CN215642930U - Medicine grabbing device and automatic medicine selling machine - Google Patents
Medicine grabbing device and automatic medicine selling machine Download PDFInfo
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- CN215642930U CN215642930U CN202121405899.7U CN202121405899U CN215642930U CN 215642930 U CN215642930 U CN 215642930U CN 202121405899 U CN202121405899 U CN 202121405899U CN 215642930 U CN215642930 U CN 215642930U
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Abstract
The application relates to a medicine gripping device and an automatic medicine selling machine, relating to the field of automatic vending machines; the medicine box grabbing device comprises grabbing components and a driving mechanism, wherein the driving mechanism is used for driving the grabbing components to be close to or far away from a corresponding medicine box, and the driving mechanism is controlled by a controller of an automatic medicine selling machine; the grabbing component comprises a sucker, an air pump and a mounting plate, wherein the sucker is arranged on the mounting plate, the driving mechanism is used for driving the mounting plate to be close to or far away from the corresponding medicine box, and the air pump is controlled by the controller; the bottom of the sucking disc is abutted against the surface of the medicine box, and the air pump is used for enabling the sucking disc to tightly suck the surface of the medicine box; and the mounting plate is provided with a limiting device, and the limiting device is used for limiting the compression displacement of the sucker. This application has reached the effect that improves controller control sucking disc compressed distance precision to do effective protection to medicine box and sucking disc.
Description
Technical Field
The application relates to the field of vending machines, especially, relate to a medicine grabbing device and automatic medicine machine of selling.
Background
With the development of science and technology, more and more automatic products appear in the lives of people; at present, in order to facilitate the patients to take the medicines in time after taking the medicines, some hospitals are provided with automatic medicine selling machines, and the patients can take the medicines from the automatic medicine selling machines according to the prescriptions.
The existing automatic medicine selling machine generally comprises a shell, a medicine storage unit, a man-machine interaction system, a controller and a gripping device, wherein the medicine storage unit and the gripping device are both arranged inside the shell, the gripping device is positioned above the medicine storage unit, and a medicine outlet is formed in the shell; a box door is arranged on the shell corresponding to the position of the medicine storage unit and provides convenience for medicine supplement in the medicine storage unit; the human-computer interaction system can identify a prescription and send a control signal to the controller according to the content of the prescription, the controller responds to the control signal to control the gripping device to grip the required medicine box, and finally the required medicine box falls to the medicine outlet so that the patient can take out the required medicine box; grabbing device generally includes sucking disc and aspiration pump, and the sucking disc is with medicine box surface butt back, and the controller control aspiration pump bleeds to make the sucking disc inhale the medicine box tightly.
With respect to the related art among the above, the inventors consider that the following drawbacks exist: when the controller control sucking disc is close to the medicine box, can hold the medicine box for guaranteeing the sucking disc, the sucking disc can receive the compression, easily because of the distance that unable accurate control sucking disc compressed this moment, and lead to sucking disc or medicine box impaired.
SUMMERY OF THE UTILITY MODEL
One of the purposes of this application provides a medicine grabbing device, has reached and has effectively improved the sucking disc when compressed, the problem of the distance of unable accurate control sucking disc compressed.
One of the above objects of the present application is achieved by the following technical solutions: the automatic medicine box grabbing device comprises grabbing components and a driving mechanism, wherein the driving mechanism is used for driving the grabbing components to be close to or far away from corresponding medicine boxes, and the driving mechanism is controlled by a controller of an automatic medicine selling machine; the grabbing component comprises a sucker, an air pump and a mounting plate, wherein the sucker is arranged on the mounting plate, the driving mechanism is used for driving the mounting plate to be close to or far away from the corresponding medicine box, and the air pump is controlled by the controller; the bottom of the sucking disc is abutted against the surface of the medicine box, and the air pump is used for enabling the sucking disc to tightly suck the surface of the medicine box; and the mounting plate is provided with a limiting device, and the limiting device is used for limiting the compression displacement of the sucker.
By adopting the technical scheme, the controller drives the mounting plate to move towards the corresponding medicine box through the driving mechanism until the suction disc is abutted against the surface of the medicine box, and at the moment, the controller enables the air suction pump to start air suction; the driving mechanism continues to drive the mounting plate to move towards the direction close to the medicine box, so that the medicine box can be firmly grabbed by the sucker, and the sucker is compressed; stop device's setting can restrict the distance that the sucking disc compressed to on the one hand do effective protection to the sucking disc, on the other hand reduces the sucking disc and causes the possibility of damage to the medicine box surface.
