CN213801414U - Unattended medicine-selling pharmacy - Google Patents
Unattended medicine-selling pharmacy Download PDFInfo
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- CN213801414U CN213801414U CN202022491556.9U CN202022491556U CN213801414U CN 213801414 U CN213801414 U CN 213801414U CN 202022491556 U CN202022491556 U CN 202022491556U CN 213801414 U CN213801414 U CN 213801414U
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- 238000006073 displacement reaction Methods 0.000 claims description 100
- 238000009413 insulation Methods 0.000 claims description 11
- 239000013589 supplement Substances 0.000 claims description 8
- 238000011084 recovery Methods 0.000 claims description 7
- 230000000007 visual effect Effects 0.000 claims description 7
- 238000004321 preservation Methods 0.000 claims description 5
- 230000009977 dual effect Effects 0.000 claims 2
- 206010063385 Intellectualisation Diseases 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 4
- 238000009434 installation Methods 0.000 description 3
- 230000001360 synchronised effect Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 238000004064 recycling Methods 0.000 description 2
- 230000032258 transport Effects 0.000 description 2
- CYTYCFOTNPOANT-UHFFFAOYSA-N Perchloroethylene Chemical compound ClC(Cl)=C(Cl)Cl CYTYCFOTNPOANT-UHFFFAOYSA-N 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000002457 bidirectional effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000000825 pharmaceutical preparation Substances 0.000 description 1
- 229940127557 pharmaceutical product Drugs 0.000 description 1
- 238000007639 printing Methods 0.000 description 1
- 239000000047 product Substances 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
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Abstract
The utility model discloses an unmanned on duty drugstore of selling medicine, include: the system comprises a medicine selling machine, a first medicine storage bin, a second medicine storage bin, a first medicine taking device, a second medicine taking device, a medicine supplementing device and a medicine transferring device; the automatic medicine taking can be carried out through the first medicine taking device and the second medicine taking device by swiping a card through the medicine selling machine, and when the medicines in the first medicine storage bin are insufficient, the medicines can be automatically supplemented through the second medicine storage bin, so that the supply amount of the medicines is effectively ensured; the mode of manually supplementing the medicines is simple and convenient, and the practicability is strong; the first medicine storage bin and the second medicine storage bin are provided with heat-insulating cabin bodies, medicines which need low temperature are isolated and stored, the supply types of the medicines are enlarged, service crowds are further enlarged, the staff is not needed to watch, intellectualization and automation are really realized, and the medicine storage bin has great significance in popularization of medicine selling pharmacies.
Description
Technical Field
The utility model relates to an automatic change pharmacy field, more specifically the saying so relates to an unmanned on duty drugstore of selling medicine.
Background
At present, with the progress of social science and technology, the medical industry is developed more and more rapidly, particularly in the aspect of pharmacy dispensing machines, various automatic devices greatly improve the working efficiency of pharmacy workers, and great help is provided in the aspects of dispensing accuracy, medicine management systems and the like.
The automatic equipment adopted by the existing pharmacies of all hospitals and the existing pharmacies of convenience for people is used for manually distributing medicines based on the drug examination of pharmacists to finish a single prescription, the unattended drug examination and medicine discharge are not really realized, the automation degree is low, and the problem of high labor cost exists.
Therefore, how to provide an automatic medicine vending pharmacy without the attendance of a person on duty is a problem that needs to be solved urgently by the technical personnel in the field.
SUMMERY OF THE UTILITY MODEL
The utility model discloses solve one of the above-mentioned technical problem among the prior art to a certain extent at least.
In view of this, the utility model aims at providing an unmanned on duty drug-selling drugstore can realize automatic drug-selling, and it is more convenient to supply the medicine, easy operation, and intelligent degree is higher.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
an unattended pharmacy for selling medicine, comprising: the medicine selling machine, the first medicine storage bin, the first medicine taking device and the second medicine taking device;
the first medicine storage bin comprises a medicine storage bin shell, a medicine rack and a medicine basket; the length direction of the medicine storage bin shell is taken as the X-axis direction, the height direction of the medicine storage bin shell is taken as the Y-axis direction, and the width direction of the medicine storage bin shell is taken as the Z-axis direction; the medicine racks are uniformly arranged on the inner walls of the two sides of the plane of the XY axes in the medicine storage bin shell, and the medicine basket is placed on each medicine rack; the medicine selling machine is arranged at one end of the medicine storage bin shell;
the first medicine taking device comprises an XY biaxial movement mechanism and a first manipulator; the X-axis direction tracks in the XY biaxial movement mechanism are arranged at the top and the bottom of the medicine storage bin shell along the X-axis direction and are positioned between two side walls of the medicine storage bin shell, which are provided with the medicine racks; the first manipulator is provided with a moving component capable of moving in the Z-axis direction and is arranged on a moving end in the Y-axis direction in the XY biaxial movement mechanism;
the second medicine taking device comprises a first mounting frame, a conveyor, a medicine outlet channel, a first medicine basket placing table, a first linear displacement mechanism and a second manipulator; the first mounting frame is arranged in the medicine storage bin shell and is close to the medicine selling machine; the conveyer is arranged at the top of the first mounting frame, the medicine outlet channel is arranged on the first mounting frame, one end of the medicine outlet channel corresponds to the conveying port of the conveyer, and the other end of the medicine outlet channel is communicated with the medicine taking port of the medicine selling machine; the first medicine basket placing table is arranged above the medicine outlet channel, the first linear displacement mechanism is arranged above the conveyor and is opposite to the first medicine basket placing table, and the second manipulator is arranged on a moving end of the first linear displacement mechanism;
the XY biaxial movement mechanism drives the first manipulator to move, and corresponding medicine baskets are selected to be picked; and placing the medicine basket on the first medicine basket placing table, driving the second mechanical arm to pick the medicine in the medicine basket by the first linear displacement mechanism, putting the medicine on the conveyor, and conveying the medicine to the medicine taking opening.
