CN213264600U

CN213264600U - Vacuum chuck manipulator

Info

Publication number: CN213264600U
Application number: CN202022119914.3U
Authority: CN
Inventors: 欧阳利
Original assignee: Suzhou Xinyao Digital Intelligent Medical Technology Co ltd
Current assignee: Suzhou Xinyao Digital Intelligent Medical Technology Co ltd
Priority date: 2020-09-24
Filing date: 2020-09-24
Publication date: 2021-05-25
Anticipated expiration: 2030-09-24

Abstract

The utility model discloses a vacuum chuck manipulator, it is including getting it filled support, solenoid valve and four vacuum chuck that are "ten" word and distribute, vacuum chuck movable mounting be in get it filled on the support, four vacuum chuck can be driven get it filled the position and put synchronous motion between the medicine position, four vacuum chuck passes through respectively solenoid valve and vacuum device switch-on. The utility model discloses a vacuum chuck manipulator, its vacuum chuck are "ten" word and distribute, adopt the independent break-make of an arbitrary vacuum chuck of solenoid valve control simultaneously, when being applicable to the medicine box of various sizes, can also guarantee the stability that the manipulator absorbs the medicine.

Description

Vacuum chuck manipulator

Technical Field

The utility model relates to an intelligence medicine machine technical field especially relates to a vacuum chuck manipulator.

Background

The vacuum chuck manipulator grabs a product through a vacuum chuck, so-called vacuum chuck, also called vacuum sling, is one of vacuum equipment actuators. Generally, gripping an article with a vacuum chuck is one of the least expensive methods. The vacuum sucker has various varieties, the sucker made of rubber can be operated at high temperature, and the sucker made of silicon rubber is very suitable for grabbing products with rough surfaces; suction cups made of polyurethane are very durable. In actual production, if oil resistance is required for the suction cup, it is conceivable to manufacture the suction cup using a material such as polyurethane, nitrile rubber, or a vinyl-containing polymer. Generally, in order to prevent the surface of the product from being scratched, it is preferable to select a sucker chuck material with bellows made of nitrile rubber or silicone rubber, which is made of nitrile rubber and has a large breaking force, and thus is widely used in various vacuum holding apparatuses.

The medicine machine of going to the market all adopts single sucking disc or double suction dish structure of getting it filled to realize getting it filled, can't inhale firmly totally to the medicine of higher deviation or lower deviation, causes to get it filled failure rate higher than the right side. When the weight of the medicine is too heavy, the quantity of the suckers is not enough, so that the pressure is not enough, and the medicine cannot be sucked. For example: the single sucker structure is designed by taking the center of the highest medicine as a reference, and if the size of the small medicine box is smaller than half of the size of the large medicine box, the sucker cannot suck the front of the small medicine box, so that the size and the specification of the medicine are strictly limited. And two sucking disc structures, no matter be about the sucking disc or about the sucking disc, when medicine weight is too big, can sway about or sway about among the adsorption process, sucking of sucking disc is also not enough to adsorb heavier medicine box.

Therefore, in combination with the above-mentioned technical problems, a new technical solution is needed.

SUMMERY OF THE UTILITY MODEL

The utility model provides a vacuum chuck manipulator, it is including getting it filled support, solenoid valve and four vacuum chuck that are "ten" word and distribute, vacuum chuck movable mounting be in get it filled on the support, four vacuum chuck can be driven get it filled the position and put synchronous motion between the medicine position, four vacuum chuck passes through respectively solenoid valve and vacuum device switch-on.

In a further embodiment, it further comprises a suction cup mounting plate comprising a mounting portion parallel to the xz-plane and a fixing portion parallel to the xy-plane, the vacuum suction cup being mounted on the mounting portion.

In a further embodiment, the medicine taking device further comprises a driving device, the driving device is installed on the medicine taking support through a driving installation plate, the driving device drives the sucker installation plate to move along the y-axis direction, and then the vacuum sucker is driven to move between a medicine taking position and a medicine placing position.

In a further embodiment, the sucker mounting plate further comprises a transmission rod, the length direction of the transmission rod is consistent with the y-axis direction, one end of the transmission rod is fixedly connected with the fixing part, and the driving device drives the transmission rod to move along the y-axis direction, so that the sucker mounting plate is driven to move along the y-axis direction.

In a further embodiment, the device further comprises a limit plate, and the limit plate is arranged at the other end of the transmission rod.

In a further embodiment, it still includes spout and drive gear, drive gear installs on drive arrangement's the rotation main shaft, the spout is installed on the drive mounting panel, the length direction of spout is unanimous with y axle direction, spout and drive gear are located same one side of drive mounting panel, the transfer line cooperation is installed between spout and the drive gear, drive gear rotates and drives the transfer line is in move along y axle direction on the spout.

In a further embodiment, the medicine dispensing device further comprises a sensing piece and a position detection device, wherein the sensing piece is installed on the fixed part, the position detection device is installed on the driving installation plate, and the sensing piece corresponds to the position of the position detection device when the vacuum chuck is in the medicine placing position.

In a further embodiment, the solenoid valve can control the independent on-off of any one vacuum chuck.

In a further embodiment, the vacuum chuck is a bellows chuck.

The utility model discloses a vacuum chuck manipulator, its vacuum chuck are "ten" word and distribute, adopt the independent break-make of an arbitrary vacuum chuck of solenoid valve control simultaneously, when being applicable to the medicine box of various sizes, can also guarantee the stability that the manipulator absorbs the medicine.

Drawings

Fig. 1 is a schematic structural view of an intelligent medicine machine provided in an embodiment of the present application in a main view direction;

fig. 2 is a schematic view of an internal structure of the intelligent medicine machine provided in the embodiment of the present application in a main view direction;

fig. 3 is an internal structural schematic diagram of the intelligent medicine machine provided in the embodiment of the present application in the rear view direction;

fig. 4 is a schematic view of an internal structure of the intelligent medicine machine provided in the embodiment of the present application in a side view direction;

FIG. 5 is a schematic structural view of a portion of a drug rack provided in an embodiment of the present application;

fig. 6 is a schematic structural diagram of a drug channel layer provided in an embodiment of the present application;

fig. 7 is a schematic structural view of a drug channel layer provided in an embodiment of the present application in a bottom view;

FIG. 8 is a schematic structural diagram of a drug pushing device according to an embodiment of the present disclosure;

FIG. 9 is a side view of a portion of a drug holder according to an embodiment of the present disclosure;

FIG. 10 is a schematic structural diagram of a strut according to an embodiment of the present disclosure;

