away from the first side arm 23. In some examples, the central arm 22, the first side arm 23, and the second side arm 24 cooperate to form a gripping space toward the vial bay (see fig. 5A and 5B).

In some examples, the central arm 22 may move closer to or farther from the mounting mechanism 10. In some examples, the central arm 22 may move in a fore-aft direction (i.e., the direction indicated by D1, D2 in the embodiment shown in fig. 5A and 5B). In some examples, the first and

second side arms

23, 24 may be movable in a left-right direction (i.e., the directions indicated by D3, D4 in the embodiment shown in fig. 5A and 5B).

In some examples, the first side arm 23 and the second side arm 24 may be linked to move toward each other as the central arm 22 moves closer to the mounting mechanism 10. Additionally, in some examples, the first side arm 23 and the second side arm 24 may be linked to move away from the mounting mechanism 10 when the central arm 22 moves away from the mounting mechanism.

In some examples, the pickup mechanism 20 may further include a drive member 25 (see fig. 5A and 5B) disposed on the base 21 and configured to drive the central arm 22. In some examples, the drive member 25 may drive the central arm 22 to move in a fore-aft direction. In some examples, the drive member 25 may drive the central arm 22 by way of a drive shaft, e.g., the drive member 25 may be connected to the central arm 22 by a telescoping lead screw (not shown) to drive the central arm 22. In other examples, the drive member 25 may drive the central arm 22 by way of gears.

In some examples, the picking mechanism 20 may also include an activating member 26 (see fig. 5A and 5B). In some examples, the trigger member 26 may be disposed on a side of the base 21 proximate to the loading mechanism 10. In some examples, the trigger member 26 may be configured to be interlockable with the base 21. In some examples, the trigger member 26 is configured to trigger the transmission portion 122 of the blocking member 12 to move the transmission portion 122 away from the vial bay to move the movable portion 121 away from the mouth of the vial bay. In some examples, the transmission 122 may be located in the path of travel of the trigger member 26 when the picking mechanism 20 is moved in close proximity to the vial bin (see fig. 5A and 5B).

In some examples, the picking mechanism 20 may have a picking mode and a release mode, when the picking mechanism 20 is configured in the picking mode, the base 21 may be moved toward the loading mechanism 10 to bring the gripping space close to the vial bay and the blocking member 12 is opened by the trigger member 26, the pushing member 13 may transfer the vial 200 to the gripping space along the vial bay via the opened blocking member 12, and the central arm 22 may be driven by the driving member 25 in a manner close to the vial 200 and move the first side arm 23 and the second side arm 24 toward each other to grip the vial 200 by abutting the central arm 22, the first side arm 23, and the second side arm 24, respectively, from three directions (see fig. 5A and 5B).

When the pick-up mechanism 20 is configured in the release mode, the central arm 22 may be driven by the drive member 25 away from the vial 200 and move back to the linkage of the first and

second side arms

23, 24 to release the vial 200.

In the pickup mechanism 20 according to the present disclosure, the pickup mechanism 20 includes a base 21 movable relative to the mounting mechanism 10, a center arm 22 provided on the base 21 and cooperating to form a holding space, a first side arm 23, and a second side arm 24, and the center arm 22 is movable close to the mounting mechanism 10 and movable toward each other in conjunction with the first side arm 23 and the second side arm 24. In addition, the pick-up mechanism 20 further comprises an activating member 26 provided on the base 21 and configured to open the blocking member 12. The holding space can be brought close to the mounting mechanism 10 on which the vial 200 is mounted by moving the base 21 toward the mounting mechanism 10, and the blocking member 12 of the mounting mechanism 10 can be opened by the activating member 26, whereby the pushing member 13 can transfer the vial 200 to the holding space. Further, by driving the center arm 22 so as to approach the mounting mechanism 10, the first side arm 23 and the second side arm 24 can be moved toward each other in linkage, and the center arm 22, the first side arm 23, and the second side arm 24 can be brought into contact with the medicine bottle 200 from three directions, respectively, so that the medicine bottle 200 can be held. In this case, the pickup mechanism 20 can automatically pick up the medicine bottles 200 mounted on the mounting mechanism 10.