According to the technical scheme, compared with the prior art, the utility model discloses an unmanned on duty medicine selling pharmacy is provided, after the medicine selling machine carries out the operation of punching the card and getting it filled, XY biaxial movement mechanism drives first manipulator to move to the position of the medicine frame of waiting to get the medicine, first manipulator carries out Z-axis direction motion and picks up the medicine frame and transports and places on first medicine basket placing table, first linear driving mechanism drives the action of second manipulator, picks up the medicine and puts in the conveyer, the conveyer conveys the medicine to the medicine outlet, the medicine taking port of the medicine selling machine is opened, the medicine taking is completed; the whole medicine taking process is completely automatic and intelligent, an operator on duty is not needed to watch, the medicine taking is more convenient and rapid, and the labor cost is reduced.
Preferably, in an unattended pharmacy of the above kind, the conveyor is a two-way conveyor;
the medicine recycling basket also comprises a visual identification system and a medicine recycling basket; the vision recognition system is arranged above the second mechanical arm; the medicine outlet channel and the medicine recovery basket are arranged at two ends of the first mounting frame and respectively correspond to two conveying openings of the conveyor; the scheme can confirm the taken medicines, and the medicines are conveyed to the medicine recovery basket through the conveyor under the condition of wrong medicine taking; the condition of wrong medicine taking is avoided, the medicine taking accuracy is improved, and the use experience of customers is improved.
Preferably, in the above unattended medicine selling pharmacy, a placing table rotating mechanism is arranged at the bottom of the first medicine basket placing table, and the placing table rotating mechanism is installed above the medicine outlet channel;
the connecting end of the second manipulator is provided with a rotary manipulator which is arranged at the moving end of the first linear displacement mechanism; according to the scheme, the first medicine basket placing table can be rotated, so that the notch of the first medicine basket placing table is aligned to the second mechanical arm, and medicine taking is facilitated; the rotary mechanical arm can drive the second mechanical arm and rotate with the medicine that snatchs, carries out the multi-angle through the vision recognition system and confirms, can preserve the record, further improves the rate of accuracy of getting it filled.
Preferably, in the above unattended medicine selling pharmacy, the first manipulator comprises a second linear displacement mechanism and a medicine basket supporting plate, the second linear displacement mechanism is installed on the moving end of the XY double-axial movement mechanism in the Y-axis direction along the Z-axis direction, and the medicine basket supporting plate is installed on the moving end of the second linear displacement mechanism;
the second mechanical arm is a negative pressure sucker mechanism; in the scheme, the first manipulator can move to the corresponding position of the medicine frame through the moving end of the XY-axis direction of the XY-axis movement mechanism, is inserted into the lower side of the medicine frame under the driving of the moving end of the second linear displacement mechanism, and then supports the medicine frame through the lifting in the Y-axis direction; the medicine is conveyed to a first medicine basket placing table, and the first step of picking of the medicine is achieved; the second manipulator adopts the negative pressure sucker structure, snatchs firmly, snatchs effectually, avoids the medicine box to drop in the motion process, realizes plucking of second portion.
Preferably, in the above unattended pharmacy for selling medicines, the pharmacy further comprises a heat-insulating cabin body, wherein the heat-insulating cabin body is provided with an automatic cabin door; the heat-insulation cabin body is arranged on one side wall of the medicine storage cabin body, which is provided with the medicine racks, and a plurality of medicine racks are arranged inside the heat-insulation cabin body; opening the automatic bin gate, wherein the first mechanical arm can pick up the medicine basket in the heat-preservation bin body; the scheme can store normal-temperature medicines and medicines stored at low temperature, enriches the kinds of stored medicines and enlarges the service population.
Preferably, in the above unattended medicine selling pharmacy, a medicine replenishing device is further included; the medicine supplementing device comprises a medicine supplementing shell, a medicine supplementing operation screen, a second mounting frame, a third linear displacement mechanism, a second medicine basket placing table and a limiting baffle;
one end of the medicine storage bin shell is provided with a medicine supplement port; the medicine replenishing shell is arranged above the medicine replenishing opening; the medicine supplementing operation screen is arranged on the medicine supplementing shell, and the second mounting frame is arranged in the inner cavity of the medicine storage bin shell and corresponds to the medicine supplementing opening; the third linear displacement mechanism is arranged at the top of the second mounting rack, and the moving end of the third linear displacement mechanism can move to the outside of the medicine storage bin shell along the medicine replenishing port; the second medicine basket placing table is mounted on the moving end of the third linear displacement mechanism; the limiting baffle is arranged on the guide rail at one end of the third linear displacement mechanism, which is close to the medicine replenishing port, and is in sliding connection with the guide rail, and the side wall of the limiting baffle is connected with the second mounting frame through a spring; this scheme is when carrying out the benefit operation, will treat the medicine frame that supplements through XY biaxial movement mechanism and take off, transports the second medicine basket and place the bench, and third straight line displacement mechanism sends out the medicine storehouse casing with the medicine frame, and the staff supplements, and the back is supplemented, and third straight line displacement mechanism takes back the medicine frame and stores up the medicine storehouse casing, and spring pulling limit baffle resets, accomplishes and mends the medicine.
Preferably, in the above unattended medicine selling pharmacy, the medicine dispensing device further comprises a second medicine storage bin and a medicine transfer device; the second medicine storage bin and the first medicine storage bin are identical in structure and are provided with the XY biaxial movement mechanism, the first manipulator and the medicine supplementing device; the second medicine storage bin is parallel to the first medicine storage bin, and the adjacent sides of the second medicine storage bin and the first medicine storage bin are mutually abutted; a medicine transfer opening is formed in the side wall, abutted against the first medicine storage bin, of the second medicine storage bin;
the medicine transfer device comprises a third mounting frame, a fourth linear displacement mechanism and a third medicine basket placing table; the third mounting frame is mounted at the medicine transfer port, two fourth linear displacement mechanisms are arranged, and the two fourth linear displacement mechanisms are arranged side by side and can move from the first medicine storage bin to the second medicine storage bin; the moving ends of the two fourth linear displacement mechanisms are provided with third medicine basket placing tables; according to the scheme, the medicine storage amount of the medicine storage bin can be further increased, when the medicines in the first medicine storage bin are insufficient, the third medicine basket placing tables placed on the fourth straight line displacement mechanisms of the medicine transfer device are respectively conveyed to the first medicine storage bin and the second medicine storage bin, the standby medicine baskets in the first medicine storage bin and the standby medicine baskets in the second medicine storage bin are placed on the two third medicine basket placing tables of the medicine transfer device at the same time, the two medicine baskets are reversely conveyed to the second medicine storage bin and the first medicine storage bin through the fourth straight line displacement mechanisms, the XY double-axial movement mechanisms and the first mechanical arm are put back to the original positions, the medicines are supplemented, the medicines do not need to be frequently supplemented by workers, and the labor intensity is reduced.
