WO2015143634A1

WO2015143634A1 - Pill sorting device, drug sorting machine and drug sorting method

Info

Publication number: WO2015143634A1
Application number: PCT/CN2014/074093
Authority: WO
Inventors: 葛伦⋅罗伯特
Original assignee: 葛伦⋅罗伯特
Priority date: 2014-03-26
Filing date: 2014-03-26
Publication date: 2015-10-01

Abstract

Disclosed are a pill sorting device (2), a drug sorting machine (4) and a drug sorting method, wherein the pill sorting device (2) comprises a connecting rod (22), a suction nozzle (23), an air pump (24), a sorting circuit means (3), wherein an air pressure detection sensor (35) of the sorting circuit means (3) is in communicative connection with an industrial personal computer (30), the suction nozzle (23) is fixed at one end of the connecting rod (22), the connecting rod (22) is provided with an air flow passage (221), the air flow passage (221) communicates with the suction nozzle (23), the air flow passage (221) is linked to the air pump (24), the air pressure detection sensor (35) is provided in the gas passage formed by the suction nozzle (23) and the air pump (24), and the air pump (24) is electrically connected with the industrial personal computer (30). The drug sorting machine (4) comprises the aforementioned pill sorting device (2), a housing (41), a moving mechanism (5), a drug support (42), and a drug disk storage mechanism (7), wherein the moving mechanism (5), the drug support (42), and the drug disk storage mechanism (7) are provided on a workbench in the housing (41), respectively, the pill sorting device (2) is fixed on the moving mechanism (5), and the sorting circuit means (2) also comprises a CCD camera (38), wherein the CCD camera (38) is in communicative connection with the industrial personal computer (30). The method, through the aforementioned pill sorting machine (4), achieves automatic loading of pills into the corresponding grid (81) in the drug disk (8), has a fast pill loading speed, and saves time and effort.

Description

Pill splitting device, dispensing machine and dispensing method

技术领域Technical field

The invention relates to a machine dispensing technology, in particular to a tablet dispensing device, a dispensing machine and a dispensing method.

背景技术Background technique

When the existing hospital takes the medicine for the patient, the pharmacist needs to take out the various pills prescribed by the doctor from the corresponding medicine bottle and then disperse it into each small medicine bag, which is time consuming and laborious, especially for some diseases such as diabetes and high blood pressure. A person with a heart disease should open a drug for one month at a time. Each time, he should hold nearly 30 small medicine bags. Each small medicine bag needs to be loaded with several or even dozens of pills, so the workload of the pharmacist is very large.

Nowadays, the small medicine bag has been converted into a medicine tray with a small lattice, and dozens of medicinal small lattices are arranged radially around the center of the medicine tray on the medicine tray, but the pharmacist has to charge the small lattice one at a time. The operation is difficult and the charging efficiency is low.

发明内容Summary of the invention

One of the objects of the present invention is to provide a tablet dispensing device and an automatic dispensing machine and method for overcoming the problems of slow charging speed, difficulty in charging, time consuming and laborious.

To achieve the above object, the solution of the present invention is:

The utility model relates to a tablet branching device, comprising a connecting rod, a suction nozzle, an air pump and a sorting circuit device, wherein the sorting circuit device comprises a gas pressure detecting sensor, an industrial control machine, a gas pressure detecting sensor and a industrial computer communication connection, the nozzle The nozzle has an inverted conical opening, the nozzle is fixed at one end of the connecting rod, the opening is downward, the connecting rod is provided with an air flow passage, the air flow passage is connected with the suction nozzle, the air flow passage is connected to the air pump through the connecting pipe, and the air pressure detecting sensor is disposed at In the gas passage formed by the nozzle, the air flow passage, the connecting pipe and the air pump, the air pump is electrically connected to the industrial control.

The air pressure detecting sensor is integrated on the suction nozzle.

A dispensing machine includes the above-mentioned tablet dispensing device, a box body, a moving mechanism, a medicine holding table, and a medicine tray placing mechanism. The working chamber is provided with a working table, the moving mechanism, the medicine holding table and the medicine tray. The placement mechanism is respectively disposed on the workbench, and the tablet dispensing device is fixed on the moving mechanism. The moving mechanism is electrically connected to the industrial control of the sorting circuit device of the tablet dispensing device, and the dividing circuit device further includes a CCD camera. The CCD camera is fixed on the box body and placed above the medicine holding table, and the CCD camera is communicatively connected with the industrial computer.

The moving mechanism can use a 3-axis to 6-axis robot arm commonly used in the industry.

The moving mechanism includes a Z-axis moving mechanism, a Y-axis moving mechanism, and an X-axis moving mechanism. The tablet dispensing device is fixed on the Z-axis moving mechanism, and the Z-axis moving mechanism is fixed on the Y-axis moving mechanism. The Y-axis moving mechanism is fixed on the X-axis moving mechanism, and the Z-axis moving mechanism drives the connecting rod of the tablet separating device to perform linear movement in a vertical direction, that is, perpendicular to the Z-axis direction of the plane of the table. Lifting and moving; the Y-axis moving mechanism drives the tablet dispensing device and the Z-axis moving mechanism as a whole

Moving back and forth in the front-rear direction parallel to the plane of the table, that is, moving in the Y-axis direction of the plane of the table; the X-axis moving mechanism drives the Y-axis moving mechanism, the Z-axis moving mechanism, and the tablet dispensing device as a whole on the table plane The left and right direction moves back and forth, that is, the X-axis direction of the table plane moves back and forth.