Optionally, the limiting device comprises a pressure sensor, the pressure sensor is used for detecting the compression state of the suction cup, and a signal output end of the pressure sensor is connected to the controller; the controller compares a preset limit pressure value with a pressure value received by the signal output end of the pressure sensor, and controls the driving mechanism to drive the sucker to move in a direction away from the medicine box when the pressure value output by the pressure sensor reaches the preset limit pressure value; the preset limit pressure value corresponds to the limit distance that the sucker can be compressed.
Through adopting above-mentioned technical scheme, pressure sensor's setting can be real-time to the distance that the sucking disc compressed detects to with real-time transmission to controller of testing result, when the pressure value that the controller detected at pressure sensor surpassed preset limit pressure value, control actuating mechanism drives the sucking disc and removes to the direction of keeping away from the medicine box, so that the sucking disc when firmly adsorbing the medicine box, does not cause the damage to the medicine box.
Optionally, the suction cup is relatively fixed with the mounting plate, a telescopic rod is arranged between the mounting plate and the suction cup, and the suction cup is sleeved at the bottom of the telescopic rod; the telescopic direction of the telescopic rod is consistent with the compressed direction of the sucker; after the bottom of the sucker is abutted to the medicine box, the driving mechanism drives the mounting plate to enable the telescopic rod to contract; the limiting device also comprises a limiting plate, a limiting rod and a limiting spring, wherein the limiting plate is positioned at the bottom of the mounting plate and is fixed with the sucker; the limiting rod is matched with the mounting plate in a sliding mode, the sliding direction is parallel to the telescopic direction of the telescopic rod, and the bottom of the limiting rod is fixed with the limiting plate; the limiting spring is fixedly arranged between the limiting plate and the mounting plate and sleeved on the limiting rod; the mounting panel bottom is located to pressure sensor, and spacing spring one end is fixed with the limiting plate, and the other end is fixed with pressure sensor's atress side, and before sucking disc bottom and the surperficial butt of medicine box, spacing spring is in natural state.
By adopting the technical scheme, after the bottom of the sucker is abutted to the surface of the medicine box, the mounting plate continues to approach the medicine box, at the moment, the telescopic rod contracts along the direction that the mounting plate approaches the medicine box, the limiting plate generates displacement opposite to the movement direction of the mounting plate relative to the mounting plate, so that the limiting spring is compressed to generate elasticity, and at the moment, the stress side of the pressure sensor detects pressure; when the pressure value transmitted to the controller by the pressure sensor reaches a preset limit value, the controller controls the driving mechanism to drive the sucker to move towards the direction far away from the medicine box so as to effectively protect the sucker and the medicine box.
Optionally, a plurality of suckers are arranged, and the suckers are fixed relative to the mounting plate; the limiting plate is fixed with the sucker.
By adopting the technical scheme, the plurality of suckers can adsorb the same medicine box at the same time, so that the adsorbed area of the medicine box is increased, and the stability of the medicine box in the grabbing process is improved conveniently; the limiting plate is fixed with each telescopic link bottom simultaneously, is convenient for make pressure sensor detect the compression distance of a plurality of sucking discs simultaneously to effectively save the cost.
Optionally, the medicine box suction device further comprises an air pressure sensor, the signal output end of the air pressure sensor is connected to the controller, the air pressure sensor transmits the negative pressure value inside the suction cup to the controller, the controller compares the negative pressure value detected by the air pressure sensor with a preset negative pressure value, when the negative pressure value inside the suction cup reaches the preset negative pressure value, the controller controls the air suction pump to stop sucking air, and the preset negative pressure value corresponds to the maximum suction force which can be borne by the medicine box.
Through adopting above-mentioned technical scheme, baroceptor real-time negative pressure value to sucking disc inside detects, and when the inside negative pressure value of sucking disc reached and predetermines the negative pressure value, controller control sucking disc he stopped to bleed to do effective protection to the medicine box.