Preferably, in the above unattended medicine selling pharmacy, the medicine rack comprises a bracket and a limiting block; the bracket is a strip-shaped fixing plate; the two brackets are sequentially and vertically arranged on the inner wall in the medicine storage bin shell along the X-axis direction, and a gap is reserved between the two brackets; the limiting block is a strip-shaped limiting block, and a limiting groove is formed in the top of the limiting block; the two limiting blocks are arranged on the corresponding brackets along the Z-axis direction;
the medicine basket comprises a box body, an adjusting guide rail, a fixed baffle and an adjustable movable baffle; the top and one side of the box body are provided with openings, and the bottom of the box body is provided with clamping bulges corresponding to the limiting grooves; the box body is clamped on the bracket along the Z-axis direction, and an opening on the side surface of the box body faces the first manipulator; the two adjusting guide rails are parallel and are arranged at two ends of the box body bottom plate along the X-axis direction;
the number of the fixed baffle and the number of the adjustable movable baffles are two; the two fixed baffles are fixed on the inner walls of the box body at the two ends of the adjusting guide rail, and the two adjustable movable baffles are arranged on the adjusting guide rail between the two fixed baffles and respectively correspond to the two fixed baffles;
limiting clamping grooves corresponding to the limiting bulges are formed in the tops of the first medicine basket placing table, the second medicine basket placing table and the third medicine basket placing table; adopt this scheme can place the medicine basket on strip stopper, carry on spacingly through spacing recess, have the space between two nature stoppers, the first manipulator of accessible holds up it to Y axle direction lifting, realizes snatching convenient and practical.
Preferably, in the above unattended pharmacy for selling medicines, the XY biaxial movement mechanism is an XY biaxial guide rail synchronous belt sliding table mechanism, and the first linear displacement mechanism, the second linear displacement mechanism, the third linear displacement mechanism and the fourth linear displacement mechanism are all single-shaft linear guide rail synchronous belt sliding table mechanisms; the scheme is a specific implementation mode for realizing the motion of the product.
Preferably, in the above unattended medicine-selling pharmacy, the medicine-selling machine comprises a medicine-selling machine housing, a controller, a medicine-taking operation screen, a card reader, a printer and a keyboard input device; the medicine vending machine shell is provided with a medicine taking opening, the medicine taking opening is provided with a medicine taking door, and the medicine taking door is movably connected to the medicine taking opening; the medicine selling machine shell is mounted at one end of the outer side of the medicine storage bin shell, and the controller, the medicine taking operation screen, the card reader, the printer and the keyboard input device are mounted on the medicine selling machine shell;
the medicine taking operation screen, the card reader, the printer, the keyboard input device, the XY dual-axial motion mechanism, the conveyor, the second manipulator, the visual identification system, the placing table rotating mechanism, the heat preservation cabin body, the medicine supplementing operation screen, the first linear displacement mechanism, the second linear displacement mechanism, the third linear displacement mechanism and the fourth linear displacement mechanism are all electrically connected with the controller; the scheme can realize intellectualization and autonomy of medicine selling and really realize an unattended medicine selling mode.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a schematic structural view of a medicine selling pharmacy of the present invention;
FIG. 2 is a schematic structural view of the present invention with the outer housing removed from the pharmacy;
FIG. 3 is a schematic view of the installation of the first medicine taking mechanism and the second medicine taking mechanism in the medicine selling pharmacy of the present invention;
FIG. 4 is a schematic structural view of a second medicine taking mechanism in a medicine selling pharmacy;
FIG. 5 is a schematic structural view of the device for replenishing the pharmaceutical product in the pharmacy for selling the medicine of the present invention;
FIG. 6 is a schematic view of the installation position of the medicine transferring device in the pharmacy for selling medicine of the present invention;
FIG. 7 is a schematic structural view of a medicine basket and a medicine rack in a medicine selling pharmacy;
FIG. 8 is a schematic structural view of a medicine vending machine in a pharmacy for selling medicines according to the present invention;
FIG. 9 is a schematic view of the structure of the medicine dispensing door of the medicine vending machine in the medicine vending pharmacy of the present invention;
fig. 10 is a bottom view of the medicine dispensing door of the medicine vending machine in the medicine vending pharmacy of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.
Example 1
An unattended pharmacy for selling medicine, comprising: the medicine selling machine comprises a medicine selling machine 1, a first medicine storage bin 2, a first medicine taking device 3 and a second medicine taking device 4;
the first medicine storage bin 2 comprises a medicine storage bin shell 20, a medicine rack 21 and a medicine basket 22; the length direction of the medicine storage bin shell 20 is taken as the X-axis direction, the height direction of the medicine storage bin shell 20 is taken as the Y-axis direction, and the width direction of the medicine storage bin shell 20 is taken as the Z-axis direction; a plurality of medicine racks 21 are arranged, the medicine racks 21 are uniformly arranged on the inner walls of the two sides of the plane of the XY axis in the medicine storage bin shell 20, and a medicine basket 22 is placed on each medicine rack 21; the medicine selling machine 1 is arranged at one end of the medicine storage bin shell 20;
the first medicine taking device 3 includes an XY biaxial movement mechanism 30 and a first robot 31; the X-axis direction track in the XY biaxial movement mechanism 30 is arranged at the top and the bottom of the medicine storage bin shell 20 along the X-axis direction and is positioned between two side walls of the medicine storage bin shell 20 provided with the medicine rack 21; the first manipulator 31 is provided with a movable member capable of moving in the Z-axis direction, and is attached to a moving end in the Y-axis direction in the XY biaxial movement mechanism 30
The second medicine taking device 4 comprises a first mounting frame 40, a conveyor 41, a medicine outlet channel 42, a first medicine basket placing table 43, a first linear displacement mechanism 44 and a second manipulator 45; the first mounting rack 40 is arranged in the medicine storage bin shell 20 and is close to the medicine selling machine 1; the conveyer 41 is arranged at the top of the first mounting frame 40, the medicine outlet channel 42 is arranged on the first mounting frame 40, one end of the medicine outlet channel corresponds to the conveying port of the conveyer 41, and the other end of the medicine outlet channel is communicated with the medicine taking port of the medicine selling machine 1; a first basket placing table 43 is provided above the medicine discharge passage 42, a first linear displacement mechanism 44 is mounted above the conveyor 41 opposite to the first basket placing table 43, and a second robot arm 45 is mounted on a moving end of the first linear displacement mechanism 44;
the XY biaxial movement mechanism 30 drives the first manipulator 31 to move, and the corresponding medicine basket 22 is selected to be picked; and the medicine basket 22 is placed on the first medicine basket placing table 43, and the first linear displacement mechanism 44 drives the second manipulator 45 to pick up the medicine in the medicine basket 22, and the medicine is put on the conveyor 41 and conveyed to the medicine taking port.