The Z-axis moving mechanism includes a first fixing plate, a first servo motor, a first driving wheel, a first driven wheel, a first belt, a first connecting seat, a first T-shaped linear chute, and a first T-shaped straight line a slide rail, the first servo motor is mounted at one end of the first fixed plate, the first drive wheel is fixed on the output shaft of the first servo motor, and the first driven wheel is mounted on the other end of the first fixed plate opposite to the first drive wheel The first belt is sleeved on the first driving wheel and the first driven wheel, the first connecting seat is fixed on the first belt, and is disposed between the first driving wheel and the first driven wheel, and the first T-shaped linear sliding The slot is disposed on the first connecting seat, the first T-shaped linear slide rail is mounted on the first fixing plate, the first T-shaped linear sliding rail is slidably disposed in the first T-shaped linear sliding slot, and the tablet separating device The connecting rod is mounted on the first connecting seat, and the first servo motor drives the first driving wheel to rotate, and drives the first belt to move on the first driving wheel and the first driven wheel, thereby driving the first connecting seat on the first fixing plate Moving on the first T-shaped linear slide by the first T-shaped linear chute The movable connecting rod is linearly moved in a vertical direction, that is, vertically moving up and down perpendicular to the Z-axis direction of the plane of the table; the Y-axis moving mechanism includes a second fixed plate, a second servo motor, a second driving wheel, and a second a driven wheel, a second belt, a second connecting seat, a second T-shaped linear chute, a second T-shaped linear sliding rail, a second supporting frame, the second servo motor is mounted at one end of the second fixing plate, and the second driving wheel Fixed on the output shaft of the second servo motor, the second driven wheel is mounted on the other end of the second fixed plate through the second support frame, opposite to the second driving wheel, and the second belt is sleeved on the second driving wheel and the second driving wheel Above the moving wheel, the second connecting seat is fixed on the second belt and placed between the second driving wheel and the second driven wheel, and the second T-shaped linear sliding groove is disposed on the second connecting seat, the second T-shaped straight line The sliding rail is mounted on the second fixing plate, the second T-shaped linear sliding rail is slidably disposed in the second T-shaped linear sliding slot, and the first fixing plate of the Z-axis moving mechanism is mounted on the second connecting seat, Two servo motors rotate in the forward and reverse directions to drive the second belt on the second drive wheel and the second The moving wheel moves back and forth, thereby driving the Z-axis moving mechanism to move back and forth in the front-rear direction parallel to the plane of the table, that is, the Y-axis direction of the plane of the table moves back and forth, and the X-axis moving mechanism includes a third main fixing plate, Three sets of fixed plates, third servo motor, third drive wheel, third driven wheel, third belt, third fixed seat, third T-shaped linear main chute, third T-shaped straight main slide, third support a third T-shaped linear auxiliary slide, a third T-shaped linear auxiliary slide, a third servo motor is mounted on one end of the third main fixed plate, and a third drive wheel is fixed on the output shaft of the third servo motor, The third driven wheel is mounted on the other end of the third main fixing plate via the third supporting frame, and is opposite to the third driving wheel. The third belt is sleeved on the third driving wheel and the third driven wheel, and the third fixing seat is fixed on the third fixing seat. The third belt is placed between the third driving wheel and the third driven wheel, and the third auxiliary fixing plate and the third main fixing plate are respectively installed on the front and rear edges of the table, and are parallel to the X-axis direction of the table plane. Third T-shaped linear auxiliary rail and third T-shaped straight line The slide rails are respectively mounted on the third auxiliary fixing plate and the third main fixing plate, and the third T-shaped linear auxiliary sliding groove and the third fixing seat are respectively installed at two ends of the second fixing plate of the Y-axis moving mechanism, and the third T The linear main chute is mounted on the third fixed seat, and the third T-shaped linear auxiliary chute and the third T-shaped linear main chute are respectively placed on the third T-shaped linear auxiliary rail and the third T-shaped straight main sliding rail. The third servo motor rotates forward and reverse to drive the third belt to move back and forth on the third driving wheel and the third driven wheel, thereby driving the Y-axis moving mechanism to move back and forth in the left and right direction of the table plane, that is, the plane plane X The axis moves back and forth.

The Z-axis moving mechanism further includes a stroke block, the dividing circuit device further includes a zero return switch, the zero return switch is mounted on the first fixing plate, and the stroke block is mounted on the first connecting seat. The zero return switch is connected with the industrial computer. When the tablet is re-opened, the industrial computer sends a movement command to the first servo motor. After the stroke block touches the zero return switch, the zero return switch is turned to the industrial computer. 30 transmits the zero return signal, and the realized tablet dispensing device automatically returns to zero.

The Z-axis moving mechanism further includes a first protective cover, the first protective cover connecting the connecting rod of the tablet dispensing device, the first fixing plate, the first servo motor, the first driving wheel, the first driven wheel, the first belt The first connecting seat, the first T-shaped linear sliding slot and the first T-shaped linear sliding rail are integrally covered, and the bottom of the first protective cover is provided with an opening for the connecting rod to extend up and down, and the side wall of the first protective cover is opened Vertically troughing, the connecting pipe is connected from the vertical trough through the same air pump. When the first servo motor drives the connecting rod to move up and down, the connecting pipe can also slide freely in the vertical trough, vertical cross section The groove serves to give way to the connecting pipe that slides up and down.

The Y-axis moving mechanism further includes a second protective cover, the second protective cover, the second fixed plate, the second servo motor, the second driving wheel, the second driven wheel, the second belt, the second connecting seat, and the second The T-shaped linear chute and the second T-shaped linear slide rail are integrally covered, and the second fixing plate is only connected to the third T-shaped linear auxiliary chute and the third fixed seat through the second protective cover at both ends, respectively The side of the second protective cover is provided with a longitudinal slot, the second connecting seat extends from the longitudinal slot and is connected with the first fixing plate of the Z-axis moving mechanism, and the second servo motor rotates to drive the Z-axis moving mechanism as a whole in parallel When the front and rear directions of the table plane move back and forth, the longitudinal slit serves to give way to the second fixing seat to which the Z-axis moving mechanism is fixed.

The X-axis moving mechanism includes a third protective cover, and the third protective cover slides the third fixed seat, the third main fixed plate, the third driving wheel, the third driven wheel, the third belt, and the third T-shaped main line a slot, the third T-shaped main sliding rail is integrally covered, the third protective cover is provided with a transverse slot at the top, and the third fixing bracket extends from the transverse slot and is connected with one end of the second fixing plate of the Y-axis moving mechanism, When the three servo motor rotates to drive the Y-axis moving mechanism to move back and forth in the left and right direction of the table plane, the lateral slot serves to give way to the third fixing seat to which the Y-axis moving mechanism is fixed.

The workbench is disposed in the middle of the box body, and the industrial control machine and the air pump are placed in the lower electric control cabinet of the workbench.

The medicine tray placing mechanism is arranged in the middle of the worktable, and comprises a medicine tray placing tray and a rotating mechanism. The medicine tray placing tray is installed above the rotating mechanism, and the medicine tray placing tray is used for placing the medicine tray, and the medicine tray placing mechanism is once You can place at least one medicine tray.

The rotating mechanism includes a fourth servo motor and a transmission, the fourth servo motor is connected to the input shaft of the transmission, and the dial placement tray is mounted on the output shaft of the transmission, and the transmission is a planetary transmission commonly used in the industry. The rotation of the fourth servo motor is rotated on the table by the shifting plate of the transmission, that is, rotating in the direction of the A axis parallel to the table, thereby driving the positions of the different medicine plates placed on the tray of the medicine tray. Interchange on the workbench.

The medicine tray is generally disc-shaped, and comprises at least one lattice. The lattice is radiated on the medicine tray with the center of the medicine tray as an axis, and a lattice is used for holding the medicine taken by the doctor for the patient. .

The inspection circuit device further includes an RFID module, the RFID module is disposed under the medicine tray placement tray, and the RFID module is in communication connection with the industrial computer.

The sorting circuit device further includes an illumination lamp, the illumination lamp is fixed on the box body and placed above the medicine holding table, and the illumination lamp provides light when the CCD camera takes a picture.

The sorting circuit device further includes a display device and an input device, and the display device and the input device are in communication connection with the industrial computer.