Optionally, a first slide rail, a second slide rail and a third slide rail are arranged inside the shell, the length directions of the first slide rail, the second slide rail and the third slide rail are perpendicular to each other, a first slide plate is connected to the first slide rail in a sliding manner, and the second slide rail is fixedly arranged on one side of the first slide plate, which is far away from the first slide rail; a second sliding plate is connected to the second sliding rail in a sliding manner, and a third sliding rail is fixedly arranged on one side of the second sliding plate, which is far away from the second sliding rail; a third sliding plate is connected to the third sliding rail in a sliding manner, and the mounting plate is fixedly arranged on the third sliding plate; the driving mechanism comprises a first assembly, a second assembly and a third assembly, wherein the first assembly is used for driving the mounting plate to slide along the length direction of the first slide rail, the second assembly is used for driving the mounting plate to slide along the length direction of the second slide rail, and the third assembly is used for driving the mounting plate to slide along the length direction of the third slide rail.
By adopting the technical scheme, the first component drives the second slide rail to move by driving the first sliding plate to slide along the length direction of the first slide rail, namely, the mounting plate is driven to slide along the length direction of the first slide rail; the second assembly drives the third slide rail to move by driving the second sliding plate to slide along the length direction of the second slide rail, namely, the mounting plate is driven to slide along the length direction of the second slide rail; the third assembly drives the mounting plate to move by driving the third sliding plate to slide along the length direction of the third sliding rail; the arrangement of the first slide rail, the second slide rail and the third slide rail and the matching of the first assembly, the second assembly, the third assembly and the mounting plate facilitate the mounting plate to realize the movement in three directions along the first slide rail, the second slide rail and the third slide rail, thereby facilitating the driving mechanism to drive the sucker to be accurately close to or away from the medicine box.
Optionally, the first component includes a first motor and a first transmission belt, the first sliding plate is fixed to the first transmission belt, and the first motor drives the first sliding plate to slide along the first sliding rail by driving the first transmission belt; the second assembly comprises a second motor and a second transmission belt, the second sliding plate is fixed with the second transmission belt, and the second motor drives the second sliding plate to slide along the second sliding rail by driving the second transmission belt; the third component comprises a third motor and a third transmission belt, the third sliding plate is fixed with the third transmission belt, and the third motor drives the third sliding plate to slide along the third guide rail through the third transmission belt; the first motor, the second motor and the third motor are all controlled by the controller.
By adopting the technical scheme, the controller controls the first motor, the second motor and the third motor to work according to the user requirements; when the first motor drives the first transmission belt to rotate, the first sliding plate, the second sliding rail, the second sliding plate, the third sliding rail, the third sliding plate and the grabbing component all move along the first sliding rail along with the transmission of the first transmission belt; when the second motor drives the second transmission belt to rotate, the second sliding plate, the third sliding rail, the third sliding plate and the grabbing component all move along the second sliding rail along with the second transmission belt; when the third motor drives the third transmission belt to rotate, the third sliding plate and the grabbing component both move along the third sliding rail along with the third transmission belt; the cooperation of first motor and first drive belt, the cooperation of second motor and second drive belt to and the cooperation of third motor and third drive belt, realized snatching the subassembly and along the slip of three direction, and first motor, second motor and third motor are controlled by the controller, are convenient for improve and snatch the subassembly and snatch the precision.
Another of the purpose of this application provides an automatic medicine selling machine, is convenient for improve grabbing device's life, does effective protection to the medicine box simultaneously.
The second purpose of the application is realized by the following technical scheme: an automatic medicine selling machine comprises a machine body, wherein a medicine grabbing device in any one of the first aspect is arranged in the machine body.
In summary, the present application includes at least one of the following beneficial technical effects:
1. the pressure sensor detects the elasticity of the limiting spring in real time, the elasticity of the limiting spring is in direct proportion to the compressed distance of the sucker, and when the pressure value received by the controller and output by the pressure sensor reaches a preset limit pressure value, the controller stops enabling the third motor to finally drive the sucker to continuously approach the medicine box so as to effectively protect the sucker and the medicine box at the same time;
2. the first component, the second component, the third component, the first slide rail, the second slide rail, the third slide rail, the first sliding plate, the second sliding plate and the third sliding plate are matched, so that the sucking disc can accurately adsorb the medicine box conveniently;
3. when the negative pressure value output by the air pressure sensor reaches the preset negative pressure value, the controller stops enabling the air suction pump to suck air so as to effectively protect the medicine box.
Drawings
FIG. 1 is a schematic diagram of the overall structure of an embodiment of the present application;
FIG. 2 is a partial schematic view showing a drive mechanism;
FIG. 3 is a partial schematic view showing a grasping element;
FIG. 4 is a partial schematic view showing a spacing device;
fig. 5 is a schematic diagram showing a limiting device.