FIG. 11 is a schematic structural view of another compression bar according to an embodiment of the present disclosure;

fig. 12 is a schematic structural diagram of a medicine dispensing device according to an embodiment of the present application;

fig. 13 is a schematic structural diagram of a robot provided in an embodiment of the present application;

fig. 14 is a schematic structural view of a drug storage device provided in an embodiment of the present application;

fig. 15 is a schematic structural diagram of a medicine taking device with a rechecking function provided in an embodiment of the present application in one direction;

fig. 16 is a schematic structural view of a drug storage device with a rechecking function provided in an embodiment of the present application in another direction;

fig. 17 is a schematic structural diagram of an inventory device according to an embodiment of the present application;

fig. 18 is a schematic structural view of a drug discharge device provided in an embodiment of the present application;

FIG. 19 is a schematic structural diagram of a recycling apparatus according to an embodiment of the present disclosure;

fig. 20 is a schematic view of a combined structure of a drug discharge device and a recovery device in a side view according to an embodiment of the present application;

fig. 21 is a schematic combined perspective structure view of a drug discharge device and a recovery device provided in an embodiment of the present application in one direction;

fig. 22 is a schematic view of a combined explosion structure of a drug discharging device and a recovery device provided in an embodiment of the present application in one direction.

Wherein, 1-box, 11-display device, 12-ID card recognition device, 13-face recognition device, 14-input device, 15-two-dimensional code scanning device, 16-bank card reading device, 17-prescription reading device, 18-bill printing device, 2-medicine rack, 21-medicine channel layer, 22-medicine channel, 221-medicine channel bottom plate, 2211-first strip through hole, 2212-card slot, 2213-limit projection, 222-medicine channel side plate, 223-medicine baffle plate, 224-medicine pushing device, 2241-medicine pushing base, 2242-extension block, 2243-medicine pushing driving device, 2244-drag hook, 2245-distance measuring block, 225-warning light, 23-medicine pressing device, 231-pressure bar mounting plate, 2311-second strip through hole, 232-a pressure lever, 2321-a connecting part, 2322-a working part, 2323-a tilting part, 2324-a bending part, 3-a medicine taking device, 31-a manipulator, 311-a vacuum sucker, 312-a sucker mounting plate, 3121-a mounting part, 3122-a fixing part, 313-a third driving device, 314-a second driving rod, 315-a driving gear, 316-a chute, 317-a sensing sheet, 318-a position detecting device, 319-a driving mounting plate, 32-a medicine storing device, 321-a medicine storing bin body, 322-a medicine storing bin door, 3221-a first bin door, 3222-a second bin door, 3223-a first driving rod, 3224-a second driving rod, 3225-a driving gear, 323-a third sliding rail, 324-a spring and 325-a recognition device, 3251-camera, 326-recognition mounting seat, 327-distance measuring device, 33-mandril, 34-first sliding rail, 341-first tank chain, 35-second sliding rail, 351-second tank chain, 36-first sliding table, 37-second sliding table, 38-first driving device, 39-second driving device, 391-first transmission rod, 4-medicine discharging device, 41-medicine discharging bin, 411-medicine discharging bin door, 412-medicine discharging bin door driving device, 413-fourth sliding rail, 414-driving device mounting frame, 4141-upper mounting plate, 4142-lower mounting plate, 4143-limiting column, 4144-screw rod, 4145-reinforcing rib, 4146-closed position detecting device, 4147-open position detecting device, 415-first side surface, 4151-second medicine outlet, 416-second side face, 417-third side face, 418-fourth side face, 419-first medicine outlet, 42-medicine inlet bin, 421-first medicine inlet, 5-recovery device, 50-recovery bin body, 51-recovery bin door, 511-bin door panel, 512-bin door fixing plate, 52-recovery bin door driving device, 53-fixing plate, 54-fifth slide rail, 55-storage amount detecting device, 56-inner medicine inlet, 57-outer medicine inlet, 58-recovery side door, 6-grating and 7-vacuum device.

Detailed Description

To further explain the technical means and effects of the present invention adopted to achieve the predetermined objects, the following detailed description of the embodiments, structures, features and effects according to the present invention will be given with reference to the accompanying drawings and preferred embodiments.

Examples

As shown in fig. 1 to 4, the present embodiment provides an intelligent medicine machine, which includes a box 1, and a medicine rack 2, a medicine taking device 3, a medicine discharging device 4, a recycling device 5 and a control host installed in the box 1, in order to describe the position relationship of each component of the intelligent medicine machine more easily, the length direction of the intelligent medicine machine is defined as the x-axis direction, the width direction of the intelligent medicine machine is the y-axis direction, and the height direction of the intelligent medicine machine is the z-axis direction.

Medicine frame 2 includes a plurality of medicine channel layer 21, a plurality of medicine channel layer 21 sets up along z axle direction parallel interval in proper order, each medicine channel layer 21 is last to be equipped with a plurality of medicine channel 22 along x axle direction in proper order, the length direction and the y axle direction of medicine channel 22 are unanimous.

Medicine channel 22 includes medicine groove body and pushes away medicine device 224, the medicine groove body includes medicine groove bottom plate 221 and two parallel arrangement's medicine groove curb plate 222, medicine groove curb plate 222 vertical fixation is in the upper surface of medicine groove bottom plate 221, the length direction of medicine groove curb plate 222 with the length direction of medicine groove bottom plate 221 is unanimous, medicine groove bottom plate 221 and two medicine groove curb plate 222 forms the medicine storage chamber, and the medicine is put in proper order according to the date of production in the medicine storage chamber, and wherein the earliest medicine of date of production is placed in the position that is closest to device 3 of getting it filled. As shown in fig. 5 to 7, it is preferable that each drug channel 22 on each drug channel layer 21 shares a large bottom plate, the length of the drug channel 22 is used as the width of the large bottom plate, the width of a plurality of drug channels 22 forms the length of the large bottom plate, and two adjacent drug channels 22 share a drug channel side plate 222. Medicine groove bottom plate 221 has the end of getting it filled and the end of getting it filled respectively along its length direction, is close to promptly the one end of getting it filled device 3 is the end of getting it filled, keeps away from the one end of getting it filled device 3 is the end of getting it filled. Medicine groove curb plate 222 is in it is close to get it filled the end medicine groove bottom plate 221 position is equipped with medicine baffle 223, medicine baffle 223's length direction with medicine groove bottom plate 221's width direction is unanimous, two medicine groove curb plate 222's medicine baffle 223 has the interval between, and it is known to need, and interval size and medicine baffle 223's between two medicine baffle 223 height all can design as required, simultaneously, be located medicine groove curb plate 222 between two adjacent medicine channels 22 as shown in figure 5, it can be a whole medicine baffle 223 getting it filled, also can be two branch medicine baffles 223.