Fig. 6A is a schematic diagram illustrating the closing of the blocking member 12 in accordance with examples of the present disclosure;

fig. 6B is a schematic diagram showing the opening of the blocking member 12 according to the example of the present disclosure. It should be noted that, in the embodiment shown in fig. 6A and 6B, in order to more clearly illustrate that the trigger member 26 opens the blocking member 12, a portion that visually obscures the trigger member 26 is omitted in the drawings.

In the present embodiment, when the base 21 moves toward the front (i.e., in a direction approaching the loading mechanism 10), the transmission portion 122 of the blocking member 12 may be located on the travel path of the actuating member 26, and the transmission portion 122 may be actuated by the actuating member 26 to move the movable portion 121 away from the mouth of the medicine bottle bin (see fig. 6A and 6B). In this case, the movement of the base 21 causes the trigger member 26 to actuate the transmission portion 122, thereby moving the movable portion 121 away from the mouth of the medicine bottle position, and thus simplifying the configuration of the power source.

In some examples, the trigger member 26 may include a guide surface 261 (see fig. 6A and 6B) having a predetermined guide path. In some examples, the predetermined guide path has a first direction generally along the vial position and a second direction intersecting the first direction. In some examples, the first direction may be along a front-to-back direction and the second direction may be along a left-to-right direction. In the embodiment shown in fig. 6A and 6B, the second direction may be toward the right.

When the base 21 is moved in a forward direction (i.e., the direction indicated by D1 in the embodiment of fig. 6A and 6B), the trigger member 26 may contact the transmission portion 122 and guide the transmission portion 122 through the guide surface 261 to move the transmission portion 122 in a rightward direction (i.e., the direction indicated by D4 in the embodiment of fig. 6A and 6B) away from the vial position. That is, when the actuating member 26 actuates the transmission part 122, the transmission part 122 may move along a predetermined guide path as compared to the guide surface 261, and the transmission part 122 may move away from the medicine bottle bin to the right and move the movable part 121 away from the mouth of the medicine bottle bin (see fig. 6A and 6B). In this case, the transmission part 122 is moved away from the medicine bottle bin by the guide surface 261 of the actuating member 26, whereby the movable part 121 can be easily moved away from the mouth of the medicine bottle bin.

Referring to fig. 6A and 6B, the guide surface 261 may be generally S-shaped, and as the trigger member 26 moves forward, the guide surface 261 may gradually move away from the mouth of the vial bin. In this case, as the trigger member 26 moves toward the front, the transmission part 122 may move along the guide surface 261 to gradually move away from the mouth of the medicine bottle bin, thereby moving the movable part 121 away from the mouth of the medicine bottle bin. In addition, when the movable part 121 leaves the mouth of the medicine bottle bin, the medicine bottle 200 may be transferred to the gripping space of the pickup mechanism 10 via the opened blocking member 12 along the medicine bottle bin by the pushing action of the pushing member 13.

Additionally, in some examples, the trigger member 26 may be disposed on the first side arm 23 or the second side arm 24. In some examples, the trigger member 26 may be disposed at an end of the first side arm 23 or the second side arm 24 proximate to the loading mechanism 10. In some examples, the trigger member 26 may be a guide surface formed on the first side arm 23 or the second side arm 24 having a predetermined guide path. This can simplify the structure. In this context, the triggering member 26 is schematically illustrated as being arranged on the first side arm 23.

Fig. 7A is a schematic top view illustrating the central arm 22, the first side arm 23, and the second side arm 24 when the pick-up mechanism 20 according to the examples of the present disclosure is in the release mode; fig. 7B is a schematic top view illustrating the central arm 22, the first side arm 23, and the second side arm 24 when the pick-up mechanism 20 according to the examples of the present disclosure is in the pick-up mode.