Description of reference numerals: 1. a grasping assembly; 11. a suction cup; 111. a telescopic rod; 12. an air pump; 13. mounting a plate; 2. a drive mechanism; 21. a first component; 211. a first motor; 212. a first drive belt; 22. a second component; 221. a second motor; 222. a second belt; 23. a third component; 231. a third motor; 232. a third belt; 3. a limiting device; 31. a limiting plate; 32. a limiting rod; 33. a limiting spring; 34. a pressure sensor; 4. a housing; 41. a mounting frame; 411. a first slide rail; 4111. a first slide plate; 412. a second slide rail; 4121. a second slide plate; 413. a third slide rail; 4131. a third slide plate; 42. a drug storage unit; 43. a box door; 5. an air pressure sensor; 6. and a controller.
Detailed Description
The present application is described in further detail below with reference to figures 1-5.
Example 1
The embodiment of the application discloses a medicine grabbing device.
Referring to fig. 1 and 2, a medicine gripping device and an automatic medicine selling machine include a gripping assembly 1, a driving mechanism 2 and a limiting device 3, and the gripping assembly 1 and the driving mechanism 2 are both disposed above a medicine storage unit 42.
Referring to fig. 3 and 4, a first slide rail 411, a second slide rail 412 and a third slide rail 413 are disposed above the drug storage unit 42, the first slide rail 411, the second slide rail 412 and the third slide rail 413 are perpendicular to each other, and one end of the third slide rail 413 away from the second slide rail 412 faces the drug storage unit 42; the driving mechanism 2 is used for driving the grabbing component 1 to slide along the length direction of the first sliding rail 411, the second sliding rail 412 or the third sliding rail 413, and the driving mechanism 2 is controlled by the controller 6 of the automatic medicine selling machine; the grasping assembly 1 comprises a sucker 11, an air pump 12 and a mounting plate 13, the mounting plate 13 is in sliding fit with a third slide rail 413, the sucker 11 is relatively fixed with the mounting plate 13 through a bolt and a nut, the air pump 12 is controlled by a controller 6 of the automatic medicine selling machine, the air pump 12 is relatively fixed on the third slide rail 413, the air pump 12 is communicated with the sucker 11 through an air pipe (not shown in the figure), and the air pump 12 pumps air to enable the bottom of the sucker 11 to be tightly sucked with a medicine box; the limiting device 3 is arranged between the mounting plate 13 and the sucker 11 and used for detecting the compressed distance of the sucker 11 and enabling the controller 6 to stop driving the driving mechanism 2 to approach the medicine box before the compressed height of the sucker 11 reaches the limit value.
The controller 6 controls the driving mechanism 2 to drive the grabbing component 1 to slide along the first sliding rail 411 and/or along the second sliding rail 412 according to the user requirement, and then drives the grabbing component 1 to slide along the third sliding rail 413 until the suction cup 11 abuts against the corresponding medicine box surface; the controller 6 controls the air pump 12 to pump air so that the responsive medicine box can be sucked tightly by the suction cup 11, and after the responsive medicine box is sucked tightly, the controller 6 controls the driving mechanism 2 to drive the grabbing component 1 and the medicine box to slide along the third slide rail 413 and slide along the first slide rail 411 and/or the second slide rail 412 so that the medicine box can be taken out by a user finally; after the bottom of the sucker 11 is abutted to the surface of the medicine box, in order to facilitate the sucker 11 to firmly suck the medicine box, the controller 6 can continuously drive the mounting plate 13 to move towards the direction close to the medicine box, and at the moment, the sucker 11 is compressed; however, due to the arrangement of the limiting device 3, before the suction cup 11 is compressed to the limit value, the controller 6 can control the driving mechanism 2 to stop driving the mounting plate 13 to slide along the third slide rail 413, so that the medicine box is effectively protected on one hand, the possibility of surface damage of the medicine box is reduced, the suction cup 11 can be effectively protected on the other hand, and the service life of the suction cup 11 is prolonged.