As shown in fig. 6, the medicine pushing device 224 is installed in the medicine storage cavity, and the medicine pushing device 224 can be driven to move in the medicine storage cavity along the length direction of the medicine tank bottom plate 221. The medicine pushing device 224 comprises a medicine pushing base 2241 and an extension block 2242, as shown in fig. 8. The medicine tank bottom plate 221 of each medicine tank 22 is provided with a first long through hole 2211 at the middle position thereof, and the length direction of the first long through hole 2211 is consistent with the length direction of the medicine tank bottom plate 221, as shown in fig. 5 to 7. The medicine pushing base 2241 is installed on the first strip-shaped through hole 2211, as shown in fig. 6, the medicine pushing base 2241 can be driven along the first strip-shaped through hole 2211, and the medicine entering end slides to the medicine taking end. Push away medicine base 2241 and include main part and spacing part, connect through the slip post between main part and the spacing part, the main part is located the top of medicine groove bottom plate 221, spacing part is located the below of medicine groove bottom plate 221, the slip post is located in first rectangular through-hole 2211. The extension block 2242 is detachably mounted on the upper surface of the main body part of the medicine pushing base 2241. A medicine pushing driving device 2243 is installed on the lower surface of the medicine taking end of the medicine tank bottom plate 221, preferably, a coil spring is installed on one side of the first elongated through hole 2211 in the length direction, as shown in fig. 7. The connecting end of the coil spring is fixedly connected with the limiting part, when the medicine pushing device 224 is far away from the medicine taking end, the coil spring can provide continuous pulling force towards the medicine taking end for the medicine pushing device 224, so that the medicine pushing device 224 can continuously provide pushing force towards the medicine taking end for medicines placed in the medicine storage cavity, on one hand, the medicines can be guaranteed not to move along the y-axis direction when being taken away, and on the other hand, when the medicines closest to the medicine taking end are taken away, the next medicine can be automatically supplemented.

In a further embodiment, a clamping groove 2212 is further formed on the bottom plate 221 at a position close to the medicine inlet end, the length direction of the clamping groove 2212 is consistent with the width direction of the bottom plate 221, and one end of the clamping groove 2212 is communicated with the first long through hole 2211 to form an "L" shaped sliding hole, as shown in fig. 6 and 7. The medicine pushing base 2241 can be driven to slide along the clamping groove 2212. The side edge of the clamping groove 2212 far away from the medicine inlet end is also provided with a limiting protrusion 2213, and the limiting protrusion 2213 is close to the first strip-shaped through hole 2211. When the medicine channel 22 is filled, the medicine pushing device 224 can be firstly slid into the clamping groove 2212, the L-shaped design can limit the medicine pushing device 224 to move in the first strip through hole 2211, the limiting protrusion 2213 can further limit the medicine pushing device 224 to slide in the clamping groove 2212, and the medicine pushing device 224 can be ensured to be always positioned close to a medicine inlet in the medicine filling process. Push away the detachable design of medicine base 2241 and extension piece 2242, can so that can will when the powder charge extension piece 2242 is dismantled, makes things convenient for the powder charge. After the medicine is filled in the medicine channel 22, the extension block 2242 is remounted on the medicine pushing base 2241, the medicine pushing device 224 slides back into the first strip-shaped through hole 2211, and the medicine pushing base 2241 and the extension block 2242 push the medicine in the medicine channel 22 tightly under the tension of the coil spring. Simultaneously, the medicine push device 224 of this embodiment is in the medicine push base 2241 is close to go into one side of medicine end and still install the drag hook 2244, on the one hand for the convenience draws medicine push device 224, on the other hand also can effectively avoid the operator to draw medicine push device 224, the extension through drawing extension block 2242 the extension the life of extension block 2242.

In a further embodiment, the medicine rack 2 is further provided with medicine pressing devices 23, and one medicine pressing device 23 is correspondingly arranged above each medicine channel 22, as shown in fig. 5 and 9. The medicine pressing device 23 comprises a pressing rod mounting plate 231 and a plurality of pressing rods 232 distributed along the x-axis direction. Preferably two parallel arranged struts 232. The plunger mounting plate 231 is adjacent to the dispensing end of the medicament channel 22. The length direction of the strut mounting plate 231 coincides with the x-axis direction. A second strip-shaped through hole 2311 is formed in the corresponding position of each pressing rod 232 on the pressing rod mounting plate 231, and the length direction of the second strip-shaped through hole 2311 is consistent with the y-axis direction, as shown in fig. 7. The plunger 232 has a connecting portion 2321 and a working portion 2322, as shown in fig. 10 or 11. The compression bar 232 is movably mounted on the compression bar mounting plate 231 through the connecting portion 2321. The connecting portion 2321 of the pressing rod 232 can slide along the corresponding second elongated through hole 2311 in a driven manner, and the length direction of the connecting portion 2321 is consistent with the z-axis direction. The working part 2322 is located between the compression bar mounting plate 231 and the medicine channel 22, and the length direction of the working part 2322 is consistent with the y-axis direction. In the present embodiment, two kinds of pressing rods 232 are disclosed, one of them is as shown in fig. 10, a connecting portion 2321 of the pressing rod 232 passes through the second long through hole 2311, fastening members are respectively mounted on both sides of the pressing rod mounting plate 231 on the connecting portion 2321 of the pressing rod 232, and the pressing rod 232 can be driven to move in the z-axis direction, preferably, an external thread is provided on the connecting portion 2321 of the pressing rod 232, the fastening members are nuts, the nuts are mounted on the external thread of the connecting portion 2321 in a matching manner, and the mounting position of the pressing rod 232 in the y-axis or z-axis direction can be adjusted by adjusting the two nuts, that is, the mounting height and the mounting depth of the pressing rod 232 are adjusted to adapt to medicine boxes with different sizes; alternatively, as shown in fig. 11, the connecting portion 2321 of the pressing rod 232 is provided with a bent portion 2324 at an end away from the working portion 2322, and the bent portion 2324 is mounted on the second elongated through hole 2311 by a bolt, so that the mounting position of the pressing rod 232 in the y-axis direction can also be adjusted. In practical implementation, the pressing rod 232 should be installed above the second box of medicine from the medicine taking end of the medicine channel 22, so as to ensure that other medicines are not driven when the medicine taking device 3 takes the first box of medicine. Meanwhile, the pressing rod 232 can be further provided with a tilting part 2323, one end of the tilting part 2323 is connected with the working part 2322, the other end of the tilting part 2323 is a free end, and the other end of the tilting part 2323 tilts upwards, so that the medicine can be smoothly moved to the position below the pressing rod 232 and cannot be clamped.