In some examples, the central arm 22, the first side arm 23, and the second side arm 24 may be elongated. Additionally, in some examples, the first side arm 23 and the second side arm 24 may be closer to the loading mechanism 10 than the central arm 22. In this case, the actuation member 26 provided on the first side arm 23 or the second side arm 24 can be easily actuated to actuate the transmission portion 122.

In some examples, the central arm 22, the first side arm 23, and the second side arm 24 are movably disposed on the base 21. In some examples, the center arm 22 is provided on the base 21 in a manner movable in the front-rear direction. In some examples, the first side arm 23 and the second side arm 24 are provided on the base 21 in a manner movable in the left-right direction. In some examples, the first side arm 23 and the second side arm 24 are oppositely disposed on either side of the central arm 22 (see fig. 7A and 7B). In some examples, the first and

second side arms

23, 24 may move away from each other as the central arm 22 moves in a direction away from the loading mechanism 10 (i.e., toward the rear) to expand the gripping space (see fig. 7A) to release the vial 200 or fit a larger size vial 200. The first side arm 23 and the second side arm 24 can move toward each other when the center arm 22 moves in a direction approaching the loading mechanism 10 (i.e., toward the front) to narrow the holding space (see fig. 7B) so as to hold the medicine bottle 200 or to fit a smaller-sized medicine bottle 200.

Fig. 8A is a schematic bottom view illustrating the central arm 22, the first side arm 23, and the second side arm 24 with the picking mechanism 20 according to the examples of the present disclosure in a release mode; fig. 8B is a schematic bottom view illustrating the central arm 22, the first side arm 23, and the second side arm 24 when the pick-up mechanism 20 according to the examples of the present disclosure is in the pick-up mode.

In some examples, first and

second guide grooves

221 and 222 may be provided at opposite wings of the central arm 22, respectively (see fig. 8A and 8B). In some examples, the first guide groove 221 and the second guide groove 222 may gradually move away from each other in a direction approaching the loading mechanism 10 (i.e., toward the front).

In some examples, the first side arm 23 may have a first sliding shaft 231, and the first sliding shaft 231 may be movably embedded in the first guide groove 221. The second side arm 24 may have a second sliding shaft 241, and the second sliding shaft 241 may be movably embedded in the second guide groove 222 (see fig. 8A and 8B). In this case, when the center arm 22 moves close to the mounting mechanism 10 (i.e., toward the front), the first sliding shaft 231 may be guided by the first guide groove 221 and the second sliding shaft 241 may be guided by the second guide groove 22 to move the first side arm 23 and the second side arm 24 toward each other. In this case, the linkage structure of the center arm 22 and the first and

second side arms

23 and 24 can be simplified by the design of the guide grooves (the first guide groove 221 and the second guide groove 222) and the slide shafts (the first and second slide shafts 231 and 241).

In some examples, the base 21 may be provided with a center rail (not shown) along the front-rear direction, and a first rail (not shown) and a second rail (not shown) provided on opposite sides of the center rail and along the left-right direction, respectively. The central arm 22 may be disposed on and configured to be movable along a central rail, the first side arm 23 may be disposed on and configured to be movable along a first rail, and the second side arm 24 may be disposed on and configured to be movable along a second rail. In this case, the first and

second side arms

23 and 24 may move toward each other along the first and second slide rails under the guide of the first and

second guide grooves

221 and 222 when the central arm 22 moves toward the front along the central slide rail, and the first and

second side arms

23 and 24 may move away from each other along the first and second slide rails under the guide of the first and

second guide grooves

221 and 222 when the central arm 22 moves toward the rear along the central slide rail, respectively, thereby enabling to provide a linkage mechanism that facilitates expanding or contracting the clamping space.

Fig. 9 is a schematic diagram showing the moving member 28 of the pickup mechanism 20 according to the example of the present disclosure.