Referring to fig. 2 and 3, an installation frame 41 is disposed inside the housing 4, a first slide rail 411 is disposed on the installation frame 41, the first slide rail 411 is horizontally parallel to the door 43, the first slide rail 411 is slidably connected to a first sliding plate 4111, and a second slide rail 412 is disposed at the bottom of the first sliding plate 4111; the number of the first slide rails 411 is at least one, in the embodiment of the present application, there are two first slide rails 411, the two first slide rails 411 are parallel to each other, and the first sliding plate 4111 is in sliding fit with the two first slide rails 411 at the same time; the driving mechanism 2 includes a first component 21, and the first component 21 is configured to drive the first sliding plate 4111 to slide along the first sliding rail 411; the first assembly 21 comprises a first motor 211 and a first transmission belt 212, the first motor 211 is fixedly arranged on the mounting frame 41, and the first motor 211 is controlled by the controller 6; the length direction of the first transmission belt 212 is parallel to the first sliding rail 411, the first sliding plate 4111 is fixed with the first transmission belt 212, and the first transmission belt 212 drives the first sliding plate 4111 to slide along the first sliding rail 411.
Referring to fig. 2 and 3, the second slide rail 412 is perpendicular to the door 43, the second slide rail 412 is provided with at least one second sliding plate 4121, in this embodiment, there are two second slide rails 412, and the second sliding plate 4121 and the two second slide rails 412 are in sliding fit; the driving mechanism 2 further includes a second assembly 22, the second assembly 22 includes a second motor 221 and a second belt 222, the second motor 221 is fixed on the first sliding plate 4111, the length direction of the second belt 222 is parallel to the second sliding rail 412, and the second sliding plate 4121 is fixed with the second belt 222.
Referring to fig. 3 and 4, the third slide rail 413 is disposed at the bottom of the second slide plate 4121, the third slide rail 413 is provided with at least one third slide plate 4131, the third slide plate 4131 is in sliding fit with the third slide rail 413, and the mounting plate 13 is fixedly disposed at the bottom of the third slide plate 4131; the third assembly 23 comprises a third motor 231 and a third transmission belt 232, the third motor 231 is fixedly arranged on the second sliding plate 4121, the length direction of the third transmission belt 232 is parallel to the third sliding rail 413, and the third transmission belt 232 is fixed with the third sliding plate 4131; the first belt 212, the second belt 222, and the third belt 232 may be synchronous belts or flat belts, and in the embodiment of the present invention, the first belt 212, the second belt 222, and the third belt 232 are all synchronous belts.
The controller 6 controls the first motor 211 and/or the second motor 221 to work according to the user requirement, and then controls the third motor 231 to work, when the first motor 211 works, the first driving belt 212 drives the first sliding plate 4111 to slide along the first sliding rail 411, so that the suction cup 11 moves horizontally in parallel to the direction of the box door 43; when the second motor 221 is operated, the second belt 222 drives the second sliding plate 4121 to move along the second sliding rail 412 toward or away from the door 43, so that the suction cup 11 moves horizontally and perpendicularly to the door 43; the cooperation of the first motor 211 and the first transmission belt 212 and the cooperation of the second motor 221 and the second transmission belt 222 facilitate the movement of the suction cup 11 to the position right above the medicine box; when the third motor 231 works, the third motor 231 drives the third sliding plate 4131 to slide along the third sliding rail 413, so that the suction cup 11 vertically moves parallel to the box door 43, and the suction cup 11 can suck the corresponding medicine box tightly.
Referring to fig. 4 and 5, a plurality of suction cups 11 are provided, in the embodiment of the present application, three suction cups 11 are provided, an expansion link 111 is provided between each suction cup 11 and the mounting plate 13, and the expansion direction of the expansion link 111 is consistent with the compression direction of the suction cups 11; after the bottom of the sucker 11 is abutted to the surface of the medicine box, the mounting plate 13 continues to approach the medicine box, and the telescopic rod 111 contracts; the limiting device 3 comprises a limiting plate 31, a limiting rod 32, a limiting spring 33 and a pressure sensor 34, wherein the limiting plate 31 is arranged below the mounting plate 13, and the limiting plate 31 is fixed with each sucker 11; the limiting rod 32 is matched with the mounting plate 13 in a sliding mode, the sliding direction is perpendicular to the mounting plate 13, and the bottom of the limiting rod 32 is fixed to the upper surface of the limiting plate 31.