The medicine taking device 3 is arranged on one side of the medicine rack 2 in the y-axis direction, namely on one side of the medicine taking end of the medicine channel 22, and the medicine rack 2 is defined in the y-axis forward direction. The medicine taking device 3 comprises a manipulator 31, a medicine storage device 32 and a push rod 33, as shown in fig. 3 and 12. The medicine storage device 32 is located below the manipulator 31, and a medicine storage inlet and a medicine storage outlet are formed in the medicine storage device 32. The medicine storage outlet is provided with a medicine storage bin gate 322, and the manipulator 31 and the medicine storage device 32 can be driven to move in the directions of the x axis and the z axis synchronously. The robot 31 can be driven to move in the y-axis direction. The push rod 33 is located at the opening position of the medicine storage device 32, i.e. the medicine discharging position, and when the medicine storage device 32 is driven to move to the opening position, the push rod 33 can push the medicine storage bin door 322 open. A first slide rail 34 and two second slide rails 35 are arranged on one side of the medicine rack 2, as shown in fig. 3 and 4. The first slide rail 34 is consistent with the z-axis direction, the manipulator 31 and the medicine discharging device 4 are respectively installed on a medicine taking support, and the medicine taking support is movably installed on the first slide rail 34 through a first sliding table 36. The length direction of second slide rail 35 is unanimous with the x axle direction, two second slide rail 35 interval sets up, and a second slide rail 35 is close to the top of intelligent medicine machine promptly, and another second slide rail 35 is close to the bottom of intelligent medicine machine, first slide rail 34 is located two the centre of second slide rail 35, the both ends of first slide rail 34 are respectively through second slip table 37 movable mounting corresponding on the second slide rail 35.

The dispensing device 3 further comprises a first drive means 38 and a first transmission. The first driving device 38 is preferably a driving motor, and may be installed on any one of the second sliding tables 37, but the first driving device 38 may also be installed at other positions. The first transmission device comprises a first screw and a first transmission block, the first screw is rotatably mounted in the first slide rail 34, and the length direction of the first screw is consistent with the length direction of the first slide rail 34. First transmission block cover is established on the first screw rod, first slip table 36 installs on the first transmission block. The first driving device 38 drives the first screw to rotate, so as to drive the first transmission block to move along the length direction of the first slide rail 34, and further drive the medicine taking support to move along the length direction of the first slide rail 34, that is, drive the medicine taking device 3 to move along the z-axis direction.

The tapping device 3 further comprises a second driving means 39, a second transmission means and a first transmission rod 391. The second driving device 39 is preferably a driving motor, and can be installed at any end of any one of the second slide rails 35, but the second driving device 39 can be installed at other positions. The second transmission device comprises a second screw and a second transmission block, the second screw is rotatably mounted in the second slide rail 35, and the length direction of the second screw is consistent with the length direction of the second slide rail 35. The second transmission block is sleeved on the second screw rod, and the second sliding table 37 is installed on the second transmission block. The second driving device 39 is mounted on one of the second slide rails 35, the second screw rods in the other second slide rail 35 are in transmission connection with the second driving device 39 through the first transmission rod 391, under the transmission of the first transmission rod 391, the second driving device 39 drives the two second screw rods to synchronously rotate, so as to drive the two second transmission blocks to synchronously move along the length direction of the second slide rail 35, and further drive the first slide rail 34 to move along the length direction of the second slide rail 35, that is, drive the medicine taking device 3 to move along the x-axis direction. Since the medicine dispensing device 3 can move in the x-axis direction and the z-axis direction, in order to protect the pipeline used by the medicine dispensing device 3, a first tank chain 341 and a second tank chain 351 are also provided in the present embodiment. The first tank chain 341 is installed on one side of the first sliding rail 34, and the working pipelines of the medicine taking device 3 in the z-axis direction are all installed in the wire chase of the first tank chain 341. The second tank chain 351 is installed on one side of the second slide rail 35, and the working pipelines of the medicine taking device 3 in the x-axis direction are all installed in the wire grooves of the second tank chain 351.

The manipulator 31 is a vacuum chuck manipulator, and includes an electromagnetic valve and four vacuum chucks 311 distributed in a cross shape. The vacuum chuck 311 is preferably a bellows chuck. Vacuum chuck 311 passes through sucking disc mounting panel 312 movable mounting in on the support of getting it filled, four vacuum chuck 311 can be driven along with sucking disc mounting panel 312 is getting it filled the position and putting between the synchronous motion of medicine position. The four vacuum chucks 311 are respectively communicated with the vacuum device 7 through the electromagnetic valves, and the electromagnetic valves can control independent on-off of any one of the vacuum chucks 311. For example, when the medicine box is short, the electromagnetic valve may close the air path of the uppermost vacuum chuck 311, so as to ensure that the manipulator 31 can normally suck the medicine.

As shown in fig. 12 or 13, the suction cup mounting plate 312 includes a mounting portion 3121 and a fixing portion 3122, the mounting portion 3121 is parallel to the xz plane, the fixing portion 3122 is parallel to the xy plane, and the vacuum suction cup 311 is mounted on the mounting portion 3121. The manipulator 31 further comprises a third driving device 313 and a second transmission rod 314, the third driving device 313 is mounted on the medicine taking bracket through a driving mounting plate 319, and the length direction of the second transmission rod 314 is consistent with the y-axis direction. One end of the second transmission rod 314 is fixedly connected to the fixed portion 3122 of the suction cup mounting plate 312, and the third driving device 313 drives the second transmission rod 314 to move along the y-axis direction, so as to drive the suction cup mounting plate 312 to move along the y-axis direction. The upper surface of the driving mounting plate 319 is provided with a sliding groove 316, and the length direction of the sliding groove 316 is consistent with the y-axis direction. The third driving device 313 is preferably a driving motor, the third driving device 313 is mounted on the lower surface of the driving mounting plate 319, a rotating main shaft of the third driving device 313 penetrates through the driving mounting plate 319, a driving gear 315 is sleeved on the rotating main shaft of the third driving device 313 above the driving mounting plate 319, a notch of the sliding slot 316 faces the driving gear 315, and the second transmission rod 314 is mounted between the sliding slot 316 and the driving gear 315 in a matching manner. As can be seen from fig. 12 or 13, the second transmission rod 314 is shaped like a rack, and is clamped at one side close to the sliding slot 316 and in the notch of the sliding slot 316, and a tooth-shaped structure matched with the driving gear 315 is arranged at one side close to the driving gear 315 along the length direction of the second transmission rod 314. The driving gear 315 rotates to drive the second transmission rod 314 to move on the sliding slot 316 along the y-axis direction. And a limiting plate is further arranged at the other end of the second transmission rod 314, so that a limiting effect is achieved, and the second transmission rod 314 is prevented from moving excessively in the positive direction of the y axis.