The first robot 31 in this embodiment includes a second linear displacement mechanism mounted on the moving end in the Y-axis direction of the XY dual-axial movement mechanism 30 in the Z-axis direction, and a medicine basket pallet mounted on the moving end of the second linear displacement mechanism;
the second robot arm 45 is a negative pressure suction cup mechanism.
In this embodiment, the cabin further comprises a heat insulation cabin 23, and the heat insulation cabin 23 is provided with an automatic cabin door; the heat-insulating cabin body 23 is arranged on one side wall of the medicine storage cabin shell 20, which is provided with the medicine racks 21, and a plurality of medicine racks 21 are arranged inside the heat-insulating cabin body; the automatic door is opened, and the first robot 31 can pick up the medicine baskets 22 in the heat-insulating chamber body 23.
Specifically, the heat-insulating compartment 23 has a heat-insulating interval of 2-8 ℃.
In this embodiment, a medicine replenishing device 5 is further included; the medicine replenishing device 5 comprises a medicine replenishing shell 50, a medicine replenishing operation screen 51, a second mounting rack 52, a third linear displacement mechanism 53, a second medicine basket placing table 54 and a limit baffle 55;
one end of the medicine storage bin shell 20 is provided with a medicine supplement port 200; the medicine replenishing housing 50 is installed above the medicine replenishing port 200; the medicine supplementing operation screen 51 is arranged on the medicine supplementing shell 50, and the second mounting frame 52 is arranged in the inner cavity of the medicine storage bin shell 20 and corresponds to the medicine supplementing opening 200; the third linear displacement mechanism 53 is mounted on the top of the second mounting frame 52, and the moving end thereof can move along the medicine replenishing port 200 to the outside of the medicine storage bin housing 20; the second medicine basket placing table 54 is mounted on the moving end of the third linear displacement mechanism 53; the limit baffle 55 is installed on the guide rail at one end of the third linear displacement mechanism 53 close to the medicine replenishing port 200 and is connected with the guide rail in a sliding manner, and the side wall of the limit baffle 55 is connected with the second mounting rack through a spring 56.
In this embodiment, the medicine rack 21 includes a bracket 210 and a stopper 211; the bracket 210 is a strip-shaped fixing plate; the number of the brackets 210 is two, the two brackets 210 are sequentially and vertically arranged on the inner wall of the medicine storage bin shell 20 along the X-axis direction, and a space is reserved between the two brackets 210; the limiting block 211 is a strip-shaped limiting block 211, and the top of the limiting block 211 is provided with a limiting groove; two limiting blocks 211 are arranged on the corresponding bracket 210 along the Z-axis direction;
the medicine basket 22 comprises a box body 220, an adjusting guide rail 221, a fixed baffle 222 and an adjustable movable baffle 223; the top and one side of the box body 220 are open, and the bottom is provided with a clamping bulge corresponding to the limiting groove; the box 220 is clamped on the bracket 210 along the Z-axis direction, and the opening of the side surface faces the first manipulator 31; two adjusting guide rails 221 are arranged, and the two adjusting guide rails 221 are parallel and are arranged at two ends of the bottom plate of the box body 220 along the X-axis direction;
two fixed baffles 222 and two adjustable movable baffles 223 are arranged; two fixed baffles 222 are fixed on the inner wall of the box body 220 at two ends of the adjusting guide rail 221, and two adjustable movable baffles 223 are arranged on the adjusting guide rail 221 between the two fixed baffles 222 and respectively correspond to the two fixed baffles 222;
the tops of the first medicine basket placing table 43, the second medicine basket placing table 54 and the third medicine basket placing table 72 are provided with limiting clamping grooves corresponding to the limiting protrusions.
In this embodiment, the XY biaxial movement mechanism 30 is an XY biaxial guide rail synchronous belt sliding table mechanism, and in the case of the first linear displacement mechanism 44, the second linear displacement mechanism and the third linear displacement mechanism 53, the medicine vending machine 1 includes a medicine vending machine housing 10, a controller, a medicine taking operation screen 11, a card reader 12, a printer 13 and a keyboard input device 14; the shell 10 of the medicine selling machine is provided with a medicine taking opening 100, the medicine taking opening 100 is provided with a medicine taking door 15, and the medicine taking door 15 is movably connected at the medicine taking opening; the medicine selling machine shell 10 is arranged at one end of the outer side of the medicine storage bin shell 20, and the controller, the medicine taking operation screen 11, the card reader 12, the printer 13 and the keyboard input device 14 are all arranged on the medicine selling machine shell 10;
the medicine taking operation screen 11, the card reader 12, the printer 13, the keyboard input device 14, the XY dual-axial movement mechanism 30, the conveyor 41, the second manipulator 45, the heat preservation cabin 23, the first linear displacement mechanism 44, the second linear displacement mechanism and the third linear displacement mechanism 53 are all electrically connected with the controller.