Referring to fig. 4 and 5, the pressure sensor 34 is fixedly arranged at the bottom of the mounting plate 13, the force-bearing side of the pressure sensor 34 is opposite to the limiting plate 31, the limiting spring 33 is arranged between the pressure sensor 34 and the limiting plate 31, the limiting spring 33 is sleeved on the limiting rod 32, one end of the limiting spring 33 is fixed with the limiting plate 31, and the other end of the limiting spring 33 is fixed with the force-bearing side of the pressure sensor 34; the signal output end of the pressure sensor 34 is connected with the signal input end of the controller 6 of the automatic medicine selling machine, and the detected value is transmitted to the controller 6 in real time; the controller 6 compares the received detection value with a preset limit pressure value, and does not control the third motor 231 to drive the mounting plate 13 to move downwards when the detection value reaches the limit pressure value; the predetermined limit pressure value corresponds to a limit distance by which the suction cup 11 can be compressed.
When the third motor 231 drives the third driving belt 232 to rotate, the third sliding plate 4131 drives the mounting plate 13, the suction cup 11 approaches to a corresponding medicine box, the suction cup 11 is compressed, the telescopic rod 111 contracts, the limiting plate 31 moves up along with the contraction of the telescopic rod 111 at the moment, so that the limiting spring 33 is in a compressed state, the limiting spring 33 outputs elastic force to the pressure sensor 34, the pressure sensor 34 detects the elastic force of the limiting spring 33 in real time, and synchronously transmits the detected pressure value to the controller 6, when the pressure value is greater than a preset limit value, the controller 6 controls the third motor 231 to enable the third sliding plate 4131 to no longer drive the mounting plate 13 and the suction cup 11 to move towards the direction close to the medicine box, and therefore the medicine box and the suction cup 11 are both effectively protected.
The limiting device 3 may further include a connecting plate (not shown), a sliding rod (not shown), and a displacement sensor (not shown), wherein the connecting plate is fixed to each suction cup 11 at the same time, and the connecting plate is located at the same height of each suction cup 11; the top of the sliding rod penetrates through the mounting plate 13 and is in sliding fit with the mounting plate 13; the displacement sensor is arranged at the top of the sliding rod, and the signal output end of the displacement sensor is connected to the signal input end of the controller 6 and is used for detecting the sliding distance of the sliding rod relative to the mounting plate 13 and transmitting the sliding distance of the sliding rod relative to the mounting plate 13 to the controller 6; the controller 6 is provided with a preset value, the controller 6 compares the received sliding distance of the sliding rod relative to the mounting plate 13 with the preset value, and when the sliding distance of the sliding rod relative to the mounting plate 13 reaches the preset value, the controller 6 does not control the third motor 231 to drive the mounting plate 13 to move downwards, wherein the preset value corresponds to the limit distance that the sucker 11 can be compressed.
Referring to fig. 5, the medicine gripping device further includes an air pressure sensor 5, the air pressure sensor 5 detects a negative pressure value inside the suction cup 11 in real time, and synchronously transmits the detected negative pressure value to the controller 6 when the negative pressure value is detected, after the controller 6 receives the negative pressure value, the negative pressure value is compared with a preset negative pressure value, and when the negative pressure value reaches the preset negative pressure value, the air suction pump 12 is controlled to stop sucking air, and the preset negative pressure value corresponds to the maximum suction force which can be borne by the medicine box; the air pressure sensor 5 may be disposed inside the suction cups 11, or may be disposed in an air tube connecting the air pump 12 and each suction cup 11, as long as it can be used for detecting the negative pressure inside the suction cup 11.
The arrangement of the air pressure sensor 5 is convenient for the controller 6 to judge whether the suction cup 11 adsorbs the medicine box, namely when the controller 6 receives the negative pressure value output by the air pressure sensor 5, the suction cup 11 is indicated to adsorb the medicine box, so that the possibility of damage to the suction cup 11 caused by continuous air suction of the suction cup 11 by the air suction pump 12 can be effectively reduced; meanwhile, when the negative pressure value detected by the air pressure sensor 5 is greater than the preset negative pressure value, the controller 6 can timely control the third motor 231 to stop driving the suction cup 11 to move towards the direction close to the medicine box, so as to effectively protect the medicine box.