The display device and the input device can adopt a touch screen commonly used on the market, such as a capacitive screen, a resistive screen, and an acoustic wave screen.

The display device can be separately used as a liquid crystal display, and the liquid crystal display is connected with a VGA interface of the industrial computer. The input device adopts a keyboard and a mouse, and the keyboard and the mouse are respectively connected with the COM interface of the industrial computer.

The air pressure detecting sensor of the sorting circuit device is connected with the splitter, the zero return switch is connected with the relay module, the splitter and the relay module are respectively connected with the input and output adapter, and the input and output adapter Connected to the A-axis servo drive, the A-axis servo drive, the Z-axis servo drive, the Y-axis servo drive, and the X-axis servo drive are connected in series, and finally the X-axis servo drive is connected to the industrial computer, wherein the A-axis servo drive, The Z-axis servo driver, the Y-axis servo driver, and the X-axis servo driver are respectively connected to the fourth servo motor, the first servo motor, the second servo motor, and the third servo motor, and the industrial computer passes the A-axis servo driver, respectively. The axis servo driver, the Y-axis servo driver, and the X-axis servo driver control the rotation of the fourth servo motor, the first servo motor, the second servo motor, and the third servo motor, thereby realizing the tablet dispensing device by the moving mechanism Move over any grid of the medicine tray placed on the tray placement tray.

A tablet sorting method, the method relates to the above-mentioned dispensing machine, the dispensing machine mainly comprising the above-mentioned tablet dispensing device, a box body, a moving mechanism, a medicine holding table, a medicine tray placing mechanism, a working table is arranged in the box body, the moving mechanism, the medicine holding table and the medicine tray placing mechanism are respectively arranged on the working table, the tablet dispensing device is fixed on the moving mechanism, and the moving mechanism and the tablet separating device are divided into The industrial circuit of the circuit device is electrically connected, and the circuit for detecting the circuit further comprises a CCD camera. The CCD camera is fixed on the box body and placed above the medicine holding table. The CCD camera is connected with the industrial computer. The steps are as follows:

(1) First, the medicine tray is placed at a designated position on the workbench, and the information on the number of tablets prescribed by the doctor for the patient and the lattice information corresponding to the medicine tray on which the tablet is to be placed are set to the industrial computer in advance through the input device;

(2) placing the tablets identified in the above step (1) on the medicine holding table, inputting the signal of starting the sorting of the tablets to the industrial computer through the input device, and the industrial computer starts the CCD camera to take photos of the tablets on the medicine table. The industrial computer obtains the graphic signal of the tablet on the medicine table through the CCD camera and analyzes the specific position coordinates of all the tablets on the medicine holding table, and determines one of the tablets that need to be sorted;

(3) The IPC starts the moving mechanism to place the tablet dispensing device above the drug holding table, and the nozzle of the tablet dispensing device is aligned with the tablet to be inspected according to the above step (2), and the The tablet is placed in the opening of the nozzle, and the industrial computer starts the air pump to perform suction to form a negative pressure in the nozzle until the industrial control machine receives the air pressure detecting sensor and detects that the tablet to be inspected according to the above step (2) has been Block the nozzle signal;

(4) The industrial computer passes the signal that the nozzle is blocked by the air pressure detecting sensor in the above step (3), and determines that the tablet to be inspected in the above step (2) is firmly adsorbed in the nozzle, again Start the moving mechanism to move the tablet dispensing device to the top of the medicine tray, and place the nozzle on the medicine tray. In step (1), set a grid to be discharged, and the industrial computer stops the pumping operation of the air pump. The tablet loses its adsorption force and falls into the grid by gravity;

(5) After the industrial computer completes the above step (4) to place the tablet in the designated grid, the mobile device is again activated to place the tablet dispensing device above the medicine table, and the nozzle of the tablet dispensing device is aligned with the above ( 2) The other piece of the tablet to be inspected is determined by the step, and the tablet is placed in the opening of the nozzle, and the industrial computer starts the air pump to perform suction to form a negative pressure in the nozzle until the industrial control machine receives the air pressure detecting sensor. The tablet determined to be inspected in the above step (2) has blocked the nozzle signal;

(6) The industrial computer passes the signal that the nozzle is blocked by the air pressure detecting sensor in the above step (5), and determines that the tablet to be inspected in the above step (5) is firmly adsorbed in the nozzle, again Start the moving mechanism to move the tablet dispensing device to the top of the medicine tray, and place the suction nozzle on the medicine tray. In step (1), set another grid to be discharged, and the industrial computer stops the pumping operation of the air pump. The tablet in the mouth loses its adsorption force and falls into the grid by gravity;

(7) When the industrial computer determines that the tablet of the above step (2) has been placed in the entire grid of the tablet set in step (1), the process of loading a tablet into the grid of the tray is completed. Further, remove the tablets remaining in step (2) of the medicine table, and replace the second tablet with the doctor for the patient on the medicine table, repeating the above (2) to (7). Step, until the second tablet placed on the medicated table is placed in the entire grid of the tablet set in step (1), the step of loading the second tablet into the grid of the tray is completed. .

Further, the tray of the step (1) is placed on the tray placement mechanism in the middle of the table.

Further, in the step (1), the grid parameter information of the tablet to be placed on the medicine tray is set to the industrial computer in advance by the input device.

Further, in the step (1), the medicine tray is marked with the patient's RFID identification information, and the industrial computer reads the patient's RFID identification information through the RFID module under the medicine tray placement tray of the medicine tray placement mechanism, if the prescription is Consistent, start the sorting of the tablets, otherwise alarm.

The invention inputs the prescription information of the patient and the doctor into the industrial computer, and the medical staff puts a tablet to be sorted on the medicine holding table, and the industrial computer takes a picture of the medicine on the medicine tablet through the CCD camera and The tablet position information is analyzed and a tablet that needs to be sorted is determined. The industrial computer absorbs the piece of the tablet that needs to be sorted by forming a negative pressure at the nozzle of the tablet dispensing device by the air pump, and the air pressure detecting sensor detects the piece. When the tablet has blocked the nozzle of the tablet dispensing device, the moving mechanism is activated to move the tablet dispensing device over the medicine tray. The nozzle of the tablet dispensing device is facing the grid of the medicine tray, and the industrial computer stops working by stopping the air pump. The tablets in the nozzle of the tablet dispensing device are placed into the grid of the medicine tray by gravity, and the above action is repeated. The tablet dispensing device loads another tablet into the next grid of the medicine tray, and the doctor will prescribe the patient this time. The amount of one type of tablet is separately loaded into the corresponding tray grid to complete the automatic charging of a tablet. Re-add another tablet to the medicinal table, and the IPC repeats the above action, and the tablet is directly loaded into the designated tray grid. Finally, all the tablets in one grid of the medicine tray represent the tablets that the patient should take at one time. The number of grids of all the medicines on the medicine tray represents how many times the doctor should take the medicine for the patient. Therefore, the medical staff can automatically insert the tablets prescribed by the doctor for the patient into the corresponding grid of the medicine tray by setting the tablet information and the specified grid information prescribed by the doctor for the patient, and the charging speed is fast and time-saving. Labor saving.