The manipulator 31 further comprises a sensing piece 317 and a position detecting device 318, the sensing piece 317 is mounted on the fixing portion 3122, the position detecting device 318 is mounted on the driving mounting plate 319, and the sensing piece 317 corresponds to the position of the position detecting device 318 when the vacuum chuck 311 is at the medicine dispensing position. Whether or not the robot hand 31 reaches the dispensing position can be determined by detecting the position of the sensing piece 317 by the position detecting means 318. The medicine placing position is above the medicine storing and feeding port of the medicine storing device 32, when the mechanical arm 31 reaches the medicine placing position, the vacuum pump stops working, and the medicine sucked by the mechanical arm 31 falls into the medicine storing device 32 through the medicine storing and feeding port.

As shown in fig. 14, the medicine storage device 32 includes a medicine storage bin body 321 and a medicine storage bin gate 322, the medicine storage inlet is disposed at the upper end of the medicine storage bin body 321, the medicine storage outlet is disposed at the lower end of the medicine storage bin body 321, and the medicine storage bin body 321 is a funnel-shaped body. In order to enable the medicines in the medicine storage bin body 321 to be smoothly unloaded, the width of the lower end of the medicine storage bin body 321 is slightly larger than the width of the upper end of the medicine outlet bin body 321, and the four side surfaces of the medicine storage bin body 321 are designed in a plane, so that the medicine clamping phenomenon can be effectively avoided when the medicines are unloaded. Store up medicine storehouse door 322 and install the lower extreme that stores up medicine storehouse body 321, store up medicine storehouse door 322 and can be driven and remove between closed position and open position, wherein when store up medicine storehouse door 322 is in closed position, store up medicine storehouse door 322 can shield store up medicine outlet. The drug storage bin gate 322 comprises a first bin gate 3221 and a second bin gate 3222, and the first bin gate 3221 and the second bin gate 3222 can be driven to respectively move along the length direction of the drug storage bin body 321, i.e. the x-axis direction. A first driving rod 3223 is installed on the first door 3221, a second driving rod 3224 is installed on the second door 3222, and the length directions of the first driving rod 3223 and the second driving rod 3224 are both consistent with the length direction of the medicine storage bin body 321. The first driving rod 3223 extends to a set length on a side of the medicine storage bin body 321 away from the first bin gate 3221, and/or the second driving rod 3224 extends to a set length on a side of the medicine storage bin body 321 away from the second bin gate 3222. The first door 3221 includes a first shielding portion and a first driving portion, the second door 3222 includes a second shielding portion and a second driving portion, the first driving portion and the second driving portion are both located below the medicine storage bin body 321, and the first driving portion and the second driving portion are both located on the same side of the medicine storage bin body 321, that is, the yz cross-sections of the first door 3221 and the second door 3222 are both "L" shaped. The first driving rod 3223 is mounted on the first driving portion, the second driving rod 3224 is mounted on the second driving portion, and a set distance is provided between the first driving rod 3223 and the second driving rod 3224. The first driving rod 3223 and the second driving rod 3224 are both racks, tooth surfaces of the first driving rod 3223 and the second driving rod 3224 are opposite, the first driving rod 3223 and the second driving rod 3224 are driven by a plurality of transmission gears 3225, preferably, one transmission gear 3225 is adopted, and a rotating shaft of the transmission gear 3225 is installed at one side of the medicine storage bin body 321. The positions, corresponding to the first driving rod 3223 and the second driving rod 3224, of the medicine storage bin body 321 are respectively provided with a third slide rail 323, the length direction of the third slide rail 323 is consistent with the length direction of the medicine storage bin body 321, and the first driving rod 3223 or the second driving rod 3224 is movably mounted on the corresponding third slide rail 323 through a slider respectively. Preferably, two sliders are mounted on the first driving rod 3223 and the second driving rod 3224 at intervals, so that stability of the medicine discharging door 411 can be ensured, and skew is avoided. The drug storage device 32 further comprises a spring 324, one end of the spring 324 is mounted on the first gate 3221, and the other end of the spring 324 is mounted on the second gate 3222. The length direction of the top rod 33 is the same as the x-axis direction, one end of the top rod 33 is installed on the box body 1, the other end is a free end, and the extending end of the first driving rod 3223 faces the top rod 33. The ejector pin 33 is defined to be located in the positive x-axis direction of the medicine storage device 32. When the medicine storage device 32 moves to the open position, the extended end of the first driving rod 3223 or the closer slider on the first driving rod 3223 contacts with the free end of the push rod 33, and along with the continuous movement of the medicine storage device 32 in the positive direction of the x axis, the free end of the push rod 33 pushes against the first driving rod 3223 to move in the negative direction of the x axis relative to the medicine storage bin body 321, and under the transmission of the transmission gear 3225, the second driving rod 3224 moves in the positive direction of the x axis relative to the medicine storage bin body 321, so as to drive the first door 3221 and the second door 3222 to move oppositely in the direction of the x axis, that is, between the closed position and the open position. The position of the medicine storage and inlet opening is further provided with a grating 6 which can detect whether the medicine storage bin body 321 is full of medicine, if the medicine storage bin body 321 is full, the medicine taking device 3 moves to the opening position, and the medicine in the medicine storage bin body 321 is placed in the medicine discharging device 4.

In a further embodiment, the dispensing device 3 further comprises an identification device 325, the identification device 325 being fixedly mounted on the dispensing support by means of an identification mounting 326, as shown in fig. 15 or 16. The identification device 325 is communicatively coupled to the control host. The identification device 325 may be configured to acquire image information of the taken medicine, the control host stores image information of the medicines in all the medicine channels 22, and the control host compares the image acquired by the identification device 325 with the image of the medicine in the corresponding medicine channel 22 to determine whether the taken medicine is correct. When the medicine is taken correctly, the manipulator 31 moves the taken medicine to the medicine placing position and places the medicine in the medicine storage bin 321. When the medicine is not taken correctly, the manipulator 31 moves the taken medicine to its recovery position, then the medicine taking device 3 moves to its recovery position, and then the manipulator 31 moves the taken medicine to the medicine taking position again, and places the wrong medicine into the recovery device 5. The recovery position of the robot 31 is a position of the robot 31 between the medicine taking position and the medicine placing position, which is a position ensuring that the taken medicine can completely escape from the medicine chute 22. The collecting position of the medicine dispensing device 3 is a position close to the collecting device 5, and the robot 31 can place the obtained medicine in the collecting device 5. The identification device 325 comprises a camera 3251 and an illumination device, and the working directions of the camera 3251 and the illumination device are consistent. The illumination device may be a common light source or a flash, and is mainly used for illuminating the camera 3251. The number of pixels of the camera 3251 is not less than 500 ten thousand.