The implementation principle of this application embodiment a medicine grabbing device and automatic medicine machine of selling is: the controller 6 controls the first motor 211 and/or the second motor 221 to drive the grasping assembly 1 to slide along the first sliding rail 411 or along the second sliding rail 412 according to the user requirement, and controls the third motor 231 to finally drive the suction cup 11 to slide along the third sliding rail 413 until the suction cup 11 abuts against the corresponding medicine box surface; when the third motor 231 drives the suction cup 11 to move towards the direction close to the medicine box, the pressure sensor 34 can detect the elastic force of the limiting spring 33 in real time, the elastic force of the limiting spring 33 is in direct proportion to the compressed distance of the suction cup 11, and when the pressure value detected by the pressure sensor 34 reaches a preset limit pressure value, the controller 6 controls the third motor 231 to stop driving the suction cup 11 to continue moving towards the direction close to the medicine box; meanwhile, when the controller 6 controls the air pump 12 to pump air, if the negative pressure value output by the air pressure sensor 5 received by the controller 6 reaches the preset negative pressure value, the controller 6 controls the air pump 12 to stop pumping air, so as to effectively protect the medicine box.
After the medicine box is sucked tightly by the suction cup 11, the controller 6 controls the third motor 231 to finally drive the suction cup 11 and the medicine box to slide along the third slide rail 413 and slide along the first slide rail 411 and/or the second slide rail 412, so that the medicine box can be taken out by a user finally; pressure sensor 34's setting and baroceptor 5's setting can be done effective protection to the medicine box on the one hand, reduces the damaged possibility in medicine box surface, and on the other hand can be done effective protection to sucking disc 11, is convenient for improve sucking disc 11's life.
Example 2
The embodiment of the application discloses an automatic medicine selling machine, which comprises a machine body, wherein a medicine grabbing device in embodiment 1 is arranged in the machine body.
The above embodiments are preferred embodiments of the present application, and the protection scope of the present application is not limited by the above embodiments, so: all equivalent changes made according to the structure, shape and principle of the present application shall be covered by the protection scope of the present application.
Claims (8)
1. A medication grasping device, characterized by: the medicine box grabbing device comprises a grabbing component (1) and a driving mechanism (2), wherein the driving mechanism (2) is used for driving the grabbing component (1) to be close to or far away from a corresponding medicine box, and the driving mechanism (2) is controlled by a controller (6) of the automatic medicine selling machine; the grabbing component (1) comprises a sucker (11), an air pump (12) and a mounting plate (13), wherein the sucker (11) is arranged on the mounting plate (13), the driving mechanism (2) is used for driving the mounting plate (13) to be close to or far away from the corresponding medicine box, and the air pump (12) is controlled by the controller (6); the bottom of the sucking disc (11) is abutted against the surface of the medicine box, and the air pump (12) is used for enabling the sucking disc (11) to tightly suck the surface of the medicine box; the mounting plate (13) is provided with a limiting device (3), and the limiting device (3) is used for limiting the compression displacement of the sucker (11).
2. A medication grasping device according to claim 1, characterized in that: the limiting device (3) comprises a pressure sensor (34), the pressure sensor (34) is used for detecting the compression state of the sucker (11), and the signal output end of the pressure sensor (34) is connected to the controller (6); the controller (6) compares a preset limit pressure value with a pressure value received by a signal output end of the pressure sensor (34), and controls the driving mechanism (2) to drive the sucker (11) to move towards a direction far away from the medicine box when the pressure value output by the pressure sensor (34) reaches the preset limit pressure value; the preset limit pressure value corresponds to the limit distance that the sucker (11) can be compressed.
3. A medication grasping device according to claim 2, characterized in that: the sucker (11) and the mounting plate (13) are relatively fixed, a telescopic rod (111) is arranged between the mounting plate (13) and the sucker (11), and the sucker (11) is sleeved at the bottom of the telescopic rod (111); the telescopic direction of the telescopic rod (111) is consistent with the compressed direction of the sucker (11); after the bottom of the sucker (11) is abutted to the medicine box, the driving mechanism (2) drives the mounting plate (13) to enable the telescopic rod (111) to contract; the limiting device (3) comprises a limiting plate (31), a limiting rod (32) and a limiting spring (33), wherein the limiting plate (31) is positioned at the bottom of the mounting plate (13), and the limiting plate (31) is fixed with the sucker (11); the limiting rod (32) is matched with the mounting plate (13) in a sliding mode, the sliding direction is parallel to the telescopic direction of the telescopic rod (111), and the bottom of the limiting rod (32) is fixed with the limiting plate (31); the limiting spring (33) is fixedly arranged between the limiting plate (31) and the mounting plate (13), and the limiting spring (33) is sleeved on the limiting rod (32); the pressure sensor (34) is arranged at the bottom of the mounting plate (13), one end of the limiting spring (33) is fixed with the limiting plate (31), the other end of the limiting spring is fixed with the stress side of the pressure sensor (34), and the limiting spring (33) is in a natural state before the bottom of the sucking disc (11) is abutted to the surface of the medicine box.