附图说明DRAWINGS

Figure 1 is a block diagram of the circuit of the present invention;

Figure 2 is a perspective view of the drive mechanism of the present invention;

Figure 3 is a perspective view of the tablet dispensing device of the present invention;

Figure 4 is a partial perspective view of the tablet dispensing device of the present invention;

Figure 5 is a perspective view of the medicine tray of the present invention;

Figure 6 is a perspective view of the tray driving mechanism of the present invention;

Figure 7 is a schematic view showing the drug of the tablet dispensing device of the present invention;

Figure 8 is a schematic view showing the charging of the tablet dispensing device of the present invention;

Figure 9 is a schematic view showing the charging of the tablet dispensing machine of the present invention;

Figure 10 is a schematic view showing the initial state of the tablet dispensing machine of the present invention;

Figure 11 is a perspective assembled view of the tablet dispensing machine of the present invention.

具体实施方式detailed description

The invention will be described in detail below with reference to the drawings and specific embodiments.

As shown in FIG. 1, FIG. 3 and FIG. 4, a tablet dispensing device 2 includes a connecting rod 22, a suction nozzle 23, an air pump 24, and a sorting circuit device 3, and the sorting circuit device 3 includes a gas pressure detecting sensor. 35, the industrial computer 30, the industrial computer 30 is an ordinary industrial computer, the air pressure detecting sensor 35 is connected with the industrial computer 30, the suction nozzle 23 has an inverted cone opening 231, and the suction nozzle 23 is fixed to the connecting rod 22 One end, the opening 231 is downward, the connecting rod 22 is provided with an air flow passage 221, the air flow passage 221 is communicated with the suction nozzle 23, the air flow passage 221 is connected to the air pump 24 through the connecting pipe 222, and the air pressure detecting sensor 35 is disposed at the suction nozzle 23, The gas passage formed by the air flow passage 221, the connecting pipe 222, and the air pump 24 may be integrated in the suction nozzle 23, and the air pump 24 is electrically connected to the industrial computer 30.

As shown in FIG. 1 , FIG. 2 , and FIG. 4 to FIG. 11 , a dispensing machine 4 includes the above-mentioned tablet dispensing device 2 , a box 41 , a moving mechanism 5 , a medicine holding table 42 , and a medicine tray placing mechanism 7 . A working table 43 is disposed in the casing 41, and the moving mechanism 5, the medicine holding table 42, and the medicine tray placing mechanism 7 are respectively disposed on the working table 43, and the tablet dispensing device 2 is fixed on the moving mechanism 5, The moving mechanism 5 is electrically connected to the industrial computer 30 of the sorting circuit device 3 of the tablet dispensing device 2. The dividing circuit device 3 further includes a CCD camera 38, and the CCD camera 38 is fixed to the housing 41 and juxtaposed. Above the medicinal table 42, the CCD camera 38 is communicatively coupled to the industrial computer 30. The sorting circuit device 3 further includes an illuminating lamp 39. The illuminating lamp 39 is fixed on the casing 41 and placed on the medicine. Above the stage 42, the illumination lamp 39 provides light for photographing the CCD camera 38.

As shown in FIG. 1 and FIG. 11, the table 43 is disposed in the middle of the casing 41, and the industrial machine 30 and the air pump 24 are placed in the lower electric control cabinet 44 of the table 43.

As shown in FIG. 5 and FIG. 6, the tray placement mechanism 7 is disposed at the middle of the table 43 and includes a tray placement tray 71 and a rotation mechanism 72. The tray placement tray 71 is mounted above the rotation mechanism 72. The tray placement tray 71 is used to place the medicine tray 8, and the tray placement mechanism 7 can place at least one medicine tray 8 at a time.

As shown in FIG. 4, the medicine tray 8 has a disk shape as a whole, and includes at least one lattice 81. The lattice 81 is radially radiated on the medicine tray with the center of the medicine tray as an axis, and a lattice 81 is used for holding. The doctor gave the patient a dose of medicine.

As shown in FIGS. 6 and 7, the rotating mechanism 72 includes a fourth servo motor 721 and a transmission 722. The fourth servo motor 721 is coupled to the input shaft of the transmission 722, and the dial placement tray 71 is mounted on the output of the transmission 722. On the shaft, the transmission 722 is a planetary transmission commonly used in the industry, and the rotation of the fourth servo motor 721 is rotated on the table 43 by the shifting plate placing tray 71 of the transmission 722, that is, A parallel to the table 42. The rotation in the axial direction causes the positions of the different medicine trays 8 placed on the tray placement tray 71 to be interchanged on the table 42.

As shown in FIG. 1 and FIG. 9 , the sorting circuit device 3 further includes an RFID module 8 , which is also called a radio frequency identification module. The RFID module 8 is disposed under the medicine tray placing tray 71 , and the RFID module is disposed. 8 is in communication with the industrial computer 30.

The moving mechanism 5 can use a 3-axis to 6-axis robot arm commonly used in the industry.

As shown in FIG. 2 and FIG. 7 to FIG. 11, another structure of the moving mechanism 5 includes a Z-axis moving mechanism 51, a Y-axis moving mechanism 52, and an X-axis moving mechanism 53, as shown in FIG. 2, FIG. 3, FIG. The illustrated Z-axis moving mechanism 51 includes a first fixing plate 511, a first servo motor 512, a first driving wheel 513, a first driven wheel 514, a first belt 515, a first connecting seat 516, and a first T-shaped linear slide. The slot 517 is a first T-shaped linear slide 518. The first servo motor 512 is mounted on one end of the first fixed plate 511. The first drive wheel 513 is fixed on the output shaft of the first servo motor 512, and the first driven wheel 514 is mounted. The first end of the first fixing plate 511 is opposite to the first driving wheel 513. The first belt 515 is sleeved on the first driving wheel 513 and the first driven wheel 514, and the first connecting seat 516 is fixed on the first belt 515. The first T-shaped linear sliding slot 517 is disposed on the first connecting plate 516, and the first T-shaped linear sliding rail 518 is mounted on the first fixing plate 511. The first T-shaped linear slide 518 is slidably disposed in the first T-shaped linear chute 517, and the first servo motor 512 drives the first driving wheel 513 to rotate. The first belt 515 moves on the first driving wheel 513 and the first driven wheel 514, thereby driving the first connecting seat 516 on the first fixing plate 511 through the first T-shaped linear chute 517 on the first T-shaped linear sliding rail. Move on 518.

As shown in FIG. 3 and FIG. 4 , the connecting rod 22 is mounted on the first connecting seat 516 , and the first belt 515 moves to drive the first connecting seat 516 through the first T-shaped linear chute 517 and the first T-shaped linear sliding rail 518 . The linear movement causes the connecting rod 22 to move linearly in the vertical direction, that is, vertically up and down perpendicular to the Z-axis direction of the plane of the table 43.