Example 2
Referring to fig. 1-10, an unattended pharmacy for selling medicine of the present invention includes:
the medicine selling machine comprises a medicine selling machine 1, a first medicine storage bin 2, a first medicine taking device 3 and a second medicine taking device 4;
the first medicine storage bin 2 comprises a medicine storage bin shell 20, a medicine rack 21 and a medicine basket 22; the length direction of the medicine storage bin shell 20 is taken as the X-axis direction, the height direction of the medicine storage bin shell 20 is taken as the Y-axis direction, and the width direction of the medicine storage bin shell 20 is taken as the Z-axis direction; a plurality of medicine racks 21 are arranged, the medicine racks 21 are uniformly arranged on the inner walls of the two sides of the plane of the XY axis in the medicine storage bin shell 20, and a medicine basket 22 is placed on each medicine rack 21; the medicine selling machine 1 is arranged at one end of the medicine storage bin shell 20;
the first medicine taking device 3 includes an XY biaxial movement mechanism 30 and a first robot 31; the X-axis direction track in the XY biaxial movement mechanism 30 is arranged at the top and the bottom of the medicine storage bin shell 20 along the X-axis direction and is positioned between two side walls of the medicine storage bin shell 20 provided with the medicine rack 21; the first manipulator 31 is provided with a movable member capable of moving in the Z-axis direction, and is attached to a moving end in the Y-axis direction in the XY biaxial movement mechanism 30
The second medicine taking device 4 comprises a first mounting frame 40, a conveyor 41, a medicine outlet channel 42, a first medicine basket placing table 43, a first linear displacement mechanism 44 and a second manipulator 45; the first mounting rack 40 is arranged in the medicine storage bin shell 20 and is close to the medicine selling machine 1; the conveyer 41 is arranged at the top of the first mounting frame 40, the medicine outlet channel 42 is arranged on the first mounting frame 40, one end of the medicine outlet channel corresponds to the conveying port of the conveyer 41, and the other end of the medicine outlet channel is communicated with the medicine taking port of the medicine selling machine 1; a first basket placing table 43 is provided above the medicine discharge passage 42, a first linear displacement mechanism 44 is mounted above the conveyor 41 opposite to the first basket placing table 43, and a second robot arm 45 is mounted on a moving end of the first linear displacement mechanism 44;
the XY biaxial movement mechanism 30 drives the first manipulator 31 to move, and the corresponding medicine basket 22 is selected to be picked; and the medicine basket 22 is placed on the first medicine basket placing table 43, and the first linear displacement mechanism 44 drives the second manipulator 45 to pick up the medicine in the medicine basket 22, and the medicine is put on the conveyor 41 and conveyed to the medicine taking port.
In the present embodiment, the conveyor 41 is a bidirectional conveyor;
also included are a visual recognition system 46 and a drug recovery basket 47; the vision recognition system 46 is installed above the second robot arm 45; the medicine discharge passage 42 and the medicine recovery basket 47 are installed at both ends of the first installation frame 40, respectively corresponding to two conveying ports of the conveyor 41.
In the present embodiment, a placing table rotating mechanism is provided at the bottom of the first medicine basket placing table 43, and the placing table rotating mechanism is installed above the medicine outlet passage 42;
a rotary manipulator is provided at the connection end of the second manipulator 45, and the rotary manipulator is attached to the moving end of the first linear displacement mechanism 44.
Specifically, the placing table rotating mechanism is a motor and a rotating tray, the motor is vertically fixed on the medicine outlet channel 42, the rotating tray is fixed on an output shaft of the motor, and the bottom of the first medicine basket placing table 43 is fixed on the rotating tray.
In the present embodiment, the first robot 31 includes a second linear displacement mechanism mounted on the moving end in the Y-axis direction of the XY biaxial movement mechanism 30 in the Z-axis direction, and a medicine basket pallet mounted on the moving end of the second linear displacement mechanism;
the second robot arm 45 is a negative pressure suction cup mechanism.
In this embodiment, the cabin further comprises a heat insulation cabin 23, and the heat insulation cabin 23 is provided with an automatic cabin door; the heat-insulating cabin body 23 is arranged on one side wall of the medicine storage cabin shell 20, which is provided with the medicine racks 21, and a plurality of medicine racks 21 are arranged inside the heat-insulating cabin body; the automatic door is opened, and the first robot 31 can pick up the medicine baskets 22 in the heat-insulating chamber body 23.
Specifically, the heat-insulating compartment 23 has a heat-insulating interval of 2-8 ℃.
In this embodiment, a medicine replenishing device 5 is further included; the medicine replenishing device 5 comprises a medicine replenishing shell 50, a medicine replenishing operation screen 51, a second mounting rack 52, a third linear displacement mechanism 53, a second medicine basket placing table 54 and a limit baffle 55;
one end of the medicine storage bin shell 20 is provided with a medicine supplement port 200; the medicine replenishing housing 50 is installed above the medicine replenishing port 200; the medicine supplementing operation screen 51 is arranged on the medicine supplementing shell 50, and the second mounting frame 52 is arranged in the inner cavity of the medicine storage bin shell 20 and corresponds to the medicine supplementing opening 200; the third linear displacement mechanism 53 is mounted on the top of the second mounting frame 52, and the moving end thereof can move along the medicine replenishing port 200 to the outside of the medicine storage bin housing 20; the second medicine basket placing table 54 is mounted on the moving end of the third linear displacement mechanism 53; the limit baffle 55 is installed on the guide rail at one end of the third linear displacement mechanism 53 close to the medicine replenishing port 200 and is connected with the guide rail in a sliding manner, and the side wall of the limit baffle 55 is connected with the second mounting rack through a spring 56.
In this embodiment, a second medicine storage bin 6 and a medicine transfer device 7 are further included; the second medicine storage bin 6 has the same structure as the first medicine storage bin 2, and is provided with an XY biaxial movement mechanism 30, a first manipulator 31 and a medicine supplementing device 5; the second medicine storage bin 6 is parallel to the first medicine storage bin 2, and the adjacent sides of the second medicine storage bin and the first medicine storage bin are mutually abutted; the side wall of the second medicine storage bin 6, which is abutted against the first medicine storage bin 2, is provided with a medicine transfer opening 60;
the medicine transfer device 7 includes a third mounting bracket 70, a fourth linear displacement mechanism 71, and a third medicine basket placing table 72; the third mounting frame 70 is arranged at the medicine transfer port 60, two fourth linear displacement mechanisms 71 are arranged, and two fourth linear displacement mechanisms 71 are arranged side by side and can move from the first medicine storage bin 2 to the second medicine storage bin 6; the moving ends of the two fourth linear displacement mechanisms 71 are each mounted with a third medicine basket placing table 72.