In some examples, the picking mechanism 20 may also include a moving member 28. The moving member 28 is configured to move the base 21.

In some examples, the moving member 28 may include a first rail 281 laid in a left-right direction, a second rail 282 laid on the first rail 281 in an up-down direction and configured to be movable along the first rail 281, a third rail 283 laid on the second rail 282 in a front-rear direction and configured to be movable along the second rail 282, and a motor 284 configured to be operable in the front-rear direction. In some examples, the base 21 may be movably disposed on the third rail 283 and may be driven by a motor 284. Thereby, the base 21 can be easily moved in three dimensions, and the holding space can be easily brought close to the loading mechanism 10 on which the medicine bottle 200 is loaded.

In some examples, the motor 284 may drive the base 21 to move along the third rail 283, thereby enabling the base 21 to move in a front-to-rear direction. The third rail 283 may move along the second rail 282, thereby enabling the base 21 to move in the up-down direction. The second rail 282 is movable along the first rail 281, so that the base 21 can be moved in the left-right direction. In this case, the base 21 is moved by the moving member 28 formed by the cooperation of the first rail 281, the second rail 282, the third rail 283, and the motor 284, whereby the center arm 22, the first side arm 23, and the second side arm 24 can be moved in three dimensions to approach the loading mechanism 10 and pick up the medicine bottles 200 loaded on the loading mechanism 10.

Fig. 10 is a schematic flow chart showing a process of picking up a vial 200 placed on the placement mechanism 10 by the pickup mechanism 20 according to the present embodiment example. Hereinafter, the picking mechanism 20 picks up the medicine bottles 200 in detail with reference to fig. 10.

In some examples, as shown in fig. 10, the process of picking up the medicine bottles 200 mounted on the mounting mechanism 10 by the picking mechanism 20 may include the steps of: moving the clamping space to the vicinity of a bin opening of the medicine bottle bin (step S100); opening the blocking member 12 (step S200); transferring the vial 200 to the holding space (step S300); the clamping space is reduced to clamp the medicine bottle 200 (step S400).

In some examples, in step S100, the moving member 28 may move the base 21 in three dimensions of the front-rear direction, the left-right direction, and the up-down direction to move the clamping space formed by the central arm 22, the first side arm 23, and the second side arm 24 to the vicinity of the mouth of the medicine bottle bin.

In some examples, in step S200, motor 284 may drive base 21 forward to move trigger member 26 toward transmission 122 and contact transmission 122, and transmission 122 may be guided by guide surface 261 of trigger member 26 to move rightward away from the mouth of the vial bay to move movable portion 121 away from the mouth of the vial bay, i.e., open blocking member 12.

In some examples, after the blocking member 12 is opened, the drug vial 200 may be transferred along the drug vial bin via the opened blocking member 12 to a clamping space at the mouth of the drug vial bin by the pushing member 13 in step S300.

In some examples, in step S400, the driving part 25 may drive the central arm 22 toward the front, and the central arm 22 may move toward each other in conjunction with the first side arm 23 and the second side arm 24 to reduce the gripping space, so that the central arm 22, the first side arm 23, and the second side arm 24 respectively abut against the outer wall of the vial 200 from three directions, thereby gripping the vial 200.

While the disclosure has been described in detail in connection with the drawings and examples, it is to be understood that the foregoing description is not intended to limit the disclosure in any way. Modifications and variations of the present disclosure may be made as desired by those skilled in the art without departing from the true spirit and scope of the disclosure, and such modifications and variations fall within the scope of the disclosure.