As shown in FIG. 1 , FIG. 3 and FIG. 4 , the Z-axis moving mechanism 51 further includes a trip block 542 , and the sorting circuit device 3 further includes a return switch 34 , and the zero return switch 34 is mounted on the first fixed On the plate 511, the stroke block 542 is mounted on the first connecting base 516, and the return switch 34 is communicatively connected with the industrial computer 30. When the tablet dispensing device 2 is reopened, the industrial computer 30 is directed to the first servo motor. 512 issues a movement command, and after the stroke block 542 touches the zero return switch 34, the zero return switch 34 transmits a zero return signal to the industrial computer 30, and the realized tablet dispensing device 2 automatically returns to zero.

As shown in FIGS. 2 and 7 to 8, the Y-axis moving mechanism 52 includes a second fixing plate 521, a second servo motor 522, a second driving wheel 523, a second driven wheel 524, a second belt 525, and a second connecting base. 526, a second T-shaped linear chute 527, a second T-shaped linear slide 528, a second support frame 529, a second servo motor 522 is mounted at one end of the second fixed plate 521, and the second drive wheel 523 is fixed at the second On the output shaft of the servo motor 522, the second driven wheel 524 is mounted on the other end of the second fixing plate 521 via the second supporting frame 521 opposite to the second driving wheel 523, and the second belt 524 is sleeved on the second driving wheel 523. Above the second driven wheel 524, the second connecting seat 526 is fixed on the second belt 525 and disposed between the second driving wheel 523 and the second driven wheel 524, and the second T-shaped linear chute 527 is disposed in the second The second T-shaped linear slide 528 is mounted on the second fixed plate 521, the second T-shaped linear slide 528 is slidably disposed in the second T-shaped linear slide 527, and the second servo motor 522 drives the first The two driving wheels 523 rotate to drive the second belt 524 to move on the second driving wheel 523 and the second driven wheel 524, thereby driving the second connection. Block 526 is moved in the second T-type linear slide 528 in the second fixing plate 521 by a second T-type linear chute 527.

As shown in FIG. 2, FIG. 7, and FIG. 8, the first fixing plate 511 of the Z-axis moving mechanism 51 is mounted on the second connecting base 526, and the second servo motor 522 rotates in the forward and reverse directions to drive the second belt 525. The second driving wheel 523 and the second driven wheel 524 move back and forth, thereby driving the Z-axis moving mechanism 51 to move back and forth in the front-rear direction parallel to the plane of the table 43, that is, the Y-axis direction of the plane of the table 43 moves back and forth.

As shown in FIGS. 2 and 7 to 8, the X-axis moving mechanism 53 includes a third main fixing plate 531, a third sub-fixing plate 530, a third servo motor 532, a third driving wheel 533, and a third driven wheel 534, Three belt 535, third fixing seat 536, third T-shaped linear main sliding groove 537, third T-shaped linear main sliding rail 538, third supporting frame 539, third T-shaped linear auxiliary chute 5307, third T-shaped The linear auxiliary rail 5308 is mounted on one end of the third main fixed plate 531, the third driving wheel 533 is fixed on the output shaft of the third servo motor 532, and the third driven wheel 534 is passed through the third supporting frame 539. The other end of the third main fixing plate 531 is opposite to the third driving wheel 533. The third belt 535 is sleeved on the third driving wheel 533 and the third driven wheel 534, and the third fixing base 536 is fixed on the third belt. The third sub-fixing plate 530 and the third main fixing plate 531 are respectively mounted on the front and rear edges of the table 43 and are planar with the table 43. The X-axis direction is parallel, and the third T-shaped linear sub-slide 5308 and the third T-shaped linear main rail 538 are respectively mounted on the third sub-fixing plate 53. On the 0 and the third main fixing plate 531, the third T-shaped linear auxiliary chute 5307 and the third fixing base 536 are respectively installed at the two ends of the second fixing plate 521 of the Y-axis moving mechanism 52, and the third T-shaped straight main sliding The slot 537 is mounted on the third fixing base 536, and the third T-shaped linear auxiliary sliding slot 5307 and the third T-shaped linear main sliding slot 537 are respectively sleeved on the third T-shaped linear auxiliary sliding rail 5308 and the third T-shaped linear main sliding rail. 538, the third servo motor 532 rotates forward and reverse to drive the third belt 535 to move back and forth on the third driving wheel 533 and the third driven wheel 534, thereby driving the Y-axis moving mechanism 53 as a whole in the left-right direction of the plane of the table 43. The movement, that is, the X-axis direction of the plane of the table 43 moves back and forth.

As shown in FIG. 8, FIG. 7, FIG. 9, FIG. 10, the Z-axis moving mechanism 51 further includes a first protective cover 5100. The first protective cover 5100 connects the connecting rod 22, the first fixing plate 511, and the first servo motor 512. The first driving wheel 513, the first driven wheel 514, the first belt 515, the first connecting seat 516, the first T-shaped linear chute 517, and the first T-shaped linear sliding rail 518 are integrally covered, and the first protective cover 5100 An opening (not shown) for the upper and lower sides of the connecting rod is opened at the bottom. The side wall of the first protective cover 5100 is provided with a vertical slot 5101 (ie, the Z-axis direction), and the connecting tube 222 is worn through the vertical slot 5101. When the first servo motor 512 drives the connecting rod 22 to move up and down, the connecting tube 222 can also slide freely in the vertical slot 5101, and the vertical slot 5101 can slide up and down. Tube 222 gives way to the role.

As shown in FIG. 7, FIG. 8, FIG. 9, FIG. 10, the Y-axis moving mechanism further includes a second protective cover 5200. The second protective cover 5200 has a second fixed plate 521, a second servo motor 522, and a second driving wheel 523. The second driven wheel 524, the second belt 525, the second connecting base 526, the second T-shaped linear chute 527, and the second T-shaped linear sliding rail 528 are integrally covered, and the second fixing plate 521 is only worn at both ends. The second protective cover 5200 is respectively connected to the third T-shaped linear auxiliary chute 5307 and the third fixed seat 536. The side of the second protective cover 5200 is provided with a longitudinal slot 5201 (ie, the Y-axis direction), and the second connecting base 526 is extended from the longitudinal slot 5201 and connected to the first fixing plate 511 of the Z-axis moving mechanism. When the second servo motor 522 rotates to drive the Z-axis moving mechanism 51 to move back and forth in the front-rear direction parallel to the plane of the table 43, the longitudinal direction The split groove 5201 serves to give way to the second mount 526 to which the Z-axis moving mechanism 51 is fixed.