In a further embodiment, a distance measuring device 327 is further disposed on the driving mounting plate 3, as shown in fig. 17, the distance measuring device 327 is directed toward the medicine channel 22. The distance measuring device 327 preferably uses an electro-optical distance meter. The bottom end of the limiting part is provided with a distance measuring block 2245, as shown in fig. 8. In the inventory, the distance measuring device 327 can be configured to measure the distance to the corresponding distance measuring block 2245 when the medicine dispensing device 3 moves to any one of the inventory positions of the medicine chute 22. Through measuring and calculating the distance change value between the distance measurement block 2245 and the medicine groove 22, the number of the medicines can be obtained, and therefore the medicines in the intelligent medicine machine can be checked. Meanwhile, one side of the medicine channel 22, which is far away from the medicine taking device 3, is further provided with a warning lamp 225, and when no medicine or the number of medicines in a certain medicine channel 22 is detected to be lower than the lowest value, the corresponding warning lamp 225 is turned on. The medicine machine is when normal work, can set up the medicine machine and check in certain period, and at this settlement time quantum, control host machine automatic control get it filled device 3 motion, drive range unit 327 removes the check position to every medicine channel 22 in proper order to check all medicines in medicine rack 2 completion.

The medicine discharging device 4 is positioned on one side of the medicine rack 2 in the x-axis direction, namely the x-axis positive side. The drug discharge device 4 comprises a drug discharge bin 41 and a drug inlet bin 42, as shown in fig. 18 or fig. 20-22. The outlet cartridge 41 has a first side 415, a second side 416, a third side 417 and a fourth side 418 in this order, as shown in fig. 22. The top surface and the bottom surface of the drug discharge bin 41 are aligned at the position of the first side surface 415, the third side surface 417 is designed as an inclined surface, and the length of the top surface is greater than that of the bottom surface. The bottom end of the third side face 417 is a vertical face, an arc transition face is arranged between the inclined face part of the third side face 417 and the vertical face part, and the connecting end of the arc transition face and the vertical face is arranged approximately horizontally, so that the arc design can ensure that when the medicine slides into the medicine outlet bin 41 along the third side face 417, a horizontal parabolic motion is generated when the medicine reaches the position close to the bottom of the medicine outlet bin 41, and the medicine can be effectively prevented from being accumulated at the bottom of the medicine outlet bin 41. The bottom surface is provided with a first medicine outlet 419, and the first side surface 415 is provided with a second medicine outlet 4151. A medicine inlet is arranged at the position of the top surface close to the third side surface 417. The second medicine outlet 4151 is provided with a medicine outlet door 411, and the first medicine outlet 419 is provided with a recovery door 51. It installs to advance medicine storehouse 42 go out the top of medicine storehouse 41, the opening has been seted up respectively to the top and the bottom of advancing medicine storehouse 42, advance the opening of medicine storehouse 42 bottom with go out the medicine mouth intercommunication of advancing of medicine storehouse 41, the opening at advance medicine storehouse 42 top is promptly advance the medicine mouth of medicine storehouse 42, also do it advances medicine mouth 421 to go out the first of medicine device 4. As can be seen from fig. 18 or fig. 20, the medicine inlet of the medicine inlet bin 42 extends out of the medicine outlet bin 41 along the reverse direction of the y-axis, so that the medicine inlet of the medicine inlet bin 42 can extend into the moving chamber of the medicine taking device 3, and the medicine taking device 3 can move to be right above the medicine inlet of the medicine inlet bin 42, as shown in fig. 3 and fig. 4. Meanwhile, the bottom surface of the medicine inlet bin 42, which is not directly connected with the medicine outlet bin 41, is also designed to be an inclined surface, and is coplanar with the third side surface 417 of the medicine outlet bin 41, and a complete inclined bottom surface is formed below the medicine inlet of the medicine inlet bin 42, so that medicines can smoothly enter the medicine outlet bin 42

The medicine discharging device 4 further comprises a medicine discharging door driving device 412 and a fourth sliding rail 413, the length direction of the fourth sliding rail 413 is consistent with the z-axis direction, the medicine discharging door 411 is movably mounted on the fourth sliding rail 413 through a sliding block, the medicine discharging door driving device 412 drives the medicine discharging door 411 to move between a first closed position and a first open position along the fourth sliding rail 413, and when the medicine discharging door 411 is located at the first closed position, the medicine discharging door 411 can shield the second medicine outlet 4151. Preferably, the medicine discharging device 4 is provided with two fourth sliding rails 413, two fourth sliding rails 413 are located on the same xz plane, and an interval is provided between the two fourth sliding rails 413, so that the stability of the medicine discharging bin door 411 can be ensured, and the situation that the medicine discharging bin door is inclined is avoided. The drug delivery door driving device 412 is installed between the two fourth sliding rails 413 through a driving device installation frame 414. As shown in fig. 18, 21 or 22, the driving device mounting frame 414 includes an upper mounting plate 4141, a lower mounting plate 4142, a limiting column 4143 and a screw 4144, the upper mounting plate 4141 and the lower mounting plate 4142 are spaced up and down, and the lower mounting plate 4142 is fixedly mounted on the base of the explosive machine. The limiting columns 4143 and the screw 4144 are respectively vertically installed between the upper mounting plate 4141 and the lower mounting plate 4142, wherein two limiting columns 4143 are installed along the length direction of the upper mounting plate 4141, the upper ends of the limiting columns 4143 are fixed on the upper mounting plate 4141, a sliding hole is formed in the lower mounting plate 4142 at a position corresponding to the limiting columns 4143, and the lower ends of the limiting columns 4143 can penetrate through the sliding hole and can slide up and down in the sliding hole. The screw 4144 is located between two limiting columns 4143, the medicine outlet door driving device 412 is installed on the upper surface of the upper installation plate 4141, the top end of the screw 4144 is rotatably installed on the upper installation plate 4141 and can be in transmission connection with the medicine outlet door driving device 412, a threaded hole matched with the screw 4144 is formed in the position, corresponding to the screw 4144, of the lower installation plate 4142, the lower end of the screw 4144 is installed in the threaded hole in a matched mode, the medicine outlet door driving device 412 drives the screw 4144 to rotate in the threaded hole, and under the guidance of the limiting columns 4143, the medicine outlet door driving device 412 or the upper installation plate 4141 can move up and down, namely move in the z-axis direction. The medicine outlet door 411 is fixedly installed on the medicine outlet door driving device 412, and the medicine outlet door driving device 412 moves up and down to drive the medicine outlet door 411 to move up and down, namely to move between a first closed position and a first open position. Of course, the outlet door 411 may also be directly fixedly mounted on the upper mounting plate 4141, and the same movement may be achieved.