4. A medication grasping device according to claim 1, characterized in that: a plurality of suckers (11) are arranged, and the suckers (11) are fixed relative to the mounting plate (13); the limiting plate (31) is fixed with the sucker (11).
5. A medication grasping device according to claim 1, characterized in that: still include baroceptor (5), baroceptor (5) signal output part is connected in controller (6), baroceptor (5) are used for transmitting the inside negative pressure value of sucking disc (11) to controller (6), controller (6) do the comparison with the negative pressure value that baroceptor (5) detected with predetermineeing the negative pressure value, and when the inside negative pressure value of sucking disc (11) reached predetermineeing the negative pressure value, controller (6) control aspiration pump (12) stop bleeding, predetermine the maximum suction that the negative pressure value correspondence can bear the medicine box.
6. A medication grasping device according to claim 1, characterized in that: a first slide rail (411), a second slide rail (412) and a third slide rail (413) are arranged inside the shell (4), the length directions of the first slide rail (411), the second slide rail (412) and the third slide rail (413) are vertical to each other, the first slide rail (411) is connected with a first sliding plate (4111) in a sliding manner, and the second slide rail (412) is fixedly arranged on one side, away from the first slide rail (411), of the first sliding plate (4111); the second sliding rail (412) is connected with a second sliding plate (4121) in a sliding manner, and the third sliding rail (413) is fixedly arranged on one side, away from the second sliding rail (412), of the second sliding plate (4121); a third sliding plate (4131) is connected to the third sliding rail (413) in a sliding manner, and the mounting plate (13) is fixedly arranged on the third sliding plate (4131); the driving mechanism (2) comprises a first assembly (21), a second assembly (22) and a third assembly (23), wherein the first assembly (21) is used for driving the mounting plate (13) to slide along the length direction of the first sliding rail (411), the second assembly (22) is used for driving the mounting plate (13) to slide along the length direction of the second sliding rail (412), and the third assembly (23) is used for driving the mounting plate (13) to slide along the length direction of the third sliding rail (413).
7. The medication grasping device according to claim 6, wherein: the first component (21) comprises a first motor (211) and a first transmission belt (212), the first sliding plate (4111) is fixed with the first transmission belt (212), and the first motor (211) drives the first sliding plate (4111) to slide along the first sliding rail (411) by driving the first transmission belt (212); the second assembly (22) comprises a second motor (221) and a second transmission belt (222), the second sliding plate (4121) is fixed with the second transmission belt (222), and the second motor (221) drives the second sliding plate (4121) to slide along the second sliding rail (412) by driving the second transmission belt (222); the third assembly (23) comprises a third motor (231) and a third transmission belt (232), the third sliding plate (4131) is fixed with the third transmission belt (232), and the third motor (231) drives the third sliding plate (4131) to slide along the third guide rail through the third transmission belt (232); the first motor (211), the second motor (221) and the third motor (231) are all controlled by a controller (6).
8. An automatic medicine selling machine, which is characterized by comprising a machine body, wherein the machine body comprises a medicine grabbing device according to any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121405899.7U CN215642930U (en) | 2021-06-23 | 2021-06-23 | Medicine grabbing device and automatic medicine selling machine |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121405899.7U CN215642930U (en) | 2021-06-23 | 2021-06-23 | Medicine grabbing device and automatic medicine selling machine |
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| Publication Number | Publication Date |
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| CN215642930U true CN215642930U (en) | 2022-01-25 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202121405899.7U Active CN215642930U (en) | 2021-06-23 | 2021-06-23 | Medicine grabbing device and automatic medicine selling machine |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115077625A (en) * | 2022-08-01 | 2022-09-20 | 江苏阳铭互联智能系统有限公司 | Workpiece detection device |
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2021
- 2021-06-23 CN CN202121405899.7U patent/CN215642930U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115077625A (en) * | 2022-08-01 | 2022-09-20 | 江苏阳铭互联智能系统有限公司 | Workpiece detection device |
| CN115077625B (en) * | 2022-08-01 | 2023-11-03 | 江苏阳铭互联智能系统有限公司 | Workpiece detection equipment |
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