Claims

1. A pickup mechanism for picking up a medicine bottle mounted on a mounting mechanism, the mounting mechanism having a blocking member which can be opened and closed, a pushing member which can exert a pushing action, and a medicine bottle housing formed between the blocking member and the pushing member for mounting a medicine bottle, and the pushing member exerting an action on the medicine bottle toward the blocking member when the medicine bottle housing is mounted with the medicine bottle,

The picking mechanism is arranged on one side close to the blocking member, the picking mechanism comprises a base which is arranged on the base and can move relative to the carrying mechanism, a central arm which is arranged on the base and can move relative to the carrying mechanism in a way of approaching or separating from the carrying mechanism, a first side arm which is linked with the central arm, a second side arm which is linked with the central arm and can move opposite to or back to the first side arm, a driving member which is arranged on the base and is arranged to drive the central arm, and a triggering member which is arranged on one side close to the carrying mechanism of the base and is arranged to move relative to the base, the central arm, the first side arm and the second side arm form a clamping space which faces towards the medicine bottle bin, the picking mechanism has a picking mode and a releasing mode, when the picking mechanism is arranged in the picking mode, the base moves relative to the carrying mechanism so that the clamping space approaches the medicine bottle bin and the blocking member is opened by the medicine bottle bin, the driving member is arranged along the side arm to move relative to the medicine bottle bin in a way of moving relative to the first side arm and the medicine bottle bin via the first side arm and the second side arm is driven in a way of opening the medicine bin, and the second side arm is linked with the second side arm in a way of opening the medicine bin is opposite to the medicine bin, and the releasing mode is respectively, the blocking member includes a movable portion movably disposed at a mouth of the medicine bottle bin, a transmission portion operatively coupled to the movable portion and configured to provide a serving action for moving the movable portion away from the mouth of the medicine bottle bin, and a return portion operatively coupled to the movable portion and configured to provide a return action for returning the movable portion to the mouth of the medicine bottle bin, the actuation member including a guide surface having a predetermined guide path having a first direction generally along the medicine bottle bin and a second direction intersecting the first direction, the transmission portion moving away from the mouth of the medicine bottle bin along the second direction as compared to the guide surface when moving along the predetermined guide path.

2. The picking mechanism as recited in claim 1, wherein,

the movable portion is configured to be movable intersecting the vial bay and away from the vial bay to actuate the movable portion away from a mouth of the vial bay.

3. The picking mechanism as recited in claim 1, wherein,

when the base moves in a manner of approaching the carrying mechanism, the transmission part is positioned on the travelling path of the touch component.

4. The picking mechanism as recited in claim 1, wherein,

the center arm, the first side arm and the second side arm are movably arranged on the base, the first side arm and the second side arm are oppositely arranged on two sides of the center arm, a first guide groove and a second guide groove are respectively arranged on two opposite wings of the center arm, the first guide groove and the second guide groove are gradually far away from each other along the direction close to the carrying mechanism, the first side arm is provided with a first sliding shaft and the first sliding shaft is movably embedded in the first guide groove, the second side arm is provided with a second sliding shaft and the second sliding shaft is movably embedded in the second guide groove, and when the center arm moves in a mode close to the carrying mechanism, the first sliding shaft is guided by the first guide groove and the second sliding shaft is guided by the second guide groove so that the first side arm and the second side arm move oppositely.

5. The picking mechanism as recited in claim 4, wherein,

the base is provided with a central sliding rail along the front-back direction, a first sliding rail and a second sliding rail which are respectively arranged on two opposite sides of the central sliding rail and along the left-right direction, the central arm is arranged on the central sliding rail and is configured to be movable along the central sliding rail, the first side arm is arranged on the first sliding rail and is configured to be movable along the first sliding rail, and the second side arm is arranged on the second sliding rail and is configured to be movable along the second sliding rail.

6. The picking mechanism as recited in claim 1, wherein,

the center arm, the first side arm, and the second side arm are elongated, and the first side arm and the second side arm are closer to the mounting mechanism than the center arm.

7. The picking mechanism as recited in claim 6, wherein,

the trigger member is disposed on the first side arm or the second side arm.

8. The picking mechanism as recited in claim 1, wherein,

the base is movably disposed on the third rail and driven by the motor.