Preferably, the medicine dispensing door driving device 412 is a driving motor. A reinforcing rib 4145 is further arranged on one side of the fourth sliding rail 413 far away from the medicine outlet bin door 411, so that the installation firmness of the fourth sliding rail 413 is enhanced. The medicine discharging device 4 further comprises a closed position detection device 4146, an open position detection device 4147 and a sensing piece 317. The sensing piece 317 is installed on the medicine outlet door 411, the closed position detection device 4146 and the open position detection device 4147 are respectively installed on the fourth slide rail 413, the sensing piece 317 corresponds to the position of the closed position detection device 4146 when the medicine outlet door 411 is at the first closed position, and the sensing piece 317 corresponds to the position of the open position detection device 4147 when the medicine outlet door 411 is at the first open position. The moving position of the medicine outlet door 411 can be determined by the cooperation of the closed position detection device 4146 and the open position detection device 4147 for detecting the position of the sensing piece 317, so as to control the start and stop of the medicine outlet door driving device 412. Meanwhile, the first medicine outlet 419 and the second medicine outlet 4151 are respectively provided with a grating 6. The grating 6 at the position of the first medicine outlet 419 is used for detecting whether medicines which are not taken out exist in the medicine bin 41, and the grating 6 at the position of the second medicine outlet 4151 is used for detecting hands of a medicine taker, so that the medicine outlet door 411 is prevented from closing the hands during the medicine taking process.

The recovery device 5 is located below the medicine discharging device 4, the recovery device 5 comprises a recovery bin body 50, and a containing cavity of the medicine discharging device 4 can be communicated with a containing cavity of the recovery bin body 50. The upper end of retrieving storehouse body 50 is equipped with the second and advances the medicine mouth, the second advance the medicine mouth with recovery unit 5 hold the chamber intercommunication, the second advances the medicine mouth including interior medicine mouth 56 and outer medicine mouth 57, interior medicine mouth 56 can with first medicine mouth 419 intercommunication, outer medicine mouth 57 can communicate with the outside, it sets up to retrieve door 51 first medicine mouth 419 with the second advances between the medicine mouth. The outer medicine inlet 57, which is a medicine inlet of the recovery device 5 for directly recovering the wrong medicine grabbed by the medicine taking device 3, when the medicine taking device 3 moves to the recovery position, the manipulator 31 can place the fetched medicine into the recovery bin 50 through the outer medicine inlet 57. The recovery device 5 further includes a recovery door driving device 52, and the recovery door driving device 52 drives the recovery door 51 to move between a first position (a second closed position) and a second position (a second open position). When the recovery bin door 51 is in the first position, the recovery bin door 51 shields the first medicine outlet 419 and the inner medicine inlet 56, the accommodating cavity of the medicine outlet device 4 is not communicated with the accommodating cavity of the recovery bin body 50, and the outer medicine inlet 57 is communicated with the outside of the device. When the recovery bin door 51 is located at the second position, the medicine outlet is communicated with the inner medicine inlet 56, and the accommodating cavity of the medicine outlet device 4 is communicated with the accommodating cavity of the recovery bin body 50. A fixing plate 5 is arranged between the medicine discharging device 4 and the recovery device 5, the length direction of the fixing plate 53 is consistent with the y-axis direction, a medicine passing opening is formed in the fixing plate 5 along the length direction, and the recovery bin gate driving device 52 is installed on the fixing plate 53. The recovery device 5 further comprises a fifth slide 54 and a third transmission. The recovery bin gate driving device 52, the fifth sliding rail 54 and the third transmission device are respectively installed on the lower surface of the fixing plate 53, the length direction of the fifth sliding rail 54 is consistent with the y-axis direction, the recovery bin gate 51 is movably installed on the fifth sliding rail 54 through a sliding block, and the recovery bin gate driving device 52 drives the sliding block to slide on the fifth sliding rail 54 through the third transmission device, so as to drive the recovery bin gate 51 to move between a first position and a second position. Preferably, the recycling bin gate driving device 52 is a driving motor, the recycling device 5 is provided with two fifth sliding rails 54, and the two fifth sliding rails 54 are respectively located at two sides of the drug passing opening.

The recovery bin gate 51 comprises a bin gate plate 511 and a bin gate fixing plate 512, the bin gate plate 511 is located in the medicine through opening, and the bin gate plate 511 is fixedly connected with the sliding block through the bin gate fixing plate 512. Recovery unit 5 still includes response piece 317 and first position detection device and second position detection device, response piece 317 is installed on door fixed plate 512, first position detection device and second position detection device install respectively on fixed plate 53, retrieve door 51 and be in when the first position response piece 317 with first position detection device's position is corresponding, retrieve door 51 and be in when the second position response piece 317 with second position detection device's position is corresponding. The moving position of the recovery bin gate 51 can be determined by the cooperation of the first position detection device and the second position detection device for detecting the position of the induction sheet 317, and the start and stop of the recovery bin gate driving device 52 are further controlled. In addition, the recovery bin 50 has an arc transition surface between two side surfaces of the fixing plate 53 in the length direction and the bottom surface of the recovery bin 50, that is, an arc transition surface is between two side surfaces of the recovery bin 50 in the y-axis direction and the bottom surface of the recovery bin 50, and the arc transition surfaces are tangent to the bottom surface of the recovery bin 50, so that the design of an arc can ensure that when the medicine is recovered into the recovery device 5, the medicine cannot be accumulated below the medicine inlet. A reserve detection device 55 is further arranged in the recovery bin body 50 and close to the second medicine inlet, and is used for detecting the medicine reserve in the recovery bin body 50.

In a further embodiment, a side medicine outlet is further provided on a side surface of the recovery bin 50, the side medicine outlet is communicated with the accommodating cavity of the recovery bin 50, and a recovery side door 58 is provided at the side medicine outlet. The lower end of the recovery side door 58 can be rotatably arranged on one side of the recovery bin body 50 through a hinge, and the upper end of the recovery side door 58 can be driven to be close to or far away from the side medicine outlet. A magnetic suction device is further arranged between the recovery side door 58 and the recovery bin body 50, and when the recovery side door 58 is close to the side medicine outlet, the magnetic suction device can suck and shield the recovery side door 58. Preferably, the device is inhaled to magnetism includes magnet mounting panel and magnet, magnet mounting panel fixed mounting be in retrieve on the storehouse body 50, the one end of magnet mounting panel extends to the side goes out the medicine mouth, magnet fixed mounting be in retrieve the extension of side door 58 or magnet mounting panel and serve, wherein, magnet is installed when retrieving on the side door 58 when retrieving the side door 58 and closing, magnet corresponds with the extension end of magnet mounting panel mutually, thereby realizes working as when retrieving the side door 58 and being close to the closed position, under the effect of magnetic force, retrieve the side door 58 and can be lived by firm actuation.