As shown in FIG. 8, FIG. 9, and FIG. 10, the X-axis moving mechanism 53 includes a third protective cover 5300, and the third protective cover 5300 has a third fixing base 536, a third main fixing plate 531, and a third driving wheel 533, The third driven wheel 534, the third belt 535, the third T-shaped linear main chute 537, and the third T-shaped linear main sliding rail 538 are integrally covered, and the third protective cover 5300 is provided with a transverse slot 5301 (ie, an X-axis direction) The third fixing base 536 is extended from the transverse slot 5301 and connected to one end of the second fixing plate 521 of the Y-axis moving mechanism 52. The third servo motor 532 rotates to drive the Y-axis moving mechanism 52 as a whole on the plane of the table 43. When the direction moves back and forth, the lateral split groove 5301 functions as a yielding effect to the third mount 536 to which the Y-axis moving mechanism 52 is fixed.

As shown in FIG. 1 , the sorting circuit device 3 further includes a display device 31 and an input device 32. The display device 31 and the input device 32 are communicably connected with the industrial computer 30, and the display device 31 and the input device are connected. 32 can use a touch screen commonly used in the market, such as a capacitive screen, a resistive screen, a sound wave screen, etc., the display device 32 can also be separately used as a liquid crystal display, and the liquid crystal display is connected with the VGA interface of the industrial computer 30, the input The device 32 can employ a keyboard and a mouse, and the keyboard and the mouse are respectively connected to the COM interface of the industrial computer 30.

As shown in FIG. 1, the air pressure detecting sensor 35 of the sorting circuit device 3 is connected to a splitter (model FX-40) 331, the zero return switch 34 is connected to the relay module 332, and the splitter 331 and The relay module 332 is connected to the input/output adapter (model IX-320) 333, the input/output adapter 333 is connected to the A-axis servo driver 361, the A-axis servo driver 361, the Z-axis servo driver 362, and the Y-axis. The servo driver 363 and the X-axis servo driver 364 are sequentially connected in series, and finally the X-axis servo driver 364 is connected to the industrial computer 30, wherein the A-axis servo driver 361, the Z-axis servo driver 362, the Y-axis servo driver 363, and the X-axis servo are connected. The driver 364 is respectively connected to the fourth servo motor 721, the first servo motor 512, the second servo motor 522, and the third servo motor 532. The industrial computer 30 passes through the A-axis servo driver 361 and the Z-axis servo driver 362, Y, respectively. The axis servo driver 363 and the X-axis servo driver 363 control the rotation of the fourth servo motor 721, the first servo motor 512, the second servo motor 522, and the third servo motor 532 corresponding thereto, thereby realizing the medicine by the moving mechanism 5. The sheet separating device 2 can be moved over any of the lattices 81 of the medicine tray 8 placed on the medicine tray placing tray 71.

A method for dispensing tablets, the steps are:

(1) First, the medicine tray 8 is placed at a designated position on the table 43, and the grid parameter of the tablet to be placed on the medicine tray 8 and the number of tablets prescribed by the doctor for the patient are set in advance to the industrial computer 30 through the input device 32;

(2) The tablet determined in the above step (1) is placed on the medicine holding table 42, and the signal for starting the sorting of the tablets is input to the industrial computer 30 through the input device 32, and the industrial computer 30 activates the CCD camera 38 to the medicine holding table. The tablets on the 42 are photographed, and the industrial computer 30 obtains the graphic signals of the tablets on the medicine holding table 42 through the CCD camera 38 and analyzes the specific position coordinates of all the tablets on the medicine holding table 42, and judges the need for the sorting. a piece of pills;

(3) The industrial computer 30 activates the moving mechanism 5 to place the tablet dispensing device 2 above the medicine holding table 42, and the suction nozzle 23 of the tablet dispensing device 2 is aligned with the one to be classified according to the above step (2). A tablet is placed in the opening 231 of the nozzle 23, and the industrial computer 30 activates the air pump 24 to perform suction to form a negative pressure in the nozzle 23 until the industrial computer 30 receives the air pressure detecting sensor 35 to detect the above ( 2) The tablet that is determined to be sorted by the step has blocked the signal of the nozzle 23;

(4) The IPC 30 transmits the signal that the nozzle 23 is blocked by the air pressure detecting sensor 35 in the above step (3), and determines that the tablet to be inspected in the above step (2) is firmly adsorbed on the nozzle. In 23, the moving mechanism 5 is again activated to move the tablet dispensing device 2 to the top of the medicine tray 8, and the suction nozzle 23 is placed on the medicine tray 8 in step (1) to set a lattice 81 to be discharged, and the industrial control The machine 30 stops the pumping operation of the air pump 24, and the tablet in the suction nozzle 23 loses the adsorption force and falls into the lattice 81 by gravity;

(5) After the industrial computer 30 has placed the tablet in the designated grid in the above step (4), the mobile mechanism 5 is again activated to place the tablet dispensing device 2 above the medicine table 42, and the nozzle of the tablet dispensing device 2 23 aligning another piece of the tablet to be inspected as determined in the above step (2), and placing the tablet in the opening 231 of the suction nozzle 23, the industrial computer 30 starts the air pump 24 to perform suction to form a negative pressure in the suction nozzle 23. Until the industrial computer 30 receives the air pressure detecting sensor 35 detects that the tablet determined to be sorted in the above step (2) has blocked the nozzle 23 signal;

(6) The IPC 30 transmits the signal that the nozzle 23 is blocked by the air pressure detecting sensor 35 in the above step (5), and determines that the tablet to be inspected in the above step (5) is firmly adsorbed on the nozzle. In 23, the moving mechanism 5 is again activated to move the tablet dispensing device 2 to the top of the medicine tray 8, and the suction nozzle is placed on the medicine tray 8. In step (1), another lattice 81 to be discharged is set, and the industrial control is performed. The machine 30 stops the pumping operation of the air pump 24, and the tablet in the suction nozzle 23 loses the adsorption force and falls into the lattice 81 by gravity;

(7) When the industrial computer 30 determines that the tablet of the above step (2) has been placed in the entire lattice 81 of the tablet to be placed in the step (1), the loading into the lattice 81 of the medicine tray 8 is completed. a process of pills. Further, the tablets remaining in the step (2) of the medicine holding station 42 are taken away, and the second tablet which the doctor opens for the patient is replaced with the medicine tablet again, and the above-mentioned (2) to (7) are repeated. Step, until the second tablet placed on the medicine table 42 is placed in the entire grid of the tablet set in the step (1), the second step is to insert the second type into the grid of the medicine tray. Pill process.

Further, the medicine tray 8 of the step (1) is placed on the medicine tray placing mechanism 7 in the middle of the table 43.

Further, the medicine tray 8 of the step (1) is marked with the RFID identification information of the patient, and the industrial computer 30 reads the RFID identification information of the patient through the RFID module 37 below the tray placement tray 71 of the tray placement mechanism 7. If it is consistent with the prescription, start the sorting of the tablets, otherwise the alarm will be given.

Further, the RFID identification information may be a code-only information in the prior art, or may be a second-only coded information.