In this embodiment, the medicine rack 21 includes a bracket 210 and a stopper 211; the bracket 210 is a strip-shaped fixing plate; the number of the brackets 210 is two, the two brackets 210 are sequentially and vertically arranged on the inner wall of the medicine storage bin shell 20 along the X-axis direction, and a space is reserved between the two brackets 210; the limiting block 211 is a strip-shaped limiting block 211, and the top of the limiting block 211 is provided with a limiting groove; two limiting blocks 211 are arranged on the corresponding bracket 210 along the Z-axis direction;
the medicine basket 22 comprises a box body 220, an adjusting guide rail 221, a fixed baffle 222 and an adjustable movable baffle 223; the top and one side of the box body 220 are open, and the bottom is provided with a clamping bulge corresponding to the limiting groove; the box 220 is clamped on the bracket 210 along the Z-axis direction, and the opening of the side surface faces the first manipulator 31; two adjusting guide rails 221 are arranged, and the two adjusting guide rails 221 are parallel and are arranged at two ends of the bottom plate of the box body 220 along the X-axis direction;
two fixed baffles 222 and two adjustable movable baffles 223 are arranged; two fixed baffles 222 are fixed on the inner wall of the box body 220 at two ends of the adjusting guide rail 221, and two adjustable movable baffles 223 are arranged on the adjusting guide rail 221 between the two fixed baffles 222 and respectively correspond to the two fixed baffles 222;
the tops of the first medicine basket placing table 43, the second medicine basket placing table 54 and the third medicine basket placing table 72 are provided with limiting clamping grooves corresponding to the limiting protrusions.
In the present embodiment, the XY biaxial movement mechanism 30 is an XY biaxial guide timing belt slide mechanism, and the first linear displacement mechanism 44, the second linear displacement mechanism, the third linear displacement mechanism 53, and the fourth linear displacement mechanism 71 are all single-axis linear guide timing belt slide mechanisms.
In the embodiment, the medicine vending machine 1 comprises a medicine vending machine shell 10, a controller, a medicine taking operation screen 11, a card reader 12, a printer 13 and a keyboard input device 14; the shell 10 of the medicine selling machine is provided with a medicine taking opening 100, the medicine taking opening 100 is provided with a medicine taking door 15, and the medicine taking door 15 is movably connected at the medicine taking opening; the medicine selling machine shell 10 is arranged at one end of the outer side of the medicine storage bin shell 20, and the controller, the medicine taking operation screen 11, the card reader 12, the printer 13 and the keyboard input device 14 are all arranged on the medicine selling machine shell 10;
the medicine taking operation screen 11, the card reader 12, the printer 13, the keyboard input device 14, the XY dual-axial movement mechanism 30, the conveyor 41, the second manipulator 45, the visual recognition system 46, the placing table rotating mechanism, the heat preservation cabin 23, the medicine supplementing operation screen 51, the first linear displacement mechanism 44, the second linear displacement mechanism, the third linear displacement mechanism 53 and the fourth linear displacement mechanism 71 are all electrically connected with the controller.
Specifically, the video identification system is a camera assembly and comprises a camera, a storage unit and a wireless connection unit.
Specifically, the printing machine 13 has the following models: Q803P.
Specifically, the card reader 12 is a DON-trusted multifunctional card reader module.
Specifically, the motors of the XY biaxial movement mechanism 30, the first linear displacement mechanism 44, the second linear displacement mechanism, the third linear displacement mechanism 53, and the fourth linear displacement mechanism 71 are of the type called the elgs stepper motor NEMA 17.
Specifically, the medicine taking operation screen 11 and the medicine supplementing operation screen 51 both adopt a Senke industrial-grade industrial control touch screen and tablet computer integrated machine.
Specifically, the utility model discloses a get it filled flow does:
step 1: the medicine selling machine 1 punches a card;
step 2: the medicine taking operation screen 11 confirms medicine taking information;
and step 3: the medicine selling machine 1 receives the prescription;
and 4, step 4: the XY biaxial movement mechanism 30 drives the first manipulator 31 to move to a specified medicine rack position, and the first manipulator 31 takes down the corresponding medicine frame 22; if the medicine to be taken is in the heat-insulation cabin 23, the XY dual-axial movement mechanism 30 drives the first manipulator 31 to move to the position of the appointed medicine rack, the automatic bin gate of the heat-insulation cabin 23 is opened, and the first manipulator 31 takes down the corresponding medicine frame 22;
and 5: the XY biaxial movement mechanism 30 drives the first manipulator 31 to place the medicine frame on the first medicine basket placing table 43, and the placing table rotating mechanism drives the first medicine basket placing table 43 to rotate 90 degrees, so that the opening of the medicine frame 22 is aligned with the second manipulator 45;
step 6: the first linear displacement mechanism 44 drives the second mechanical arm 45 to move towards the medicine frame 22, the second mechanical arm 45 sucks the medicine, the rotary mechanical arm drives the second mechanical arm 45 to rotate, and the visual recognition system 46 shoots, records and recognizes the medicine in multiple directions; and delivers the drug to the conveyor 41; repeating the operations for the medicines with multiple specifications;
and 7: judging the prescription information, if the information is correct, the conveyor 41 moves forward to convey the medicine to the medicine taking port, the medicine taking bin door 15 is opened, and the operator finishes taking the medicine;
the information is wrong, the conveyer 41 moves reversely to convey the medicines to the medicine recovery basket, and the personnel are waited for to clean the medicines regularly.
Specifically, the utility model discloses an automatic tonifying qi flowing path does:
step 1: the system judges the region set value of the medicine in a certain medicine basket in the first medicine storage bin 2;
step 2: the XY biaxial movement mechanism 30 in the first medicine storage bin 2 drives the first manipulator 31 to move to the front of the corresponding medicine frame 22 to be replenished, takes it down, and places it on one of the third medicine basket placing tables 72 of the medicine transfer device 7;
and step 3: the XY biaxial movement mechanism 30 in the second medicine storage 6 drives the first manipulator 31 to move to the front of the corresponding replaced medicine frame 22, take it down, and place it on another third medicine basket placing table 72 of the medicine transfer device 7;
and 4, step 4: the two third medicine basket placing tables 72 of the medicine transfer device 7 move in opposite directions to the medicine storage bin opposite to the former one;
and 5: the XY biaxial movement mechanisms 30 in the first medicine storage bin 2 and the second medicine storage bin 6 respectively drive the first mechanical hands 31 to put the medicine frames 22 with the exchanged positions back to the corresponding medicine racks, and the processes are repeated for medicines with multiple specifications to complete medicine supplement.