When the medicine taking device 3 is located at the opening position (medicine discharging position), the medicine storage device 32 is located right above the first medicine inlet 421 of the medicine taking device 3, and the medicine storage bin door 322 at the bottom of the medicine storage device 32 is driven to be opened. When the medicine taking device 3 is in the medicine returning position, the working end of the manipulator 31 can be driven to move the grabbed medicine to the medicine inlet of the recovery device 5.

In the intelligent medicine machine of the embodiment, a display device 11, an identification card recognition device 12, a face recognition device 13, an input device 14, a two-dimensional code scanning device 15, a bank card reading device 16, a prescription reading device 17 and a bill printing device 18 are further installed on the box body 1, as shown in fig. 1 or fig. 2. The display device 11, the identification card recognition device 12, the face recognition device 13, the input device 14, the two-dimensional code scanning device 15, the bank card reading device 16, the prescription reading device 17 and the bill printing device 18 are respectively connected with the control host, and the control host controls the whole intelligent medicine machine to operate.

The control method of the intelligent medicine machine comprises the following steps:

s1: manually inputting image information of the medicines placed in each medicine channel in a control host of the intelligent medicine machine;

s2: the control host acquires a medicine information list of an order, compares the medicine information list with the inventory in the intelligent medicine machine, and controls the medicine taking device to take medicine if all medicines in the medicine information list exist in the intelligent medicine machine and the quantity of each medicine is greater than or equal to that in the medicine information list; if one or more medicines in the medicine information list are absent in the intelligent medicine machine, the intelligent medicine machine does not work, and the shortage is displayed in the display device;

s3: when the medicine taking device takes medicines, the identification device on the medicine taking device firstly acquires images of the medicines in the medicine channel when the medicine taking device moves to the position of one medicine channel, compares the acquired image information with the image information of the medicines placed in the control host, and places the taken medicines into the medicine storage bin body by the mechanical arm of the medicine taking device if the types of the medicines in the medicine channel are correct; if the types of the medicines in the medicine channels are incorrect, the mechanical arm of the medicine taking device firstly moves the taken medicines out of the medicine rack, then the medicine taking device moves to a recovery position, and the mechanical arm places the wrong medicines into the recovery device;

s4: the medicine taking device sequentially grabs corresponding medicines on the medicine rack into the medicine storage bin body according to medicine information in the medicine information list until all medicines in the medicine information list are grabbed or the medicine storage bin body is full, the medicine taking device moves to a medicine discharging position, the bottom of the medicine storage bin body is opened, and all medicines in the medicine storage bin body fall into the medicine discharging device;

s5: if the order is finished, the medicine taking device stops working, and the medicine outlet bin door is opened; and if the order is not finished, the medicine taking device returns to the medicine taking position again until all the medicines in the medicine information list are taken out, and the medicine outlet door is opened after all the medicines are placed in the medicine outlet device.

In step S3, if the same medicine is continuously taken for a set number of times, the intelligent medicine machine determines that all the medicines are put in error, the medicine taking device stops taking the medicines, all the medicines in the medicine storage bin are placed in the medicine discharging device, the medicine returning bin gate is opened, all the medicines in the medicine discharging device are recovered into the recovery device, and the current order is terminated.

In step S3, when the manipulator grabs the medicine in the medicine channel, the medicine taking device moves to the medicine taking position corresponding to the medicine channel first, then the manipulator is driven to move to the medicine taking position, after the vacuum chuck adsorbs the medicine to be taken, the medicine taking device moves up by a set height, and then the manipulator moves in the reverse direction of the y axis to take the medicine out of the medicine rack.

As used herein, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, including not only those elements listed, but also other elements not expressly listed.

In this document, the terms front, back, upper and lower are used to define the components in the drawings and the positions of the components relative to each other, and are used for clarity and convenience of the technical solution. It is to be understood that the use of the directional terms should not be taken to limit the scope of the claims.

The features of the embodiments and embodiments described herein above may be combined with each other without conflict.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims

1. The utility model provides a vacuum chuck manipulator, its characterized in that, it is including getting it filled support, solenoid valve and four vacuum chuck (311) that are "ten" word and distribute, vacuum chuck (311) movable mounting be in get it filled on the support, four vacuum chuck (311) can be driven get it filled the position with put between synchronous motion between the medicine position, four vacuum chuck (311) are respectively through solenoid valve and vacuum device (7) switch-on.

2. The vacuum chuck robot of claim 1, further comprising a chuck mounting plate (312), the chuck mounting plate (312) comprising a mounting portion (3121) and a fixed portion (3122), the mounting portion (3121) being parallel to an xz plane, the fixed portion (3122) being parallel to an xy plane, the vacuum chuck (311) being mounted on the mounting portion (3121).

3. The vacuum chuck robot of claim 2, further comprising a driving device, wherein the driving device is mounted on the medicine taking bracket through a driving mounting plate (319), and the driving device drives the chuck mounting plate (312) to move along the y-axis direction, so as to drive the vacuum chuck (311) to move between the medicine taking position and the medicine placing position.

4. The vacuum chuck manipulator according to claim 3, further comprising a transmission rod, wherein the length direction of the transmission rod is consistent with the y-axis direction, one end of the transmission rod is fixedly connected with the fixing portion (3122), and the driving device drives the transmission rod to move along the y-axis direction, so as to drive the chuck mounting plate (312) to move along the y-axis direction.

5. The vacuum chuck robot of claim 4, further comprising a limit plate mounted at the other end of the drive link.

6. The vacuum chuck manipulator according to claim 4, characterized in that it further comprises a chute (316) and a driving gear (315), the driving gear (315) is installed on the rotation main shaft of the driving device, the chute (316) is installed on the driving mounting plate (319), the length direction of the chute (316) is consistent with the y-axis direction, the chute (316) and the driving gear (315) are located on the same side of the driving mounting plate (319), the transmission rod is installed between the chute (316) and the driving gear (315), and the driving gear (315) rotates to drive the transmission rod to move on the chute (316) along the y-axis direction.

7. The vacuum chuck robot as claimed in claim 3, further comprising a sensing piece (317) and a position detecting device (318), wherein the sensing piece (317) is installed on the fixing portion (3122), the position detecting device (318) is installed on the driving installation plate (319), and the sensing piece (317) corresponds to a position of the position detecting device (318) when the vacuum chuck (311) is in the medicine discharge position.

8. Vacuum chuck manipulator according to claim 1, wherein said solenoid valve is capable of controlling the individual switching of any one of said vacuum chucks (311).

9. Vacuum chuck manipulator according to claim 1, wherein the vacuum chuck (311) is a bellows chuck.