The above description is only a preferred embodiment of the present invention, and is not a limitation on the design of the present invention. Any equivalent changes made according to the design key of the present case fall within the scope of protection of the present case.

Claims

A tablet dispensing device, comprising: a connecting rod, a suction nozzle, an air pump, and a sorting circuit device, wherein the sorting circuit device comprises a gas pressure detecting sensor, an industrial computer, and the air pressure detecting sensor is connected with the industrial computer. The nozzle has an inverted cone opening, the nozzle is fixed at one end of the connecting rod, the opening is downward, the connecting rod is provided with an air flow passage, the air flow passage is connected with the suction nozzle, and the air flow passage is connected to the air pump through the connecting pipe. The air pressure detecting sensor is disposed in a gas passage formed by the suction nozzle, the air flow passage, the connecting pipe and the air pump, and the air pump is electrically connected to the industrial control.

A tablet dispensing device according to claim 1, wherein said air pressure detecting sensor is integrated on the suction nozzle.

3. A dispensing machine, comprising: the tablet dispensing device, the box body, the moving mechanism, the medicine holding table, and the medicine tray placing mechanism according to claim 1, wherein a working table is disposed in the box body. The moving mechanism, the medicine holding table and the medicine tray placing mechanism are respectively arranged on the working table, and the tablet dispensing device is fixed on the moving mechanism, and the moving mechanism is electrically connected with the industrial control of the sorting circuit device of the tablet dispensing device. The sorting circuit device further includes a CCD camera, the CCD camera is fixed on the box body and placed above the medicine holding table, and the CCD camera is communicatively connected with the industrial computer.

4. A dispensing machine according to claim 3, wherein said moving mechanism can use a 3-axis to 6-axis robot arm commonly used in the industry.

A dispensing machine according to claim 3, wherein said moving mechanism comprises a Z-axis moving mechanism, a Y-axis moving mechanism, and an X-axis moving mechanism, and said tablet dispensing device is fixed at Z In the shaft moving mechanism, the Z-axis moving mechanism is fixed on the Y-axis moving mechanism, and the Y-axis moving mechanism is fixed on the X-axis moving mechanism, and the Z-axis moving mechanism drives the connecting rod of the tablet dispensing device Performing a linear movement in the vertical direction, that is, moving up and down vertically in the Z-axis direction perpendicular to the plane of the table; the Y-axis moving mechanism drives the tablet dispensing device and the Z-axis moving mechanism as a whole in the front-rear direction parallel to the plane of the table Movement, that is, the Y-axis direction of the table plane moves back and forth; the X-axis moving mechanism drives the Y-axis moving mechanism, the Z-axis moving mechanism, and the tablet dispensing device to move back and forth in the left and right direction of the table plane, that is, the table plane The X-axis direction moves back and forth.

A dispensing machine according to claim 5, wherein said Z-axis moving mechanism comprises a first fixing plate, a first servo motor, a first driving wheel, a first driven wheel, and a first belt. a first connecting seat, a first T-shaped linear chute, a first T-shaped linear sliding rail, the first servo motor is mounted at one end of the first fixed plate, and the first driving wheel is fixed on the output shaft of the first servo motor, The first driven wheel is mounted on the other end of the first fixed plate opposite to the first driving wheel, the first belt is sleeved on the first driving wheel and the first driven wheel, and the first connecting seat is fixed on the first belt, and is juxtaposed Between the first driving wheel and the first driven wheel, the first T-shaped linear sliding groove is disposed on the first connecting seat, and the first T-shaped linear sliding rail is mounted on the first fixing plate, the first T-shaped linear sliding track Sliding in the first T-shaped linear chute, the connecting rod of the tablet dispensing device is mounted on the first connecting seat, the first servo motor drives the first driving wheel to rotate, and drives the first belt in the first driving wheel And moving on the first driven wheel, thereby driving the first connecting seat to pass on the first fixing plate a T-shaped linear chute moves on the first T-shaped linear slide rail, thereby driving the connecting rod to move in a vertical direction, that is, vertically moving up and down perpendicular to the Z-axis direction of the table plane; the Y-axis moving mechanism The second fixing plate, the second servo motor, the second driving wheel, the second driven wheel, the second belt, the second connecting seat, the second T-shaped linear chute, the second T-shaped linear sliding rail, and the second supporting frame a second servo motor is mounted on one end of the second fixed plate, the second drive wheel is fixed on the output shaft of the second servo motor, and the second driven wheel is mounted on the other end of the second fixed plate and the second through the second support frame The driving wheel is opposite, the second belt is sleeved on the second driving wheel and the second driven wheel, the second connecting seat is fixed on the second belt, and is disposed between the second driving wheel and the second driven wheel, and second The T-shaped linear chute is disposed on the second connecting seat, the second T-shaped linear sliding rail is mounted on the second fixing plate, and the second T-shaped linear sliding rail is slidably disposed in the second T-shaped linear sliding slot, wherein The first fixing plate of the Z-axis moving mechanism is mounted on the second connecting seat, and the second servo electric The forward and reverse rotation of the machine drives the second belt to move back and forth on the second driving wheel and the second driven wheel, thereby driving the Z-axis moving mechanism to move back and forth in the front-rear direction parallel to the plane of the table, that is, the Y-axis direction of the plane of the table Moving back and forth, the X-axis moving mechanism includes a third main fixing plate, a third auxiliary fixing plate, a third servo motor, a third driving wheel, a third driven wheel, a third belt, a third fixing seat, and a third T Linear main sliding groove, third T-shaped linear main sliding rail, third supporting frame, third T-shaped linear auxiliary sliding groove, third T-shaped linear auxiliary sliding rail, and third servo motor mounted on the third main fixed plate One end, the third driving wheel is fixed on the output shaft of the third servo motor, and the third driven wheel is mounted on the other end of the third main fixing plate via the third supporting frame, opposite to the third driving wheel, and the third belt is sleeved in the first Above the third driving wheel and the third driven wheel, the third fixing seat is fixed on the third belt and placed between the third driving wheel and the third driven wheel, and the third auxiliary fixing plate and the third main fixing plate are respectively installed at The front and rear edges of the workbench, with the workbench plane The X-axis direction is parallel, and the third T-shaped linear sub-sliding rail and the third T-shaped linear main sliding rail are respectively mounted on the third sub-fixing plate and the third main fixing plate, the third T-shaped linear auxiliary chute and the third fixed The seats are respectively installed at two ends of the second fixing plate of the Y-axis moving mechanism, and the third T-shaped linear main chute is mounted on the third fixing seat, and the third T-shaped linear auxiliary chute and the third T-shaped linear main chute are respectively The third servo motor rotates forward and backward on the third T-shaped linear auxiliary rail and the third T-shaped linear main rail, and the third servo motor rotates back and forth on the third driving wheel and the third driven wheel to drive Y. The shaft moving mechanism moves back and forth in the left and right direction of the plane of the table, that is, the X-axis direction of the plane of the table moves back and forth.