Specifically, the utility model discloses an artifical benefit medicine flow does:
step 1: the staff selects information of replenishing the medicine on the medicine replenishing operation screen 51;
step 2: the XY biaxial movement mechanism 30 drives the first manipulator 31 to place the medicine frame 22 on the second medicine basket placing table 54 on the medicine replenishing device 5, the third linear displacement mechanism 53 conveys the medicine frame 22 to the outer side of the medicine storage bin along the medicine replenishing port, and the staff performs medicine replenishing;
and step 3: after the medicine is replenished, the third linear displacement mechanism 53 retracts the medicine frame 22 along the medicine replenishing port;
and 4, step 4: the XY biaxial movement mechanism 30 drives the first manipulator 31 to place the medicine frame 22 on the original medicine shelf, and the medicine of the multi-specification repeats the above process to complete the manual medicine supplement.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. An unattended pharmacy for selling medicine, comprising: the medicine selling machine comprises a medicine selling machine (1), a first medicine storage bin (2), a first medicine taking device (3) and a second medicine taking device (4);
the first medicine storage bin (2) comprises a medicine storage bin shell (20), a medicine rack (21) and a medicine basket (22); the length direction of the medicine storage bin shell (20) is taken as an X-axis direction, the height direction of the medicine storage bin shell (20) is taken as a Y-axis direction, and the width direction of the medicine storage bin shell (20) is taken as a Z-axis direction; a plurality of medicine racks (21) are arranged, the medicine racks (21) are uniformly arranged on the inner walls of two sides of the plane of the XY axis in the medicine storage bin shell (20), and each medicine rack (21) is provided with a medicine basket (22); the medicine selling machine (1) is arranged at one end of the medicine storage bin shell (20);
the first medicine taking device (3) comprises an XY biaxial movement mechanism (30) and a first manipulator (31); the X-axis direction tracks in the XY double-axial movement mechanism (30) are arranged at the top and the bottom of the medicine storage bin shell (20) along the X-axis direction and are positioned between two side walls of the medicine storage bin shell (20) provided with the medicine rack (21); the first manipulator (31) is provided with a moving component capable of moving in the Z-axis direction and is installed on a moving end in the Y-axis direction in the XY biaxial movement mechanism (30);
the second medicine taking device (4) comprises a first mounting frame (40), a conveyor (41), a medicine outlet channel (42), a first medicine basket placing table (43), a first linear displacement mechanism (44) and a second mechanical arm (45); the first mounting rack (40) is mounted in the medicine storage bin shell (20) and is close to the medicine selling machine (1); the conveyor (41) is arranged at the top of the first mounting rack (40), the medicine outlet channel (42) is arranged on the first mounting rack (40), one end of the medicine outlet channel corresponds to the conveying port of the driving conveyor (41), and the other end of the medicine outlet channel is communicated with the medicine taking port of the medicine selling machine (1); the first basket placing table (43) is arranged above the medicine outlet channel (42), the first linear displacement mechanism (44) is arranged above the conveyor (41) and is opposite to the first basket placing table (43), and the second manipulator (45) is arranged on the moving end of the first linear displacement mechanism (44);
the XY biaxial movement mechanism (30) drives the first manipulator (31) to move, and corresponding medicine baskets (22) are selected to be picked; and the medicine basket (22) is placed on the first medicine basket placing table (43), the first linear displacement mechanism (44) drives the second mechanical hand (45) to pick up the medicine in the medicine basket (22), and the medicine is put on the conveyor (41) and conveyed to the medicine taking opening.
2. An unattended drugstore as in claim 1 wherein the conveyor (41) is a bi-directional conveyor;
further comprising a visual identification system (46) and a drug recovery basket (47); the vision recognition system (46) is mounted above the second manipulator (45); the medicine outlet channel (42) and the medicine recovery basket (47) are arranged at two ends of the first mounting frame (40) and respectively correspond to two conveying openings of the conveyor (41).
3. The unmanned drugstore of claim 2 wherein the bottom of the first medicine basket placement station (43) is provided with a placement station rotating mechanism mounted above the medicine outlet passage (42);
and a rotary manipulator is arranged at the connecting end of the second manipulator (45), and is arranged at the moving end of the first linear displacement mechanism (44).
4. An unattended medicine vending pharmacy as claimed in claim 2 or 3, wherein the first robot (31) comprises a second linear displacement mechanism mounted on a moving end of the XY dual-axial movement mechanism (30) in the Y-axis direction in the Z-axis direction and a medicine basket pallet mounted on the moving end of the second linear displacement mechanism;
the second manipulator (45) is a negative pressure sucker mechanism.
5. The unmanned pharmacy for selling medicines according to claim 4, further comprising an insulated cabinet (23), wherein said insulated cabinet (23) is provided with an automatic door; the heat-insulation cabin body (23) is arranged on one side wall of the medicine storage bin shell (20) provided with the medicine racks (21), and a plurality of medicine racks (21) are arranged inside the heat-insulation cabin body; and opening the automatic bin gate, wherein the first manipulator (31) can pick up a medicine basket (22) in the heat-insulation bin body (23).
6. An unattended drugstore as in claim 5 further comprising a drug replenishment device (5); the medicine supplementing device (5) comprises a medicine supplementing shell (50), a medicine supplementing operation screen (51), a second mounting frame (52), a third linear displacement mechanism (53), a second medicine basket placing table (54) and a limiting baffle plate (55);
one end of the medicine storage bin shell (20) is provided with a medicine supplement port (200); the medicine replenishing housing (50) is installed above the medicine replenishing port (200); the medicine supplementing operation screen (51) is arranged on the medicine supplementing shell (50), and the second mounting rack (52) is arranged in the inner cavity of the medicine storage bin shell (20) at a position corresponding to the medicine supplementing opening (200); the third linear displacement mechanism (53) is arranged on the top of the second mounting frame (52), and the moving end of the third linear displacement mechanism can move along the medicine replenishing opening (200) to the outside of the medicine storage bin shell (20); the second medicine basket placing table (54) is mounted on the moving end of the third linear displacement mechanism (53); the limiting baffle (55) is installed on a guide rail at one end, close to the medicine replenishing port (200), of the third linear displacement mechanism (53) and is in sliding connection with the guide rail, and the side wall of the limiting baffle (55) is connected with the second mounting frame through a spring (56).