A dispensing machine according to claim 6, wherein said Z-axis moving mechanism further comprises a stroke block, said dividing circuit device further comprising a zero return switch, said zero return switch Mounted on the first fixing plate, the stroke block is mounted on the first connecting seat, and the return switch is communicatively connected with the industrial computer. When the tablet is re-opened, the industrial computer sends a movement to the first servo motor. After the instruction block, the stroke block touches the zero return switch, the zero return switch sends a zero return signal to the industrial computer, and the realized tablet dispensing device automatically returns to zero.

A dispensing machine according to claim 6, wherein said Z-axis moving mechanism further comprises a first protective cover, the first protective cover connecting the connecting rod of the tablet dispensing device and the first fixing plate The first servo motor, the first driving wheel, the first driven wheel, the first belt, the first connecting seat, the first T-shaped linear chute, and the first T-shaped linear sliding rail are integrally covered, and the bottom of the first protective cover An opening for the upper and lower telescopic of the connecting rod is opened, the side wall of the first protective cover is provided with a vertical slot, and the connecting pipe is connected from the vertical slot through the same air pump, and when the first servo motor drives the connecting rod to move up and down, The connecting pipe can also freely slide up and down in the vertical slot, and the vertical slot serves to give way to the connecting pipe that slides up and down. The Y-axis moving mechanism further includes a second protective cover, and the second protection The cover integrally covers the second fixed plate, the second servo motor, the second driving wheel, the second driven wheel, the second belt, the second connecting seat, the second T-shaped linear chute, and the second T-shaped linear sliding rail The second fixing plate only passes through the second protective cover at both ends and the third T-shaped line The sliding slot is connected to the third fixing base, the side of the second protective cover is provided with a longitudinal slot, and the second connecting seat extends from the longitudinal slot to connect with the first fixing plate of the Z-axis moving mechanism, and the second servo motor rotates When the Z-axis moving mechanism is moved back and forth in the front-rear direction parallel to the plane of the table, the longitudinal slot serves to give way to the second fixing seat to which the Z-axis moving mechanism is fixed, and the X-axis moving mechanism includes a third protective cover, the third protective cover will be a third fixed seat, a third main fixed plate, a third driving wheel, a third driven wheel, a third belt, a third T-shaped linear main chute, and a third T-shaped straight main sliding The rail is integrally covered, the third protective cover is provided with a transverse slot at the top, the third fixed seat extends from the transverse slot and is connected with one end of the second fixing plate of the Y-axis moving mechanism, and the third servo motor rotates to drive the Y-axis moving mechanism When the whole moves back and forth in the left and right direction of the plane of the table, the lateral slot serves to give way to the third fixing seat to which the Y-axis moving mechanism is fixed.

9. A dispensing machine according to claim 3, wherein said workbench is disposed in the middle of the cabinet, and the industrial control unit and the air pump are placed in the lower electric control cabinet of the workbench.

10. A dispensing machine according to claim 3, wherein said tray placement mechanism is disposed in the middle of the table, including a tray placing tray and a rotating mechanism, and the tray placing tray is mounted above the rotating mechanism. The tray placement tray is used to place a medicine tray, and the tray placement mechanism can place at least one medicine tray at a time.

11. A dispensing machine according to claim 10, wherein said rotating mechanism comprises a fourth servo motor and a transmission, the fourth servo motor is coupled to the input shaft of the transmission, and the tray placement tray is mounted On the output shaft of the transmission, the transmission is a planetary transmission commonly used in the industry, and the rotation of the fourth servo motor is rotated on the table by the shifting plate of the transmission, that is, rotating in the A-axis direction parallel to the table. In this way, the positions of the different medicine trays placed on the tray placement tray are exchanged on the work table.

A dispensing machine according to claim 3, wherein said sorting circuit device further comprises an RFID module, said RFID module being disposed under the medicine tray placing tray, the RFID module and the industrial computer Make a communication connection.

A dispensing machine according to claim 3, wherein said sorting circuit device further comprises an illumination lamp, said illumination lamp being fixed on the cabinet and placed above the medicine holding table The illumination lamp provides light when the CCD camera takes a picture.

14. A dispensing machine according to claim 3, wherein said sorting circuit device further comprises a display device and an input device, said display device and said input device being in communication with said industrial computer.

A dispensing machine according to claim 14, wherein said display device can be separately used with a liquid crystal display, and the liquid crystal display is connected to a VGA interface of the industrial computer, and the input device uses a keyboard and a mouse. The keyboard and mouse are respectively connected to the COM interface of the industrial computer.

A dispensing machine according to claim 3, wherein the air pressure detecting sensor of the sorting circuit device is connected to the splitter, the zero return switch is connected to the relay module, and the splitter is connected. And the relay module are respectively connected with the input/output adapter, the input/output adapter is connected with the A-axis servo driver, and the A-axis servo driver, the Z-axis servo driver, the Y-axis servo driver, and the X-axis servo driver are sequentially connected. Finally, the X-axis servo driver is connected to the industrial computer, wherein the A-axis servo driver, the Z-axis servo driver, the Y-axis servo driver, and the X-axis servo driver respectively correspond to the fourth servo motor, the first servo motor, and the second The servo motor and the third servo motor are connected, and the industrial computer controls the fourth servo motor, the first servo motor, and the second servo corresponding to the A-axis servo driver, the Z-axis servo driver, the Y-axis servo driver, and the X-axis servo driver respectively. The rotation of the motor and the third servo motor, so that the tablet dispensing device can be moved to the arbitrary position of the medicine tray placed on the tray placement tray by the moving mechanism Above.

A method for dispensing a tablet, characterized in that the method relates to the dispensing device according to claim 3, wherein the steps are:

(1) First, the medicine tray is placed at a designated position on the workbench, and the information on the number of tablets prescribed by the doctor for the patient and the lattice information corresponding to the medicine tray to which the medicine is to be placed are set to the industrial computer in advance.

(7) When the industrial computer determines that the tablet of the above step (2) has been placed in the entire grid of the tablet set in step (1), the process of loading a tablet into the grid of the tray is completed.

A method for dispensing a tablet according to claim 17, wherein the tablet remaining in the step (2) of the medicine holding table is taken away, and the doctor is again replaced with a doctor on the medicine table. For the second tablet, repeat steps (2) to (7) above until the second tablet placed on the medicated table is placed in the entire grid of the tablet in step (1). When this step is completed, the second tablet process is loaded into the grid of the medicine tray.

A tablet sorting method according to claim 17, wherein said medicine tray of the step (1) is placed on a medicine tray placing mechanism in the middle of the table.

A tablet sorting method according to claim 17, wherein said medicine tray of said step (1) is marked with RFID identification information of the patient, and the industrial computer is placed by the medicine tray of the medicine tray placing mechanism. The RFID module under the tray reads the patient's RFID identification information, and if it is consistent with the prescription, the tablet is sorted, otherwise the alarm is issued.