7. An unattended drugstore as in claim 6 further comprising a second drug storage bin (6) and drug transfer means (7); the second medicine storage bin (6) and the first medicine storage bin (2) are identical in structure, and the XY biaxial movement mechanism (30), the first mechanical hand (31) and the medicine supplementing device (5) are mounted on the second medicine storage bin; the second medicine storage bin (6) is parallel to the first medicine storage bin (2), and adjacent sides of the second medicine storage bin and the first medicine storage bin are mutually abutted; a medicine transfer opening (60) is formed in the side wall, abutted against the first medicine storage bin (2), of the second medicine storage bin (6);
the medicine transfer device (7) comprises a third mounting frame (70), a fourth linear displacement mechanism (71) and a third medicine basket placing table (72); the third mounting frame (70) is mounted at the medicine transfer port (60), two fourth linear displacement mechanisms (71) are arranged, and the two fourth linear displacement mechanisms (71) are arranged side by side and can be moved from the first medicine storage bin (2) to the second medicine storage bin (6); the moving ends of the two fourth linear displacement mechanisms (71) are provided with third medicine basket placing tables (72).
8. The unattended drugstore of claim 7 wherein the drug rack (21) comprises a bracket (210) and a stop block (211); the bracket (210) is a strip-shaped fixing plate; the two brackets (210) are sequentially and vertically arranged on the inner wall of the medicine storage bin shell (20) along the X-axis direction, and a space is reserved between the two brackets (210); the limiting block (211) is a strip-shaped limiting block (211), and the top of the limiting block is provided with a limiting groove; two limiting blocks (211) are arranged and are arranged on the corresponding bracket (210) along the Z-axis direction;
the medicine basket (22) comprises a box body (220), an adjusting guide rail (221), a fixed baffle (222) and an adjustable movable baffle (223); the top and one side of the box body (220) are provided with openings, and the bottom is provided with clamping bulges corresponding to the limiting grooves; the box body (220) is clamped on the bracket (210) along the Z-axis direction, and an opening on the side surface of the box body faces to the first manipulator (31); the number of the adjusting guide rails (221) is two, and the two adjusting guide rails (221) are parallel and are arranged at two ends of the bottom plate of the box body (220) along the X-axis direction;
two fixed baffles (222) and two adjustable movable baffles (223) are arranged; the two fixed baffles (222) are fixed on the inner walls of the box body (220) at the two ends of the adjusting guide rail (221), and the two adjustable movable baffles (223) are arranged on the adjusting guide rail (221) between the two fixed baffles (222) and respectively correspond to the two fixed baffles (222);
the tops of the first medicine basket placing table (43), the second medicine basket placing table (54) and the third medicine basket placing table (72) are provided with limiting clamping grooves corresponding to the limiting bulges.
9. The unattended drugstore of claim 8 wherein the XY dual axial motion mechanism (30) is an XY dual axial guide timing belt slide mechanism and the first linear displacement mechanism (44), the second linear displacement mechanism, the third linear displacement mechanism (53) and the fourth linear displacement mechanism (71) are single axis linear guide timing belt slide mechanisms.
10. An unattended drugstore as in claim 9 wherein the drug vending machine (1) comprises a drug vending machine housing (10), a controller, a drug pick-up screen (11), a card reader (12), a printer (13) and a keypad input device (14); the medicine vending machine shell (10) is provided with a medicine taking opening (100), the medicine taking opening (100) is provided with a medicine taking door (15), and the medicine taking door (15) is movably connected to the medicine taking opening; the medicine selling machine shell (10) is installed at one end of the outer side of the medicine storage bin shell (20), and the controller, the medicine taking operation screen (11), the card reader (12), the printer (13) and the keyboard input device (14) are all installed on the medicine selling machine shell (10);
the medicine taking operation screen (11), the card reader (12), the printer (13), the keyboard input device (14), the XY dual-axial movement mechanism (30), the conveyor (41), the second manipulator (45), the visual identification system (46), the placing table rotating mechanism, the heat preservation cabin body (23), the medicine supplementing operation screen (51), the first linear displacement mechanism (44), the second linear displacement mechanism, the third linear displacement mechanism (53) and the fourth linear displacement mechanism (71) are all electrically connected with the controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022491556.9U CN213801414U (en) | 2020-11-02 | 2020-11-02 | Unattended medicine-selling pharmacy |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022491556.9U CN213801414U (en) | 2020-11-02 | 2020-11-02 | Unattended medicine-selling pharmacy |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN213801414U true CN213801414U (en) | 2021-07-27 |
Family
ID=76963672
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202022491556.9U Withdrawn - After Issue CN213801414U (en) | 2020-11-02 | 2020-11-02 | Unattended medicine-selling pharmacy |
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| Country | Link |
|---|---|
| CN (1) | CN213801414U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112193702A (en) * | 2020-11-02 | 2021-01-08 | 唐山晟群科技有限公司 | Unattended medicine-selling pharmacy |
| CN115215001A (en) * | 2022-07-14 | 2022-10-21 | 中国人民解放军陆军军医大学第一附属医院 | Cluster formula intelligence is put liquid and is put medicine system and is stored up medicine cabinet thereof |
-
2020
- 2020-11-02 CN CN202022491556.9U patent/CN213801414U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112193702A (en) * | 2020-11-02 | 2021-01-08 | 唐山晟群科技有限公司 | Unattended medicine-selling pharmacy |
| CN112193702B (en) * | 2020-11-02 | 2024-05-24 | 唐山晟群科技有限公司 | Unmanned on duty sells medicine drugstore |
| CN115215001A (en) * | 2022-07-14 | 2022-10-21 | 中国人民解放军陆军军医大学第一附属医院 | Cluster formula intelligence is put liquid and is put medicine system and is stored up medicine cabinet thereof |
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